CN106297395A - A kind of vehicle location being applied to parking guidance system and light belt bootstrap technique - Google Patents
A kind of vehicle location being applied to parking guidance system and light belt bootstrap technique Download PDFInfo
- Publication number
- CN106297395A CN106297395A CN201610874630.0A CN201610874630A CN106297395A CN 106297395 A CN106297395 A CN 106297395A CN 201610874630 A CN201610874630 A CN 201610874630A CN 106297395 A CN106297395 A CN 106297395A
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- vehicle
- light belt
- parking
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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
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
Abstract
The present invention provides a kind of vehicle location being applied to parking guidance system and light belt bootstrap technique, the method utilizes shortest path first to generate and arrives the optimal path specifying parking stall, vehicle real-time position information according to sensor feedback controls the switch of light belt on the way, makes driver quickly arrive nearest parking spot in parking lot.It implements and comprises the steps: to set up parking lot abstract model；Vehicle real-time position information is obtained according to sensor；Shortest path first is used to generate current vehicle position to the optimal path specifying position；By vehicle position information and the switch of optimal path information co-controlling light belt on the way, vehicle guides to arrive according to light belt specifies parking spot.The method utilizing the present invention, guides according to light belt and can quickly arrive appointment parking stall, solves driver and blindly finds the problem on parking stall in parking lot, is greatly improved parking efficiency, and stopping at release site inside accesses blocks, and reduces labor management cost.
Description
Technical field
The present invention relates to parking lot, be specifically related to one and be applied to parking guidance system, utilize sensor location vehicle also
Use light belt to guide the method that vehicle arrives the most idle parking stall, belong to intelligent parking lot technical field.
Background technology
Finding parking stall is a time-consuming process, and not only the efficiency on economic activity creates certain impact, simultaneously
Also contribute to interaction and the cost of entire society.For this problem, some big cities have begun to use parking guidance system
System, enables a driver to more efficiently find suitable parking stall.But apply at present most parking systems, be driver from
General direction and the quantity of parking lot free parking space is obtained on variable electronic information display screen.This system can not be selected for driver
Select optimum parking stall and the arrival path of optimum is provided, but allowing driver not park with there is no any restriction, so that
Parking stall in parking lot can not sufficiently and reasonably be utilized.This system also exists limitation, and such as display is typically believed by it
The variable electronic information board of breath is arranged on the major trunk roads in doorway, parking lot and parking lot, for poor the driving of those senses of direction
For the person of sailing, director information is clear and definite not, and the content that can show on this message panel is very limited, it is impossible to for often
The demand of individual driver and corresponding details are provided, and the position placed due to it, cause driver ignore very much from
And can not work.The rough location information on parking stall can only be told that driver is to assist driver to find by this guide mode
Parking stall, driver still needs to take a significant amount of time and energy blindly searching near the parking stall being prompted, accurately, quickly stops
Difficulty big, the time consumption of parking is long, and this is very likely to cause the traffic in parking lot to have some setbacks.This in parking lot
Parking guidance system the most fundamentally solves the fast searching problem to parking stall.
In order to solve the problem of parking difficulty in above-mentioned parking lot, the information money on vacant parking stall in making full use of parking lot
Source, improves and manages parking stall effectively and reasonably, strengthens existing parking guidance system at free parking space location, optimal path
Function in terms of guiding, proposes one here and is applied to parking guidance system, realizes vehicle location and use light belt to guide vehicle
The method arriving nearest parking stall
Summary of the invention
The present invention is directed to existing parking guidance system, utilize computer intelligence planning technology, serial port communication technology and
The technology such as logic control technique, it is achieved the Route guiding to parking stall vacant in parking lot, thus solve driver in parking lot
The problem blindly finding vacant parking stall, the problem of stopping at release site inside accesses blocking, reduces down time.
For reaching above-mentioned purpose, the present invention proposes one and is applied to parking guidance system, realizes vehicle location and make to use up
Band guides the method that vehicle arrives nearest parking stall, and it implements and comprises the steps:
S1, according to different inner part of parking lot parking stalls and section layout, sets up different abstract models respectively, generates undirected
Weighted graph.
The purpose of this step is to generate undirected weighted graph, carries out corresponding by physical environment with abstract model, it is simple to the most true
Determine vehicle location and calculate optimal path.Be specially each parking stall is numbered, by parking lot two or more
The intersection of road is defined as intersection.Section is defined as the limit of figure simultaneously, and crossing and parking stall are defined as node,
The network structure being made up of these sections, crossing and parking stall is converted into undirected weighted graph.
