CN106781643A - One kind parking position guiding method and system - Google Patents
One kind parking position guiding method and system Download PDFInfo
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- CN106781643A CN106781643A CN201610991117.XA CN201610991117A CN106781643A CN 106781643 A CN106781643 A CN 106781643A CN 201610991117 A CN201610991117 A CN 201610991117A CN 106781643 A CN106781643 A CN 106781643A
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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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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/426—Parking guides
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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Abstract
The invention discloses one kind parking position guiding method and system, the method comprises the following steps：When vehicle is travelled to Entrance, detection has vehicle to enter parking lot；Scanning obtains the positional information of all empty parking spaces in parking lot；Calculate the shortest path that vehicle reaches each empty parking space；Obtain the minimum value during vehicle reaches the shortest path of each empty parking space, the corresponding path of the minimum value is exported as optimal path, the present invention is capable of achieving to provide nearest parking stall for vehicle, reduces time of each car in parking lot car searching position, increases the purpose of parking lot efficiency.
Description
Technical field
The present invention relates to a kind of message pusher, system and method, more particularly to a kind of parking position guiding method and
System.
Background technology
At present, with the popularization of private car, the vehicle gathering place such as parking lot is more and more, and the area in parking lot is also more next
Bigger, parking stall is more and more.Generally, all it is that car owner oneself drives to find empty parking space in parking lot to park, this
The mode of kind can be said to be efficient and convenient, it is not required that parking lot management excessively puts into manpower and managed in the case of parking lot is less
Reason, but if parking lot is larger, then obviously very inconvenient, in particular for the vehicle without fixed parking stall, car owner has can
Can need just find room around upper big half-turn on parking lot, waste the plenty of time, and cause that management is unordered in parking,
It is easy to because the turnover or u-turn that have vehicle cause the congestion of short time even to paralyse.
Although at present, whether some parking lots employ traffic lights to point out the parking stall occupied, however, finding sky
The task of parking stall and the arrival parking stall still gives car owner/driver to complete, and is so easy to the letter because car owner/driver
Breath deficiency causes it cannot to make best selection, it is impossible to reaches nearest empty parking space along shortest path, in turn results in parking
The abnormal congestion in field.Therefore, it is necessary to propose a kind of technological means in fact, to solve the problem.
The content of the invention
To overcome the shortcomings of that above-mentioned prior art is present, the purpose of the present invention be provide it is a kind of stop position guiding method and
System, nearest parking stall is provided to be embodied as vehicle, reduces time of each car in parking lot car searching position, increases parking lot efficiency
Purpose.
It is that, up to above-mentioned purpose, the present invention proposes a kind of parking position guiding method, comprises the following steps：
Step one, when vehicle is travelled to Entrance, detection has vehicle to enter parking lot；
Step 2, scanning obtains the positional information of all empty parking spaces in parking lot；
Step 3, calculates the shortest path that vehicle reaches each empty parking space；
Step 4, obtains the minimum value during vehicle reaches the shortest path of each empty parking space, exports the corresponding road of the minimum value
Footpath is used as optimal path.
Further, step 3 is further included：
Step S1, the parking stall in parking lot is divided into etc. the grid of size with the road for leading to parking stall；
Step S2, with Entrance as starting point, calculates the distance by its adjacent node to a target empty parking space respectively,
The minimum adjacent node of chosen distance；
Step S3, is started with the adjacent node that distance is minimum, is calculated respectively by its adjacent node starting point to target empty
The distance of parking stall, the minimum adjacent node of chosen distance, until reaching the target empty parking space node, obtains starting point to the target empty
The minimum range of parking stall.
Further, in step S3, using formula F (n)=G (n)+H (n) zequin to target empty parking space away from
From wherein G (n) represents the actual range that the dot grid from reaches node n, and H (n) is that node n reaches the target empty wagons in theory
The distance of position.
Further, using formula F (n)=G (n)+H (n) zequin to target empty parking space apart from when, straight line one
Lattice are 1 unit, and the lattice of oblique line one are 1.4 units.
