CN102800212B - Intelligent parking system under a kind of environment of internet of things - Google Patents
Intelligent parking system under a kind of environment of internet of things Download PDFInfo
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- CN102800212B CN102800212B CN201210261689.4A CN201210261689A CN102800212B CN 102800212 B CN102800212 B CN 102800212B CN 201210261689 A CN201210261689 A CN 201210261689A CN 102800212 B CN102800212 B CN 102800212B
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Abstract
Along with the development of Internet of Things, the maturation of Internet of Things support technology and commercialization, the Intelligent parking system building low cost under environment of internet of things becomes possibility, the invention discloses the Intelligent parking system under a kind of environment of internet of things, this system comprises: wireless sensing unit, intelligent node units, management and running unit, humanization interface unit, when the parking stall resource of management and running unit and the management of path resource, and the optimization of the optimization of vehicle running path and parking lot Management plan can be distributed to each intelligent node and worked in coordination with, then management and running unit can be replaced by intelligent node units completely.This system can replace people to park completely and pick up the car, and the construction cost of system is low, sets up flexibly, can improve parking stall utilization factor and the park security of efficiency and process of parking and the comfort level of people.
Description
Technical background
The invention belongs to Intelligent parking system field, the Intelligent parking system particularly under a kind of environment of internet of things.
Background technology
Along with the propelling of Process of Urbanization Construction and the increase of city automobile recoverable amount, large parking lot demand is increasing, especially urban district is in the process of expansion of suburb, the newly-built airports, station, subway station, shopping mall, residential quarter, tourist attractions etc. large at vehicle density are equipped with large parking lot, these inner part of parking lot parking stalls are numerous, track is complicated, the order of parking of labor management is more chaotic, efficiency of parking is low, and vehicle easily collides with, scratches, occupy the significant proportion of non-safety traffic hazard.
For As-Is, on the one hand, the automobile services product developed, as parking guidance system, Intelligent vehicle-tracing system and automatic parking backup system, although the vehicle location just realized within the scope of several meters and attitude automatic regulation function, also greatly reduce the accident rate that vehicle collides with; Parking guidance system is then by showing the idle parking stall number in each region, parking lot in real time, and guide people finds parking stall more orderlyly, but people still can not free from uninteresting process of parking, and still easily blocks up once vacant parking stall density is less.On the other hand, the Full automatic parking lot developed can replace people to park and pick up the car completely, but be limited to the high construction cost of wherein electro-hydraulic kinematic train, this type of parking lot generally only has a hundreds of parking stall and will customize according to applied environment, is not suitable for scale of mass production.
At present, the Intelligent parking system building low cost under environment of internet of things becomes possibility, and can people be replaced completely to park and pick up the car, reason be two aspects: on the one hand, the maturation of Internet of Things support technology and commercialization.1. wireless network communication protocol reaches its maturity, and as low-cost wireless procotol IEEE802.15.4 defines the function of Physical layer and data link layer, Zigbee protocol stack then achieves network layer, basic software and wireless network driver.2. the maturation of basic software and hardware technology.Based on universal and embedded OS perfect of the micro-control unit of radio network interface, sensor, facilitate volume production and the commercialization of the compute node of low cost.Thus, the large-scale wireless Sensor Network of user's energy fast assembling low cost, the application accelerating Internet of Things transforms.Internet of Things, based on wireless sense network, to be connected by object-object, cooperate optimization and intelligent decision, thus the compute node of low cost is made as intelligentized object (i.e. intelligent node).On the other hand, the automatic control technology of vehicle reaches its maturity, red flag HQ3 pilotless automobile as National University of Defense technology's independent development tests successfully from Changsha to Wuhan highway, Goog1e pilotless automobile has carried out the automatic Pilot test of more than 20 ten thousand kilometers on street, and these are that the automatic control realizing vehicle slow running in process of parking is laid a good foundation.
