CN105788354B - A kind of indoor parking position based on VANET is found and reserving method - Google Patents
A kind of indoor parking position based on VANET is found and reserving method Download PDFInfo
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- CN105788354B CN105788354B CN201610243905.0A CN201610243905A CN105788354B CN 105788354 B CN105788354 B CN 105788354B CN 201610243905 A CN201610243905 A CN 201610243905A CN 105788354 B CN105788354 B CN 105788354B
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- G—PHYSICS
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Abstract
The present invention relates to a kind of indoor parking position discovery based on VANET and reserving method, comprise the following steps：One parking garage network is established by on-vehicle radio device, wherein, all vehicles stopped divide a road group into each block parking area in parking garage；Road group and target vehicle with parking stall carry out communication and carry out parking stall reservation；After preengaging successfully, the path navigation of parking stall searching is carried out to target vehicle.The present invention can effectively avoid the competition on the parking stall between vehicle, reduce the time of parking stall searching.
Description
Technical field
The present invention relates to indoor parking position discovery technique field, more particularly to a kind of indoor parking position based on VANET
It was found that and reserving method.
Background technology
With the development of economy and auto industry, China big city vehicles number expands rapidly, by 2013, the whole nation
Car ownership is 1.37 hundred million, and increment is 5.7 times of automobile quantity in 2003.Parking problem is in Traffic Systems
One important step, it can not only make urban transport problems continuous worsening, can also turn into the bottleneck for restricting urban development.State now
Parking position lacks, parking information degree is inadequate, parking facility utilization rate is low, parking is disorder etc. be present in interior city parking
Problem.Many motor vehicles do not know the position on parking lot and parking stall in city, so as to add traffic touring on road
Amount, the serious harm such as noise, exhaust emission, loss of time is thereby resulted in.In urban development, real road traffic load and stop
Car demand increases rapidly, and the urban transport problems such as " traffic congestion " and " parking difficulty " turns into international common fault already.Traffic is avoided to gather around
Squeeze and suitable parking stall can be found in time, improve parking stall utilization rate, balanced parking stall resource is for alleviating urban transportation pressure
Power is necessary.
VANET (Vehicular Ad Hoc Networks) is to realize car and car, car and roadside equipment (abbreviation Car2X)
The network of communication.VANET is developed by mobile ad-hoc network (MANET), to describe some area in actual traffic environment
The complicated and special network that vehicle or terrestrial access points are formed in domain.VANET is creatively by ad hoc network application
In inter-vehicular communication, driver is set to obtain condition information (such as speed, direction, the position of other vehicles in the range of over the horizon
Put, braking vane pressure etc.) and real-time road condition information.Vehicular ad hoc network mainly includes two layers of connotation：First layer is in-vehicle network
Each equipment room of interconnection, i.e. vehicle interior forms Wireless Personal Network, and such as smart mobile phone, notebook computer and bluetooth earphone can be with
It is in communication with each other simultaneously transmitting data information；The second layer is that vehicle and outside network such as Cellular Networks etc. carry out data and voice communication,
Form car outer network.Therefore, on the one hand can realize in-vehicle device interconnected communication go forward side by side row information fusion, on the other hand can connect
Enter external network, enjoy remote communication service.It can be seen from above-mentioned analysis, VANET can realize accident alarm, auxiliary
Drive, Traffic Information is inquired about, communication and Internet information service applications between passenger.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of indoor parking position discovery based on VANET and reservation side
Method, the competition on the parking stall between vehicle can be effectively avoided, reduce the time of parking stall searching.
The technical solution adopted for the present invention to solve the technical problems is：A kind of indoor parking position based on VANET is provided
It was found that and reserving method, comprise the following steps：
(1) a parking garage network is established by on-vehicle radio device, wherein, each bulk is stopped in parking garage
All vehicles stopped divide a road group into car region；
(2) the road group with parking stall and target vehicle carry out communication and carry out parking stall reservation；
(3) after preengaging successfully, the path navigation of parking stall searching is carried out to target vehicle.
The Lu Qunzhong includes road group's head, road group's spare head and multiple road group members, wherein, the Lu Quntou
Positioned at the vehicle in road group region centre position, to store the vehicle ID number code and parking position information of road group members；The road
Group's spare head is the status information that road group members are stored with vehicle nearest distance Lu Quntou in group all the way.
