CN114882724B - Parking guide system and parking guide method - Google Patents

Abstract

The invention relates to a parking guidance method, which relates to the technical field of parking vehicle guidance, and comprises the following steps of S1, selecting an idle parking space according to the position information of an entrance of a vehicle to be guided, and determining a guidance route according to the quantity of inflection points of the route; s2, acquiring a real-time guide route which is carried out simultaneously in the parking lot, carrying out route correction on the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously, and determining whether the vehicle to be guided is guided by the guide route of the vehicle to be guided; and S3, acquiring the intersection point number of the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously, and judging whether to reselect the guide route of the vehicle to be guided or reselect the free parking space of the vehicle to be guided according to the real-time guide route number of each real-time intersection point position. According to the invention, by controlling the parking route of the vehicle, the running time of the vehicle in the parking lot and the vehicle intersection are reduced, the parking efficiency is improved, and the vehicle congestion is avoided.

Description

Parking guide system and parking guide method

Technical Field

The invention relates to the technical field of parking vehicle guidance, in particular to a parking guidance system and a parking guidance method.

Background

The parking guide is one kind and gets into the parking area and seeks the intelligent technology that empty parking stall was parked through parking stall bootstrap system technique and equipment guide vehicle, parking stall bootstrap system parks the guide to the driver through a whole set of perfect equipment, generally detect the parking stall situation by the parking stall detector, show real-time surplus empty parking stall information by the LED parking stall guide screen that is located outside the parking lot and in the field, instruct real-time empty full state of parking stall by the parking stall pilot lamp that every parking stall set up again, thereby instruct the driver to park easily.

However, in the conventional parking guidance method, since only simple display of information on the remaining empty parking spaces and recording of information on parking positions of vehicles are possible, and no intelligent route guidance is available in the parking lot, serious congestion is caused in the parking lot when traffic flow is large, the use of the parking spaces in the parking lot cannot be maximized, and space waste is caused.

Disclosure of Invention

Therefore, the invention provides a parking guide system and a parking guide method, which are used for solving the problems that the parking lot in the prior art is lack of intelligent route guidance and serious congestion is caused when the traffic flow is large.

To achieve the above object, the present invention provides a parking guidance method, comprising,

the method comprises the steps that S1, entrance position information of a vehicle to be guided is obtained through a gate unit arranged in a parking lot, a central control unit selects an idle parking space in a parking space information base according to the entrance position information of the vehicle to be guided, a real-time moving position of the vehicle to be guided is obtained according to a monitoring unit arranged in the parking lot, a plurality of groups of initial guiding routes are built through the central control unit according to the real-time moving position of the vehicle to be guided and the selected idle parking space, the route to be guided is selected according to the route distance of each group of initial guiding routes, the number of real-time inflection points of the route to be guided is compared with the number of standard inflection points arranged inside the central control unit, when the central control unit judges that the number of real-time inflection points does not exceed the number of standard inflection points, the central control unit selects the route to be guided as the guiding route of the vehicle to be guided, when the central control unit judges that the number of real-time inflection points exceeds the number of standard inflection points, the central control unit calculates inflection point distance parameters of each group of initial guiding routes according to the number of inflection points of real-time inflection points of the route and the route distance of route distances of route, the set of initial guiding routes are reselected according to the route according to the distance parameters in each group of initial guiding routes, and the number of inflection points to judge the number of inflection points of the guide route to be guided until the guiding route to determine the guiding route to be guided of the guiding route to be guided;

s2, acquiring real-time guide routes which are carried out simultaneously in the parking lot through the central control unit, carrying out route correction on the guide route of the vehicle to be guided and the real-time guide routes which are carried out simultaneously through the central control unit, and carrying out projection guide on a road surface in front of the vehicle to be guided according to the guide route of the vehicle to be guided by the central control unit when the central control unit judges that the guide route of the vehicle to be guided and the real-time guide routes which are carried out simultaneously do not have intersection points;

and S3, when the central control unit judges that intersection points exist between the guide route of the vehicle to be guided and the real-time guide route which is conducted simultaneously, judging whether the guide route of the vehicle to be guided is reselected or not by the real-time intersection point number on the guide route of the vehicle to be guided, comparing the real-time guide route number of each real-time intersection point position on the guide route of the vehicle to be guided with a standard intersection point route number range arranged in the central control unit by the central control unit, when the real-time guide route number is within the standard intersection point route number range, reselecting the guide route of the vehicle to be guided by the central control unit, when the real-time guide route number is lower than the standard intersection point route number range, guiding according to the guide route of the vehicle to be guided by the central control unit, and when the real-time guide route number is higher than the standard intersection point route number range, reselecting the idle parking space of the vehicle to be guided and reselecting the guide route of the vehicle to be guided.

Furthermore, the parking space information base is provided with parking space occupation information and parking space position information of a parking lot, after the gate unit acquires the position information of an entrance of a vehicle to be guided, the central control unit selects the position information of each idle parking space in the parking space information base, the central control unit calculates the relative distance of each idle parking space according to the position information of the entrance of the vehicle to be guided and the position information of each idle parking space, the central control unit compares the relative distances of the idle parking spaces, and selects the idle parking space corresponding to the minimum relative distance of the idle parking spaces as the idle parking space of the vehicle to be guided.

Further, a standard inflection point number Nb is arranged in the central control unit, when the central control unit selects an idle parking space of a vehicle to be guided, the monitoring unit acquires a real-time moving position of the vehicle to be guided, the central control unit constructs a plurality of groups of initial guide routes according to the real-time moving position of the vehicle to be guided and the selected idle parking space, the central control unit acquires and compares route distances of the initial guide routes, selects the initial guide route corresponding to the minimum route distance as an undetermined route, the central control unit acquires the real-time inflection point number Ns of the undetermined route, and the central control unit compares the real-time inflection point number Ns with the standard inflection point number Nb,

when Ns is less than or equal to Nb, the central control unit judges that the number of the real-time inflection points does not exceed the number of the standard inflection points, and selects the route to be determined as the guide route of the vehicle to be guided;

and when Ns is greater than Nb, the central control unit judges that the number of the real-time inflection points exceeds the number of the standard inflection points, selects the initial guide route corresponding to the minimum distance of the route except the undetermined route from each group of initial guide routes as a new undetermined route, and repeats the comparison selection operation between the number of the real-time inflection points of the undetermined route and the number of the standard inflection points, and selects the guide route of the vehicle to be guided from each group of initial guide routes.