Summary of the invention
The present invention is directed to As-Is, propose the Intelligent parking system under a kind of environment of internet of things, this system can replace people to park completely and pick up the car, and the construction cost of system is low, set up flexibly, parking stall utilization factor can be improved and the park security of efficiency and process of parking and the comfort level of people.
The block diagram of the Intelligent parking system under a kind of environment of internet of things that the present invention proposes, as Fig. 1 of accompanying drawing, comprising: wireless sensing unit 1, intelligent node units 2, management and running unit 3, humanization interface unit 4,
Wireless sensing unit is arranged on the parking stall in parking lot, and wireless sensing unit is connected with intelligent node units, and wireless sensing unit detects parking stall and whether stops there is information of vehicles, and the parking space information of detection is sent to intelligent node units.
Intelligent node units: each intelligent node units is all equipped with wireless communication module, is connected with each other between intelligent node units.The adjacent wireless sensing unit of some numbers forms a region, and each region is managed by an intelligent node units.Vehicle is furnished with wireless vehicle mounted communication module, and intelligent node units is connected with the moving vehicle in parking lot by wireless network.Intelligent node units is connected with management and running unit.Parking stall is stopped there is the information of vehicle by intelligent node units, the positional information of moving vehicle issues management and running unit, and the traffic order of receiving scheduling administrative unit, resolution scheduling order, with the automatic running process of the mode controlled motion vehicle of close-loop feedback.
Management and running unit: management and running unit is connected with humanization interface unit.Parking stall resource in management and running unit unified management parking lot and path resource, realize the optimization of vehicle running path and the optimization of parking lot Management plan.
Humanization interface unit: user is connected with humanization interface unit, humanization interface unit receives the demand information of user, user's request information is sent to management and running unit, and humanization interface unit sends to user automatically by the performance of user's request information.
Especially, described wireless sensing unit is connected with intelligent node units, is connected by cable network or wireless network mode.
Especially, be connected with each other between described intelligent node units, be connected by cable network or wireless network mode.
Especially, described intelligent node units is connected with management and running unit, is connected by cable network or wireless network mode.
Especially, described intelligent node units comprises with the automatic running process of the mode controlled motion vehicle of close-loop feedback: the real-time detection of moving vehicle position, the calculating of moving vehicle real time control command and sending of moving vehicle real time control command.
The real-time detection of moving vehicle position comprises: the wireless signal that the wireless vehicle mounted communication module that intelligent node units collects moving vehicle in real time sends, the signal intensity deixis provided in wireless communication IEEE802.15.4 standard is provided, estimate distance between the two by signal intensity, estimated the position of sports car by the range estimation of multiple intelligent node and the position coordinates of intelligent node.
The calculating of moving vehicle real time control command comprises: application network control method, consider uncertain network delay, Control system resolution index and varying sampling period, moving vehicle real-time control problem is equivalent to the control problem of time lag change, then applies Random Control Method calculating steering order.
Especially, the method of the division in described region comprises: the Cost And Performance demand considering unit in the communication distance index of wireless network, the communication energy consumption indicators of wireless network, the communication capacity of intelligent node units and Intelligent parking system, adopts the wireless sensing unit number in the number of optimization method zoning and regional.
Especially, the parking stall resource of management and running unit and the optimization of the management of path resource and the optimization of vehicle running path and parking lot Management plan can be distributed to each intelligent node and work in coordination with, then management and running unit can be replaced by intelligent node units completely.
Especially, in humanization interface unit, integrated safety practice comprises: biometric apparatus, coded lock Authentication devices.
Accompanying drawing explanation
The block diagram of the Intelligent parking system under a kind of environment of internet of things that Fig. 1 the present invention proposes
The schematic diagram of the Intelligent parking system under a kind of environment of internet of things that Fig. 2 embodiment of the present invention provides
Embodiment
Provide the specific embodiment of the present invention below in conjunction with accompanying drawing 2, but the present invention is not limited to the following examples.
Internet of Things Intelligent parking system of the present invention comprises: as shown in Figure 2, wireless sensing unit 13,14; Intelligent node units 6,8,16; Management and running unit 9; Humanization interface unit 12.
