CN106251696B - A kind of parking lot intelligent management server, system, method and UWB position label - Google Patents

A kind of parking lot intelligent management server, system, method and UWB position label Download PDF

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Publication number
CN106251696B
CN106251696B CN201610875430.7A CN201610875430A CN106251696B CN 106251696 B CN106251696 B CN 106251696B CN 201610875430 A CN201610875430 A CN 201610875430A CN 106251696 B CN106251696 B CN 106251696B
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real
time
uwb
vehicle
signal
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CN106251696A (en
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晁战飞
庞绍铭
吴先星
刘宇
何向军
燕英伟
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Shenzhen Genvict Technology Co Ltd
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Shenzhen Genvict Technology Co Ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

This application discloses a kind of parking lot intelligent management servers, it include: the first backstage signal processing module, the real-time auxiliary positioning parameter calculated after receiving the first real-time UWB signal for obtaining first group of base station UWB for being set to parking lot in real time, and determine using the real-time auxiliary positioning parameter real-time vehicle position for the target vehicle for currently needing to stop；Parking stall determining module, for determining the parking position for being suitble to target vehicle in current parking lot；Guidance path generation module, for generating the real-time navigation path from real-time vehicle position to parking position；Guidance path sending module, for real-time navigation path to be sent to the first UWB positioning label.The application avoids the problem of parking stall difficulty is looked for, and which thereby enhances the service efficiency of parking stall.In addition, disclosed herein as well is a kind of intelligent managing system for parking lot, method and UWB to position label.

Description

Parking lot intelligent management server, system and method and UWB positioning tag
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a parking lot intelligent management server, a system and a method and a UWB positioning tag.
Background
Currently, with the rapid development of the social economy of China, the living standard of national materials is continuously improved, and more Chinese families buy private cars. The increase in the number of cars correspondingly raises the problem of difficulty in parking. In order to solve the problem of difficult parking, a large number of parking lots are built in cities, and the construction scale of the parking lots is gradually enlarged.
However, the unprecedented construction scale of the parking lot brings new troubles to the car owners while relieving the problem of difficult parking. For example, due to the existing lack of accurate information guidance, many car owners spend a lot of time searching for parking spaces in parking lots or searching for their own vehicles, and the problem of difficulty in finding parking spaces and finding cars is obvious that the current parking lot management level is low, and it is difficult to provide high-quality parking lot management service for users.
In summary, it can be seen that how to improve the management level of the parking lot is an urgent problem to be solved at present.
Disclosure of Invention
In view of this, the present invention provides a parking lot intelligent management server, a system, a method and a UWB positioning tag, so as to improve the management level of a parking lot. The specific scheme is as follows:
a parking lot intelligent management server, comprising:
the first background signal processing module is used for acquiring real-time auxiliary positioning parameters which are calculated after a first group of UWB base stations arranged in the parking lot receive the first real-time UWB signals in real time, and determining the real-time vehicle position of a target vehicle needing to be parked at present by utilizing the real-time auxiliary positioning parameters; the first real-time UWB signal is a signal sent by a first UWB positioning tag positioned on the target vehicle in real time;
the parking space determining module is used for determining a parking position suitable for the target vehicle in the current parking lot;
a navigation path generation module for generating a real-time navigation path from the real-time vehicle position to the parking position;
and the navigation path sending module is used for sending the real-time navigation path to the first UWB positioning tag so that the vehicle owner obtains the real-time navigation path through the first UWB positioning tag.
Preferably, the navigation path sending module includes:
the first sending unit is used for sending the real-time navigation path to a display positioned on the first UWB positioning label so as to display the real-time navigation path by utilizing the display;
and/or the presence of a gas in the gas,
and the second sending unit is used for sending the real-time navigation path to a voice navigator positioned on the first UWB positioning tag so as to utilize the voice navigator to carry out corresponding real-time voice navigation according to the real-time navigation path.
The invention also discloses another parking lot intelligent management server, which comprises:
the second background signal processing module is used for acquiring real-time auxiliary positioning parameters which are calculated after a second group of UWB base stations arranged in the parking lot receive a second real-time UWB signal in real time and determining the real-time position of the vehicle owner by utilizing the real-time auxiliary positioning parameters; the second real-time UWB signal is a signal sent by a second UWB positioning tag carried by a vehicle owner in real time;
the vehicle searching path generating module is used for generating a real-time vehicle searching path from the real-time position of the vehicle owner to the parking position;
and the vehicle searching path sending module is used for sending the real-time vehicle searching path to the second UWB positioning tag so that the vehicle owner can acquire the real-time vehicle searching path through the second UWB positioning tag.
Preferably, the vehicle searching path sending module includes:
a third sending unit, configured to send the real-time vehicle seeking path to a display on the second UWB locating tag, so as to display the real-time vehicle seeking path by using the display;
and/or the presence of a gas in the gas,
and the fourth sending unit is used for sending the real-time vehicle searching path to a voice navigator positioned on the second UWB positioning tag so as to utilize the voice navigator to carry out corresponding real-time voice navigation according to the real-time vehicle searching path.
The invention also discloses a UWB positioning tag, comprising:
a UWB signal generation unit for generating a real-time UWB signal;
the UWB signal sending unit is used for sending the real-time UWB signals to a UWB base station arranged in a parking lot, so that the UWB base station calculates corresponding real-time auxiliary positioning parameters after receiving the real-time UWB signals and sends the real-time auxiliary positioning parameters to an intelligent parking lot management server, and the intelligent parking lot management server is used for determining the real-time vehicle position of a target vehicle or the real-time position of a vehicle owner;
and the UWB signal receiving unit is used for receiving the real-time navigation path sent by the parking lot intelligent management server.
