CN105528913A - Roadside parking space detection and information release system - Google Patents
Roadside parking space detection and information release system Download PDFInfo
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- CN105528913A CN105528913A CN201610084680.9A CN201610084680A CN105528913A CN 105528913 A CN105528913 A CN 105528913A CN 201610084680 A CN201610084680 A CN 201610084680A CN 105528913 A CN105528913 A CN 105528913A
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
Abstract
The invention discloses a roadside parking space detection and information release system, which is composed of a roadside parking space detection unit, a roadside parking space information transmission network, a roadside parking space information server and a roadside parking space information release module. The roadside parking space detection unit achieves acquisition and transmission of parking space information. The roadside parking space information transmission network transmits the parking space information to the roadside parking space information server. The roadside parking space information server reads and processes the parking space information, so that the parking space information becomes information which can be invoked by the roadside parking space information release module. The roadside parking space information release module releases the parking space information to a driver through mobile phone software, and offers path navigation to a target parking space. The roadside parking space detection and information release system is simple and compact in structure, is convenient to install, detach and maintain, solves the problems that roadside parking space detection cannot be carried out and the like in the prior art, and achieves detection and information release of roadside parking spaces which are widely distributed, multiple in amount and far in place distance.
Description
Technical field
The invention belongs to parking stall to detect and information release field, refer in particular to detection and the Information issued of Roadside Parking position.
Background technology
Along with the increase of private car quantity, the pressure of city parking feed system grows with each passing day, and finds parking stall quickly and easily also more and more difficult.The wagon flow finding parking stall not only increases road Traffic Volume and the risk of traffic congestion occurs, and will cause the aggravation of environmental pollution and energy resource consumption.Therefore, detect parking stall rapidly and issue parking space information to driver and become important process in Urban Traffic Planning, Construction and management.The research of parking space detection method also becomes one of emphasis of traffic system research.
Scientific research personnel, through constantly exploring, has developed some parking space detection methods, and wherein part obtains practical application.According to the difference in place, parking stall is divided into outside trackside (in road) and road (outside road) two kinds, parking stall.Comparatively perfect about the detect delay of off road parking position at present, its detection method mainly contains three kinds: (1) is built-in metal toroidal inductor under the earth's surface on parking stall, and whether the inductance value change utilizing the relative motion between ground induction coil and vehicle to be formed detects vehicle exists.The method needs to excavate road, is suitable for before park construction, carry out coil and buries underground.(2) scanning type laser sensor is suspended on above tested parking stall, form the fan laser plane of scanning motion, tested parking stall is positioned at the plane of scanning motion of scanning type laser sensor, thus obtain the tested vechicle distance of positions from the distance of scanning type laser sensor and corresponding laser scanning angle value, the storing cycle situation at parking stall place is obtained by data analysis.The method is only applicable to ceilinged parking garage, and the cost of laser sensor is higher, universal more difficult on a large scale.(3) video detection technology on line real time video data content is applied to realize the detection of parking stall.The high precision camera that this technology uses is comparatively large by weather effect, and need to carry out daily cleaning, fund input is relatively high first.
Relative to special off-street parking lot, Roadside Parking position is the parking facility of non-dedicated, has that distribution is wide, quantity is many, intersite apart from the feature such as far away, and is not easy to the top fixture installing laser sensor and video detecting device etc.In addition, because the distribution of Roadside Parking position is wide, quantity is many, the method for built-in metal toroidal inductor is also inapplicable.Visible, exploitation is specially adapted for the detection method of Roadside Parking position, design a kind of be applicable to Roadside Parking position detection and information issuing system be very necessary.
Summary of the invention
The object of the invention is the technology such as using ultrasound ripple, single-chip microcomputer and wireless communication module nrf905, build a kind of Roadside Parking position to detect and information issuing system, solve the problem cannot carrying out the detection of Roadside Parking position that prior art exists, with realize wide to distribution in city, quantity is many, intersite is apart from the detection of Roadside Parking position far away, information transmission and Information issued.