S2, by sensor device collection vehicle information, along with vehicle moves, the information of the sensor acquisition of diverse location
The position of vehicle can be determined in real time
In utilizing parking lot in this step, the identification alignment sensor at different nodes obtains information of vehicles, according to obtaining car
The position of the sensor of information and then determine the position of vehicle.Utilize the method to use to include but not limited to based on RF identification
The smart card of technology, Car license recognition based on image processing techniques image first-class identification alignment sensor need to identify different vehicle
Feature is to find the vehicle of parking stall simultaneously in differentiating parking lot.
S3, utilizes shortest path first to calculate current vehicle position to the optimal path specifying parking stall
Utilize the method by including but not limited to that the shortest path firsts such as dijkstra's algorithm calculate current vehicle position
To the optimal path of appointment parking stall, first calculating Entrance, to the shortest path on any parking stall, takies further according to parking stall
Situation selects the parking stall that path summation is minimum.Calculate vehicle location and arrive the shortest path of target parking stall, and record crucial on the way
Nodal information.
S4, according to particular location and the optimal path of vehicle, lights the light belt on specified path
The vehicle position information obtained according to sensor in S2 in this step and S3 calculate the key node information of acquisition,
Light belt on co-controlling shortest path.First sensor obtains information of vehicles, and the information of identification uploads to control terminal, control
Terminal processed searches optimal path according to position and the information of vehicles of sensor, lights the light belt of vehicle front.
S5, positional information and routing information co-controlling light belt, light or extinguish, along with vehicle moves, the light belt specified,
Complete vehicle to guide.
The vehicle position information obtained according to sensor, immediately lights the light belt at vehicle front 3～10 meters, is anti-simultaneously
Only subsequent vehicle is caused misleading, needs the instant light belt extinguishing rear view of vehicle.Follow light belt guiding can arrive according to shortest path
Footpath calculates the appointment parking stall of gained.If the path that vehicle deviation control terminal calculates, the information of vehicles obtained according to sensor,
In the light belt of vehicle front is carried out 20 seconds, variable color flicker is warned, and controls terminal and recalculates current vehicle position to idle car simultaneously
The shortest path of position, completes to reboot vehicle.
Accompanying drawing explanation
Fig. 1 is certain parking lot top view and abstract model thereof.
Fig. 2 is that parking lot light belt guides system software structure figure.
Fig. 3 is optimal path product process figure.
Fig. 4 is for guiding Design of System Software flow chart
Fig. 5 is vehicle location and light belt bootup process flow chart
Detailed description of the invention
In order to know more about the technology contents of the present invention, especially exemplified by specific embodiment and coordinate institute's accompanying drawings to be described as follows.
Each side the most with reference to the accompanying drawings to describe the present invention, the embodiment illustrated shown in the drawings of many.
Embodiment of the disclosure and must not be intended to include all aspects of the invention.Should be appreciated that multiple design presented hereinbefore and reality
Execute example, and those designs of describing in more detail below and embodiment can in many ways in any one comes real
Execute, this is because design disclosed in this invention and embodiment are not limited to any embodiment.It addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined uses with disclosed by the invention.
Fig. 1 is certain parking lot top view and abstract model thereof, and different parking lots is according to its parking stall layout, path situation etc.
Corresponding different parking lot model.Should be appreciated that the parking lot shown in Fig. 1 is exemplary, the method is applied to different
Need before parking lot first to set up the abstract model that this parking lot is corresponding.
Fig. 2 exemplarily illustrates parking lot light belt and guides system software structure figure, and this control system includes parking lot mould
Type sets up module, collecting vehicle information module, information of vehicles identification module, optimal path generation module, vehicle location judgement mould
Block, guides light belt control module.
Fig. 3 show optimal path product process figure, have employed the optimization dijkstra's algorithm of Problem with Some Constrained Conditions.
Fig. 4 is that the vehicle location being applied to parking guidance system according to certain embodiments of the invention guides system with light belt
Software design flow chart.
Fig. 5 is vehicle location and light belt bootup process flow chart, specifically comprises the following steps that
S1, according to different inner part of parking lot parking stalls and section layout, sets up different abstract models respectively, generates undirected
Weighted graph；
S2, by sensor device collection vehicle information, along with vehicle moves, the information of the sensor acquisition of diverse location
The position of vehicle can be determined in real time；
S3, utilizes shortest path first to calculate current vehicle position to the optimal path specifying parking stall；
S4, according to particular location and the optimal path of vehicle, lights the light belt on specified path；
S5, positional information and routing information co-controlling light belt, light or extinguish, along with vehicle moves, the light belt specified,
Complete vehicle to guide.