Further, in step 3, by creating OPEN tables, CLOSED tables and FINAL tables are realized, wherein, OPEN
Table is used for the node for preserving all generation and not investigating, and CLOSED tables are used for recording the node for having accessed, and FINAL tables are used for
Recorded the shortest path distance of each target empty parking space up in parking lot.
To reach above-mentioned purpose, the present invention also provides a kind of parking position guidance system, including：
Vehicle detection unit, for when vehicle is travelled to Entrance, detection to have vehicle to enter parking lot；
Location information acquiring unit, the positional information of all empty parking spaces in parking lot is obtained for scanning；
Shortest path computing unit, for reaching the most short of each empty parking space according to the positional information calculation vehicle of each empty parking space
Path；
Optimal route selection output unit, the minimum value in the shortest path of each empty parking space is reached for obtaining vehicle, defeated
Go out the corresponding path of the minimum value.
Further, the shortest path computing unit, including：
Node division unit, the grid for the parking stall in parking lot to be divided into etc. size with the road for leading to parking stall；
Metrics calculation unit, with Entrance as starting point, respectively calculate by adjacent node to target empty parking space away from
From, the minimum adjacent node of chosen distance, and started with the minimum adjacent node of distance, calculate lighted by its adjacent segments respectively
, to the distance of target empty parking space, output is apart from minimum adjacent node for point, until reaching target empty parking space node, obtains starting point and arrives
The minimum range of target empty parking space.
Further, the metrics calculation unit is using formula F (n)=G (n)+H (n) zequin to target empty parking space
Distance, wherein G (n) represent the actual range that the dot grid from reaches node n, and H (n) is that node n reaches the target empty in theory
The distance of parking stall.
Further, the metrics calculation unit is using formula F (n)=G (n)+H (n) zequin to target empty parking space
Apart from when, the lattice of straight line one be 1 unit, the lattice of oblique line one be 1.4 units.
Further, the shortest path computing unit is created OPEN tables, CLOSED tables and FINAL tables, wherein, OPEN tables
The node do not investigated for preserving all generation, CLOSED tables are used for recording the node for having accessed, and FINAL tables are used for remembering
Record reaches the shortest path distance of each target empty parking space in parking lot.
Compared with prior art, a kind of parking position guiding method of the present invention and system are by using detector acquisition parking lot
Empty parking space information, the shortest path that Entrance reaches each empty parking space is calculated automatically, thus export all shortest paths
In optimal path, provide nearest parking stall to be embodied as vehicle, reduce time of each car in parking lot car searching position, increase stops
The purpose of parking lot efficiency.
Brief description of the drawings
The step of Fig. 1 is for present invention one kind parking position guiding method flow chart；
Fig. 2-Fig. 4 is shortest path calculating process schematic diagram in the specific embodiment of the invention；
Fig. 5 is a kind of system architecture diagram of the position guidance system that stops of the present invention；
Fig. 6 is the detail structure chart of shortest path computing unit in the specific embodiment of the invention.
Specific embodiment
Below by way of specific instantiation and embodiments of the present invention are described with reference to the drawings, those skilled in the art can
Further advantage of the invention and effect are understood by content disclosed in the present specification easily.The present invention also can be different by other
Instantiation implemented or applied, the various details in this specification also can based on different viewpoints with application, without departing substantially from
Various modifications and change are carried out under spirit of the invention.
The step of Fig. 1 is for present invention one kind parking position guiding method flow chart.As shown in figure 1, a kind of parking stall of the invention
Bootstrap technique, comprises the following steps：
Step 101, when vehicle is travelled to Entrance, detection has vehicle to enter parking lot.
Step 102, scanning obtains the positional information of all empty parking spaces in parking lot.In the specific embodiment of the invention, stop
Parking lot Nei Ge parking stalls are provided with the detector that detection parking stall takes, and when there is car on parking stall, detector can show red light, not have car
Detector can show green light, and the particular location and parking stall occupancy situation of each empty parking space can be obtained by each detector.
Step 103, calculates the shortest path that vehicle reaches each empty parking space.
In the specific embodiment of the invention, step 103 is further included：
Step S1, the parking stall in parking lot is divided into etc. the grid of size with the road for leading to parking stall, so that in parking lot
Any two points can the distance of grid calculate.In the specific embodiment of the invention, each parking stall with lead to parking stall road
Carry out gridding in units of one square metre, any two point in such parking lot can be calculated with the n distance of grid.