Preferably, the UWB positioning tag further includes:
and the UWB signal trigger button is connected with the UWB signal generation unit and used for generating a corresponding trigger signal under the condition of being pressed by the outside so as to trigger the UWB signal generation unit to generate the real-time UWB signal by utilizing the trigger signal.
The invention further discloses an intelligent management system for the parking lot, which comprises:
the vehicle positioning subsystem is used for receiving a first real-time UWB signal through a first group of UWB base stations arranged in a parking lot and determining the real-time vehicle position of a target vehicle needing parking currently by using the first real-time UWB signal; the first real-time UWB signal is a signal sent by a first UWB positioning tag positioned on the target vehicle in real time;
the parking space determining module is used for determining a parking position suitable for the target vehicle in the current parking lot;
a navigation path generation module for generating a real-time navigation path from the real-time vehicle position to the parking position;
and the navigation path sending module is used for sending the real-time navigation path to the first UWB positioning tag so that the vehicle owner obtains the real-time navigation path through the first UWB positioning tag.
The invention further discloses another parking lot intelligent management system, which comprises:
the vehicle owner positioning subsystem is used for receiving a second real-time UWB signal through a second group of UWB base stations arranged in the parking lot and determining the real-time position of a vehicle owner by utilizing the second real-time UWB signal; the second real-time UWB signal is a signal sent by a second UWB positioning tag carried by a vehicle owner in real time;
the vehicle searching path generating module is used for generating a real-time vehicle searching path from the real-time position of the vehicle owner to the parking position;
and the vehicle searching path sending module is used for sending the real-time vehicle searching path to the second UWB positioning tag so that the vehicle owner can acquire the real-time vehicle searching path through the second UWB positioning tag.
The invention also correspondingly discloses an intelligent management method for the parking lot, which comprises the following steps:
receiving a first real-time UWB signal through a first group of UWB base stations arranged in a parking lot, and determining the real-time vehicle position of a target vehicle needing to be parked currently by using the first real-time UWB signal; the first real-time UWB signal is a signal sent by a first UWB positioning tag positioned on the target vehicle in real time;
determining a parking position suitable for the target vehicle in a current parking lot;
generating a real-time navigation path from the real-time vehicle position to the parking position;
and sending the real-time navigation path to the first UWB positioning tag so that the vehicle owner obtains the real-time navigation path through the first UWB positioning tag.
The invention also correspondingly discloses another intelligent management method for the parking lot, which comprises the following steps:
receiving a second real-time UWB signal through a second group of UWB base stations arranged in the parking lot, and determining the real-time position of the vehicle owner by using the second real-time UWB signal; the second real-time UWB signal is a signal sent by a second UWB positioning tag carried by a vehicle owner in real time;
generating a real-time vehicle finding path from the real-time position of the vehicle owner to a parking position;
and sending the real-time vehicle searching path to the second UWB positioning tag so that the vehicle owner obtains the real-time vehicle searching path through the second UWB positioning tag.
The method comprises the steps of firstly determining the real-time vehicle position of a current vehicle needing to be parked or the real-time position of a current vehicle owner by utilizing a UWB positioning technology, generating a real-time navigation path from the current real-time vehicle position to the parking position, or generating a real-time vehicle searching path from the real-time position of the current vehicle owner to the parking position, and then sending the real-time navigation path or the real-time vehicle searching path to a corresponding UWB positioning label, so that the vehicle owner can acquire the real-time navigation path or the real-time vehicle searching path through the UWB positioning label, and the vehicle can be driven to the parking position or taken away from the parking position quickly, thereby improving the management level of a parking lot, and providing a high-quality parking lot management service for a user.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent management server for a parking lot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another parking lot intelligent management server disclosed by the embodiment of the invention;
FIG. 3 is a schematic view of a UWB positioning tag structure of a flow chart of a vehicle intelligent guiding method disclosed by an embodiment of the invention;
fig. 4 is a flowchart of a parking lot intelligent management method disclosed by the embodiment of the invention;
fig. 5 is a flowchart of another parking lot intelligent management method disclosed in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses an intelligent management server for a parking lot, which is shown in fig. 1 and comprises a first background signal processing module 11, a parking space determining module 12, a navigation path generating module 13 and a navigation path sending module 14; wherein,
the first background signal processing module 11 is configured to obtain, in real time, real-time auxiliary positioning parameters calculated after a first group of UWB base stations arranged in the parking lot receive the first real-time UWB signal, and determine, by using the real-time auxiliary positioning parameters, a real-time vehicle position of a target vehicle that needs to be parked at present; the first real-time UWB signal is a signal sent by a first UWB positioning tag located on a target vehicle in real time.
In this embodiment, the first group of UWB base stations disposed in the parking lot includes at least three UWB base stations. When the target vehicle needs to park in the parking lot, the UWB positioning tag on the target vehicle, that is, the first UWB positioning tag, may be used to send a 6.5GHz real-Time UWB signal to all UWB base stations in the first group of UWB base stations at a fixed frequency, each UWB base station, after receiving the current real-Time UWB signal, may calculate a corresponding real-Time auxiliary positioning parameter, that is, calculate a signal receiving Time corresponding to the current real-Time UWB signal received by the UWB base station, thereby obtaining a plurality of signal receiving times, and then send the plurality of signal receiving times to the first background signal processing module 11, the first background signal processing module 11 may calculate a real-Time two-dimensional coordinate of the first UWB positioning tag according to a Time difference between the plurality of signal receiving times and with the help of a TDOA (Time difference of Arrival) algorithm, therefore, the current real-time vehicle position of the target vehicle can be obtained.