Further, when the real-time inflection point number of each group of initial guide routes exceeds the standard inflection point number, the central control unit calculates inflection point distance parameters of each group of initial guide routes according to the real-time inflection point number and the route distance of each group of initial guide routes, wherein the inflection point distance parameters are the product of the inflection point number and the route distance of any group of initial guide routes, the central control unit compares every two inflection point distance parameters of each group of initial guide routes, compares the inflection point distance parameter K1 of any group of initial guide routes in each group of initial guide routes with the inflection point distance parameter K2 of another group of initial guide routes,

when K1 is less than K2, the central control unit selects an initial guide route with an inflection point distance parameter of K1 as a guide route of the vehicle to be guided;

when K1= K2, the central control unit judges that the inflection point distance parameters of the two groups of initial guide routes are equal, and the central control unit selects the guide route of the vehicle to be guided according to the number of the inflection points of the two groups of initial guide routes and the positions of the inflection points;

when K1 > K2, the central control unit selects an initial guide route with an inflection point distance parameter of K2 as a guide route of the vehicle to be guided.

Further, when the central control unit judges that the inflection point distance parameter of the initial guiding route with the inflection point distance parameter K1 is equal to the inflection point distance parameter of the initial guiding route with the inflection point distance parameter K2, the central control unit acquires the number of inflection points N1 of the initial guiding route with the inflection point distance parameter K1 and the number of inflection points N2 of the initial guiding route with the inflection point distance parameter K2, the central control unit compares the number of inflection points N1 with the number of inflection points N2,

when N1 is less than N2, the central control unit selects an initial guide route with the inflection point number of N1 as a guide route of the vehicle to be guided;

when N1= N2, the central control unit acquires the first inflection point distance of the two groups of initial guide routes, selects the initial guide route with the small first inflection point distance as the guide route of the vehicle to be guided, and selects the initial guide route with the number of inflection points of N1 as the guide route of the vehicle to be guided when the first inflection point distances of the two groups of initial guide routes are the same;

when N1 > N2, the center control unit selects an initial guidance route having the number of inflection points N2 as a guidance route of a vehicle to be guided.

Further, when the central control unit finishes the selection of the guide route of the vehicle to be guided, the central control unit acquires the real-time guide route which is carried out in the parking lot at the same time, the central control unit carries out route correction on the guide route of the vehicle to be guided and the real-time guide route which is carried out at the same time, the central control unit judges the intersection point of the guide route of the vehicle to be guided and the real-time guide route which is carried out at the same time,

when the central control unit judges that the guide route of the vehicle to be guided does not have an intersection with the real-time guide route which is carried out simultaneously, the central control unit carries out projection guide on the road surface in front of the vehicle to be guided by controlling the projection unit according to the guide route of the vehicle to be guided;

when the central control unit judges that the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously have intersection points, the central control unit judges whether the guide route of the vehicle to be guided is reselected or not according to the number of the intersection points of the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously.

Further, a first preset intersection point number G1 and a second preset intersection point number G2 are arranged in the central control unit, wherein G1 is less than G2, when the central control unit judges that the guide route of the vehicle to be guided and the real-time guide route conducted simultaneously have intersection points, the central control unit obtains the real-time intersection point number Gs on the guide route of the vehicle to be guided, the central control unit compares the real-time intersection point number Gs with the first preset intersection point number G1 and the second preset intersection point number G2,

when Gs is smaller than G1, the central control unit judges that the number of the real-time intersection points is smaller than the first preset number of the intersection points, the central control unit does not reselect a guide route of the vehicle to be guided, and the central control unit performs projection guide on a road surface in front of the vehicle to be guided by controlling the projection unit according to the guide route of the vehicle to be guided;

when G1 is not less than Gs and not more than G2, the central control unit judges that the number of the real-time intersection points is between the first preset intersection point number and the second preset intersection point number, and judges whether the number of the real-time guide routes of the positions of the real-time intersection points on the guide route of the vehicle to be guided is reselected or not according to the central control unit;

and when Gs is larger than G2, the central control unit judges that the number of the real-time intersection points is larger than the number of second preset intersection points, and the central control unit repeats the comparison judgment according to the route distance and the number of the inflection points of each group of initial guide routes and reselects the guide route from each group of initial guide routes except the guide route of the vehicle to be guided.

Further, the central control unit is provided with a standard intersection point route number Lb and a standard intersection point route number difference Δ Lb, when the central control unit determines that the real-time intersection point number is between a first preset intersection point number and a second preset intersection point number, the central control unit obtains the real-time guiding route number of each real-time intersection point position on the guiding route of the vehicle to be guided, the central control unit calculates a real-time guiding route number difference Δ Ls according to the real-time guiding route number Ls of any real-time intersection point position and the standard intersection point route number Lb, the Δ Ls = | Lb-Ls |, the central control unit compares the real-time guiding route number difference Δ Ls with the standard intersection point route number difference Δ Lb,

when the delta Ls is less than or equal to the delta Lb, the central control unit judges that the number of the real-time guide routes is within the range of the number of the standard intersection point routes, the central control unit repeats the comparison judgment between the route distance and the inflection point number according to each group of the initial guide routes, and reselects the guide route from each group of the initial guide routes except the guide route of the vehicle to be guided;

and when the delta Ls is larger than the delta Lb, the central control unit judges that the number of the real-time guide routes is not within the range of the number of the standard intersection point routes, and compares the number of the real-time guide routes with the number of the standard intersection point routes to judge whether to reselect the free parking spaces of the vehicles to be guided.