The present invention adopts following technical scheme to realize, and accompanying drawings is as follows:
1, Roadside Parking position is detected and an information issuing system, it is characterized in that, is made up of Roadside Parking position detecting unit, Roadside Parking position information transfer network, Roadside Parking position information server and Roadside Parking position information issuing module; Wherein detecting unit realization in Roadside Parking position is to the collection of trackside parking space information and transmission; Roadside Parking position information transfer network by Roadside Parking position information transmission to Roadside Parking position information server; Roadside Parking position information server reads trackside parking space information and does data processing, makes it to become the Roadside Parking position information that Roadside Parking position information issuing module can be called; Roadside Parking position information issuing module issues Roadside Parking position information by cell phone software to driver, and is provided to the path navigation of target parking position; In system, each ingredient is described below:
(1) Roadside Parking position detecting unit is made up of a single-chip microcomputer, two ultrasonic distance measuring module HC-SR04 and nrf905 wireless transport modules; Be placed in the point midway of two adjacent stalls common edge, the vertical height of laying requires apart from ground more than 230mm, and horizontal level requires that the outside of Roadside Parking position detecting unit is concordant by road side with kerbstone; The angle of two ultrasonic distance measuring module HC-SR04, it is 49 ° for rectilinear parking stall, it is 134 ° for run-in index parking stall, two the ultrasonic wave module HC-SR04 detecting 45 ° of diagonal parking positions are drawn by wire, two ultrasonic distance measuring module HC-SR04 are at 45 ° with trackside separately, and namely two ultrasonic distance measuring module HC-SR04 are parallel to each other;
The high level signal of 10us is more than or equal to ultrasonic distance measuring module HC-SR04, ultrasonic distance measuring module HC-SR04 sends the square wave of 8 40kHz automatically, and whether detection has signal to return automatically, return if any signal, export a high level by I/O port ECHO, obtain high level lasting time t, namely ultrasound wave is from being transmitted into the time returned, and application following formula calculates measuring distance:
Measuring distance=(t × velocity of sound)/2;
By the measuring distance that obtains compared with distance threshold, when measuring distance is greater than distance threshold, judge that parking stall is idle condition; When measuring distance is less than distance threshold, judge that parking stall is seizure condition; Wherein for rectilinear and run-in index parking stall, distance threshold is 2.7m, and for 45 ° of diagonal parking positions, distance threshold is 2m;
When parking stall state changes, namely become seizure condition from idle condition or become idle condition from seizure condition, nrf905 wireless transport module in the detecting unit of Roadside Parking position by parking stall status information together with parking stall address information, be collectively referred to as Roadside Parking position information, transmit node to the information in the information transfer network of Roadside Parking position and send;
(2) Roadside Parking position information transfer network is made up of several information transmission node, and each information is transmitted node and is made up of a single-chip microcomputer and a nrf905 wireless transport module, and wherein nrf905 wireless transport module works under the control of single-chip microcomputer;
In the information transfer network of Roadside Parking position, the arrangement principle of information transmission node is, node is transmitted for the center of circle with information arbitrary in arbitrary Roadside Parking position detecting unit or Roadside Parking position information transfer network, at least lay an information within the scope of radius 1km and transmit node, require that in the information transfer network of Roadside Parking position, transmit nodal distance Roadside Parking position information server from the information that Roadside Parking position information server is nearest is less than 1km simultaneously; In the information transfer network of Roadside Parking position, information transmission node lays a support fixed buildings;
By transmitting the mcu programming on node to information in trackside parking space information delivery network, make it to control the same information nrf905 wireless transport module transmitted on node and receive the Roadside Parking position information come from other information transmission node or the transmission of Roadside Parking position detecting unit, and transmit node transmission to the next information in information server direction, Roadside Parking position;
(3) Roadside Parking position information server is made up of a station server, serial communication line, a single-chip microcomputer and a nrf905 wireless transport module;
By the single-chip microcomputer in the information server of programming Roadside Parking position, make it the nrf905 wireless transport module controlled in trackside parking space information server and receive the Roadside Parking position information transmitting node from all information, to be stored in the inside of single-chip microcomputer in the information server of Roadside Parking position; Server in the information server of Roadside Parking position develops host computer, the host computer of exploitation communicates with the single-chip microcomputer in the information server of Roadside Parking position, Roadside Parking position information is stored on the server in the information server of Roadside Parking position, then by server, data processing is carried out to the Roadside Parking position information stored within it, namely carry out the corresponding conversion of address code information and the real-time update of Roadside Parking position status information, make it to become the Roadside Parking position information that Roadside Parking position information issuing module will be called;
(4) Roadside Parking position information issuing module be that mobile phone can be downloaded, installs, the Roadside Parking position Information issued that uses and query software; Under internet environment, Roadside Parking position information issuing module provides the status information of Roadside Parking position to driver, and calls Baidu's map, shows position, parking stall in map, provides the path navigation arriving and specify parking stall to driver simultaneously.
