CN106781643A - One kind parking position guiding method and system - Google Patents

One kind parking position guiding method and system Download PDF

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Publication number
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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CN
China
Prior art keywords
parking space
distance
node
empty parking
parking
Prior art date
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CN201610991117.XA
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Chinese (zh)
Inventor
王晨
Original Assignee
上海斐讯数据通信技术有限公司
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Priority to CN201610991117.XA priority Critical patent/CN106781643A/en
Publication of CN106781643A publication Critical patent/CN106781643A/en

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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/426Parking guides
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/04Forecasting or optimisation, e.g. linear programming, "travelling salesman problem" or "cutting stock problem"
    • G06Q10/047Optimisation of routes, e.g. "travelling salesman problem"
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146Traffic 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

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

One kind parking position guiding method and system

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.
CN201610991117.XA 2016-11-10 2016-11-10 One kind parking position guiding method and system CN106781643A (en)

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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

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