Further, when the central control unit judges that the number of the real-time guide routes is not within the range of the number of the standard intersection point routes, the central control unit compares the number of the real-time guide routes Ls with the number of the standard intersection point routes Lb,

when Ls is less than Lb, the central control unit judges that the number of the real-time guide routes is less than the number of the routes of the standard intersection points, and the central control unit performs projection guide on a road surface in front of the vehicle to be guided by controlling the projection unit according to the guide routes of the vehicle to be guided;

when Ls is larger than Lb, the central control unit judges that the number of real-time guide routes is larger than the number of standard intersection routes, the central control unit selects position information of each free parking space in the parking space information base, the central control unit constructs each planned guide route with the shortest distance between the position of the entry of the vehicle and the position route of each free parking space according to the entry position information of the vehicle to be guided and the position information of each free parking space, selects the corresponding free parking space with the shortest route distance in each planned guide route as the free parking space of the vehicle to be guided, and the central control unit repeats the comparison judgment according to the route distance of each group of initial guide routes and the number of inflection points and reselects the guide route in each group of initial guide routes except the guide route of the vehicle to be guided.

A parking guidance system is applied to any one of the parking guidance methods, and comprises,

the gate unit is used for acquiring the position information of an entrance of a vehicle to be guided;

the parking place information base is used for storing and recording the occupation information and the position information of each parking place in the parking lot;

the monitoring unit is used for acquiring the real-time moving position of the vehicle to be guided;

the projection unit is used for projecting the path guide mark on the road surface in front of the vehicle to be guided to perform projection guide;

and the central control unit is respectively connected with the gate unit, the parking space information base, the monitoring unit and the projection unit and is used for selecting a parking free parking space of the vehicle to be guided, constructing a route and controlling the working state of each unit.

Compared with the prior art, the parking lot has the advantages that the gate units are arranged at the entrance of each position in the parking lot, incoming vehicles at different entrances in the parking lot can be detected in time, the vacant parking spaces are selected in the parking space information base according to the entrance position information of the vehicles to be guided through the central control unit, the guiding routes are determined according to the real-time moving positions of the vehicles to be guided, the selected vacant parking spaces and the number of inflection points of the routes, the running time of the vehicles in the parking lot is shortened, the larger buffer time is improved for the limited running roads in the parking lot, the possibility that the vehicles and other vehicles are intersected is controlled according to the number of real-time intersection points on the guiding routes of the vehicles to be guided, the parking time of the vehicles which are guiding in the parking lot is shortened, the central control unit conducts route reselection or the reselection of the vacant parking spaces according to the number of real-time guiding routes at each real-time intersection point position on the guiding routes of the vehicles to be guided, the large-scale congestion caused by the fact that a plurality of vehicles appear in the parking lot is avoided, and the parking lot of parking lots is also the parking lot is improved.

Furthermore, the relative distance of each free parking space is calculated according to the position information of the inlet of the vehicle to be guided and the position information of each free parking space, the relative distances of the free parking spaces are compared, the free parking space corresponding to the minimum value of the relative distance of the free parking spaces is selected as the free parking space of the vehicle to be guided, rapid selection of the free parking space can be achieved, particularly, parking space matching is performed rapidly under the condition of small traffic flow, and the system operation time is short.

Particularly, when the free parking space of the vehicle to be guided is selected, a plurality of groups of initial guide routes are constructed through the central control unit according to the real-time moving position of the vehicle to be guided and the selected free parking space, the initial guide route corresponding to the minimum distance of the route is selected as the undetermined route, the number of real-time inflection points of the undetermined route is compared with the number of standard inflection points, the route is selected, the number of times of inflection points appearing on the route planned by the central control unit is reduced, the running time of the vehicle in the parking lot is increased due to low speed of the vehicle during turning, meanwhile, due to more blind points in the parking lot, collision and scraping are easy to occur during turning of the vehicle, and the safety in the parking lot is greatly improved by reducing the number of times of turning of the vehicle.

Furthermore, when the number of the real-time inflection points of each group of initial guide routes exceeds the number of the standard inflection points, the inflection point distance parameters of each group of initial guide routes are calculated according to the number of the real-time inflection points of each group of initial guide routes and the route distance, and the inflection point distance parameters of each group of initial guide routes are compared in pairs, so that the route with more prominent comprehensive planning is quickly screened out, the running time of the parking vehicle in the parking lot is further shortened, and the parking efficiency is improved.

Further, when the inflection point distance parameters of the two initial guiding routes are equal, the initial guiding route with less inflection points is selected as the guiding route of the vehicle to be guided, so that the parking safety in the parking lot is improved, when the inflection point numbers of the two groups of initial guiding routes are also equal, symmetrical routes appear to a greater extent, and the normal operation of the parking guiding system in the parking lot is ensured by judging the distance of the first inflection point or selecting the route judged firstly as the guiding route of the vehicle to be guided.

Furthermore, when the selection of the guide route of the vehicle to be guided is completed, the central control unit acquires the real-time guide route which is performed in the parking lot at the same time, and performs route correction, the condition that the guide route of the vehicle to be guided and the real-time guide route which is performed at the same time intersect is judged, when the condition that the guide route of the vehicle to be guided and the real-time guide route which is performed at the same time do not intersect is judged, it is indicated that the guide route of the vehicle to be guided is not obstructed and does not influence other parking vehicles, the projection guide is performed on the road surface in front of the vehicle to be guided by controlling the projection unit, the number of commanders in the parking lot is reduced, meanwhile, the ground projection does not influence the road in the parking lot, compared with the person guide, the projection guide does not influence the speed of the guided vehicle, the long-distance guide can be realized, the parking efficiency is further improved, and the vehicle congestion is avoided.

Further, when the fact that intersection points exist between the guiding route of the vehicle to be guided and the real-time guiding route conducted at the same time is judged, the number of the real-time intersection points on the guiding route of the vehicle to be guided is judged, when the number of the real-time intersection points is small, the influence on traffic in the parking lot is small, the vehicle to be guided is guided, when the number of the real-time intersection points is large, the influence on the parking speed of the guided vehicle is generated, meanwhile, the influence on other vehicles is generated to the maximum degree, therefore, the guiding route is modified, and the occurrence of vehicle congestion in the parking lot is effectively avoided.