It can be understood that, in this embodiment, after receiving the first real-time UWB signal, the first group of UWB base stations may send the first real-time UWB signal to the first background signal processing module 11 through a Wireless communication technology, where the Wireless communication technology specifically includes but is not limited to a WIFI communication technology (WIFI, Wireless Fidelity), a GPRS communication technology (GPRS, General Packet Radio Service), a 3G communication technology, a 4G communication technology, or a next generation mobile communication technology. Of course, in this embodiment, after receiving the first real-time UWB signal, the first group of UWB base stations may send the first real-time UWB signal to the first background signal processing module 11 through a wired communication technology, where the wired communication technology includes, but is not limited to, an optical fiber communication technology.
It should be further noted that, the first UWB positioning tag may be provided with a UWB signal triggering button, which is configured to generate a corresponding triggering signal when being pressed by the outside, and then trigger the first UWB positioning tag to generate and send a real-time UWB signal of 6.5GHz to the outside at a fixed frequency by using the triggering signal. Therefore, when the vehicle owner needs to park in the parking lot, the vehicle owner can trigger the first UWB positioning tag to generate and send out a real-time UWB signal to the outside by pressing the UWB signal trigger button in the first UWB positioning tag.
Of course, in addition to manually triggering the first UWB positioning tag to generate the real-time UWB signal of 6.5GHz at a fixed frequency, the present embodiment may also trigger the first UWB positioning tag to generate the real-time UWB signal of 6.5GHz at a fixed frequency through a UWB base station disposed at an entrance of the parking lot, and specifically, the present embodiment may control the entrance UWB base station to emit a 5.8GHz signal outwards at a certain frequency, and once the target vehicle drives to the entrance of the parking lot and enters the effective signal range of the 5.8GHz signal, the first UWB positioning tag on the target vehicle will be activated by the 5.8GHz signal, so as to emit the real-time UWB signal of 6.5GHz to the outside at a fixed frequency.
Therefore, the target vehicle is positioned based on the UWB positioning technology, and it is noted that the UWB positioning technology has a communication bandwidth of 3.1-10.6 GHz, and compared with a traditional narrow-band system, the UWB positioning system has the advantages of strong penetrating power, low power consumption, good anti-interference effect, high safety, low system complexity, high positioning accuracy (up to 10 cm) and the like.
In addition, a signal indicator lamp can be further arranged on the first UWB positioning tag, and when the first UWB positioning tag sends a real-time UWB signal to the outside, the signal indicator lamp in the first UWB positioning tag is controlled to work. Specifically, the signal indicator may be an LED indicator.
And a parking space determining module 12 for determining a parking position suitable for the target vehicle in the current parking lot.
In this embodiment, the parking space determination module may specifically include an idle parking space management database, a proper parking space determination submodule, and a parking space determination submodule; the system comprises a parking lot management database, a parking space management database and a parking space management database, wherein the parking space management database is used for recording parking space information of all idle parking spaces in the current parking lot; the appropriate parking space determining submodule is used for determining all appropriate parking spaces suitable for parking the target vehicle from all the idle parking spaces; and the parking space determining submodule is used for screening out one parking space from all the proper parking spaces and determining the position of the parking space as the parking position.
The parking space determining submodule can determine a parking position based on a mode of manually selecting a parking space, and correspondingly, the parking space determining submodule specifically comprises a proper parking space information sending unit and a parking space determining unit; the system comprises a first UWB positioning tag, a proper parking space information sending unit, a first UWB positioning tag and a second UWB positioning tag, wherein the proper parking space information sending unit is used for sending the parking space information of all proper parking spaces to the first UWB positioning tag; and the parking space determining unit is used for acquiring a parking space manual selection instruction input by the vehicle owner through the instruction input interface provided by the first UWB positioning tag, then screening out a parking space corresponding to the parking space manual selection instruction from all suitable parking spaces, and determining the position of the parking space as a parking position.
Of course, the parking space determining submodule may also determine the parking position based on a manner of automatically screening a parking space, and correspondingly, the parking space determining submodule may specifically include a parking space distance calculating unit and a parking space distance screening unit; the parking space distance calculation unit is used for calculating the path distance between each parking space in all the proper parking spaces and the current vehicle position respectively to obtain a corresponding path distance set; and the parking space distance screening unit is used for determining the parking space position corresponding to the path distance with the shortest path distance from the concentrated path distance as the parking position.
It can be understood that, when calculating the path distance between any parking space and the current vehicle position, the parking space distance calculation unit calculates the path distance from the shortest path between the parking space and the current vehicle position, which means that before calculating the path distance between any parking space and the current vehicle position, the parking space distance calculation unit needs to screen out the shortest path from all paths from the parking space to the current vehicle position.
In order to avoid appearing the phenomenon that different car owners compete for same parking stall simultaneously in the parking area, the parking stall determination module in this embodiment can also further include:
and the parking space locking submodule is used for deleting the parking space information corresponding to the parking position in the idle parking management database when the parking space determining submodule determines the parking position so as to realize the locking operation of the parking position.