Compared with prior art the invention has the beneficial effects as follows:
1, the Roadside Parking position detecting unit of the present invention's design is installed on trackside, without the need to having fixture directly over parking stall, is more applicable to the detection of Roadside Parking position compared with existing detection method;
2, the present invention detects two adjacent Roadside Parking positions by a Roadside Parking position detecting unit simultaneously, and two parking stalls share single-chip microcomputers and a nrf905 wireless transport module, cost-saving, have more suited the feature that Roadside Parking bit quantity is many;
3, the Roadside Parking position of the present invention's design is detected and information transmission system simple and compact structure, and related facility is convenient to install, dismantle and safeguard;
4, the information transferring method information transfer network that uses remote nrf905 wireless transport module to set up of the present invention's design, be more suitable for the distribution of Roadside Parking position extensively, intersite is apart from feature far away.
Accompanying drawing explanation
Fig. 1 is the structure composition diagram of Roadside Parking position of the present invention detection and information issuing system thereof;
Fig. 2 is the structure composition diagram of Roadside Parking position of the present invention detecting unit;
Fig. 3 is the circuit theory diagrams of Roadside Parking position of the present invention detecting unit;
Fig. 4 is ultrasound wave sequential chart of the present invention;
Fig. 5 is the installation site of the Roadside Parking position detecting unit on rectilinear parking stall of the present invention;
Fig. 6 is the installation site of the Roadside Parking position detecting unit on run-in index parking stall of the present invention;
Fig. 7 is the installation site of the Roadside Parking position detecting unit of 45 ° of diagonal parking positions of the present invention;
Fig. 8 is Roadside Parking position of the present invention information transfer network schematic diagram;
Fig. 9 is the circuit theory diagrams that in the information transfer network of Roadside Parking position of the present invention, information transmits node;
Figure 10 is the structure composition diagram of Roadside Parking position of the present invention information server.
Embodiment
Detailed content of the present invention and embodiment thereof is further illustrated below in conjunction with accompanying drawing:
One, basic structure of the present invention
1, Roadside Parking position detecting unit
The detecting unit realization of Roadside Parking position is to the collection of trackside parking space information and transmission.Accompanying drawings 2, Roadside Parking position detecting unit is made up of a single-chip microcomputer, two ultrasonic distance measuring module HC-SR04 and nrf905 wireless transport modules.
The course of work of Roadside Parking position detecting unit is:
Under the sequential control of single-chip microcomputer, two ultrasonic distance measuring module HC-SR04 detect the distance of two adjacent Roadside Parking positions to Roadside Parking position detecting unit respectively, then the single-chip microcomputer information of adjusting the distance processes, judge the full state of the sky on parking stall, finally by nrf905 wireless transport module, parking stall status information is superposed parking stall address information and transfer out.
The principle of work of Roadside Parking position detecting unit is:
Accompanying drawings 3,4, by two I/O ports---P2.0 and P2.2 of programming Control single-chip microcomputer, be more than or equal to the high level signal of 10us to respectively two ultrasonic distance measuring module HC-SR04, ultrasonic distance measuring module HC-SR04 sends the square wave of 8 40kHz automatically, and automatically whether detection has signal to return, then utilize in Single Chip Microcomputer (SCM) program " while (! ECHO) " statement waits for that the high level of ultrasonic wave module returns; open the Timer/Counter that single-chip microcomputer inside carries; start the high level of timing return signal; utilize " while (the ECHO) " statement in Single Chip Microcomputer (SCM) program to judge whether high level terminates, and namely stops timing at the end of high level this moment.Single-chip microcomputer, by the data reading in timer, becomes time t according to the time conversion often counted needed for a number, uses the crystal oscillator of 12MHz here, so every 10
-6s counts a number.Application following formula calculates the distance of vehicle to Roadside Parking position detecting unit:
Measuring distance=(t × velocity of sound)/2
By programmed control single-chip microcomputer by the measuring distance that obtains compared with distance threshold, when measuring distance is greater than distance threshold, judge that parking stall is idle condition; When measuring distance is less than distance threshold, judge that parking stall is seizure condition.For dissimilar Roadside Parking position, distance threshold is set as: for rectilinear and run-in index parking stall, distance threshold is 2.7m, and for 45 ° of diagonal parking positions, distance threshold is 2m.