The packet with itself id number and parking position information is sent in the road group members timing to the road group hair；
If the Lu Quntou does not receive the packet of a certain parking stall within several cycles, judge the parking stall for empty parking space.
Each Lu Quntong through groups head is regularly to the real-time parking space information of road group where road pocket transmission around, the parking
Position information includes road group number, road group orientation and parking stall surplus, will when the Lu Quntou of surrounding receives parking space information
Road group where sending the Lu Quntou of information is considered as its neighbor node, and stores its neighbor node Lu Qunzhong dead ship condition letter
Breath.
The step (2) includes following sub-step：
(21) parking stall is that target vehicle of the more Lu Quntong through group heads of dummy status into communication context sends parking stall
The information that can preengage simultaneously waits the reply of target vehicle simultaneously；
(22) target vehicle being notified chooses whether interested in parking stall, is ignored if loseing interest in, if sense is emerging
Interesting then road group's hair to sending reservation information goes out application information, and the application information includes unique ID number code and the arrival of vehicle
Probable value, and wait the Lu Quntou successful return information of reservation；
(23) after Lu Quntou receives parking stall application information, according to it is each application vehicle arrival probable value screened, to
The vehicle for being less than screening threshold value up to probable value is rejected, and sends pre- profit retention to vehicle of the probable value more than screening threshold value is reached
Work(information simultaneously waits target vehicle to reply confirmation；
(24) target vehicle receives reservation success notification, if wanting to abandon the parking stall, selection stops parking stall application, returns to step
Suddenly (23)；If it is determined that preengaging the parking stall, then confirmation is replied；
(25) if the first interior confirmation for not receiving vehicle of fixing time of road group, the parking stall for skipping the vehicle is applied and returned
Return step (23)；If receiving the confirmation of target vehicle, the parking stall is arranged by the Unique ID of vehicle, and
Return to step (21).
The vehicle for being also more than screening threshold value in the step (23) to reaching probable value is then carried out to reaching probable value descending
Sequence, and preferentially confirm to reaching probable value highest candidate's vehicle and sending parking stall and reserve successful information and wait the vehicle to reply
Information.
It is described reach probable value calculation formula be：
Wherein, ReachP is arrival probable value；TTR is parking stall subscription time normalized value；TTL is to estimate the time for reaching parking stall
Normalized value.
Unique ID based on runway before the group region of road in the step (3) carries out parking stall to target vehicle
The path navigation of searching.
Lu Quntou after the step (3) also including from timing behind the specified parking stall of target vehicle arrival to place road group region
The step of sending its information of vehicles and parking position information.
If target vehicle parking spot compared to the road group spare head closer to the Lu Quntou if by target carriage
As new road group's spare head；If the parking spot of target vehicle is compared to the Lu Quntou closer in the group region of road
Between, then using target vehicle as new Lu Quntou.
Beneficial effect
As a result of above-mentioned technical scheme, the present invention compared with prior art, has the following advantages that and actively imitated
Fruit：The present invention divides having stopped in parking lot conveyer of the road group as parking space information into, reduces volume in parking lot
Outer facility investment.A kind of parking stall reservation protocol is proposed simultaneously, the competition on the parking stall between vehicle can be effectively avoided, reduce
The time that parking stall is found, and a kind of air navigation aid of indoor parking position is proposed based on road group, avoid because vehicle is to parking stall
Blindly looking for causes to block in parking lot.
Brief description of the drawings
Fig. 1 is three layers of frame model figure of the present invention；
Fig. 2 is parking garage Road group's pie graph；
Fig. 3 is neighbor node discovery procedure figure.
Embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than limitation the scope of the present invention.In addition, it is to be understood that after the content of the invention lectured has been read, people in the art
Member can make various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited
Scope.
Embodiments of the present invention are related to a kind of indoor parking position discovery based on VANET and reserving method, in this method
In, a parking garage network (Parking Network, abbreviation PN) will be established, each bulk is stopped in parking garage
All vehicles stopped divide a road group (Road Cluster, abbreviation RC) into region.
All vehicles for getting in parking lot are respectively arranged with onboard wireless equipment (Vehicle Assistant in this method
On-Board, abbreviation VAOB), described VAOB has a unique vehicle ID number code.
