CN103810898A - Automatic parking and picking system and method - Google Patents
Automatic parking and picking system and method Download PDFInfo
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- CN103810898A CN103810898A CN201210460331.4A CN201210460331A CN103810898A CN 103810898 A CN103810898 A CN 103810898A CN 201210460331 A CN201210460331 A CN 201210460331A CN 103810898 A CN103810898 A CN 103810898A
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Abstract
The invention relates to an automatic parking and picking system, comprising a global positioning system (1), an inertial navigation device (2), a computer (18), a parking spot detector (6), a parking lot server center (5), and a first communication module (3), a second communication module (4) and a third communication module (7) applied to a car (11) for performing wireless communication between the parking lot server center (5) and the parking spot detector (6). According to the automatic parking and picking system provided by the invention, the automatic operation of the car traveling from the entrance of the parking lot to the parking spot and traveling from the sparking spot to the exit of the parking lot can be achieved, and the time for parking and picking the car is shortened; the automatic parking and picking system is also networked with the map database of a local parking lot management server, and shares the local parking lot map data, so that the parking spot resource use ratio and the management efficiency of the parking lot are improved.
Description
Technical field
The present invention relates to a kind of Vehicle berth navigational system, more particularly, relate to a kind of automatic stopping based on global position system system of picking up the car.
Background technology
Along with the progressively raising of China's expanding economy and living standards of the people, automobile starts to enter in a large number family, society's automobile pollution presents the trend of rapid growth, but, due to the hysteresis of parking area planning and construction, economically developed at some, car owning amount occupies high city, and the contradiction of berth difficulty also becomes increasingly conspicuous.On the one hand, because berth difficulty is looked for, the vehicle causing disorderly stops leaving about, the disorder road passage capability that reduced, aggravate urban traffic blocking, meanwhile, because asymmetric berth resource supply and demand information, the remote reason such as geographical position, parking lot and low berth information transfer efficiency make berth resource often can not get sufficient utilization.How by berth information vacant parking lot in time, convenient, effectively pass to the driver that need to park and become problem demanding prompt solution.On the other hand, when car owner has parking stall in the time that steering vehicle enters parking lot, because space, parking lot is large, environment and mark is similar, direction is difficult for distinguishing etc. that reason causes car owner easily to get lost in parking lot, find the vehicle less than oneself, car owner, from entering parking lot to sailing to parking stall or rolling parking lot from parking stall away from and all expend a large amount of time and efforts, is stopped and is bothered thing with one that has picked up the car into car owner.
Summary of the invention
The technical problem to be solved in the present invention is the above-mentioned defect for prior art, and a kind of automatic stopping system of picking up the car is provided.Car owner presses communications buttons card taking afterwards and gets off at Entrance place, vehicle automatic Pilot under the assistance of native system arrives free parking space, when picking up the car, car owner only need swipe the card at EXIT, vehicle meeting automatic Pilot is to EXIT, the present invention has realized the Full automatic unmanned of parking and the process of picking up the car, not only solve car owner's the difficult problem in berth, and shortened parking and picked up the car the consumed time.
The present invention solves the problems of the technologies described above the technical scheme of taking: construct a kind of automatic stopping system of picking up the car, comprise for receiving gps signal, the global position system that automobile is navigated, for the orientation of measured automobiles, acceleration and angular velocity, control travel speed and the direction of vehicle, vehicle is carried out to the inertial measuring unit of self-aid navigation, be used for the parking stall detector of detecting parking position behaviour in service and obtaining idle parking space information, for receiving and store the parking lot server-centric of idle parking space information, be used at automobile, between parking lot management server and parking stall three, carry out the first communication module of radio communication, second communication module and third communication module and for starting and close the communications buttons of first communication module.
Pick up the car in system at automatic stopping of the present invention, described first communication module is used for sending parking and solicited message and reception parking space information, described second communication module is for receiving the parking space information of parking and pick up the car solicited message and parking stall detector and sending parking space information to described first communication module, described third communication module is used for sending parking space information to described the second communication module, described first communication module and global position system, inertial measuring unit and described second communication module input end and output terminal each other, described third communication module provides input end by parking stall detector, output terminal is connected to second communication module.
