CN106710293A - Dynamic and intelligent vehicle guidance method for underground parking lot - Google Patents
Dynamic and intelligent vehicle guidance method for underground parking lot Download PDFInfo
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- CN106710293A CN106710293A CN201610932461.1A CN201610932461A CN106710293A CN 106710293 A CN106710293 A CN 106710293A CN 201610932461 A CN201610932461 A CN 201610932461A CN 106710293 A CN106710293 A CN 106710293A
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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
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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Abstract
The invention provides a dynamic and intelligent vehicle guidance method for an underground parking lot. The method comprises the following steps: 1, a map is built, based on a building map of the underground parking lot, a vertical rod is adopted or a positioning label is mounted at a position site in need of correction, a TOF mode is adopted for multiple times of two-way communication, coordinate positions for inner features are calibrated, and a high-resolution map for the underground parking lot is built; 2, vehicle recognition is carried out, image information of each vehicle entering the parking lot is acquired through a camera, vehicle recognition is carried out, and the vehicle after recognition is bound with a parking sign fused with an ultra-wideband positioning label; 3, real-time vehicle positioning is carried out, an ultra-wideband positioning base station global synchronization server and a time stamp position solution positioning server are set, and real-time parking sign coordinates are calculated; and 4, management and application are carried out, the server of a management center acquires the real-time parking sign coordinates, and through the obtained real-time parking sign coordinates, real-time high-precision positioning, tracking and guidance on vehicles are carried out.
Description
Technical field
The present invention relates to a kind of Vehicular intelligent bootstrap technique, specifically, a kind of underground parking vehicle dynamic is relate to
Intelligent guide method.
Background technology
As the rapid growth of Chinese national economy, living standards of the people are improved constantly, automobile is used as the daily indispensability of people
The vehicles, also enjoyed by increasing crowd.And in today of urban development, parking difficulty problem increasingly becomes shadow
Ring the important social concern of rapid urban.Professional points out, at present, China's car ownership has broken through 1.7 hundred million, and
And increased with annual 20% or so speed, more than 50,000,000, with the development of the city, parking stall breach will for parking stall breach
Lasting aggravation, parking apparatus demand is huge.
The parking problem that parking stall anxiety is brought not only brings puzzlement to car owner, has risen as a society for sternness
Problem.For car owner, look for parking stall, rob parking stall generation contradiction can be found everywhere.For the manager of parking lot, parking apparatus
Fall behind with management method, parking stall is vacant, parking efficiency is low, earn less than money, management quality declines.For city management side,
Parking problem is even more the relative urban dynamic traffic of change and generates serious influence.Simultaneously as empty to parking lot supervision covering
Lack, the presence of black fee-collector more brings very big loss to finance.At the same time, substantial amounts of operational intelligent parking lot Fare Collection System
Parking lot but there is a problem of long-term vacant, nearly fifty percent parking position is not utilized rationally, can effectively solve pool
The wisdom parking class parking lot coverage rate of position resource restructuring is only 7%.Parking problem is solved no matter for car owner, is managed for parking
Reason side, also or entirely urban development is all particularly important.
Super-broadband tech starts from the pulse communication technology of the rise sixties in 20th century, is entered using frequency spectrum ultrashort pulse extremely wide
Row communication, is a kind of carrierfree communication mode, is mainly used in military radar, positioning and communication system.UWB technology has transmission
Speed be up to strong, low in energy consumption 1Gbit/s, ability of anti-multipath, low cost, penetration capacity strong, low probability of intercept, positioning precision it is high,
The features such as frequency spectrum being shared with existing other wireless communication systems.Ultra-broadband signal is communicated for parking lot, administrative center passes through
The positioning label real-time position information for obtaining, real-time precise positioning high, tracking, guiding are carried out to vehicle, and can be in parking lot
The real-time control of parking stall data, real-time monitoring simultaneously realizes the functions such as the management of cloud computing on a large scale；Parking lot user can realize telenet
The parking stall fast reservations such as upper, mobile phone A PP, into after parking lot, the real-time voice navigation according to APP carries out independent navigation and quickly seeks
Look for parking stall；After having stopped car, positioning label is switched into reverse car seeking pattern, can also in real time be liked that car is checked, and from outside
Parking stall is quickly navigate to, is that parking management has been started and a kind of brand-new intelligent high-precision quasi real time manages new method.