The principle of work of Internet of Things Intelligent parking system is:
Wireless sensing unit: each parking stall 7 is equipped with a wireless sensing unit, wireless sensing unit 13 is connected with intelligent node units 16 by wireless network 15, parking stall sky is accounted for information (detect parking stall and whether stop there is vehicle) and send to intelligent node units, it is " accounting for " that the sky that wireless sensing unit as parking stall 5 returns accounts for information, and it is " sky " that the sky that the wireless sensing unit of parking stall 7 returns accounts for information.The realization of wireless sensing unit comprises ultrasonic sensor and image recognition sensor.
Intelligent node units: each intelligent node units is all equipped with wireless communication module, the adjacent wireless sensing unit of some numbers forms a region 17, each region is managed by an intelligent node units, the method of the division in region comprises: the Cost And Performance demand considering unit in the communication distance index of wireless network, the communication energy consumption indicators of wireless network, the communication capacity of intelligent node units and Intelligent parking system, adopts the wireless sensing unit number in the number of optimization method zoning and regional.Intelligent node units is connected each other by wireless network.Vehicle is furnished with wireless vehicle mounted communication module, and intelligent node units is connected with the moving vehicle in parking lot by wireless network 3, and intelligent node 8 is connected with management and running unit by wireless network.The parking stall of collecting sky is accounted for information by intelligent node units, the positional information of moving vehicle issues management and running unit, and the traffic order of receiving scheduling administrative unit, resolution scheduling order, with the automatic running process of the mode controlled motion vehicle of close-loop feedback.Intelligent node units comprises with the automatic running process of the mode controlled motion vehicle of close-loop feedback: the real-time detection of moving vehicle position, the calculating of moving vehicle real time control command and sending of moving vehicle real time control command.The real-time detection of moving vehicle position comprises: the wireless signal that the wireless vehicle mounted communication module that intelligent node units collects moving vehicle in real time sends, the signal intensity deixis provided in wireless communication IEEE802.15.4 standard is provided, distance is between the two estimated by signal intensity, so, by the estimated value of several intelligent node and the position coordinates of intelligent node, the position of moving vehicle just can be estimated.The calculating of moving vehicle real time control command comprises: application network control method, consider uncertain network delay, Control system resolution index and varying sampling period, moving vehicle real-time control problem is equivalent to the control problem of time lag change, then applies Random Control Method calculating steering order.The hardware implementation mode of intelligent node units comprises: the chip of micro-control unit, FPGA, customization.The hardware implementing of wireless communication module comprises: discrete wireless communication chips and be integrated in the IP kernel of chip internal of customization.
Management and running unit: management and running unit is connected with humanization interface unit with intelligent node units.Connection 10 between management and running unit 9 and humanization interface unit 12 can be wired connection or wireless connection.The demand of parking and pick up the car that management and running cell processing humanization interface unit is sent, parks and the demand of picking up the car comprises the demand of parking and pick up the car of park and pick up the car demand and reservation immediately.For demand of parking and pick up the car immediately, parking stall resource in management and running unit unified management parking lot and path resource, and consider the position of the barrier 2 in parking lot, the rational vehicle running path of optimization, and the vehicle running path of optimization is sent to intelligent node units; For the demand of parking and pick up the car of subscribing, whether the reservation demand that management and running unit analyzes user according to the current Management plan in parking lot can meet.Management and running unit also records parking stall resource and the path resource behaviour in service in parking lot, utilizes statistical multivariate data analysis method to obtain the best Management plan in parking lot.The hardware implementation mode of management and running unit comprises: the computing machine of high performance industrial control computer, workstation, PC and customization.The parking stall resource of management and running unit and the optimization of the management of path resource and the optimization of vehicle running path and parking lot Management plan can be distributed to each intelligent node and work in coordination with, and management and running unit can be replaced by intelligent node completely.