Further, in order to facilitate the observation of the car owner, the parking lot intelligent management server in this embodiment may further include a parking space indicator control module, configured to send a corresponding start control instruction to the high-brightness indicator lamp disposed at the parking position after the parking space determining module 12 determines the parking space, so as to control the high-brightness indicator lamp at the parking position to flash at a certain flashing frequency. And when the vehicle owner is determined to stop parking, stopping sending the starting control instruction. Preferably, the highlight indicator is an orange highlight indicator.
And a navigation path generating module 13 for generating a real-time navigation path from the real-time vehicle position to the parking position.
In this embodiment, after the current real-time vehicle position and the corresponding parking position of the target vehicle are determined, the navigation path generating module may be used to generate a real-time navigation path from the current real-time vehicle position to the parking position. It is understood that the real-time navigation path in the present embodiment may change in real time correspondingly with the change of the real-time vehicle position, and the real-time navigation path is preferentially the shortest path from the current real-time vehicle position to the parking position.
And the navigation path sending module 14 is configured to send the real-time navigation path to the first UWB positioning tag, so that the vehicle owner obtains the real-time navigation path through the first UWB positioning tag.
In this embodiment, the navigation path sending module may specifically include a first sending unit and/or a second sending unit; wherein,
the first sending unit is used for sending the real-time navigation path to a display positioned on the first UWB positioning label so as to display the real-time navigation path by utilizing the display;
and the second sending unit is used for sending the real-time navigation path to the voice navigator positioned on the first UWB positioning tag so as to utilize the voice navigator to carry out corresponding real-time voice navigation according to the real-time navigation path.
That is, in the embodiment of the present invention, the vehicle owner can know the real-time navigation path through a path display mode or a navigation voice playing mode on the first UWB locating tag. When the real-time navigation path is displayed by using the display on the first UWB positioning tag, not only the real-time position of the current vehicle but also the moving direction of the current vehicle can be displayed.
In an embodiment of the present invention, an intelligent management server for a parking lot includes: the first background signal processing module is used for acquiring real-time auxiliary positioning parameters which are calculated after a first group of UWB base stations arranged in the parking lot receive the first real-time UWB signals in real time, and determining the real-time vehicle position of a target vehicle needing to be parked at present by utilizing the real-time auxiliary positioning parameters; the first real-time UWB signal is a signal sent by a first UWB positioning tag positioned on a target vehicle in real time; the parking space determining module is used for determining a parking position suitable for the target vehicle in the current parking lot; the navigation path generation module is used for generating a real-time navigation path from the real-time vehicle position to the parking position; and the navigation path sending module is used for sending the real-time navigation path to the first UWB positioning tag so that the vehicle owner obtains the real-time navigation path through the first UWB positioning tag. Therefore, the embodiment of the invention firstly utilizes the UWB positioning technology to determine the real-time vehicle position of the current vehicle needing to be parked, determines the parking position suitable for the target vehicle in the current parking lot, then generates the real-time navigation path from the current real-time vehicle position to the parking position, and sends the real-time navigation path to the first UWB positioning label, so that a vehicle owner can acquire the real-time navigation path through the first UWB positioning label, and can quickly drive the vehicle to the parking position for parking operation, thereby avoiding the problem of difficult parking space finding, and improving the use efficiency of the parking space.
At present, because the area in the parking area is great, the parking stall is more and the direction is difficult for characteristics such as discerning, has aroused the difficult problem of car owner looking for like this. The car owner usually finds the car in the parking lot for blind purpose by memory, which is very inconvenient. In order to solve the problem of difficulty in searching vehicles, the embodiment of the invention further discloses another intelligent management server for the parking lot, which specifically comprises the following steps:
referring to fig. 2, the parking lot intelligent management server in this embodiment includes a second background signal processing module 21, a vehicle finding path generating module 22, and a vehicle finding path sending module 23; wherein,
the second background signal processing module 21 is configured to obtain, in real time, a real-time auxiliary positioning parameter calculated after a second group of UWB base stations disposed in the parking lot receives a second real-time UWB signal, and determine a real-time position of the vehicle owner using the real-time auxiliary positioning parameter; the second real-time UWB signal is a signal sent out by a second UWB positioning tag carried by a vehicle owner in real time;
the vehicle searching path generating module 22 is used for generating a real-time vehicle searching path from the real-time position of the vehicle owner to the parking position;
and the vehicle searching path sending module 23 is configured to send the real-time vehicle searching path to the second UWB positioning tag, so that the vehicle owner obtains the real-time vehicle searching path through the second UWB positioning tag.
In this embodiment, the UWB base stations of the second group disposed in the parking lot include at least three UWB base stations. When the target vehicle needs to be taken from the parking lot, the UWB positioning tag carried with the vehicle, namely the second UWB positioning tag, transmitting a real-time UWB signal of 6.5GHz to all UWB base stations in the second group of UWB base stations at a fixed frequency, each UWB base station, after receiving the current real-time UWB signal, corresponding real-time auxiliary positioning parameters are calculated, namely the signal receiving time corresponding to the current real-time UWB signal received by the UWB base station is calculated, so that a plurality of signal receiving times are obtained, then, the signal receiving moments are sent to the second background signal processing module 21, and the second background signal processing module 21, according to the time differences among the signal receiving moments, meanwhile, by means of a TDOA algorithm, the real-time two-dimensional coordinate of the second UWB positioning tag is obtained through calculation, and therefore the current real-time position of the vehicle owner can be obtained.