Step S2, with Entrance as starting point, calculates the distance by adjacent node to target empty parking space, selection respectively
The minimum adjacent node of distance.In the specific embodiment of the invention, using formula F (n)=G (n)+H (n) zequin to target
The distance of empty parking space, wherein, G (n) represents the actual range that the dot grid from reaches certain point (n points) grid, the lattice of straight line one note 1
(unit), the lattice of oblique line one remember 1.4 (units), and H (n) is the distance that certain point (n points) reaches target empty parking space in theory, and F (n) is
The two distance being added.
Step S3, continues to start with the minimum adjacent node of distance, calculates respectively by its adjacent node starting point to target
The distance of empty parking space, obtains the minimum adjacent node of distance, until reaching target empty parking space node, obtains starting point to target empty wagons
The minimum range of position.
To realize above-mentioned steps, in the present invention, three tables are created：OPEN, CLOSED and FINAL, wherein, OPEN tables
The node do not investigated for preserving all generation, CLOSED tables are used for recording the node for having accessed, and FINAL tables are used for remembering
Record reaches the optimal path distance in each room in parking lot, for finding out nearest parking stall.
Step 104, obtains the minimum value during vehicle reaches the shortest path of each empty parking space, exports the corresponding road of the minimum value
Footpath is used as optimal path.
To below be illustrated by a specific embodiment：As illustrated in fig. 2, it is assumed that S points are parking lot in scene for starting point
Porch, E points are some empty parking space of parking lot in terminal, i.e. scene, the parking lot by one square metre of mesh generation, up and down
Left and right one lattice of translation need mobile 10, and oblique movement needs mobile 14, system can estimate starting point toward 8 different directions move when
Actual displacement G, and it is theoretical to terminal apart from H, and both sum path length F, theoretical displacement only calculates reason
By the beeline above reached home, no matter whether centre has barrier, in these node datas OPEN tables, with oblique line
Grid table is shown with barrier, and the lower left corner represents G values in each grid, and the lower right corner represents H values, and the upper left corner represents F values, Systematic selection
The minimum path of current F values is analyzed again, as shown in Fig. 2 selection node A is analyzed again.Herein it should be noted that, although
It is C points (F values are for 40) with S points as the adjacent node in the minimum path of starting point F values, but due to being calculated again by phase from C points
Neighbors to target empty parking space E path length F when, F is that 60 (now G is that 20, H is 40), more than directly by B points to target
The distance of empty parking space, therefore, S-＞ C-＞ A are put into CLOSE tables, and S- ＞ A are more short path, are stored in OPEN tables, when
If so find it is shorter, may proceed to update OPEN tables, be finally stored in FINAL tables.
As shown in figure 3, due to there is barrier (oblique line grid) in path, A points to actual range G during B points are increased by 14
10 be 24, B points to terminal theoretical shortest path for 50, F is 74, A points left side due to barrier, it is impossible to reach, it is impossible to calculate
Actual shortest path.
As shown in figure 4, after extrapolating successively from starting point S to the path length of each node of terminal E, from terminal according to F
Value is retrodicted out shortest path, and the minimum path of F values is the shortest path distance of starting point to the terminal, i.e. circular point shape such as in Fig. 4
Into path.
Be stored in FINAL tables for the F values and corresponding path by system, and then system continuation contrasts Entrance and arrives other
The beeline F of empty parking space, FINAL tables are updated with minimum F values, after traversed all empty parking spaces, export minimum F values and
Recommend the path.
Fig. 5 is a kind of system architecture diagram of the position guidance system that stops of the present invention.As shown in figure 5, a kind of parking stall of the invention
Guiding system, including：Vehicle detection unit 501, location information acquiring unit 502, shortest path computing unit 503 and optimal
Path selection output unit 504.
Vehicle detection unit 501, for when vehicle is travelled to Entrance, detection to have vehicle to enter parking lot.
Location information acquiring unit 502, the positional information of all empty parking spaces in parking lot is obtained for scanning.In the present invention
In specific embodiment, parking lot Nei Ge parking stalls are provided with the detector that detection parking stall takes, the detector meeting when there is car on parking stall
Display red light, no car detector can show green light, the particular location and car of each empty parking space can be obtained by each detector
Bit occupancy situation.