Pick up the car in system at automatic stopping of the present invention, described global position system comprises CPU element for calculating optimum drive path, is connected with CPU, for receiving the GPS receiving element of gps signal, for the map data base of store map data with for showing the touch-screen of driving path.
Pick up the car in system at automatic stopping of the present invention, described parking lot server-centric comprises the map data base of networking with local parking lot database server and sharing map datum.
Pick up the car in system at automatic stopping of the present invention, described inertial measuring unit comprises for the accelerometer of measured automobiles acceleration, for calculating the speed of automobile and the computing machine of position data according to institute measuring acceleration and for the angular velocity of measured automobiles and the gyroscope of vehicle heading.
The present invention also constructs a kind of automatic stopping method of picking up the car, and comprises the following steps:
S1) car owner is stopped at Entrance place, presses communications buttons, sends the request of parking;
S2) parking lot server-centric is received the request of parking, sends parking stall geographic coordinate and receives to global position system;
S3) as there is gps signal in parking lot, global position system automatic reception gps signal, calculates optimum drive path, according to optimum drive path, automobile is navigated, and by travel speed and the direction of accelerometer and gyroscope control automobile, running car is to auto extinguishing behind target parking stall; Otherwise computing machine is automatically downloaded and received the parking space diagram data that parking lot server-centric provides, and by travel speed and the direction of accelerometer and gyroscope control automobile, automobile is carried out to inertial navigation, automobile automatic running is to auto extinguishing behind target parking stall;
S4) car owner swipes the card at EXIT, uses remote-control key opening automobile;
S5) parking lot server-centric is received the request of picking up the car, and sends the control signal of picking up the car, and computing machine receives the control signal of picking up the car;
S6) as there is gps signal in parking lot, global position system automatic reception gps signal, calculates optimum drive path, according to optimum drive path, automobile is navigated, and by travel speed and the direction of accelerometer and gyroscope control automobile, guide automobile automatic running EXIT; Otherwise the parking space diagram data that parking lot server-centric provides is downloaded and received to computing machine automatically, by travel speed and the direction of accelerometer and gyroscope control automobile, automobile is carried out to inertial navigation, guide automobile automatic running to EXIT.
Implement the automatic stopping of the present invention system of picking up the car, there is following beneficial effect: 1) native system efficiently solves car owner's the difficult problem in berth; 2) native system has been realized the full-automatic navigation of the process of picking up the car of stopping, and car owner can complete whole parking and the process of picking up the car without steering vehicle, has shortened and has stopped and pick up the car the consumed time, has improved the parking stall level of resources utilization in parking lot; 3) map datum in local parking lot is realized and being shared, and has improved the efficiency of management in parking lot.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the pick up the car structural representation of system of automatic stopping of the present invention;
Fig. 2 is the automatic stopping of the present invention structural representation of global position system that system embodiment uses of picking up the car;
Fig. 3 is pick up the car parking procedure's process flow diagram of embodiment of the method for automatic stopping of the present invention;
Fig. 4 is the pick up the car program flow diagram of picking up the car of embodiment of the method for automatic stopping of the present invention.
Embodiment
In order to make object of the present invention clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, the automatic stopping system of picking up the car of the present invention comprises for receiving gps signal, the global position system 1 that automobile 11 is navigated, for the orientation of measured automobiles 11, acceleration and angular velocity, control travel speed and the direction of vehicle, vehicle is carried out to the inertial measuring unit 2 of self-aid navigation, be used for the parking stall detector 6 of detecting parking position behaviour in service and obtaining idle parking space information, for receiving and store the parking lot server-centric 5 of idle parking space information, be used at automobile 11, between parking lot server-centric 5 and parking stall 8 threes, carry out the first communication module 3 of radio communication, second communication module 4 and third communication module 7 and for starting and close the communications buttons 9 of first communication module 3.
As shown in Figure 2, pick up the car in system at automatic stopping of the present invention, described global position system 1 comprises CPU element 14 for calculating optimum drive path, is connected with CPU element 14, for receive gps signal and the GPS unit 11 of navigation feature is provided, for the map data base 16 of store map data with for showing the touch-screen 17 of driving path.