It can be understood that, in this embodiment, after receiving the second real-time UWB signal, the second group of UWB base stations may send the second real-time UWB signal to the second background signal processing module 21 through a wireless communication technology, where the wireless communication technology specifically includes, but is not limited to, a WIFI communication technology, a GPRS communication technology, a 3G communication technology, a 4G communication technology, or a next generation mobile communication technology. Of course, in this embodiment, after receiving the second real-time UWB signal, the second group of UWB base stations may send the second real-time UWB signal to the second background signal processing module 21 through a wired communication technology, where the wired communication technology includes, but is not limited to, an optical fiber communication technology.
It should be further noted that, the second UWB positioning tag may be provided with a UWB signal triggering button, which is used to generate a corresponding triggering signal when being pressed by the outside, and then trigger the second UWB positioning tag to generate and send a real-time UWB signal of 6.5GHz to the outside at a fixed frequency by using the triggering signal. Therefore, when the car owner needs to get the car from the parking lot, the car owner can trigger the second UWB positioning tag to generate and send a real-time UWB signal to the outside by pressing the UWB signal trigger button in the second UWB positioning tag.
Of course, in addition to manually triggering the second UWB positioning tag to generate the real-time UWB signal of 6.5GHz at a fixed frequency, the present embodiment may also trigger the second UWB positioning tag to generate the real-time UWB signal of 6.5GHz at a fixed frequency by using the UWB base station disposed at the entrance of the parking lot, specifically, the present embodiment may control the entrance UWB base station to send a 5.8GHz signal outwards at a certain frequency, and once the owner walks to the entrance of the parking lot and enters the effective range of the 5.8GHz signal, the second UWB positioning tag carried by the owner will be activated by the 5.8GHz signal, so as to send the real-time UWB signal of 6.5GHz to the outside at a fixed frequency.
It should be noted that the first UWB base station set in the previous embodiment and the second UWB base station set in the present embodiment may be the same UWB base station set in the parking lot, and of course, in order to reduce the workload of the base stations, the first UWB base station set and the second UWB base station set may be two different UWB base stations.
It should be further noted that the first UWB positioning tag in the previous embodiment and the second UWB positioning tag in the present embodiment may be the same UWB positioning tag, and the UWB positioning tag may be detachably mounted on the target vehicle, and may be detached from the vehicle and carried around when the vehicle owner stops. Of course, the first UWB locating tag and the second UWB locating tag may be different UWB locating tags, respectively, if the hardware cost is not considered.
Further, in order to facilitate the observation of the vehicle owner, in this embodiment, once the second group of UWB base stations starts to receive the second real-time UWB signal, the parking space indicator control module in the previous embodiment may be notified to send a corresponding start control instruction to the high-brightness indicator lamp disposed at the corresponding parking position, so as to control the high-brightness indicator lamp at the parking position to flash at a certain flashing frequency. And when the owner of the vehicle is determined to take the vehicle away, the starting control instruction is stopped from being sent.
In this embodiment, the vehicle-searching path sending module 23 may specifically include a third sending unit and/or a fourth sending unit; wherein,
the third sending unit is used for sending the real-time vehicle searching path to a display on a second UWB positioning label so as to display the real-time vehicle searching path by utilizing the display;
and the fourth sending unit is used for sending the real-time vehicle searching path to the voice navigator positioned on the second UWB positioning tag so as to utilize the voice navigator to carry out corresponding real-time voice navigation according to the real-time vehicle searching path.
That is, in the embodiment of the present invention, the vehicle owner can know the real-time vehicle-searching path through a path display mode or a navigation voice playing mode on the second UWB locating tag.
Further, when the vehicle owner gets the vehicle and drives the vehicle to the exit of the parking lot, the vehicle owner can press the UWB signal trigger button on the second UWB positioning tag to enable the second UWB positioning tag which is originally in the activated state to reenter the sleep state, of course, the present embodiment can control the UWB base station at the exit to send out a 5.8GHz signal at a certain frequency, and once the target vehicle drives to the exit of the parking lot and enters the effective signal range of the 5.8GHz signal, the second UWB positioning tag will reenter the sleep mode.
In addition, in order to implement parking charge management of a vehicle, the parking lot intelligent management server in this embodiment may further include a background charging subsystem, specifically, when a target vehicle drives to an exit of the parking lot, the UWB base station at the exit may receive a 6.5GHz signal sent by the second UWB positioning tag, and timely send a charge prompt message to the background charging subsystem, when the background charging subsystem receives the charge prompt message, it may be determined whether an account balance of the vehicle owner corresponding to the tag ID number of the second UWB positioning tag is sufficient, if so, the vehicle may be automatically identified, thereby implementing automatic charging without parking, and if the account balance is insufficient, an artificial charging mode may be enabled.
Therefore, in the embodiment of the invention, the UWB positioning technology is firstly utilized to determine the real-time position of the current vehicle owner, then the real-time vehicle searching path from the real-time position of the current vehicle owner to the parking position is generated, and the real-time vehicle searching path is sent to the second UWB positioning tag, so that the vehicle owner can obtain the real-time vehicle searching path through the second UWB positioning tag, and the corresponding parking position can be easily found, thereby avoiding the problem of difficulty in vehicle searching.
In addition, an embodiment of the present invention further discloses a UWB positioning tag, which is shown in fig. 3 and includes:
a UWB signal generating unit 31 for generating a real-time UWB signal;
the UWB signal transmitting unit 32 is configured to transmit a real-time UWB signal to a UWB base station disposed in the parking lot, so that the UWB base station calculates a corresponding real-time auxiliary positioning parameter after receiving the real-time UWB signal and transmits the real-time auxiliary positioning parameter to the parking lot intelligent management server, so as to determine a real-time vehicle position of the target vehicle or a real-time position of the vehicle owner using the parking lot intelligent management server;
the UWB signal receiving unit 33 is configured to receive a real-time navigation path sent by the parking lot intelligent management server, and it is understood that the real-time navigation path may refer to a navigation path from a real-time vehicle position of the target vehicle to the parking position, and may also refer to a navigation path from a real-time position of the current vehicle owner to the parking position.