The content of the invention
The purpose of the present invention is directed to the deficiencies in the prior art, so as to provide a kind of underground parking vehicle dynamic and intelligent
Bootstrap technique, such that it is able to bring various conveniently application experience for parking lot user and manager, realizes parking lot car
Dynamic information, visualization, and provide brand-new angle to open accurate dynamic and intelligent parking management service comprehensively
Degree.
To achieve these goals, the technical solution adopted in the present invention is：A kind of underground parking vehicle dynamic and intelligent
Bootstrap technique, it is characterised in that comprise the following steps：
Step 1, map is built
Architectural drawing based on underground parking, in the internal feature position of whole underground parking, including all roads, car
Position, beam column, facility, set up locating base station, are needing the position place of correction using vertical vertical rod or are installing positioning label, use
TOF modes carry out multiple two-way communication, calibrate the coordinate position of internal feature, set up the High Resolution Ground Map of underground parking；
Step 2, vehicle enters identification
Each is gathered into the image information of parking lot vehicle by camera and vehicle identification is carried out, by the car after identification
With merged ultra wide band positioning label stop board bind；
Step 3, vehicle is positioned in real time
Ultra wide band locating base station global synchronization server is set and timestamp position resolves location-server, by stop board
The impulse ultra-wideband signal that is sent to locating base station of positioning label, the timestamp information that locating base station will be obtained, by ether
Net or wireless routing mode send data to the ultra wide band locating base station global synchronization server, obtain TDOA patterns when
Between stab information, the two-dimentional TDOA location algorithms aided in using elevation information, the timestamp position is resolved location-server and used
The algorithm of two step maximal possibility estimations draws real-time stop board coordinate；
Step 4, management and application
The server of administrative center obtains real-time stop board coordinate, and the real-time stop board coordinate by obtaining, to vehicle
Carry out real-time precise positioning high, tracking, guiding.
The present invention has prominent substantive distinguishing features progressive with significant compared with the prior art, specifically, present invention profit
The method being combined with camera collection image analytical technology and ultra wide band location and navigation technology, realizes vehicle in parking lot
Implement the intellectuality dynamic management that Dynamic High-accuracy positions, follows the trail of, navigates and extends out, so as to effectively solve existing
Parking lot cannot realize the deficiency of the real-time dynamic guiding of vehicle.
The present invention realizes parking lot vehicle and positions in real time, navigates, follows the trail of, and realizes intelligence by carrying out precise positioning
Change the functions such as management and intelligent charging.The present invention has high positioning precision, positioning precision up to 15cm, and with high
Reaction sensitivity, ensures that parking lot management personnel, to entering the high accuracy real-time monitoring of vehicle, are greatly improved
The efficiency of management of parking lot management personnel, and for user brings brand-new autonomous positioning navigation experience, intelligence is realized from many aspects
The functions such as intelligent parking, independent navigation, intelligent charging.
Brief description of the drawings
Fig. 1 is that parking lot Vehicular intelligent guides asystem function unit figure.
Fig. 2 is that camera gathers identification function structure chart.
The artwork of Fig. 3 parking lots locating base station.
Fig. 4 stop boards are connected schematic diagram and independent navigation and reverse car seeking with mobile phone.
Specific embodiment
Below by specific embodiment, technical scheme is described in further detail.
As depicted in figs. 1 and 2, a kind of underground parking vehicle dynamic and intelligent bootstrap technique, comprises the following steps：
Step 1, map is built
Architectural drawing based on underground parking, in the internal feature position of whole underground parking, including all roads, car
Position, beam column, facility, set up locating base station, are needing the position place of correction using vertical vertical rod or are installing positioning label, use
TOF modes carry out multiple two-way communication, calibrate the coordinate position of internal feature, set up the High Resolution Ground Map of underground parking.