Shortest path computing unit 503, for reaching each empty parking space according to the positional information calculation vehicle of each empty parking space
Shortest path.
Fig. 6 is the detail structure chart of shortest path computing unit in the specific embodiment of the invention.It is embodied in the present invention
In example, shortest path computing unit 503 is further included：Node division unit 5031 and metrics calculation unit 5032
Node division unit 5031, the net for the parking stall in parking lot to be divided into etc. size with the road for leading to parking stall
Lattice so that any two points in parking lot can the distance of grid calculate.In the specific embodiment of the invention, each parking stall
With towards Lu Yiyi square metres of parking stall, for unit carrys out gridding, any two point in such parking lot can be with n net
The distance of lattice is calculated.
Metrics calculation unit 5032, with Entrance as starting point, calculates by adjacent node to target empty parking space respectively
Distance, the minimum adjacent node of chosen distance, and being started with the minimum adjacent node of distance calculated pass through its adjacent segments respectively
, to the distance of target empty parking space, output is apart from minimum adjacent node for point starting point, until arrival target empty parking space node, is risen
Minimum range of the point to target empty parking space.In the specific embodiment of the invention, using formula F (n)=G (n)+H (n) zequin
To the distance of target empty parking space, wherein, G (n) represents the actual range that the dot grid from reaches certain point (n points) grid, straight line
One lattice remember 1 (unit), and the lattice of oblique line one remember 1.4 (units), H (n) for certain point (n points) in theory reach target empty parking space away from
From F (n) is the distance that the two is added.
The purpose of shortest path is calculated to reach, shortest path computing unit 503 creates three tables：OPEN, CLOSED
And FINAL, wherein, OPEN tables are used for the node for preserving all generation and not investigating, and CLOSED tables are used for recording having accessed
Node, FINAL tables are used for recorded the optimal path distance in each room up in parking lot, for finding out nearest parking stall.
Optimal route selection output unit 504, the minimum value in the shortest path of each empty parking space is reached for obtaining vehicle,
Export the corresponding path of the minimum value.
In sum, a kind of empty wagons of position guiding method and system by using detector acquisition parking lot that stops of the present invention
Position information, calculates the shortest path that Entrance reaches each empty parking space automatically, thus exports in all shortest paths most
Shortest path, nearest parking stall is provided to be embodied as vehicle, reduces time of each car in parking lot car searching position, increases parking lot effect
The purpose of rate.
Any those skilled in the art can repair under without prejudice to spirit and scope of the invention to above-described embodiment
Decorations and change.Therefore, the scope of the present invention, should be as listed by claims.
Claims (10)
1. a kind of parking position guiding method, comprises the following steps：
Step one, when vehicle is travelled to Entrance, detection has vehicle to enter parking lot；
Step 2, scanning obtains the positional information of all empty parking spaces in parking lot；
Step 3, calculates the shortest path that vehicle reaches each empty parking space；
Step 4, obtains the minimum value during vehicle reaches the shortest path of each empty parking space, exports the corresponding path of the minimum value and makees
It is optimal path.
2. parking position guiding method as claimed in claim 1 a kind of, it is characterised in that step 3 is further included：
Step S1, the parking stall in parking lot is divided into etc. the grid of size with the road for leading to parking stall；
Step S2, with Entrance as starting point, calculates the distance by its adjacent node to a target empty parking space, selection respectively
The minimum adjacent node of distance；
Step S3, is started with the adjacent node that distance is minimum, is calculated respectively by its adjacent node starting point to target empty parking space
Distance, the minimum adjacent node of chosen distance, until reaching the target empty parking space node, obtains starting point to the target empty parking space
Minimum range.
3. parking position guiding method as claimed in claim 2 a kind of, it is characterised in that：In step S3, using formula F (n)
=G (n)+H (n) zequin to target empty parking space distance, wherein G (n) represent the dot grid from reach node n it is actual away from
From H (n) is the distance that node n reaches the target empty parking space in theory.