As shown in figure 1, establishing three layers of frame model in parking lot indoors, physical layer, logical layer, application are included
Layer.Physical layer is VANET, and information can be exchanged with each other by having stopped and looked between the vehicle of parking stall.Logical layer is to establish
Parking garage network, the vehicle of each parking area are divided into the unit that a RC stores as parking space information, include one
Individual road group head Hi, road group's spare head SHiWith multiple road group members Mi.In application layer, Lu Quntou HiCan be to communication context
Interior vehicle sends empty parking space information, is notified vehicle ViCan be to road group's head HiCarry out parking stall application.
As shown in Fig. 2 in described RC, road group's head H is includedi, road group's spare head SHiWith multiple road group members
Mi.After Lu Quntou is determined, the block parking area stops and turns into its road group members.
Described Lu Quntou HiIn store vehicle ID number code, the parking position information of the RC regions Zhong Ge roads group members with
And other useful information, vehicle occupant is managed collectively with facilitating., will in order to facilitate the path planning of parking garage
Optimal Lu Quntou is arranged on RC regions centre position, and so each Lu Quntou id number just becomes RC region progresses track
Unique ID.Lu Quntou HiVehicle of the timing into communication context sends empty parking space information, and being notified vehicle can be to road
Group's head HiCarry out parking stall application.
Described road group members MiRegularly to road group's head HiSend packet, mainly comprising the unique id number of member's vehicle,
Parking position information and other useful informations are to remind Lu Quntou HiThe presence of vehicle.
Described standby Lu Quntou SHiIt is distance Lu Quntou H in same RC regionsiNearest vehicle, standby Lu Quntou SHi
Middle moment in store Lu Quntou HiThe status information of Road group members, prevent Lu Quntou HiBreak away parking lot.
Contacted as shown in figure 3, RC adjacent in described PN can lead to through group head.First, a neighbours are carried out
Node discovery procedure, each RC can lead to the real-time parking space information of RC where through group head is periodically sent to RC around, including
RC is numbered, the necessary information such as RC orientation and parking spot surplus, as the RC of surrounding Lu Quntou HjReceive this information
When, will be by Lu Quntou HjPlace RC is considered as its neighbor node.The child node that each RC has been reformed into PN, between child node
Contact just constitutes PN topological structure.Each child node can empty parking space letter of the timing into the respective RC of neighbours' child node exchange
Breath, preferentially the vehicle into communication context sends parking stall reservation information to the more RC of empty parking space.
When being preengage in parking stall, first, when when RC Zhong You roads, group members leave parking stall, road group members send one to road group's hair
The individual information left, to remind the specific parking stall vacancies of Lu Quntou.Then, Lu Quntou sends the information of empty parking space to neighbor node,
The more Lu Quntou in the hollow parking stall of the road group available information in parking stall that preferentially vehicle into communication context is sent, and wait car
Application.In the vehicle being notified, they can choose whether interested in the parking stall.Vehicle interested will applied
Parking stall Hou Xiang roads group's hair send id number, possible arrival value and other necessary informations of vehicle to facilitate the arrangement of parking stall.Lu Qun
Head carries out parking stall arrangement after the information of vehicles of reservation parking stall is received, according to possible arrival value to vehicle, to the vehicle chosen
Send the reserved information in parking stall.Finally, vehicle Zai Xiang roads group's hair send the confirmation for confirming to preengage the parking stall.This confirmation letter
Breath avoids the loss of parking space information, if preferred vehicle does not receive parking stall arrangement, Lu Quntou will give alternative vehicle to send parking stall
Reservation information.After vehicle reaches reservation parking stall, it regularly send the id number of vehicle, parking by this RC is added to road group's hair
Position and other useful information.
Idiographic flow is as follows：
Step 101：All stop in each block parking area is divided into a RC, wherein the car close to middle parking stall
It is elected to be Lu Quntou Hi(i=1,2,3 ...), close to Lu Quntou HiVehicle be elected to be road group's spare head SHi, remaining vehicle turns into
Road group members Mi。
Step 102：Road group members MiRegularly to road group's head HiPacket is sent, mainly includes the unique ID number of member's vehicle
Code, parking position information and other useful informations are to remind Lu Quntou HiThe presence of vehicle, road group's spare head SHiReplicate road group
Head HiThe status information of Road group members.If Lu Quntou HiThe packet of specific parking stall is not received in several cycles, then judges that this stops
Parking stall is sky.