Step 2, vehicle enters identification
Each is gathered into the image information of parking lot vehicle by camera and vehicle identification is carried out, by the car after identification
With merged ultra wide band positioning label stop board bind；Wherein, camera carries out image information collecting to vehicle photographic, then
The image information that will be collected is known using two-dimensional convolution neutral net by deep learning algorithm to the image information being input into
Not, license plate number and situation of remote are can obtain, information etc. model, brand and color including vehicle, and tied up with stop board
It is fixed.The vehicle (such as unlicensed vehicle, special car) that such as running into recognize can be by manually carrying out stop board binding.
Step 3, vehicle is positioned in real time
Ultra wide band locating base station global synchronization server is set and timestamp position resolves location-server, by stop board
The impulse ultra-wideband signal that is sent to locating base station of positioning label, the timestamp information that locating base station will be obtained, by ether
Net or wireless routing mode send data to the ultra wide band locating base station global synchronization server, obtain TDOA patterns when
Between stab information, the two-dimentional TDOA location algorithms aided in using elevation information, the timestamp position is resolved location-server and used
The algorithm of two step maximal possibility estimations draws real-time stop board coordinate.
Step 4, management and application
The server of administrative center obtains real-time stop board coordinate, and the real-time stop board coordinate by obtaining, to vehicle
Carry out real-time precise positioning high, tracking, guiding.
Specifically, the TOF modes carry out multiple two-way communication, internal feature coordinate position is calibrated, set up high-resolution
The method of map is as follows：
Setting position base-station node coordinate (xk,yk), and corresponding measured vertical vertical rod or positioning label join to each
Examine the distance of nodeCalculate the position coordinates (x, y) of vertical vertical rod or positioning label；
Using two-way flight, the time point for the time point of transmission being recorded every time and being received, two-way flight is obtained afterwards twice
Time difference between locating base station and vertical vertical rod or positioning label, then circuit signal generation and antenna time delay are subtracted,
Base station to the accurate distance of height of vertical vertical rod or positioning label is obtained, by multigroup equation
Calculate, obtain multiple intersection points, then accurately coordinate is obtained by gravity model appoach, then this multiple coordinate is carried out averagely to obtain more smart
Accurate coordinate.By the determination mode of the ultra wide band fixed character point coordinates using TOF modes, relative position map is realized
It is quick to set up.If necessary to it can be scanned using laser scanner using three-dimensional modeling structure parking lot three-dimensional map scene after
Drawing.
Ultra wide band locating base station global synchronization server uses global clock synchronization, and in practice, parking lot mainly considers to adopt
With the synchronous mode of wireless global clock.Such as Fig. 3, first when locating base station is set up, parking lot fills one by every 35 meter amperes
Locating base station, every four locating base stations constitute the positioning unit of a square or rhombus, and in the positioning list that every 4 is a group
First center installs a locating base station additional；
Then a locating base station, the frequency of selected locating base station with every 1ms once is selected to surpass to transmitting pulse around
Broadband signal, other locating base stations receive after impulse ultra-wideband signal peripherad locating base station transmitting pulse ultra-broad band letter again
Number, the locating base station do not calibrated carries out time calibration according to the impulse ultra-wideband signal.
Vehicle is carried out to position in real time.The license plate number and situation of remote gathered by camera are bound with stop board, are used
The stop board at family sends ultra-wideband impulse signal to the prior mounted locating base station in parking lot, and locating base station is entered per 1ms
Global synchronization of row, the timestamp information that locating base station will be obtained (receives time point information and the stop board hair of information
Deliver letters breath when time point information) be together sent to ultra wide band locating base station global synchronization server and timestamp position resolve it is fixed
Position server, the timestamp information feeding engine of positioning that ultra wide band locating base station global synchronization server will be obtained, by TDOA
(reaching time-difference) station-keeping mode carries out setting up Hyperbolic Equation.Due to stop board synchronization to the range difference of two locating base stations
It is definite value --- the distance of two locating base stations, therefore Hyperbolic Equation can be set up with two dimensional surface, number is looked into by multigroup arrival time
According to multigroup Hyperbolic Equation just can be obtained, due to the Hyperbolic Equation that base station and stop board are constituted is existed into various interference
Factor, so what is obtained by 4 solution of equations will be a zonule, rather than a definite coordinate, can be by stop board highly
1.5 meters of positioning, therefore multiple equations can be estimated using a coordinates regional is obtained, resulting optimal estimation value is exactly
Stop board positions the approximate coordinate of label, can obtain double using the method for two step maximal possibility estimations to arrive best estimate
The optimal solution of curvilinear equation group, has thus just obtained the elaborate position of stop board.