Shown in below in conjunction with the accompanying drawings, aforementioned applications is more specifically described in the vehicle location of parking guidance system and light belt
The exemplary realization of bootstrap technique.
S1, according to different inner part of parking lot parking stalls and section layout, sets up different abstract models respectively, generates undirected
Weighted graph, specifically comprises the following steps that
S11, according to the Distribution Pattern of its parking position, is divided into A, B in figure by parking lot ... the several district of H, and to each
Parking stall is numbered；
S12, is defined as intersection by the intersection of two or more road in parking lot, represents with ni, fixed
Road between every two crossings of justice is a section, and symbolization s < ni,nj> (i, j=1,2,3 ...) represent n in figureiIntersect
Mouth and njSection between crossing.Section is defined as the limit of figure, crossing and parking position and is defined as node, will be by these roads
The network structure that section, crossing and parking position are constituted is converted into undirected weighted graph.The vertex set of the non-directed graph according to this example and
Limit collection is expressed as:
V (G)={ n0, n1, n2, n3, n4, n5, n6, n7, n8}；
E (G)=(n0, n1), (n0, n3), (n1, n2), (n1, n4), (n2, n6), (n3, n4), (n4, n6), (n3,
N6), (n4, n7), (n6, n8), (n6, n7), (n7, n8) }；
S13, sets up list, stores the information of each node, including the sensing around node serial number, node location, node
Device numbering, the shortest path of this node to entrance, it is occupied etc. whether node stops.
S2, by sensor device collection vehicle information, along with vehicle moves, the information of the sensor acquisition of diverse location
The position of vehicle can be determined in real time.
Sensor i.e. refers to photographic head in this example, by camera collection information of vehicles, obtains vehicle license plate, profile etc.
Information, in order to identify different vehicles, is synchronized to the camera position being arranged in parking lot in model, utilizes camera collection
Image information judge the position that vehicle is current.
S3, utilizes shortest path first to calculate current vehicle position to the optimal path specifying parking stall.
Have employed the optimization dijkstra's algorithm of Problem with Some Constrained Conditions, be greatly simplified by node when calculating, concretism is:
S31, centered by entrance, calculates the optimal path arriving road two ends, vacant parking position place host node；
S32, calculates vacant parking position and arrives the distance of two ends host nodes, respectively with the optimum road of entrance to two host nodes
Footpath distance is added, and compares and draw final optimal path；
S33, by the path information storage of the shortest path result of calculation of each node and correspondence in the list of S13, when
When vehicle enters parking lot idle and to the shortest parking stall of ingress path in inquiry form.
S4, according to particular location and the optimal path of vehicle, lights the light belt on specified path.
S41, calculates, compares idle parking stall and the shortest path information of acquisition, by this parking space sign in S13 list according to S33
It is designated as taking；
S42, obtains vehicle position information at any time according to the photographic head in S2, obtains vehicle position；
S43, when the routing information that the vehicle that S42 obtains travels is identical with the routing information that S41 plans, lights vehicle position
Put front 3～the light belt of 10 meters.
S5, positional information and routing information co-controlling light belt, light or extinguish, along with vehicle moves, the light belt specified,
Complete vehicle to guide.
S51, lights the light belt of vehicle front, extinguishes the light belt of rear view of vehicle simultaneously according to S4, to prevent from misleading rear car
?；
S52, when the information that S41 and S42 obtains is not inconsistent, during the path that i.e. vehicle deviation is planned, obtains according to photographic head
Vehicle position information, control front light belt variable color flicker and warn, planning current location is to the shortest path of target parking stall again,
Re-execute S4；
S53, when position and the planned position of vehicle parking are inconsistent, and car owner does not guides according to light belt and arbitrarily stops,
Update parking space information in S13 list, by the parking stall mark stopped for take, the parking stall releasing of planning is taken；
S54, when the position of vehicle parking is consistent with planned position, complete this time to stop flow process.
Claims (6)
1. the vehicle location being applied to parking guidance system and light belt bootstrap technique, it is characterised in that the method is to stop
Based on the abstract model of field, utilizing shortest path first acquisition approach information, sensor obtains vehicle position information, co-controlling
The lighting and extinguish of light belt on path, along with vehicle has moved Route guiding, it implements and comprises the steps:
S1, according to inner part of parking lot parking stall and section layout, set up abstract model, generate undirected weighted graph；
S2, by sensor device collection vehicle information, along with vehicle moves, the information of the sensor acquisition of diverse location can
Determine the position of vehicle in real time；
S3, utilize shortest path first calculate current vehicle position to appointment parking stall optimal path；
S4, according to the particular location of vehicle and optimal path, light the light belt on specified path；
S5, positional information and routing information co-controlling light belt, light or extinguish, along with vehicle moves, the light belt specified, complete
Vehicle guides.