Single-chip microcomputer in the detecting unit of programming Control Roadside Parking position, when parking stall state changes, namely become seizure condition from idle condition or become idle condition from seizure condition, make it to control nrf905 wireless transport module in trackside parking stall detecting unit by parking stall status information together with parking stall address information, be collectively referred to as Roadside Parking position information, transmit node to the information in the information transfer network of Roadside Parking position and send.
The installation requirement of Roadside Parking position detecting unit is:
Accompanying drawings 5,6,7, is placed in the point midway of two adjacent stalls common edge by Roadside Parking position detecting unit, the vertical height of laying requires apart from ground more than 230mm, and horizontal level requires that the outside of detecting unit is concordant by side, roadside with kerbstone.In order to two the ultrasonic distance measuring module HC-SR04 realized on the detecting unit of Roadside Parking position detect two parking stalls respectively, angle between two ultrasonic distance measuring module HC-SR04 that the different designs of Roadside Parking position form is corresponding: the angle for rectilinear two the ultrasonic distance measuring module HC-SR04 in parking stall is 49 °, is 134 ° for run-in index parking stall; Two the ultrasonic wave module HC-SR04 detecting 45 ° of diagonal parking positions are drawn by wire, and two ultrasonic distance measuring module HC-SR04 are at 45 ° with trackside separately, and namely two ultrasonic distance measuring module HC-SR04 are parallel to each other.
2, Roadside Parking position information transfer network
Roadside Parking position information transfer network is responsible for the Roadside Parking position information transmission that received by Roadside Parking position detecting unit to Roadside Parking position information server.
Accompanying drawings 8, Roadside Parking position information transfer network transmits node by several information and forms.Accompanying drawings 9, each information is transmitted node and is made up of a single-chip microcomputer and a nrf905 wireless transport module.
In the information transfer network of Roadside Parking position, the arrangement principle of information transmission node is: transmit node for the center of circle with information arbitrary in arbitrary Roadside Parking position detecting unit or Roadside Parking position information transfer network, at least lays an information and transmit node within the scope of radius 1km.Require that in the information transfer network of Roadside Parking position, transmit nodal distance Roadside Parking position information server from the information that Roadside Parking position information server is nearest is less than 1km simultaneously.In the information transfer network of Roadside Parking position, information transmission node lays a support fixed buildings.
The principle of work of Roadside Parking position information transfer network is:
By transmitting the mcu programming on node to information in trackside parking space information delivery network, make it to control the same information nrf905 wireless transport module transmitted on node and receive the Roadside Parking position information come from other information transmission node or the transmission of Roadside Parking position detecting unit, and transmit node transmission to the next information in information server direction, Roadside Parking position.
3, Roadside Parking position information server
Roadside Parking position information server reads trackside parking space information and does data processing, makes it to become the Roadside Parking position information that Roadside Parking position information issuing module can be called.Accompanying drawings 10, Roadside Parking position information server is made up of a station server, serial communication line, a single-chip microcomputer and a nrf905 wireless transport module.
The principle of work of Roadside Parking position information server is:
By the single-chip microcomputer in the information server of programming Roadside Parking position, make it the nrf905 wireless transport module controlled in trackside parking space information server and receive the Roadside Parking position information transmitting node from all information, to be stored in the inside of single-chip microcomputer in the information server of Roadside Parking position.Server in the information server of Roadside Parking position develops host computer, the host computer of exploitation communicates with the single-chip microcomputer in the information server of Roadside Parking position, Roadside Parking position information is stored on the server in the information server of Roadside Parking position, then by server, data processing is carried out to the Roadside Parking position information stored within it, namely carry out the corresponding conversion of address code information and the real-time update of Roadside Parking position status information, make it to become the Roadside Parking position information that Roadside Parking position information issuing module will be called.
4, Roadside Parking position information issuing module
Roadside Parking position information issuing module is that mobile phone can be downloaded, installs, the Roadside Parking position Information issued that uses and query software.Under internet environment, Roadside Parking position information issuing module provides the status information of Roadside Parking position to driver, and calls Baidu's map, shows position, parking stall in map, provides the path navigation arriving and specify parking stall to driver simultaneously.
All equivalence changes done according to structure of the present invention, principle, all should be covered by within protection scope of the present invention.