Further, the number of real-time guiding routes of each real-time intersection point position on the guiding route of the vehicle to be guided is obtained, the number of the real-time guiding routes is compared with the range of the number of standard intersection point routes to determine whether the guiding route of the vehicle to be guided is reselected, and by reselecting the guiding route, the occurrence of a plurality of parking routes at the same intersection point is reduced, and the possibility of congestion in a parking lot is reduced.

The method comprises the steps of judging the number of real-time guide routes at each real-time intersection point position on a guide route of a vehicle to be guided, when the number of the real-time guide routes is smaller than that of standard intersection point routes, indicating that the guide routes are in an intersection state but are smaller, guiding the vehicle by the guide route of the vehicle to be guided, reducing route re-planning time of a system, and when the number of the real-time guide routes is larger than that of the standard intersection point routes, indicating that more parking vehicles are in the direction of the guide route of the vehicle to be guided, or more vehicles with guide vehicle entrance positions, carrying out re-selection of idle parking spaces and re-selection of the guide route, avoiding dense areas of the vehicle, further improving parking efficiency of the vehicle, and avoiding congestion of a parking lot caused by large traffic flow.

Drawings

Fig. 1 is a flowchart of a parking guidance method according to this embodiment.

Detailed Description

In order that the objects and advantages of the invention will be more clearly understood, the invention is further described in conjunction with the following examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and do not delimit the invention.

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principles of the present invention, and do not limit the scope of the present invention.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1, which is a flowchart illustrating a parking guidance method according to an embodiment of the present invention, a parking guidance method is disclosed in this embodiment, including,

the method comprises the following steps that S1, entrance position information of a vehicle to be guided is obtained through a gate unit arranged in a parking lot, an idle parking space is selected in a parking space information base through a central control unit according to the entrance position information of the vehicle to be guided, a real-time moving position of the vehicle to be guided is obtained according to a monitoring unit arranged in the parking lot, a plurality of groups of initial guiding routes are built through the central control unit according to the real-time moving position of the vehicle to be guided and the selected idle parking space, a pending route is selected according to the route distance of each group of initial guiding routes, the number of real-time inflection points of the route to be determined is compared with the number of standard inflection points arranged inside the central control unit, when the central control unit judges that the number of real-time inflection points does not exceed the number of standard inflection points, the central control unit selects the pending route as the guiding route of the vehicle to be guided, when the central control unit judges that the number of real-time inflection points exceeds the number of standard inflection points, the central control unit calculates inflection point distance parameters of each group of initial guiding routes according to the number of inflection points of the route to reselect the route in each group of initial guiding routes, and judges the number of inflection points of the guiding routes to be determined until the guiding route to be guided is determined;

s2, acquiring real-time guide routes which are carried out simultaneously in the parking lot through the central control unit, carrying out route correction on the guide route of the vehicle to be guided and the real-time guide routes which are carried out simultaneously through the central control unit, and carrying out projection guide on a road surface in front of the vehicle to be guided according to the guide route of the vehicle to be guided by the central control unit when the central control unit judges that the guide route of the vehicle to be guided and the real-time guide routes which are carried out simultaneously do not have intersection points;

and S3, when the central control unit judges that intersection points exist between the guide route of the vehicle to be guided and the real-time guide route which is conducted simultaneously, judging whether the guide route of the vehicle to be guided is reselected or not by the real-time intersection point number on the guide route of the vehicle to be guided, comparing the real-time guide route number of each real-time intersection point position on the guide route of the vehicle to be guided with a standard intersection point route number range arranged in the central control unit by the central control unit, when the real-time guide route number is within the standard intersection point route number range, reselecting the guide route of the vehicle to be guided by the central control unit, when the real-time guide route number is lower than the standard intersection point route number range, guiding according to the guide route of the vehicle to be guided by the central control unit, and when the real-time guide route number is higher than the standard intersection point route number range, reselecting the idle parking space of the vehicle to be guided and reselecting the guide route of the vehicle to be guided.

The parking lot comprises a parking lot, a parking lot information base, a central control unit, a parking lot information base and a parking lot information base, wherein the parking lot information base is used for storing parking lots, the central control unit is used for selecting idle parking spaces in the parking lot information base according to the position information of the parking lot, the central control unit is used for determining a guide route according to the real-time moving position of a vehicle to be guided, the selected idle parking spaces and the number of inflection points of the route, the driving time of the vehicle to be guided in the parking lot is shortened, the buffer time of limited driving roads in the parking lot is prolonged, the possibility that the vehicle to be guided intersects with other vehicles is controlled according to the number of real-time intersection points on the guide route of the vehicle to be guided, the parking time of the vehicle being guided in the parking lot is shortened, the central control unit is used for reselecting the route or reselecting the idle parking spaces according to the number of real-time intersection points on the guide route of the vehicle to be guided, the large-scale congestion caused by the fact that a plurality of vehicles appear in the parking lot is avoided, and the parking lot is also the parking efficiency and the utilization rate of parking lots are improved.

Specifically, the parking space information base is provided with parking space occupation information and parking space position information of a parking lot, when the gate unit obtains inlet port position information of a vehicle to be guided, the central control unit selects position information of free parking spaces in the parking space information base, the central control unit calculates relative distances of the free parking spaces according to the inlet port position information of the vehicle to be guided and the position information of the free parking spaces, the central control unit compares the relative distances of the free parking spaces, and the free parking space corresponding to the minimum relative distance of the free parking spaces is selected to serve as the free parking space of the vehicle to be guided.

The method comprises the steps of calculating the relative distance of each vacant parking space according to the position information of the inlet of the vehicle to be guided and the position information of each vacant parking space, comparing the relative distances of the vacant parking spaces, and selecting the vacant parking space corresponding to the minimum relative distance of the vacant parking spaces as the vacant parking space of the vehicle to be guided, so that the vacant parking space can be quickly selected, the parking space can be quickly matched under the condition of small traffic flow, and the system operation time is short.