As shown in Figure 3, in frame 101, car owner's steering vehicle travels to Entrance place, and car owner gets off by the rear card taking of communications buttons 9 in getting off, and communications buttons 9 is opened first communication module 3, and first communication module 3 sends to parking lot server-centric 5 request of parking.In frame 102, parking lot server-centric 5 is received the parking request that first communication module 3 sends, and searches the geographic coordinate of idle parking stall 8, sends to first communication module 3 by second communication module 4, first communication module 3 receives the information of idle parking stall 8, is passed to global position system 1.Automobile 11 fixation pause parking lot gps signal situations determine whether downloading and receiving the parking space diagram data that map data base 10 provides.In frame 103, described parking lot is open parking ground, gps signal in order, GPS receiving element 11 receives gps signal, obtain the geography information in vehicle current location and parking lot, on touch-screen 17, demonstrate the inside detail map in parking lot, CPU 14 is made as the geographic coordinate of the geographic coordinate of automobile 11 current locations and idle parking stall 8 respectively and drives path starting point and terminal, calculate optimum drive path, global position system 1 is carried out travel speed and the direction of measured automobiles 11 by accelerometer 12 and gyroscope 13, detecting automobile 11 road and obstacle information around, avoiding barrier, according to the optimum drive path that touches screen display, automobile 11 is navigated, until vehicle automatic running is to 8 locations, idle parking stall.In frame 104, automobile 11 enters the rear auto extinguishing in parking stall 8.In frame 105, described parking lot is positioned at underground and covers without gps signal, the parking lot detailed map data that map data base 10 provides is downloaded and received to computing machine 18 automatically, control travel speed and the direction of automobile 11 by inertial measuring unit 2, it is carried out to autonomous type inertial navigation, in automobile 11 driving process, the accelerometer 12 of inertial measuring unit 2 and gyroscope 13 are for the position of measured automobiles 11, speed and direction, detecting automobile 11 road and obstacle information around, avoiding barrier, automobile 11 is in extremely 8 locations, idle parking stall of auxiliary lower automatic running of inertial measuring unit 2.In frame 106, automobile 11 enters the rear auto extinguishing in parking stall 8.
As shown in Figure 4, in frame 101, when car owner need to pick up the car, at EXIT, place swipes the card, and with remote-control key remote activation vehicle.In frame 102, parking lot management server 5 is responded to car owner and is swiped the card, and receives the request signal of picking up the car, and by second communication module 4, the control signal of picking up the car is sent to first communication module 3, and first communication module 3 passes to computing machine 18 by this control signal again.Global position system 1 has memory function, and the geography information of idle parking stall 8 is arrived map data base 16 by autostore.Computing machine 18 fixation pause parking lot gps signal situations determine whether downloading and receiving the parking space diagram data that in parking lot server-centric (5), map data base 10 provides.In frame 103, Shi Ge open parking ground, described parking lot, gps signal is good, GPS receiving element 15 automatic reception gps signals, obtain the coordinate information of EXIT and the cartographic information in parking lot, touch-screen 17 shows the additional detailed map information in parking lot, CPU element 14 is made as the geographic coordinate of idle parking stall 8 and EXIT respectively starting point and the terminal of driving path, calculate optimum drive path, global position system 1 is carried out travel speed and the direction of measured automobiles 11 by accelerometer 12 and gyroscope 13, detecting automobile 11 road and obstacle information around, avoiding barrier, according to the optimum drive path showing on touch-screen 17, automobile 11 is navigated.In frame 104, automobile 11 assists automatic running to EXIT place global position system 1.In frame 105, described parking lot is positioned at underground and covers without gps signal, detailed map data under the parking space that computing machine 18 is downloaded automatically and reception map data base 10 provides, control travel speed and the direction of automobile 11 by inertial measuring unit 2, it is carried out to inertial navigation, in automobile 11 driving process, the accelerometer 12 of inertial measuring unit 2 and gyroscope 13 are for position, speed and the direction of measured automobiles 11, detecting automobile 11 road and obstacle information around, avoiding barrier.In frame 106, automobile 11 under the guide of inertial measuring unit 2 automatic running to EXIT place.