Further, the UWB positioning tag may further include:
and a UWB signal trigger button connected to the UWB signal generating unit 32 and configured to generate a corresponding trigger signal when being pressed by the outside so as to trigger the UWB signal generating unit 32 to generate a real-time UWB signal by using the trigger signal.
For more specific configurations of the UWB positioning tag, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
Further, the embodiment of the present invention also discloses an intelligent management system for a parking lot, comprising:
the vehicle positioning subsystem is used for receiving a first real-time UWB signal through a first group of UWB base stations arranged in the parking lot and determining the real-time vehicle position of a target vehicle needing to be parked currently by utilizing the first real-time UWB signal; the first real-time UWB signal is a signal sent by a first UWB positioning tag positioned on a target vehicle in real time;
the parking space determining module is used for determining a parking position suitable for the target vehicle in the current parking lot;
the navigation path generation module is used for generating a real-time navigation path from the real-time vehicle position to the parking position;
and the navigation path sending module is used for sending the real-time navigation path to the first UWB positioning tag so that the vehicle owner obtains the real-time navigation path through the first UWB positioning tag.
Specifically, in this embodiment, the first group of UWB base stations may include three UWB base stations, the assisted location parameter values generated by the three UWB base stations are the arrival times of the wireless location signals, and the vehicle location subsystem calculates the current location of the vehicle through the TDOA algorithm according to the arrival times of the wireless location signals. However, the clocks of the three UWB base stations may not be synchronized, i.e., there may be an offset that causes the arrival time of the signals generated by the UWB base stations to be inaccurate, thereby affecting the positioning accuracy. In order to further improve the positioning accuracy, the vehicle positioning subsystem further comprises: a synchronization signal transmitting module synchronization signal transmitting device for periodically transmitting a clock synchronization signal to the UWB base station; and a correction module correction device used for calculating the clock deviation of the UWB base station according to the clock synchronization signal and further correcting the parameter value determined by the UWB base station.
A correction module correction device comprises the following five sub-modules:
and the first calculation sub-module is used for calculating the time required by the clock synchronization signal to reach the UWB base station by adopting the coordinates of the UWB base station, the coordinates of the synchronization signal transmitting equipment and the propagation speed of the electromagnetic wave. Suppose that: the coordinates of the synchronizing signal transmitting apparatus are (X)t,Yt,Ht) The three UWB base stations are marked as A, B, C, the coordinate of A is (0,0, H), the coordinate of B is (X)b,YbH), the coordinates of C are (X)c,YcH), designating A as a reference base station and B, C as a non-reference base stationThe base station can know the time T required by the clock synchronization signal transmitted by the synchronization signal transmitting equipment to reach the three UWB base stations A, B and C through a distance formula between two points in a space rectangular coordinate systemAD,TBD,TCDRespectively as follows:
and the second calculation submodule is used for subtracting the arrival time of the clock synchronization signal measured by each non-reference base station from the arrival time of the clock synchronization signal measured by the reference base station to obtain the arrival time difference of the synchronization signal corresponding to each non-reference base station. Suppose that the arrival times of the clock synchronization signals measured by the three UWB base stations A, B and C are respectively T'A,T’B,T’CPrepared from T'BAnd T'ASubtracting to obtain a synchronization signal arrival time difference T 'corresponding to the non-reference base station B'BASimilarly, mixing T'CAnd T'ASubtracting to obtain a synchronization signal arrival time difference T 'corresponding to the non-reference base station C'CA。
And the third calculation submodule is used for subtracting the time difference of arrival of the synchronous signal corresponding to the non-reference base station from the time required by the clock synchronous signal to arrive at the non-reference base station, and adding the time difference of arrival of the synchronous signal to the time required by the clock synchronous signal to arrive at the reference base station to obtain the clock deviation of the non-reference base station at the current moment. Suppose the clock offsets of three UWB base stations A, B, C are DeltatA,△tB,△tCSince A is the base station reference (i.e., the clock is based on base station A), Δ tAIs equal to 0, and
ΔtB＝T′BA-TBD+TAD
ΔtC＝T′CA-TCD+TAD
thereby calculating the clock deviation delta t of three UWB base stations A, B and C at the current timeA,△tB,△tC。
And the fourth calculation submodule is used for predicting the clock deviation of the UWB base station at the next moment by adopting the clock deviation of the UWB base station at the current moment. And inputting the clock deviation of the current time into a prediction algorithm to obtain the clock deviation of the UWB base station at the next time. A prediction algorithm, the kalman filter prediction algorithm, is given below, which is as follows:
ΔT′(t+1)＝ΔT′(t)+a{ΔT(t)-ΔT′(t)}
where Δ T (T) is a clock deviation at the current time, Δ T ' (T) is a clock deviation predicted at the current time, Δ T ' (T +1) is a clock deviation at the next time, T is 1,2,3,4, … …, N, Δ T ' (1) is Δ T (0), a may be a constant, for example, a is 0.5, and an optimal a may be obtained by a least-squares method, for example, such that:
e＝∑{ΔT(t)-ΔT′(t)}2＝∑{ΔT(t)-ΔT′(t-1)-a[ΔT(t-1)-ΔT′(t-1)]}2
taking the derivative of a in equation e and equals 0, then:
a(t)＝∑{ΔT(t)-ΔT′(t-1)}{ΔT(t-1)-ΔT′(t-1)}/∑{ΔT(t-1)-ΔT′(t-1)}2
wherein t is 1,2,3,4, … …, N.