Specifically, the central control unit is internally provided with a standard inflection point number Nb, when the central control unit selects an idle parking space of a vehicle to be guided, the monitoring unit acquires a real-time moving position of the vehicle to be guided, the central control unit constructs a plurality of groups of initial guide routes according to the real-time moving position of the vehicle to be guided and the selected idle parking space, the central control unit acquires and compares route distances of the initial guide routes, selects an initial guide route corresponding to the minimum route distance as an undetermined route, the central control unit acquires the real-time inflection point number Ns of the undetermined route, and the central control unit compares the real-time inflection point number Ns with the standard inflection point number Nb,

when Ns is not more than Nb, the central control unit judges that the number of the real-time inflection points does not exceed the number of the standard inflection points, and selects the route to be determined as a guide route of the vehicle to be guided;

and when Ns is greater than Nb, the central control unit judges that the number of the real-time inflection points exceeds the number of the standard inflection points, selects the initial guide route corresponding to the minimum distance of the route except the undetermined route from each group of initial guide routes as a new undetermined route, and repeats the comparison selection operation between the number of the real-time inflection points of the undetermined route and the number of the standard inflection points, and selects the guide route of the vehicle to be guided from each group of initial guide routes.

When the free parking space of the vehicle to be guided is selected, a plurality of groups of initial guide routes are constructed through the central control unit according to the real-time moving position of the vehicle to be guided and the selected free parking space, the initial guide route corresponding to the minimum distance between the routes is selected as the to-be-guided route, the number of real-time inflection points of the to-be-guided route is compared with the number of standard inflection points, the routes are selected, the number of times of inflection points appearing on the route planned by the central control unit is reduced, the running time of the vehicle in the parking lot is increased due to the fact that the speed of the vehicle is low when the vehicle turns, meanwhile, due to the fact that the number of blind points in the parking lot is large, collision and scraping are easy to happen when the vehicle turns, and the number of times of turning of the vehicle is reduced, and safety in the parking lot is greatly improved.

Specifically, when the real-time inflection point number of each group of initial guide routes exceeds the standard inflection point number, the central control unit calculates an inflection point distance parameter of each group of initial guide routes according to the real-time inflection point number and the route distance of each group of initial guide routes, wherein the inflection point distance parameter is the product of the inflection point number and the route distance of any group of initial guide routes, the central control unit compares the inflection point distance parameters of each group of initial guide routes pairwise, compares the inflection point distance parameter K1 of any group of initial guide routes in each group of initial guide routes with the inflection point distance parameter K2 of another group of initial guide routes,

when K1 is less than K2, the central control unit selects an initial guide route with an inflection point distance parameter of K1 as a guide route of the vehicle to be guided;

when K1= K2, the central control unit judges that the inflection point distance parameters of the two groups of initial guide routes are equal, and the central control unit selects the guide route of the vehicle to be guided according to the number of the inflection points of the two groups of initial guide routes and the positions of the inflection points;

when K1 > K2, the central control unit selects an initial guide route with an inflection point distance parameter of K2 as a guide route of the vehicle to be guided.

When the real-time inflection point number of each group of initial guide routes exceeds the standard inflection point number, the inflection point distance parameters of each group of initial guide routes are calculated according to the real-time inflection point number and the route distance of each group of initial guide routes, and the inflection point distance parameters of each group of initial guide routes are compared pairwise, so that more prominent routes in comprehensive planning are rapidly screened out, the running time of the parking vehicle in the parking lot is further shortened, and the parking efficiency is improved.

Specifically, when the central control unit determines that the inflection point distance parameter of the initial guiding route with the inflection point distance parameter K1 is equal to the inflection point distance parameter of the initial guiding route with the inflection point distance parameter K2, the central control unit obtains the number of inflection points N1 of the initial guiding route with the inflection point distance parameter K1 and obtains the number of inflection points N2 of the initial guiding route with the inflection point distance parameter K2, the central control unit compares the number of inflection points N1 with the number of inflection points N2,

when N1 is less than N2, the central control unit selects an initial guide route with the inflection point quantity of N1 as a guide route of the vehicle to be guided;

when N1= N2, the central control unit acquires the first inflection point distance of the two groups of initial guiding routes, selects the initial guiding route with the smaller first inflection point distance as the guiding route of the vehicle to be guided, and when the first inflection point distances of the two groups of initial guiding routes are the same, the central control unit selects the initial guiding route with the number of inflection points of N1 as the guiding route of the vehicle to be guided;

when N1 > N2, the center control unit selects an initial guidance route having the number of inflection points N2 as a guidance route of the vehicle to be guided.

When the distance parameters of the inflection points of the two initial guiding routes are equal, the initial guiding routes with less inflection points are selected as the guiding routes of the vehicles to be guided, so that the parking safety in the parking lot is improved, when the number of the inflection points of the two groups of initial guiding routes is also equal, symmetrical routes appear to a greater extent, and the normal operation of the parking guiding system in the parking lot is ensured by judging the distance of the first inflection point or selecting the route judged first as the guiding route of the vehicles to be guided.

Specifically, when the central control unit finishes the selection of the guide route of the vehicle to be guided, the central control unit acquires the real-time guide route which is simultaneously carried out in the parking lot, the central control unit carries out route correction on the guide route of the vehicle to be guided and the real-time guide route which is simultaneously carried out, the central control unit judges the intersection point of the guide route of the vehicle to be guided and the real-time guide route which is simultaneously carried out,

when the central control unit judges that the guide route of the vehicle to be guided does not have an intersection with the real-time guide route which is carried out simultaneously, the central control unit carries out projection guide on the road surface in front of the vehicle to be guided by controlling the projection unit according to the guide route of the vehicle to be guided;

when the central control unit judges that the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously have intersection points, the central control unit judges whether the guide route of the vehicle to be guided is reselected or not according to the number of the intersection points of the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously.