Humanization interface unit: user is mutual by the management and running unit of humanization interface unit and Intelligent parking system, humanization interface unit can receive parking of user and demand of picking up the car, and the process of parking and pick up the car in parking lot is completed by Internet of Things Intelligent parking system.The demand of parking of user is included in the parking stall subscription information etc. being issued humanization interface unit before automobile arrives Entrance by Wireless Telecom Equipment; The demand of picking up the car of user comprises user issued humanization interface unit before arriving EXIT information etc. of picking up the car by Wireless Telecom Equipment.Humanization interface unit sends to user automatically by the performance of user's request information, as the demand information subscribed for user parking stall, whether the reservation demand that management and running unit analyzes user according to the current Management plan in parking lot can meet, whether satisfiable for reservation demand information is sent to humanization interface unit by management and running unit, whether reservation demand can be met information by humanization interface unit automatically sends to user, informs whether user parking stall subscribes the information such as successfully.Safety practice integrated in humanization interface unit comprises: biometric apparatus, coded lock Authentication devices.Humanization interface unit hardware realizes comprising: fixed interactive device is as touch-screen, PC etc., and fixed and portable customization interactive device that can be mutual with Wireless Telecom Equipment.
Intelligent parking system under a kind of environment of internet of things that the present invention proposes, can people be replaced completely to park and pick up the car, the construction cost of system be low, sets up flexibly, can improve parking stall utilization factor and the park security of efficiency and process of parking and the comfort level of people.
The course of work of Internet of Things Intelligent parking system embodiment is:
User arrives Entrance place, automobile 1 open wireless vehicle-carrying communication module, and user sends and parks demand immediately to humanization interface unit 12, starts to park.The demand of parking immediately of user is transmitted to management and running unit 9 by humanization interface unit 12, the demand of parking immediately of management and running cell processing user, notify that nearest intelligent node units is connected with wireless vehicle mounted communication module, wireless vehicle mounted communication module is connected to the intelligent node units 6 nearest with automobile by network 3.The automobile 20 of another porch is adopted to use the same method and the demand of parking is passed to management and running unit.
Management and running unit can unify the demand of parking processing automobile 1 and automobile 20.Management and running unit, by optimizing the parking stall resource in parking lot and the unified of path resource, can determine that the parking stall of parking of automobile 1 and automobile 20 is parking stall 7 and parking stall 4 respectively.Management and running unit adopts the paths planning method of moving vehicle simultaneously, draw the driving path of optimization, optimizing index comprises the shortest time of parking of No Assets conflict, for automobile 20, the driving path 19 that management and running unit is optimized, the driving path optimized sends intelligent node units to the form of some feature locations information 18, feature locations information comprises the value of position and the steering angle obviously turned in vehicle traveling process, if feature locations information 18 place steering angle is counterclockwise 35 degree.
The feature locations information that intelligent node units is sent according to management and running unit controls the automatic running of automobile: turn to by the steering angle requirement of management and running unit when feature locations, not when feature locations then along straight-line travelling.Final automobile 20 arrives parking stall 4, completes and parks.
When picking up the car, send the demand of picking up the car output the process in parking lot to automobile 11 from user, the course of work of Intelligent parking system unit is similar with the process of parking.Final automobile 11 arrives EXIT place, and user given by automobile, the wireless network of Intelligent parking system automatically and automobile 11 disconnect, complete and pick up the car.