The map data base 10 of parking lot server-centric 5 is connected to local parking lot database server, share each other map datum, when car owner stops and picks up the car operation in other parking lot, if described parking lot is not only without gps signal covering but also without parking space diagram data, automobile 11 sends the request of downloading parking space diagram data to described parking lot by first communication module 3, described parking lot server-centric is received request, connect and download in the database server of local parking lot required parking space diagram data and send to automobile 11 to receive, automobile 11 is picked up the car under assisting of system at automatic stopping, by inertial navigation unit 2, automobile 11 is carried out to inertial navigation, until automobile 11 arrives destination.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (6)
1. an automatic stopping and the system of picking up the car, it is characterized in that, comprise for receiving gps signal, the global position system (1) that automobile (11) is navigated, for controlling travel speed and the direction of vehicle, vehicle is carried out to the inertial measuring unit (2) of self-aid navigation, be used for the parking stall detector (6) of detecting parking position behaviour in service and obtaining idle parking space information, for receiving and store the parking lot server-centric (5) of idle parking space information, be used in automobile (11), between parking lot server-centric (5) and parking stall (8) three, carry out the first communication module (3) of radio communication, second communication module (4) and third communication module (7) and the communications buttons (9) for starting and closing first communication module (3).
2. automatic stopping and the system of picking up the car according to claim 1, it is characterized in that, described first communication module (3) is for sending parking solicited message and receiving parking space information, described second communication module (4) is for receiving the parking space information of parking and pick up the car solicited message and parking stall detector (6) and sending parking space information to described first communication module (3), described third communication module (7) is for sending parking space information to described the second communication module (4), described first communication module (3) and global position system (1), inertial measuring unit (2) and described second communication module (4) input end and output terminal each other, described third communication module (7) provides input end by parking stall detector (6), output terminal is connected to second communication module (4).
3. automatic stopping and the system of picking up the car according to claim 2, it is characterized in that, described global position system (1) comprises the CPU(14 for calculating optimum drive path) with CPU(14) be connected, for receiving the GPS receiving element (15) of gps signal, for the map data base (16) of store map data with drive the touch-screen (17) in path for showing.
4. the automatic stopping system of picking up the car according to claim 3, is characterized in that, described parking lot server-centric (5) comprises with the networking of local parking lot database server and shares the map data base (10) of map datum.
5. automatic stopping and the system of picking up the car according to claim 4, it is characterized in that, described inertial measuring unit (2) comprises for the accelerometer (12) of measured automobiles (11) acceleration, for calculating the speed of automobile (11) and the computing machine (18) of position data according to institute measuring acceleration and for the angular velocity of measured automobiles (11) and the gyroscope (13) of vehicle heading.
6. automatic stopping and the method for picking up the car, is characterized in that, comprises the following steps:
S1) car owner is stopped at Entrance place, presses communications buttons (9), sends the request of parking;
S2) parking lot server-centric (5) is received the request of parking, sends parking stall geographic coordinate and receives to global position system (1);
S3) as there is gps signal in parking lot, global position system (1) automatic reception gps signal, calculate optimum drive path, according to optimum drive path, automobile (11) is navigated, and control travel speed and the direction of automobile (11) by accelerometer (12) and gyroscope (13), automobile (11) travels to auto extinguishing behind target parking stall; Otherwise the parking space diagram data that parking lot server-centric (5) provides is downloaded and received to computing machine (18) automatically, by travel speed and the direction of accelerometer (12) and gyroscope (13) control automobile (11), automobile (11) is carried out to inertial navigation, and automobile (11) automatic running is to auto extinguishing behind target parking stall;
S4) car owner swipes the card at EXIT, with remote-control key opening automobile (11);
S5) parking lot server-centric (5) is received the request of picking up the car, and sends the control signal of picking up the car, and computing machine (18) receives the control signal of picking up the car;
S6) as there is gps signal in parking lot, global position system (1) automatic reception gps signal, calculate optimum drive path, according to optimum drive path, automobile (11) is navigated, and control travel speed and the direction of automobile (11) by accelerometer (12) and gyroscope (13), guide automobile (11) automatic running EXIT; Otherwise, the parking space diagram data that parking lot server-centric (5) provides is downloaded and received to computing machine (18) automatically, by travel speed and the direction of accelerometer (12) and gyroscope (13) control automobile (11), automobile (11) is carried out to inertial navigation, guide automobile (11) automatic running to EXIT.
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| CN201210460331.4A CN103810898A (en) | 2012-11-15 | 2012-11-15 | Automatic parking and picking system and method |
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