4. parking position guiding method as claimed in claim 3 a kind of, it is characterised in that：Utilizing formula F (n)=G (n)+H
(n) zequin to target empty parking space apart from when, the lattice of straight line one are designated as 1 unit, and the lattice of oblique line one are designated as 1.4 units.
5. parking position guiding method as claimed in claim 3 a kind of, it is characterised in that：In step 3, by creating OPEN
Table, CLOSED tables and FINAL tables realize, wherein, OPEN tables are used for the node for preserving all generation and not investigating, CLOSED
Table is used for recording the node for having accessed, and FINAL tables are used for recorded the shortest path of each target empty parking space up in parking lot
Distance.
6. a kind of parking position guidance system, including：
Vehicle detection unit, for when vehicle is travelled to Entrance, detection to have vehicle to enter parking lot；
Location information acquiring unit, the positional information of all empty parking spaces in parking lot is obtained for scanning；
Shortest path computing unit, the shortest path for reaching each empty parking space according to the positional information calculation vehicle of each empty parking space
Footpath；
Optimal route selection output unit, the minimum value in the shortest path of each empty parking space is reached for obtaining vehicle, and output should
The corresponding path of minimum value.
7. such as a kind of parking position guidance system of claim 6, it is characterised in that the shortest path computing unit, including：
Node division unit, the grid for the parking stall in parking lot to be divided into etc. size with the road for leading to parking stall；
Metrics calculation unit, with Entrance as starting point, calculates the distance by adjacent node to target empty parking space, choosing respectively
The minimum adjacent node of distance is selected, and is started with the minimum adjacent node of distance, calculated arrived by its adjacent node starting point respectively
The distance of target empty parking space, the minimum adjacent node of output distance, until reaching target empty parking space node, obtains starting point to target
The minimum range of empty parking space.
8. such as a kind of parking position guidance system of claim 7, it is characterised in that：The metrics calculation unit utilizes formula F (n)=G
N to the distance of target empty parking space, wherein G (n) represents the actual range that the dot grid from reaches node n to ()+H (n) zequins,
H (n) is the distance that node n reaches the target empty parking space in theory.
9. such as a kind of parking position guidance system of claim 8, it is characterised in that：The metrics calculation unit using formula F (n)=
G (n)+H (n) zequin to target empty parking space apart from when, the lattice of straight line one are designated as 1 unit, and the lattice of oblique line one are designated as 1.4 units.
10. such as a kind of parking position guidance system of claim 8, it is characterised in that：The shortest path computing unit is created OPEN
Table, CLOSED tables and FINAL tables, wherein, OPEN tables are used for the node for preserving all generation and not investigating, and CLOSED tables are used for
The node that record had been accessed, FINAL tables are used for recorded the shortest path distance of each target empty parking space up in parking lot.
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| CN107507448A (en) * | 2017-07-27 | 2017-12-22 | 武汉科技大学 | Cloud parking lot berth optimization method based on Dijkstra optimized algorithms |
| CN107507448B (en) * | 2017-07-27 | 2020-02-11 | 武汉科技大学 | Cloud parking lot berth optimization method based on Dijkstra optimization algorithm |
| CN108648492A (en) * | 2018-06-26 | 2018-10-12 | 深兰科技（上海）有限公司 | A kind of method, apparatus, server and the readable storage medium storing program for executing of vehicle guiding |
| CN109215387A (en) * | 2018-11-14 | 2019-01-15 | 奇瑞汽车股份有限公司 | Underground parking lot vehicle-searching method and system |
| CN110097777A (en) * | 2019-04-25 | 2019-08-06 | 安徽工业大学 | Intelligent three-dimensional garage long-distance management system and monitoring method based on Cloud Server |
| CN110706498A (en) * | 2019-09-03 | 2020-01-17 | 常州轻工职业技术学院 | Intelligent parking management system and working method thereof |
| CN111341136A (en) * | 2020-02-11 | 2020-06-26 | 浙江吉利汽车研究院有限公司 | Passenger-riding parking method, system and storage medium based on vehicle-road cooperation |
| CN115862371A (en) * | 2022-11-30 | 2023-03-28 | 航天科技控股集团股份有限公司 | FLOYD-based indoor parking lot path finding system, method and equipment |
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