Method the most according to claim 1, it is characterised in that in abovementioned steps S1, for different parking spaces, sets up
Different abstract models, generates undirected weighted graph, and memory node information specifically comprises parking stall, section and intersection.
Method the most according to claim 1, it is characterised in that in abovementioned steps S2, multiple by arranging in parking lot
Sensor Real time identification vehicle, completes vehicle location in parking lot.
Method the most according to claim 1, it is characterised in that in abovementioned steps S3, by including but not limited to
Dijkstra's algorithm shortest path first calculates current vehicle position to the optimal path specifying parking stall.
Method the most according to claim 1, it is characterised in that in abovementioned steps S4, obtains information of vehicles by sensor,
Different node in sensor correspondence step S1 of diverse location and path, so that it is determined that the position that vehicle is in undirected weighted graph
Put.
Method the most according to claim 1, it is characterised in that in abovementioned steps S5, the vehicle location obtained in step S4
The light belt on shortest path information co-controlling optimal path calculated in information and step S3, lights the light belt of vehicle front,
Extinguish the light belt of rear view of vehicle；According to the instruction of light belt, along with vehicle moves, complete light belt and guide.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106601023A (en) * | 2017-02-22 | 2017-04-26 | 北华大学 | Indoor parking lot vehicle guiding and positioning system and method |
| CN107180553A (en) * | 2017-06-14 | 2017-09-19 | 陕西科技大学 | A kind of intelligent steering managing system of car parking and method |
| CN107527517A (en) * | 2017-07-11 | 2017-12-29 | 谢锋 | A kind of intelligent parking system |
| CN107730975A (en) * | 2017-09-13 | 2018-02-23 | 浙江大学 | Supermarket's stopping guide reverse car seeking and the system and method for the guiding that appears on the scene |
| CN109584615A (en) * | 2018-12-24 | 2019-04-05 | 重庆唯哲科技有限公司 | Garage navigation system and method based on blue-tooth intelligence terminal |
| CN109658725A (en) * | 2017-10-10 | 2019-04-19 | 杭州海康威视系统技术有限公司 | Parking lot car searching method, apparatus and system, computer equipment, storage medium |
| CN110390836A (en) * | 2019-07-17 | 2019-10-29 | 青岛海尔空调器有限总公司 | For guiding the method, apparatus and managing system of car parking of travel route |
| CN110929702A (en) * | 2020-01-22 | 2020-03-27 | 华人运通(上海)新能源驱动技术有限公司 | Trajectory planning method and device, electronic equipment and storage medium |
| CN111081048A (en) * | 2019-12-26 | 2020-04-28 | 珠海格力电器股份有限公司 | Parking space navigation method, system, storage medium and computer equipment |
| CN111142537A (en) * | 2020-01-08 | 2020-05-12 | 罗唯一 | Unmanned control method and system |
| CN111210653A (en) * | 2020-01-16 | 2020-05-29 | 浙江科技学院 | Parking lot intelligent guiding method and system based on wireless sensor network |
| CN111210654A (en) * | 2020-01-16 | 2020-05-29 | 浙江科技学院 | Parking lot vehicle automatic guiding method and system based on Internet of things |
| CN111243327A (en) * | 2020-01-16 | 2020-06-05 | 淄博职业学院 | Vehicle guiding method and system based on computer monitoring |
| CN111260802A (en) * | 2020-01-16 | 2020-06-09 | 淄博职业学院 | Parking lot intelligent control method and system based on wireless communication network |
| CN111402616A (en) * | 2020-02-20 | 2020-07-10 | 西安电子科技大学 | Intelligent parking control method, system, storage medium, computer program and terminal |
| CN112509369A (en) * | 2020-12-02 | 2021-03-16 | 江苏金冠停车产业股份有限公司 | Dynamic luminous parking space guiding system and guiding method thereof |
| CN113611127A (en) * | 2021-08-10 | 2021-11-05 | 谭举 | Underground parking lot parking space guiding system based on Internet of things and cloud computing |
| CN114511938A (en) * | 2022-03-09 | 2022-05-17 | 青岛创智融信数字科技集团有限公司 | Intelligent parking management method and platform |