Claims (1)
1. Roadside Parking position is detected and an information issuing system, it is characterized in that, is made up of Roadside Parking position detecting unit, Roadside Parking position information transfer network, Roadside Parking position information server and Roadside Parking position information issuing module; Wherein detecting unit realization in Roadside Parking position is to the collection of trackside parking space information and transmission; Roadside Parking position information transfer network by Roadside Parking position information transmission to Roadside Parking position information server; Roadside Parking position information server reads trackside parking space information and does data processing, makes it to become the Roadside Parking position information that Roadside Parking position information issuing module can be called; Roadside Parking position information issuing module issues Roadside Parking position information by cell phone software to driver, and is provided to the path navigation of target parking position; In system, each ingredient is described below:
(1) Roadside Parking position detecting unit is made up of a single-chip microcomputer, two ultrasonic distance measuring module HC-SR04 and nrf905 wireless transport modules; Be placed in the point midway of two adjacent stalls common edge, the vertical height of laying requires apart from ground more than 230mm, and horizontal level requires that the outside of Roadside Parking position detecting unit is concordant by road side with kerbstone; The angle of two ultrasonic distance measuring module HC-SR04, it is 49 ° for rectilinear parking stall, it is 134 ° for run-in index parking stall, two the ultrasonic wave module HC-SR04 detecting 45 ° of diagonal parking positions are drawn by wire, two ultrasonic distance measuring module HC-SR04 are at 45 ° with trackside separately, and namely two ultrasonic distance measuring module HC-SR04 are parallel to each other;
The high level signal of 10us is more than or equal to ultrasonic distance measuring module HC-SR04, ultrasonic distance measuring module HC-SR04 sends the square wave of 8 40kHz automatically, and whether detection has signal to return automatically, return if any signal, export a high level by I/O port ECHO, obtain high level lasting time t, namely ultrasound wave is from being transmitted into the time returned, and application following formula calculates measuring distance:
Measuring distance=(t × velocity of sound)/2;
By the measuring distance that obtains compared with distance threshold, when measuring distance is greater than distance threshold, judge that parking stall is idle condition; When measuring distance is less than distance threshold, judge that parking stall is seizure condition; Wherein for rectilinear and run-in index parking stall, distance threshold is 2.7m, and for 45 ° of diagonal parking positions, distance threshold is 2m;
When parking stall state changes, namely become seizure condition from idle condition or become idle condition from seizure condition, nrf905 wireless transport module in the detecting unit of Roadside Parking position by parking stall status information together with parking stall address information, be collectively referred to as Roadside Parking position information, transmit node to the information in the information transfer network of Roadside Parking position and send;
(2) Roadside Parking position information transfer network is made up of several information transmission node, and each information is transmitted node and is made up of a single-chip microcomputer and a nrf905 wireless transport module, and wherein nrf905 wireless transport module works under the control of single-chip microcomputer;
In the information transfer network of Roadside Parking position, the arrangement principle of information transmission node is, node is transmitted for the center of circle with information arbitrary in arbitrary Roadside Parking position detecting unit or Roadside Parking position information transfer network, at least lay an information within the scope of radius 1km and transmit node, require that in the information transfer network of Roadside Parking position, transmit nodal distance Roadside Parking position information server from the information that Roadside Parking position information server is nearest is less than 1km simultaneously; In the information transfer network of Roadside Parking position, information transmission node lays a support fixed buildings;
By transmitting the mcu programming on node to information in trackside parking space information delivery network, make it to control the same information nrf905 wireless transport module transmitted on node and receive the Roadside Parking position information come from other information transmission node or the transmission of Roadside Parking position detecting unit, and transmit node transmission to the next information in information server direction, Roadside Parking position;
(3) Roadside Parking position information server is made up of a station server, serial communication line, a single-chip microcomputer and a nrf905 wireless transport module;
By the single-chip microcomputer in the information server of programming Roadside Parking position, make it the nrf905 wireless transport module controlled in trackside parking space information server and receive the Roadside Parking position information transmitting node from all information, to be stored in the inside of single-chip microcomputer in the information server of Roadside Parking position; Server in the information server of Roadside Parking position develops host computer, the host computer of exploitation communicates with the single-chip microcomputer in the information server of Roadside Parking position, Roadside Parking position information is stored on the server in the information server of Roadside Parking position, then by server, data processing is carried out to the Roadside Parking position information stored within it, namely carry out the corresponding conversion of address code information and the real-time update of Roadside Parking position status information, make it to become the Roadside Parking position information that Roadside Parking position information issuing module will be called;
(4) Roadside Parking position information issuing module be that mobile phone can be downloaded, installs, the Roadside Parking position Information issued that uses and query software; Under internet environment, Roadside Parking position information issuing module provides the status information of Roadside Parking position to driver, and calls Baidu's map, shows position, parking stall in map, provides the path navigation arriving and specify parking stall to driver simultaneously.