When the selection of the guide route of the vehicle to be guided is completed, the real-time guide route which is carried out simultaneously in the parking lot is obtained through the central control unit, the route is corrected, the condition that the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously intersect is judged, when the condition that the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously do not intersect is judged, the condition that the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously do not intersect indicates that the guide route of the vehicle to be guided is not obstructed, and the influence on other parking vehicles does not exist, the number of commanders in the parking lot is reduced by controlling the projection unit to carry out projection guide on the road surface in front of the vehicle to be guided, meanwhile, the ground projection guide does not influence on the road in the parking lot, and compared with the person guide, the projection guide does not influence on the speed of the guided vehicle, the long-distance guide can be realized, the parking efficiency is further improved, and the vehicle jam is avoided.

Specifically, a first preset intersection point number G1 and a second preset intersection point number G2 are arranged in the central control unit, wherein G1 is less than G2, when the central control unit judges that the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously have intersection points, the central control unit obtains the real-time intersection point number Gs on the guide route of the vehicle to be guided, the central control unit compares the real-time intersection point number Gs with the first preset intersection point number G1 and the second preset intersection point number G2,

when Gs is less than G1, the central control unit judges that the number of the real-time intersection points is less than the first preset number of the intersection points, the central control unit does not reselect the guide route of the vehicle to be guided, and the central control unit performs projection guide on the road surface in front of the vehicle to be guided by controlling the projection unit according to the guide route of the vehicle to be guided;

when G1 is not less than Gs is not less than G2, the central control unit judges that the number of the real-time intersection points is between the first preset intersection point number and the second preset intersection point number, and judges whether the guide route of the vehicle to be guided is reselected or not according to the real-time guide route number of each real-time intersection point position on the guide route of the vehicle to be guided;

and when Gs is larger than G2, the central control unit judges that the number of the real-time intersection points is larger than the number of second preset intersection points, and the central control unit repeats the comparison judgment according to the route distance and the number of the inflection points of each group of initial guide routes and reselects the guide route from each group of initial guide routes except the guide route of the vehicle to be guided.

When the intersection point of the guiding route of the vehicle to be guided and the real-time guiding route which is conducted at the same time is judged, the number of the real-time intersection points on the guiding route of the vehicle to be guided is judged, when the number of the real-time intersection points is small, the influence on traffic in a parking lot is small, the vehicle to be guided is guided, when the number of the real-time intersection points is large, the influence on the parking speed of the guided vehicle is generated, meanwhile, the influence on other vehicles is generated to a great extent, therefore, the guiding route is modified, and the occurrence of vehicle congestion in the parking lot is effectively avoided.

Specifically, the central control unit is provided with a standard intersection point route number Lb and a standard intersection point route number difference Δ Lb, when the central control unit determines that the real-time intersection point number is between a first preset intersection point number and a second preset intersection point number, the central control unit obtains the real-time guiding route number of each real-time intersection point position on the guiding route of the vehicle to be guided, the central control unit calculates the real-time guiding route number difference Δ Ls according to the real-time guiding route number Ls of any real-time intersection point position and the standard intersection point route number Lb, Δ Ls = | Lb-Ls |, the central control unit compares the real-time guiding route number difference Δ Ls with the standard intersection point route number difference Δ Lb,

when the delta Ls is less than or equal to the delta Lb, the central control unit judges that the number of the real-time guide routes is within the range of the number of the standard intersection point routes, and repeats the comparison judgment according to the route distance and the inflection point number of each group of initial guide routes and reselects the guide route from each group of initial guide routes except the guide route of the vehicle to be guided;

and when the delta Ls is larger than the delta Lb, the central control unit judges that the number of the real-time guide routes is not within the range of the number of the standard intersection point routes, and compares the number of the real-time guide routes with the number of the standard intersection point routes to judge whether to reselect the free parking spaces of the vehicles to be guided.

The method comprises the steps of obtaining the number of real-time guide routes of each real-time intersection point position on a guide route of a vehicle to be guided, comparing the number of the real-time guide routes with the number range of standard intersection point routes to determine whether to reselect the guide route of the vehicle to be guided, and reducing the occurrence of a plurality of parking routes at the same intersection point and the possibility of congestion in a parking lot by reselecting the guide route.

Specifically, when the central control unit judges that the real-time guide route number is not within the range of the standard intersection route number, the central control unit compares the real-time guide route number Ls with the standard intersection route number Lb,

when Ls is less than Lb, the central control unit judges that the number of the real-time guide routes is less than the number of the routes of the standard intersection points, and the central control unit performs projection guide on the road surface in front of the vehicle to be guided by controlling the projection unit according to the guide routes of the vehicle to be guided;

when Ls is larger than Lb, the central control unit judges that the number of real-time guide routes is larger than the number of standard intersection routes, the central control unit selects position information of each free parking space in the parking space information base, the central control unit constructs each planned guide route with the shortest distance between the position of the entry of the vehicle and the position route of each free parking space according to the entry position information of the vehicle to be guided and the position information of each free parking space, selects the corresponding free parking space with the shortest route distance in each planned guide route as the free parking space of the vehicle to be guided, and the central control unit repeats the comparison judgment according to the route distance of each group of initial guide routes and the number of inflection points and reselects the guide route in each group of initial guide routes except the guide route of the vehicle to be guided.

The method comprises the steps of judging the number of real-time guide routes at each real-time intersection position on a guide route of a vehicle to be guided, indicating that the guide routes are in an intersection state when the number of the real-time guide routes is lower than that of standard intersection routes, but the number of the real-time guide routes is smaller, guiding the vehicle by the guide route of the vehicle to be guided, reducing route re-planning time of a system, indicating that more parking vehicles in the direction of the guide route of the vehicle to be guided exist or more vehicles with the positions of entry ports of the guide vehicles exist when the number of the real-time guide routes is higher than that of the standard intersection routes, carrying out re-selection of idle parking spaces, reselecting the guide route, avoiding dense areas of the vehicles, further improving parking efficiency of the vehicles, and avoiding congestion of a parking lot caused by large traffic flow.