Step 103：Carry out neighbor node discovery procedure.Each RC leads to RC's where the timing of through group head is sent to RC around
Real-time parking space information, numbered comprising RC, the necessary information such as RC orientation and parking spot surplus, as the Lu Quntou H of surroundingj
, will be by Lu Quntou H when receiving this informationiPlace RC is considered as its neighbor node, Lu Quntou HjIn store its neighbor node
RC middle dead ship condition information.
Step 201：The more RC in parking space leads to through group head HiVehicle into communication context sends parking stall and can preengage
Information simultaneously wait vehicle to reply.
Step 202：It is notified vehicle ViIt can choose whether interested in parking stall.Lose interest in and may be selected to ignore, such as feel
Interest can satisfy the need group's head HiApplication information is sent, unique ID number code, ReachP values and other necessary informations comprising vehicle, and
Wait HiThe successful return information of reservation.
Step 203：Lu Quntou HiAfter receiving parking stall application, screened according to the ReachP values of each application vehicle, it is right
Vehicle of the ReachP values less than Reach Threshold is rejected, and remaining candidate's vehicle carries out descending sort.It is simultaneously right
ReachP value highest candidate's vehicles send parking stall and reserve successful information and wait target vehicle to reply confirmation.This confirms
Information avoids the loss of parking space information.
Wherein, it is that vehicle is making a reservation for reach parking stall in the maximum time limit to define ReachP (Reach Probability)
Possibility, it is possible to which arrival value, its calculation formula are as follows：
Wherein, TTR is parking stall subscription time normalized value；TTL is to estimate the time normalization value for reaching parking stall.
The screening threshold value that Reach Threshold are ReachP is defined, ReachP is more than Reach Threshold vehicle
The application information sent enters candidate queue, and vehicles of the ReachP less than Reach Threshold is not considered.
Step 204：Target vehicle VjReservation success notification is received, if wanting to abandon the parking stall, can select to stop parking stall Shen
Please, return to step 203；If it is determined that preengaging the parking stall, then confirmation is replied.
Step 205：If Lu Quntou HiThe confirmation of vehicle is not received in certain time, then skips the parking stall Shen of the vehicle
Please and return to step 203.If receive target vehicle VjConfirmation, the parking stall will be carried out by the Unique ID of vehicle
Arrange, and return to step 201.
Step 3：In order to facilitate target vehicle VjParking stall is found in parking lot, based on RC region progresses track
Unique ID, can be to target vehicle VjCarry out the path navigation of parking stall searching.
Step 401：Target vehicle VjReach specify behind parking stall for a RC Member in the RC regions,
Regularly to road group's head HiSend its information of vehicles and parking position information.If more than setting aside some time for parking stall, return to step
201。
Step 402：Lu Quntou HiWith road group's spare head SHiTo target vehicle VjParking spot be compared, if target carriage
VjParking spot than road group's spare head SHiCloser to Lu Quntou HiThen by target vehicle VjAs new spare head SHi；If mesh
Mark vehicle VjParking spot than Lu Quntou HiAmong RC regions, then by target vehicle VjAs new Lu Quntou Hi,
And return to step 201.
Step 5：If Occupied in parking garage, each RC is sent in the range of Occupied information notification communication
Vehicle, until there is parking stall to vacate, return to step 201.
In summary, The present invention reduces facility investment extra in parking lot.The parking stall reservation protocol of proposition, Neng Gouyou
Effect avoids the competition on the parking stall between vehicle, reduces the time of parking stall searching.The air navigation aid of indoor parking position, avoid because
Vehicle is looked for the blindness of parking stall to be caused to block in parking lot.