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Cited By (13)
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| CN105913669A (en) * | 2016-05-12 | 2016-08-31 | 上海美迪索科电子科技有限公司 | Multi-vehicle on site detection system and detection method thereof |
| CN106297401A (en) * | 2016-10-18 | 2017-01-04 | 中国科学院深圳先进技术研究院 | The detection method on vehicle-mounted trackside parking stall, detection equipment and detecting system |
| CN106601022A (en) * | 2017-02-21 | 2017-04-26 | 大连工业大学 | Detection device for parking space on outdoor intelligent parking lot and detection method thereof |
| CN108206003A (en) * | 2018-01-02 | 2018-06-26 | 南京逸杰软件科技有限公司 | A kind of trackside information release terminal shows Intelligent energy-saving system |
| CN109544977A (en) * | 2018-12-27 | 2019-03-29 | 东南大学 | A kind of intelligent parking management system and method |
| WO2019119944A1 (en) * | 2017-12-20 | 2019-06-27 | 广州汽车集团股份有限公司 | Method for detecting angled parking space and method and system for automatic parking |
| CN110533927A (en) * | 2019-09-24 | 2019-12-03 | 中国第一汽车股份有限公司 | A kind of parking stall bootstrap technique, system and storage medium |
| CN110599799A (en) * | 2019-09-20 | 2019-12-20 | 哈工大机器人集团重庆普耀信息产业发展有限公司 | Intelligent parking system vehicle identification method based on ultrasonic ranging |
| CN110895888A (en) * | 2019-04-28 | 2020-03-20 | 腾讯科技（深圳）有限公司 | Intelligent parking method, device, system, electronic equipment and computer readable medium |
| CN111650604A (en) * | 2020-07-02 | 2020-09-11 | 上海电科智能系统股份有限公司 | Method for realizing accurate detection of self-vehicle and peripheral obstacles by using accurate positioning |
| CN111754802A (en) * | 2019-03-28 | 2020-10-09 | 苏州慧景光电科技有限公司 | Parking space detector, parking space detection method, parking space guidance system and storage medium |
| CN112242010A (en) * | 2020-10-26 | 2021-01-19 | 厦门中卡科技股份有限公司 | Urban road parking ETC patrol vehicle charging system and charging method |
| CN114399921A (en) * | 2022-01-19 | 2022-04-26 | 紫清智行科技(北京)有限公司 | Method and system for detecting vacant parking spaces in underground parking lot |
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| CN111754802A (en) * | 2019-03-28 | 2020-10-09 | 苏州慧景光电科技有限公司 | Parking space detector, parking space detection method, parking space guidance system and storage medium |
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| CN110599799A (en) * | 2019-09-20 | 2019-12-20 | 哈工大机器人集团重庆普耀信息产业发展有限公司 | Intelligent parking system vehicle identification method based on ultrasonic ranging |
| CN110599799B (en) * | 2019-09-20 | 2021-05-07 | 哈工大机器人集团重庆普耀信息产业发展有限公司 | Intelligent parking system vehicle identification method based on ultrasonic ranging |
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| CN111650604A (en) * | 2020-07-02 | 2020-09-11 | 上海电科智能系统股份有限公司 | Method for realizing accurate detection of self-vehicle and peripheral obstacles by using accurate positioning |
| CN112242010A (en) * | 2020-10-26 | 2021-01-19 | 厦门中卡科技股份有限公司 | Urban road parking ETC patrol vehicle charging system and charging method |
| CN112242010B (en) * | 2020-10-26 | 2022-06-28 | 厦门中卡科技股份有限公司 | Urban road parking ETC patrol vehicle charging system and charging method |
| CN114399921A (en) * | 2022-01-19 | 2022-04-26 | 紫清智行科技(北京)有限公司 | Method and system for detecting vacant parking spaces in underground parking lot |
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