In order to be able to obtain more accurately dynamic stop board coordinate in real time, present invention employs what is aided in based on elevation information
Two-dimentional TDOA location algorithms are obtained realizing high-precision coordinate.The maximum conduct of signal intensity is chosen in each positioning unit
Main locating base station, it is other to be from locating base station, wherein, zi,1It is the difference in height between locating base station and main locating base station,
It is the empirical value or the height value as measured by elevation sensor of object height；
Use the Chan algorithm mathematicses model that is aided in elevation information for：
H=Gaza
Wherein：
za=[x, y, R1]T
When TDOA measurement errors are considered, expression formula h-GazaError ψ be：
ψ=h-Gaza 0
The covariance matrix φ of ψ is：
φ=BQB
Wherein：Q is the corresponding covariance matrixes away from mistake difference of TDOA；
zaMaximal possibility estimation：
za=(Ga Tφ-1Ga)-1Ga Tφ-1h；
With elevation information auxiliary Chan algorithms the step of be：
1) long distance algorithm
It is assumed that impact point is far, φ is replaced with Q, tried to achieve：
za=(Ga TQ-1Ga)-1Ga TQ-1h
2) low coverage algorithm
The z tried to achieve using long distance algorithmaValue estimation B and φ, in the case where elevation information is aided in, is estimated using long distance algorithm
The coordinates of targets of calculation be estimated to each base station apart from when, it is necessary to add the correction of difference in height, and reuse zaMaximum
Possibility predication formula za=(Ga Tφ-1Ga)-1Ga Tφ-1H, updates za；
3) estimation result correction algorithm
Long distance algorithm and low coverage algorithm are to zaEstimation all assume that x, y and R1Premised on separate, in elevation information
In the case of auxiliary, with reference toFurther improve positioning precision, zaIt is expressed as [za1,
za2,za3], za1=x0+e1,za2=y0+e2, za3=R1 0+e3, wherein e1, e2, e3It is evaluated error, by za1And za2It is individually subtracted
x1And y1, then square can obtain：
Wherein,Weighted least-squares are done to estimate
Meter, can obtain z'a=(G'a Tφ'-1G'a)-1G'a Tφ'-1H', wherein, φ '=4B'cov (za) B', B'=diag (x-x1,y-y1,
r1),cov(za)=(G'a Tφ-1G'a)-1；Try to achieve z'aAfterwards, target is finally tried to achieve as reference with the coordinate of low coverage algorithm estimation
Coordinate (x, y), namely stop board real-time high-precision quasi coordinates.
By above procedure, management center server just can obtain an accurate real-time coordinates, but due to
The coordinate that the reasons such as signal interference, multi-path problem and data precision problem can all be caused has been beated in map, so
User experience can be caused to decline, the problems such as visual sense feeling is poor, in order to be able to improve user experience, the present invention is obtaining data
It is not directly to be introduced into map after coordinate, but is smoothed by the method for interpolation, filtering plus prediction.
Some bounces are filtered compared with global coordinate by filtering first, the mode of threshold value can be configured, obtained more than early stage
The data for arriving set a threshold value, are just filtered more than threshold range, and the smooth of curve is realized by interpolation after filtering, and are lacking
Data prediction is carried out during data, coordinate free of discontinuities reality is realized, realized in the case where these three technologies are employed together represent coordinate and
Curve is perfect smooth, and best Consumer's Experience is presented into user.