Claims (6)
1. the Intelligent parking system under environment of internet of things, is characterized in that: comprising: wireless sensing unit, intelligent node units, management and running unit, humanization interface unit,
Wireless sensing unit is arranged on the parking stall in parking lot, and wireless sensing unit is connected with intelligent node units, and wireless sensing unit detects parking stall and whether stops there is information of vehicles, and the parking space information of detection is sent to intelligent node units;
Intelligent node units: each intelligent node units is all equipped with wireless communication module, be connected with each other between intelligent node units, the adjacent wireless sensing unit of some numbers forms a region, each region is managed by an intelligent node units, vehicle is furnished with wireless vehicle mounted communication module, intelligent node units is connected with the moving vehicle in parking lot by wireless network, intelligent node units is connected with management and running unit, the information having vehicle is stopped in parking stall by intelligent node units, the positional information of moving vehicle issues management and running unit, and the traffic order of receiving scheduling administrative unit, resolution scheduling order, with the automatic running process of the mode controlled motion vehicle of close-loop feedback,
Intelligent node units comprises with the automatic running process of the mode controlled motion vehicle of close-loop feedback: the real-time detection of moving vehicle position, the calculating of moving vehicle real time control command and sending of moving vehicle real time control command:
The real-time detection of moving vehicle position comprises: the wireless signal that the wireless vehicle mounted communication module that intelligent node units collects moving vehicle in real time sends, the signal intensity deixis provided in wireless communication IEEE802.15.4 standard is provided, estimate distance between the two by signal intensity, estimated the position of sports car by the range estimation of multiple intelligent node and the position coordinates of intelligent node;
The calculating of moving vehicle real time control command comprises: application network control method, consider uncertain network delay, Control system resolution index and varying sampling period, moving vehicle real-time control problem is equivalent to the control problem of time lag change, then applies Random Control Method calculating steering order;
Management and running unit: management and running unit is connected with humanization interface unit, the parking stall resource in management and running unit unified management parking lot and path resource, realize the optimization of vehicle running path and the optimization of parking lot Management plan;
Humanization interface unit: user is connected with humanization interface unit, humanization interface unit receives the demand information of user, and user's request information is sent to management and running unit, and the performance of user's request is sent to user by humanization interface unit automatically.
2. Intelligent parking system according to claim 1, it is characterized in that: the parking stall resource of management and running unit and the optimization of the management of path resource and the optimization of vehicle running path and parking lot Management plan are distributed to each intelligent node and have worked in coordination with, and management and running unit can be replaced by intelligent node units completely.
3. Intelligent parking system according to claim 1, it is characterized in that: the method for the division in described region comprises: the Cost And Performance demand considering unit in the communication distance index of wireless network, the communication energy consumption indicators of wireless network, the communication capacity of intelligent node units and Intelligent parking system, adopt the wireless sensing unit number in the number of optimization method zoning and regional.
4. Intelligent parking system according to claim 1, is characterized in that: safety practice integrated in humanization interface unit comprises: biometric apparatus, coded lock Authentication devices.
5. Intelligent parking system according to claim 1, it is characterized in that: described wireless sensing unit is connected with intelligent node units, be connected by cable network or wireless network mode, be connected with each other between described intelligent node units, be connected by cable network or wireless network mode, described intelligent node units is connected with management and running unit, is connected by cable network or wireless network mode.
6. Intelligent parking system according to claim 1, is characterized in that: the hardware implementation mode of intelligent node units comprises: micro-control unit, FPGA.
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| DE102015208058B4 (en) * | 2015-04-30 | 2017-06-29 | Robert Bosch Gmbh | Automated parking system |
| DE102015208053A1 (en) * | 2015-04-30 | 2016-11-03 | Robert Bosch Gmbh | Method and device for reducing the risk to and / or from a vehicle located in a parking space |
| CN107665393A (en) * | 2016-07-29 | 2018-02-06 | 宁波国研软件技术有限公司 | A kind of automobile management method based on automatic Pilot technology |
| CN110766966A (en) * | 2018-07-25 | 2020-02-07 | 广州小鹏汽车科技有限公司 | Vehicle scheduling method, device, equipment and server |
| CN109147379A (en) * | 2018-08-31 | 2019-01-04 | 重庆唯哲科技有限公司 | Garage parking intelligently guiding terminal and its control method |
| CN109922162B (en) * | 2019-04-26 | 2021-09-28 | 山东建筑大学 | Flat building equipment Internet of things monitoring system and method based on block chain |
| CN110517527A (en) * | 2019-08-21 | 2019-11-29 | 同济大学 | Isomerous multi-source wireless sensor network and its it is autonomous nobody park method |
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