And the fifth calculation submodule is used for correcting the arrival time of the wireless positioning signal measured by the UWB base station at the next moment by adopting the predicted clock deviation of the UWB base station at the next moment. More specifically, the predicted clock offset of the UWB base station at the next time is subtracted from the arrival time of the wireless positioning signal measured by the UWB base station at the next time, so that the arrival time after the clock offset is corrected is obtained.
The correction device can be applied to various occasions by calculating the time required by the clock synchronization signal to reach each UWB base station in real time through the first calculation submodule. It will be appreciated that in some applications, the time T required for the clock synchronisation signal to reach each UWB base station may also be pre-calculatedAD,TBD,TCDStored in the device, while the first calculation submodule described above is omitted in the correction device.
Therefore, the embodiment of the invention firstly utilizes the UWB positioning technology to determine the real-time vehicle position of the current vehicle needing to be parked, determines the parking position suitable for the target vehicle in the current parking lot, then generates the real-time navigation path from the current real-time vehicle position to the parking position, and sends the real-time navigation path to the first UWB positioning label, so that a vehicle owner can acquire the real-time navigation path through the first UWB positioning label, and can quickly drive the vehicle to the parking position for parking operation, thereby avoiding the problem of difficult parking space finding, and improving the use efficiency of the parking space.
Further, the embodiment of the present invention further discloses another parking lot intelligent management system, including:
the vehicle owner positioning subsystem is used for receiving a second real-time UWB signal through a second group of UWB base stations arranged in the parking lot and determining the real-time position of a vehicle owner by utilizing the second real-time UWB signal; the second real-time UWB signal is a signal sent out by a second UWB positioning tag carried by a vehicle owner in real time;
the vehicle searching path generating module is used for generating a real-time vehicle searching path from the real-time position of the vehicle owner to the parking position;
and the vehicle searching path sending module is used for sending the real-time vehicle searching path to the second UWB positioning tag so that the vehicle owner obtains the real-time vehicle searching path through the second UWB positioning tag.
Correspondingly, the embodiment of the invention also discloses an intelligent management method for the parking lot, which is shown in fig. 4 and comprises the following steps:
step S41: receiving a first real-time UWB signal through a first group of UWB base stations arranged in a parking lot, and determining the real-time vehicle position of a target vehicle needing to be parked currently by utilizing the first real-time UWB signal; the first real-time UWB signal is a signal sent by a first UWB positioning tag positioned on a target vehicle in real time;
step S42: determining a parking position suitable for a target vehicle in a current parking lot;
step S43: generating a real-time navigation path from a real-time vehicle position to a parking position;
step S44: and sending the real-time navigation path to the first UWB positioning tag so that the vehicle owner obtains the real-time navigation path through the first UWB positioning tag.
For a more specific work flow of the parking lot intelligent management method, reference may be made to corresponding contents disclosed in the foregoing embodiments, and repeated descriptions are not repeated here.
Therefore, the embodiment of the invention firstly utilizes the UWB positioning technology to determine the real-time vehicle position of the current vehicle needing to be parked, determines the parking position suitable for the target vehicle in the current parking lot, then generates the real-time navigation path from the current real-time vehicle position to the parking position, and sends the real-time navigation path to the first UWB positioning label, so that a vehicle owner can acquire the real-time navigation path through the first UWB positioning label, and can quickly drive the vehicle to the parking position for parking operation, thereby avoiding the problem of difficult parking space finding, and improving the use efficiency of the parking space.
Further, as shown in fig. 5, another parking lot intelligent management method is also disclosed in the embodiment of the present invention, and includes:
step S51: receiving a second real-time UWB signal through a second group of UWB base stations arranged in the parking lot, and determining the real-time position of the vehicle owner by utilizing the second real-time UWB signal; the second real-time UWB signal is a signal sent out by a second UWB positioning tag carried by a vehicle owner in real time;
step S52: generating a real-time vehicle searching path from the real-time position of the vehicle owner to the parking position;
step S53: and sending the real-time vehicle searching path to a second UWB positioning tag so that the vehicle owner obtains the real-time vehicle searching path through the second UWB positioning tag.
For a more specific work flow of the parking lot intelligent management method, reference may be made to corresponding contents disclosed in the foregoing embodiments, and repeated descriptions are not repeated here.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The parking lot intelligent management server, the parking lot intelligent management system, the parking lot intelligent management method and the UWB positioning tag are introduced in detail, specific examples are applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. The utility model provides a parking area intelligent management server which characterized in that includes:
the first background signal processing module is used for acquiring real-time auxiliary positioning parameters which are calculated after a first group of UWB base stations arranged in the parking lot receive the first real-time UWB signals in real time, and determining the real-time vehicle position of a target vehicle needing to be parked at present by utilizing the real-time auxiliary positioning parameters; the first real-time UWB signal is a signal sent out by a first UWB positioning tag on the target vehicle in real time at a fixed frequency;
the parking space determining module is used for determining a parking position suitable for the target vehicle in the current parking lot;
a navigation path generation module for generating a real-time navigation path from the real-time vehicle position to the parking position;
the navigation path sending module is used for sending the real-time navigation path to the first UWB positioning tag so that the vehicle owner can obtain the real-time navigation path through the first UWB positioning tag;
wherein, the navigation path sending module comprises:
and the first sending unit is used for sending the real-time navigation path to a display positioned on the first UWB positioning label so as to display the real-time navigation path by utilizing the display.