In the management with application, it is provided with vehicle comprehensive management unit, user's parking and seeks car navigation elements.Vehicle
Integrated management unit mainly for parking lot management personnel, sit by the high-precision quasi real time dynamic by the vehicle that obtains in parking lot
Mark, is positioned, is followed the trail of, being navigated in real time to vehicle and the vehicle guiding of accident is shunted；User stop and seek car navigation
Unit uses user mainly for parking lot, sets up mobile phone A PP programs, and each user inserts user mobile phone sound by by stop board
Frequency mouth, after being connected with mobile phone, as shown in figure 4, (network reserved in advance) parking stall after driving to enter parking lot, can be specified
Quick navigation.By wifi network, user mobile phone can obtain itself parking card (embedded positioning label) in parking lot map
On elaborate position, the circuit according to the position on map of predetermined parking stall, and sensible parking stall carries out minimum distance planning,
Once traffic congestion, just using detouring or the second nearest route planning, user can be navigated or in-car bluetooth sound by mobile phone speech
Case is played carries out dynamic navigation in real time.
Further enter after having stopped car, stop board can switch to reverse car seeking pattern, by camera linkage pattern, camera
Automatically turn on, and be set to half a minute and take pictures once, it is ensured that vehicle is monitored in real time, once there is a suspect, or car quilt
Move, at once signal an alert, and notify car owner.Parking user can also check the parking stall of oneself vehicle by mobile phone at any time
Put, obtain the vehicle parking picture of real-time update by management center server immediately；When return parking lot needs to pick up the car, use
Family can believe stop board insertion handset audio mouthful, the embedded positioning label of stop board by launching ultra-wideband pulse to locating base station
Number, server obtains positioning the real-time dynamic high precision position of label by TDOA station-keeping modes, and mobile phone is by Access Management Access
Central server, obtains stop board real-time coordinates data, and user can realize that self-position is checked by mobile phone A PP, it is possible to
Realize self-position to the quick navigation and voice broadcast navigation of the searching love car on oneself parking stall.Whole management and application, from
Many aspects have filled up deficiency of the existing underground parking on conventional management, create brand-new wisdom parking and intelligent management
New concept.
Finally it should be noted that:The above embodiments are merely illustrative of the technical solutions of the present invention rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to preferred embodiment to the present invention, and those of ordinary skill in the art should be understood：Still
Specific embodiment of the invention can be modified or equivalent is carried out to some technical characteristics；Without deviating from this hair
The spirit of bright technical scheme, it all should cover in the middle of claimed technical scheme scope of the invention.
Claims (5)
1. a kind of underground parking vehicle dynamic and intelligent bootstrap technique, it is characterised in that comprise the following steps：
Step 1, map is built
Architectural drawing based on underground parking, in the internal feature position of whole underground parking, including all roads, parking stall,
Beam column, facility, set up locating base station, are needing the position place of correction using vertical vertical rod or are installing positioning label, using TOF
Mode carries out multiple two-way communication, calibrates the coordinate position of internal feature, sets up the High Resolution Ground Map of underground parking；
Step 2, vehicle enters identification
Each is gathered into the image information of parking lot vehicle by camera and vehicle identification is carried out, by the vehicle after identification with
The stop board binding of ultra wide band positioning label is merged；
Step 3, vehicle is positioned in real time
Ultra wide band locating base station global synchronization server is set and timestamp position resolves location-server, by determining for stop board
The position impulse ultra-wideband signal that is sent to locating base station of label, the timestamp information that locating base station will be obtained, by Ethernet or
Wireless routing mode sends data to the ultra wide band locating base station global synchronization server, obtains the timestamp of TDOA patterns
Information, the two-dimentional TDOA location algorithms aided in using elevation information, the timestamp position is resolved location-server and uses two steps
The algorithm of maximal possibility estimation draws real-time stop board coordinate；
Step 4, management and application
The server of administrative center obtains real-time stop board coordinate, and the real-time stop board coordinate by obtaining, and vehicle is carried out
Real-time precise positioning high, tracking, guiding.