A parking guidance system is applied to any one of the parking guidance methods, and comprises,

the gate unit is used for acquiring the position information of an entrance of a vehicle to be guided;

the parking place information base is used for storing and recording the occupation information and the position information of each parking place in the parking lot;

the monitoring unit is used for acquiring the real-time moving position of the vehicle to be guided;

the projection unit is used for projecting the path guide mark on the road surface in front of the vehicle to be guided to perform projection guide;

and the central control unit is respectively connected with the gate unit, the parking space information base, the monitoring unit and the projection unit and is used for selecting and constructing a parking free parking space of the vehicle to be guided and a route, and controlling the working state of each unit.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is apparent to those skilled in the art that the scope of the present invention is not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A parking guidance method is characterized by comprising the following steps,

the method comprises the following steps that S1, entrance position information of a vehicle to be guided is obtained through a gate unit arranged in a parking lot, an idle parking space is selected in a parking space information base through a central control unit according to the entrance position information of the vehicle to be guided, a real-time moving position of the vehicle to be guided is obtained according to a monitoring unit arranged in the parking lot, a plurality of groups of initial guiding routes are built through the central control unit according to the real-time moving position of the vehicle to be guided and the selected idle parking space, a pending route is selected according to the route distance of each group of initial guiding routes, the number of real-time inflection points of the route to be determined is compared with the number of standard inflection points arranged inside the central control unit, when the central control unit judges that the number of real-time inflection points does not exceed the number of standard inflection points, the central control unit selects the pending route as the guiding route of the vehicle to be guided, when the central control unit judges that the number of real-time inflection points exceeds the number of standard inflection points, the central control unit calculates inflection point distance parameters of each group of initial guiding routes according to the number of inflection points of the route to reselect the route in each group of initial guiding routes, and judges the number of inflection points of the guiding routes to be determined until the guiding route to be guided is determined;

s2, acquiring real-time guide routes which are carried out simultaneously in the parking lot through the central control unit, carrying out route correction on the guide route of the vehicle to be guided and the real-time guide routes which are carried out simultaneously through the central control unit, and carrying out projection guide on a road surface in front of the vehicle to be guided according to the guide route of the vehicle to be guided by the central control unit when the central control unit judges that the guide route of the vehicle to be guided and the real-time guide routes which are carried out simultaneously do not have intersection points;

and S3, when the central control unit judges that intersection points exist between the guide route of the vehicle to be guided and the real-time guide route which is conducted simultaneously, judging whether the guide route of the vehicle to be guided is reselected or not by the real-time intersection point number on the guide route of the vehicle to be guided, comparing the real-time guide route number of each real-time intersection point position on the guide route of the vehicle to be guided with a standard intersection point route number range arranged in the central control unit by the central control unit, when the real-time guide route number is within the standard intersection point route number range, reselecting the guide route of the vehicle to be guided by the central control unit, when the real-time guide route number is lower than the standard intersection point route number range, guiding according to the guide route of the vehicle to be guided by the central control unit, and when the real-time guide route number is higher than the standard intersection point route number range, reselecting the idle parking space of the vehicle to be guided and reselecting the guide route of the vehicle to be guided.

2. The parking guidance method according to claim 1, wherein the parking space information base is provided with information of occupancy of each parking space and information of position of each parking space in the parking lot, after the gate unit acquires the position information of the entrance of the vehicle to be guided, the central control unit selects the position information of each free parking space in the parking space information base, the central control unit calculates the relative distance of each free parking space according to the position information of the entrance of the vehicle to be guided and the position information of each free parking space, the central control unit compares the relative distances of the free parking spaces, and selects the free parking space corresponding to the minimum relative distance of the free parking spaces as the free parking space of the vehicle to be guided.

3. The parking guidance method according to claim 2, wherein a standard number of inflection points Nb is provided in the central control unit, when the central control unit selects an idle parking space where the vehicle to be guided is completed, the monitoring unit obtains a real-time moving position of the vehicle to be guided, the central control unit constructs a plurality of groups of initial guidance routes according to the real-time moving position of the vehicle to be guided and the selected idle parking space, the central control unit obtains and compares route distances of the initial guidance routes, an initial guidance route corresponding to the minimum route distance is selected as the route to be determined, the central control unit obtains the number of real-time inflection points Ns of the route to be determined, the central control unit compares the number of real-time inflection points Ns with the standard number of inflection points Nb,

when Ns is less than or equal to Nb, the central control unit judges that the number of the real-time inflection points does not exceed the number of the standard inflection points, and selects the route to be determined as the guide route of the vehicle to be guided;

and when Ns is greater than Nb, the central control unit judges that the number of the real-time inflection points exceeds the number of the standard inflection points, selects the initial guide route corresponding to the minimum distance of the route except the undetermined route from each group of initial guide routes as a new undetermined route, and repeats the comparison selection operation between the number of the real-time inflection points of the undetermined route and the number of the standard inflection points, and selects the guide route of the vehicle to be guided from each group of initial guide routes.

4. The parking guidance method according to claim 3, wherein when the real-time inflection point number of each set of initial guidance route exceeds the standard inflection point number, the central control unit calculates an inflection point distance parameter of each set of initial guidance route according to the real-time inflection point number and the route distance of each set of initial guidance route, wherein the inflection point distance parameter is the product of the inflection point number and the route distance of any set of initial guidance route, the central control unit compares the inflection point distance parameters of each set of initial guidance route in pairs, compares the inflection point distance parameter K1 of any set of initial guidance route in each set of initial guidance route with the inflection point distance parameter K2 of another set of initial guidance route,

when K1 is less than K2, the central control unit selects an initial guide route with an inflection point distance parameter of K1 as a guide route of the vehicle to be guided;

when K1= K2, the central control unit judges that the inflection point distance parameters of the two groups of initial guide routes are equal, and the central control unit selects the guide route of the vehicle to be guided according to the number of the inflection points of the two groups of initial guide routes and the positions of the inflection points;

when K1 > K2, the central control unit selects an initial guide route with an inflection point distance parameter of K2 as a guide route of the vehicle to be guided.