2. The intelligent parking lot management server according to claim 1, wherein the navigation path transmission module further comprises:
and the second sending unit is used for sending the real-time navigation path to a voice navigator positioned on the first UWB positioning tag so as to utilize the voice navigator to carry out corresponding real-time voice navigation according to the real-time navigation path.
3. The utility model provides a parking area intelligent management server which characterized in that includes:
the second background signal processing module is used for acquiring real-time auxiliary positioning parameters which are calculated after a second group of UWB base stations arranged in the parking lot receive a second real-time UWB signal in real time and determining the real-time position of the vehicle owner by utilizing the real-time auxiliary positioning parameters; the second real-time UWB signal is a signal sent out by a second UWB positioning tag carried by a vehicle owner in real time at fixed frequency;
the vehicle searching path generating module is used for generating a real-time vehicle searching path from the real-time position of the vehicle owner to the parking position;
the vehicle searching path sending module is used for sending the real-time vehicle searching path to the second UWB positioning tag so that a vehicle owner can obtain the real-time vehicle searching path through the second UWB positioning tag;
wherein, the vehicle searching path sending module comprises:
and the third sending unit is used for sending the real-time vehicle searching path to a display positioned on the second UWB positioning tag so as to display the real-time vehicle searching path by utilizing the display.
4. The intelligent parking lot management server according to claim 3, wherein the vehicle finding path transmitting module further comprises:
and the fourth sending unit is used for sending the real-time vehicle searching path to a voice navigator positioned on the second UWB positioning tag so as to utilize the voice navigator to carry out corresponding real-time voice navigation according to the real-time vehicle searching path.
5. An UWB positioning tag comprising:
a UWB signal generation unit for generating a real-time UWB signal;
the UWB signal sending unit is used for sending the real-time UWB signals to a UWB base station arranged in a parking lot at fixed frequency, so that the UWB base station calculates corresponding real-time auxiliary positioning parameters after receiving the real-time UWB signals and sends the real-time auxiliary positioning parameters to an intelligent parking lot management server, and the intelligent parking lot management server is used for determining the real-time vehicle position of a target vehicle or the real-time position of a vehicle owner;
the UWB signal receiving unit is used for receiving the real-time navigation path sent by the parking lot intelligent management server;
wherein, UWB location label still includes the display, is used for to UWB signal receiving element received real-time navigation route show.
6. The UWB positioning tag of claim 5 further comprising:
and the UWB signal trigger button is connected with the UWB signal generation unit and used for generating a corresponding trigger signal under the condition of being pressed by the outside so as to trigger the UWB signal generation unit to generate the real-time UWB signal by utilizing the trigger signal.
7. An intelligent parking lot management system, comprising:
the vehicle positioning subsystem is used for receiving a first real-time UWB signal through a first group of UWB base stations arranged in a parking lot and determining the real-time vehicle position of a target vehicle needing parking currently by using the first real-time UWB signal; the first real-time UWB signal is a signal sent out by a first UWB positioning tag on the target vehicle in real time at a fixed frequency;
the parking space determining module is used for determining a parking position suitable for the target vehicle in the current parking lot;
a navigation path generation module for generating a real-time navigation path from the real-time vehicle position to the parking position;
and the navigation path sending module is used for sending the real-time navigation path to a display on the first UWB positioning tag so that the vehicle owner can acquire the real-time navigation path through the first UWB positioning tag.
8. An intelligent parking lot management system, comprising:
the vehicle owner positioning subsystem is used for receiving a second real-time UWB signal through a second group of UWB base stations arranged in the parking lot and determining the real-time position of a vehicle owner by utilizing the second real-time UWB signal; the second real-time UWB signal is a signal sent out by a second UWB positioning tag carried by a vehicle owner in real time at fixed frequency;
the vehicle searching path generating module is used for generating a real-time vehicle searching path from the real-time position of the vehicle owner to the parking position;
and the vehicle searching path sending module is used for sending the real-time vehicle searching path to a display on the second UWB positioning tag so that a vehicle owner can acquire the real-time vehicle searching path through the second UWB positioning tag.
9. An intelligent management method for a parking lot is characterized by comprising the following steps:
receiving a first real-time UWB signal through a first group of UWB base stations arranged in a parking lot, and determining the real-time vehicle position of a target vehicle needing to be parked currently by using the first real-time UWB signal; the first real-time UWB signal is a signal sent out by a first UWB positioning tag on the target vehicle in real time at a fixed frequency;
determining a parking position suitable for the target vehicle in a current parking lot;
generating a real-time navigation path from the real-time vehicle position to the parking position;
and sending the real-time navigation path to a display on the first UWB positioning tag so that the vehicle owner obtains the real-time navigation path through the first UWB positioning tag.
10. An intelligent management method for a parking lot is characterized by comprising the following steps:
receiving a second real-time UWB signal through a second group of UWB base stations arranged in the parking lot, and determining the real-time position of the vehicle owner by using the second real-time UWB signal; the second real-time UWB signal is a signal sent out by a second UWB positioning tag carried by a vehicle owner in real time at fixed frequency;
generating a real-time vehicle finding path from the real-time position of the vehicle owner to a parking position;
and sending the real-time vehicle searching path to a display on the second UWB positioning tag so that a vehicle owner obtains the real-time vehicle searching path through the second UWB positioning tag.
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