Claims (6)
1. a kind of indoor parking position based on VANET is found and reserving method, it is characterised in that comprises the following steps：
(1) a parking garage network is established by on-vehicle radio device, wherein, in parking garage each block parking area
All vehicles stopped divide a road group into domain；The Lu Qunzhong includes road group's head, road group's spare head and multiple
Road group members, wherein, the Lu Quntou is the vehicle positioned at road group region centre position, stores the vehicle ID number of road group members
Code and parking position information；The road group spare head is with vehicle nearest distance Lu Quntou in group all the way, stores road group members
Status information；The data with itself id number and parking position information are sent in the road group members timing to the road group hair
Bag；If the Lu Quntou does not receive the packet of a certain parking stall within several cycles, judge the parking stall for empty parking space；
(2) the road group with parking stall and target vehicle carry out communication and carry out parking stall reservation；Specially：
(21) parking stall is that target vehicle transmission parking stall of the more Lu Quntong through group heads of dummy status into communication context can be pre-
Information about simultaneously waits the reply of target vehicle simultaneously；
(22) target vehicle being notified chooses whether interested in parking stall, is ignored if loseing interest in, if interested
Go out application information to the road group's hair for sending reservation information, the application information includes the unique ID number code of vehicle and reached possible
Value, and wait the Lu Quntou successful return information of reservation；It is described reach probable value calculation formula be：
Wherein, ReachP is arrival probable value；TTR is parking stall subscription time normalized value；TTL is to estimate the time for reaching parking stall
Normalized value；
(23) after Lu Quntou receives parking stall application information, screened according to the arrival probable value of each application vehicle, can to reaching
The vehicle that energy value is less than screening threshold value is rejected, and is successfully believed to reaching probable value and sending to reserve more than the vehicle for screening threshold value
Cease and wait target vehicle to reply confirmation；
(24) target vehicle receives reservation success notification, if wanting to abandon the parking stall, selection stops parking stall application, return to step
(23)；If it is determined that preengaging the parking stall, then confirmation is replied；
(25) if the first interior confirmation for not receiving vehicle of fixing time of road group, the parking stall for skipping the vehicle is applied and returns to step
Suddenly (23)；If receiving the confirmation of target vehicle, the parking stall is arranged by the Unique ID of vehicle, and returns
Step (21)；
(3) after preengaging successfully, the path navigation of parking stall searching is carried out to target vehicle.
2. the indoor parking position according to claim 1 based on VANET is found and reserving method, it is characterised in that each
Lu Quntong through groups head regularly includes road to the real-time parking space information of road group where road pocket transmission around, the parking space information
Group number, road group orientation and parking stall surplus, when the Lu Quntou of surrounding receives parking space information, the road of information will be sent
Road group where group's head is considered as its neighbor node, and stores its neighbor node Lu Qunzhong dead ship condition information.
3. the indoor parking position according to claim 1 based on VANET is found and reserving method, it is characterised in that described
The vehicle for being also more than screening threshold value in step (23) to reaching probable value carries out descending sort according to probable value is reached, and preferential right
Probable value highest candidate's vehicle is reached to send the reserved successful information in parking stall and wait the vehicle to reply confirmation.
4. the indoor parking position according to claim 1 based on VANET is found and reserving method, it is characterised in that described
Lead in the path that unique ID based on runway before the group region of road in step (3) carries out parking stall searching to target vehicle
Boat.
5. the indoor parking position according to claim 1 based on VANET is found and reserving method, it is characterised in that described
Also include timing after target vehicle reaches specified parking stall after step (3) gives its vehicle to believe to road group's hair in place road group region
The step of breath and parking position information.
6. the indoor parking position according to claim 5 based on VANET is found and reserving method, it is characterised in that if
The parking spot of target vehicle is compared to the road group spare head closer to the Lu Quntou then using target vehicle as new road
Group's spare head；If the parking spot of target vehicle compared to the Lu Quntou closer to road group region among, by target carriage
As new Lu Quntou.
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| CN107274713B (en) * | 2017-07-11 | 2020-06-30 | 东华大学 | Cluster-based parking guidance method |
| CN112653993B (en) * | 2018-08-17 | 2023-12-05 | 广州汽车集团股份有限公司 | Navigation method, navigation device, navigation system, computer equipment and storage medium |
| CN110942663B (en) * | 2019-12-02 | 2021-08-03 | 北京深测科技有限公司 | Monitoring distribution guiding method and system for parking lot |
| CN112215537A (en) * | 2020-09-11 | 2021-01-12 | 深圳优地科技有限公司 | Item delivery method and device, intelligent equipment and storage medium |
| CN113470377A (en) * | 2020-10-25 | 2021-10-01 | 储美红 | Intelligent parking lot management method based on information sharing and cloud platform |
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