5. The parking guidance method according to claim 4, wherein when the central control unit determines that the inflection point distance parameters of the initial guidance route having the inflection point distance parameter K1 and the initial guidance route having the inflection point distance parameter K2 are equal, the central control unit obtains the number of inflection points N1 of the initial guidance route having the inflection point distance parameter K1 and obtains the number of inflection points N2 of the initial guidance route having the inflection point distance parameter K2, the central control unit compares the number of inflection points N1 with the number of inflection points N2,

when N1 is less than N2, the central control unit selects an initial guide route with the inflection point number of N1 as a guide route of the vehicle to be guided;

when N1= N2, the central control unit acquires the first inflection point distance of the two groups of initial guide routes, selects the initial guide route with the small first inflection point distance as the guide route of the vehicle to be guided, and selects the initial guide route with the number of inflection points of N1 as the guide route of the vehicle to be guided when the first inflection point distances of the two groups of initial guide routes are the same;

when N1 > N2, the center control unit selects an initial guidance route having the number of inflection points N2 as a guidance route of a vehicle to be guided.

6. The parking guidance method according to claim 5, wherein when the central control unit completes the selection of the guidance route of the vehicle to be guided, the central control unit acquires a real-time guidance route performed simultaneously in the parking lot, the central control unit performs route correction on the guidance route of the vehicle to be guided and the real-time guidance route performed simultaneously, the central control unit determines an intersection point of the guidance route of the vehicle to be guided and the real-time guidance route performed simultaneously,

when the central control unit judges that the guide route of the vehicle to be guided does not have an intersection with the real-time guide route which is carried out simultaneously, the central control unit carries out projection guide on the road surface in front of the vehicle to be guided by controlling the projection unit according to the guide route of the vehicle to be guided;

when the central control unit judges that the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously have intersection points, the central control unit judges whether the guide route of the vehicle to be guided is reselected or not according to the number of the intersection points of the guide route of the vehicle to be guided and the real-time guide route which is carried out simultaneously.

7. The parking guidance method according to claim 6, wherein a first preset number of intersection points G1 and a second preset number of intersection points G2 are provided in the central control unit, wherein G1 < G2, when the central control unit determines that there is an intersection point between the guidance route of the vehicle to be guided and the real-time guidance route performed simultaneously, the central control unit obtains the real-time number of intersection points Gs on the guidance route of the vehicle to be guided, the central control unit compares the real-time number of intersection points Gs with the first preset number of intersection points G1 and the second preset number of intersection points G2,

when Gs is smaller than G1, the central control unit judges that the number of the real-time intersection points is smaller than the first preset number of the intersection points, the central control unit does not reselect a guide route of the vehicle to be guided, and the central control unit performs projection guide on a road surface in front of the vehicle to be guided by controlling the projection unit according to the guide route of the vehicle to be guided;

when G1 is not less than Gs is not less than G2, the central control unit judges that the number of the real-time intersection points is between the first preset intersection point number and the second preset intersection point number, and judges whether the guide route of the vehicle to be guided is reselected or not according to the real-time guide route number of each real-time intersection point position on the guide route of the vehicle to be guided;

and when Gs is larger than G2, the central control unit judges that the number of the real-time intersection points is larger than the number of second preset intersection points, and the central control unit repeats the comparison judgment according to the route distance and the number of the inflection points of each group of initial guide routes and reselects the guide route from each group of initial guide routes except the guide route of the vehicle to be guided.

8. The parking guidance method according to claim 7, wherein a standard intersection point route number Lb and a standard intersection point route number difference Δ Lb are set in the center control unit, when the center control unit determines that the real-time intersection point number is between a first preset intersection point number and a second preset intersection point number, the center control unit obtains the real-time guidance route number at each real-time intersection point position on the guidance route of the vehicle to be guided, the center control unit calculates a real-time guidance route number difference Δ Ls, Δ Ls = | Lb-Ls | from the real-time guidance route number Ls at any one real-time intersection point position and the standard intersection point route number Lb, the center control unit compares the real-time guidance route number difference Δ Ls with the standard intersection point route number difference Δ Lb,

when the delta Ls is less than or equal to the delta Lb, the central control unit judges that the number of the real-time guide routes is within the range of the number of the standard intersection point routes, and repeats the comparison judgment according to the route distance and the inflection point number of each group of initial guide routes and reselects the guide route from each group of initial guide routes except the guide route of the vehicle to be guided;

and when the delta Ls is larger than the delta Lb, the central control unit judges that the number of the real-time guide routes is not within the range of the number of the standard intersection point routes, and compares the number of the real-time guide routes with the number of the standard intersection point routes to judge whether to reselect the free parking spaces of the vehicles to be guided.

9. The parking guidance method according to claim 8, wherein when the central control unit determines that the number of real-time guidance routes is not within the range of the number of standard intersection routes, the central control unit compares the number of real-time guidance routes Ls with the number of standard intersection routes Lb,

when Ls is less than Lb, the central control unit judges that the number of the real-time guide routes is less than the number of the routes of the standard intersection points, and the central control unit performs projection guide on a road surface in front of the vehicle to be guided by controlling the projection unit according to the guide routes of the vehicle to be guided;

when Ls is larger than Lb, the central control unit judges that the number of the real-time guide routes is larger than the number of the standard intersection routes, the central control unit selects position information of each free parking space in the parking space information base, the central control unit constructs each planned guide route with the shortest distance between the entry position of the vehicle and the position route of each free parking space according to the entry position information of the vehicle to be guided and the position information of each free parking space, selects the corresponding free parking space with the shortest route distance in each planned guide route as the free parking space of the vehicle to be guided, and the central control unit repeats the comparison judgment between the route distance of each group of initial guide routes and the number of inflection points and reselects the guide route in each group of initial guide routes except the guide route of the vehicle to be guided.

10. A parking guidance system applied to the parking guidance method according to any one of claims 1 to 9, comprising,

a gate unit for acquiring entry position information of a vehicle to be guided;

the parking place information base is used for storing and recording the occupation information and the position information of each parking place in the parking lot;

the monitoring unit is used for acquiring the real-time moving position of the vehicle to be guided;

the projection unit is used for projecting the path guide mark on the road surface in front of the vehicle to be guided to perform projection guide;

and the central control unit is respectively connected with the gate unit, the parking space information base, the monitoring unit and the projection unit and is used for selecting and constructing a parking free parking space of the vehicle to be guided and a route, and controlling the working state of each unit.

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