| CN117119588A (en) * | 2023-10-18 | 2023-11-24 | 湖南承希科技有限公司 | Wi-Fi6 technology-based method for realizing positioning of vehicle in track parking lot |
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| CN106601023A (en) * | 2017-02-22 | 2017-04-26 | 北华大学 | Indoor parking lot vehicle guiding and positioning system and method |
| CN106601023B (en) * | 2017-02-22 | 2019-12-06 | 北华大学 | Indoor parking lot vehicle guiding and positioning system and method |
| CN107180553A (en) * | 2017-06-14 | 2017-09-19 | 陕西科技大学 | A kind of intelligent steering managing system of car parking and method |
| CN107527517A (en) * | 2017-07-11 | 2017-12-29 | 谢锋 | A kind of intelligent parking system |
| CN107730975A (en) * | 2017-09-13 | 2018-02-23 | 浙江大学 | Supermarket's stopping guide reverse car seeking and the system and method for the guiding that appears on the scene |
| CN107730975B (en) * | 2017-09-13 | 2020-04-28 | 浙江大学 | System and method for guiding reverse car finding and departure guiding in supermarket parking |
| CN109658725A (en) * | 2017-10-10 | 2019-04-19 | 杭州海康威视系统技术有限公司 | Parking lot car searching method, apparatus and system, computer equipment, storage medium |
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| CN109584615A (en) * | 2018-12-24 | 2019-04-05 | 重庆唯哲科技有限公司 | Garage navigation system and method based on blue-tooth intelligence terminal |
| CN110390836A (en) * | 2019-07-17 | 2019-10-29 | 青岛海尔空调器有限总公司 | For guiding the method, apparatus and managing system of car parking of travel route |
| CN111081048A (en) * | 2019-12-26 | 2020-04-28 | 珠海格力电器股份有限公司 | Parking space navigation method, system, storage medium and computer equipment |
| CN111142537A (en) * | 2020-01-08 | 2020-05-12 | 罗唯一 | Unmanned control method and system |
| CN111243327B (en) * | 2020-01-16 | 2021-12-31 | 淄博职业学院 | Vehicle guiding method and system based on computer monitoring |
| CN111210654A (en) * | 2020-01-16 | 2020-05-29 | 浙江科技学院 | Parking lot vehicle automatic guiding method and system based on Internet of things |
| CN111243327A (en) * | 2020-01-16 | 2020-06-05 | 淄博职业学院 | Vehicle guiding method and system based on computer monitoring |
| CN111260802A (en) * | 2020-01-16 | 2020-06-09 | 淄博职业学院 | Parking lot intelligent control method and system based on wireless communication network |
| CN111210653B (en) * | 2020-01-16 | 2022-01-14 | 浙江科技学院 | Parking lot intelligent guiding method and system based on wireless sensor network |
| CN111210653A (en) * | 2020-01-16 | 2020-05-29 | 浙江科技学院 | Parking lot intelligent guiding method and system based on wireless sensor network |
| CN110929702B (en) * | 2020-01-22 | 2020-05-08 | 华人运通(上海)新能源驱动技术有限公司 | Trajectory planning method and device, electronic equipment and storage medium |
| CN110929702A (en) * | 2020-01-22 | 2020-03-27 | 华人运通(上海)新能源驱动技术有限公司 | Trajectory planning method and device, electronic equipment and storage medium |
| CN111402616B (en) * | 2020-02-20 | 2022-01-04 | 西安电子科技大学 | Intelligent parking control method, system, storage medium and terminal |
| CN111402616A (en) * | 2020-02-20 | 2020-07-10 | 西安电子科技大学 | Intelligent parking control method, system, storage medium, computer program and terminal |
| CN112509369A (en) * | 2020-12-02 | 2021-03-16 | 江苏金冠停车产业股份有限公司 | Dynamic luminous parking space guiding system and guiding method thereof |
| CN113611127A (en) * | 2021-08-10 | 2021-11-05 | 谭举 | Underground parking lot parking space guiding system based on Internet of things and cloud computing |
| CN114511938A (en) * | 2022-03-09 | 2022-05-17 | 青岛创智融信数字科技集团有限公司 | Intelligent parking management method and platform |
| CN117119588A (en) * | 2023-10-18 | 2023-11-24 | 湖南承希科技有限公司 | Wi-Fi6 technology-based method for realizing positioning of vehicle in track parking lot |
| CN117119588B (en) * | 2023-10-18 | 2024-01-12 | 湖南承希科技有限公司 | Wi-Fi6 technology-based method for realizing positioning of vehicle in track parking lot |
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