2. vehicle dynamic and intelligent bootstrap technique in underground parking according to claim 1, it is characterised in that：The TOF side
Formula carries out multiple two-way communication, calibrates internal feature coordinate position, and the method for setting up High Resolution Ground Map is as follows：
Setting position base-station node coordinate (xk,yk), and corresponding measured vertical vertical rod or positioning label are to each reference node
The distance of pointK >=3, calculate the position coordinates (x, y) of vertical vertical rod or positioning label；
Using two-way flight, the time point for the time point of transmission being recorded every time and being received, two-way flight is positioned afterwards twice
Time difference between base station and vertical vertical rod or positioning label, then circuit signal generation and antenna time delay are subtracted, obtain
Base station to vertical vertical rod or positioning label height precisely distance, by multigroup equationMeter
Calculate, obtain multiple intersection points, then accurately coordinate is obtained by gravity model appoach, then this multiple coordinate is carried out averagely to obtain more accurate
Coordinate.
3. vehicle dynamic and intelligent bootstrap technique in underground parking according to claim 2, it is characterised in that：The step 3
In ultra wide band locating base station global synchronization server use global clock synchronization；
First when locating base station is set up, parking lot fills a locating base station, every four locating base stations composition by every 35 meter amperes
The positioning unit of one square or rhombus, and at every 4 for one group of positioning unit center installs a locating base station additional；
Then a locating base station is selected, selected locating base station is with every 1ms frequencies once to around launching pulse ultra-broad band
Signal, other locating base stations receive after impulse ultra-wideband signal peripherad locating base station transmitting impulse ultra-wideband signal again,
The locating base station do not calibrated carries out time calibration according to the impulse ultra-wideband signal.
4. vehicle dynamic and intelligent bootstrap technique in underground parking according to claim 3, it is characterised in that described based on height
Degree information auxiliary two-dimentional TDOA location algorithms be：
The maximum main locating base station of conduct of signal intensity is chosen in each positioning unit, it is other to be from locating base station, its
In, zi,1It is the difference in height between locating base station and main locating base station,For the empirical value of object height or by elevation sensor
Measured height value；
Use the Chan algorithm mathematicses model that is aided in elevation information for：
H=Gaza
Wherein：
za=[x, y, R1]T
When TDOA measurement errors are considered, expression formula h-GazaError ψ be：
ψ=h-Gaza 0
The covariance matrix φ of ψ is：
φ=BQB
Wherein：Q is the corresponding covariance matrixes away from mistake difference of TDOA；
zaMaximal possibility estimation：
za=(Ga Tφ-1Ga)-1Ga Tφ-1h；
With elevation information auxiliary Chan algorithms the step of be：
1) long distance algorithm
It is assumed that impact point is far, φ is replaced with Q, tried to achieve：
za=(Ga TQ-1Ga)-1Ga TQ-1h
2) low coverage algorithm
The z tried to achieve using long distance algorithmaValue estimation B and φ, in the case where elevation information is aided in, is estimated using long distance algorithm
Coordinates of targets be estimated to each base station apart from when, it is necessary to add the correction of difference in height, and reuse zaMaximum likelihood
Estimator za=(Ga Tφ-1Ga)-1Ga Tφ-1H, updates za；
3) estimation result correction algorithm
Long distance algorithm and low coverage algorithm are to zaEstimation all assume that x, y and R1Premised on separate, in elevation information auxiliary
In the case of, with reference toFurther improve positioning precision, zaIt is expressed as [za1,za2,
za3], za1=x0+e1,za2=y0+e2, za3=R1 0+e3, wherein e1, e2, e3It is evaluated error, by za1And za2It is individually subtracted x1With
y1, then square can obtain：
Wherein,Weighted least square is done, can
Obtain z'a=(G'a Tφ'-1G'a)-1G'a Tφ'-1H', wherein, φ '=4B'cov (za) B', B'=diag (x-x1,y-y1,r1),
cov(za)=(G'a Tφ-1G'a)-1；Try to achieve z'aAfterwards, coordinates of targets is finally tried to achieve as reference with the coordinate of low coverage algorithm estimation
(x, y), namely stop board real-time high-precision quasi coordinates.
5. vehicle dynamic and intelligent bootstrap technique in underground parking according to claim 4, it is characterised in that：The timestamp
Position resolves the real-time high-precision quasi coordinates of the stop board that location-server is tried to achieve before being sent to the server of administrative center, first leads to
The method for crossing interpolation, filtering plus prediction is smoothed.
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