CN106781671A - It is a kind of to be based on two kinds of parking space state detection methods of sensor cross checking - Google Patents
It is a kind of to be based on two kinds of parking space state detection methods of sensor cross checking Download PDFInfo
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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
- G08G1/147—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 within an open public zone, e.g. city centre
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Abstract
The invention provides a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross, including：Sensing data processing module, millimeter wave sensing module, earth magnetism sensing module, wireless transport module, power supply module, this method employs two kinds of pattern detecting sensors, it is to avoid the interference limitation such as environment that single-sensor detection is subject to；Detection algorithm is by two kinds of cross validations of sensor, and Detection accuracy is high；Through actual batch application, Detection accuracy is high, good stability.
Description
Technical field
The invention belongs to parking space state detection method, more particularly to a kind of it is based on two kinds of parking stall shapes of sensor cross checking
State detection method.
Background technology
As the development of society, city incity vehicle are increasingly popularized, parking demand is increasingly vigorous.Many urban utilization roads
Side parking stall provides paid parking.But parking stall can not be well managed, the unrest to vehicle stops leaving about, arbitrarily take and do not draw parking stall line car
Road, is the management pain disease in many cities.And many needs the car owner of parking, it is impossible to fast and accurately find and close recently or most
Suitable parking stall, these all hinder the development in city, and the appearance to people brings inconvenience, and urban employs existing
The scheme of single geomagnetism detecting vehicle provides parking space state information, but because environmental magnetic field change causes interference, and some cars
The reason for small to magnetic field knots modification, many place list geomagnetic sensors are low to the Detection accuracy of vehicle, influence earth magnetism parking
Fare Collection System, causes the error of omission and many note problems of expense, produces many disputes.
The content of the invention
In view of this, in order to overcome the deficiencies in the prior art, the present invention to provide a kind of based on two kinds of sensor cross checkings
Parking space state detection method, be mutually authenticated using two kinds of sensor cross, can accurately judge whether parking stall has storing cycle,
And being capable of accurate billing.
To achieve the above object, present invention employs following technical scheme：
A kind of parking space state detection methods for being based on the checking of two kinds of sensor cross, including：
Sensing data processing module, the treatment of collection and detection algorithm for sensing data, and upload parking stall shape
State is to gateway；
Millimeter wave sensing module, for detecting on parking sensor whether there is vehicle to cover；
Earth magnetism sensing module, for detecting that the magnetic that vehicle causes changes；
Wireless transport module, for being debugged to systematic parameter and equipment state being uploaded into gateway；
Power supply module, supplies electricity to the treatment of the wireless transport module, the earth magnetism sensing module and sensing data respectively
Module.
Further, the power supply module respectively with the wireless transport module, the sensing data processing module, described
Millimeter wave sensor module, the earth magnetism sensing module are connected；
The sensing data processing module respectively with the wireless transport module, the millimeter wave sensing module and described
Earth magnetism sensing module is connected.
Further, the sensing data processing module drives the millimeter wave sensing module emission detection waveform, and
The sensing data processing module gathers the return waveform that the millimeter wave sensing module is received.
Further, the sensing data processing module is communicated with the earth magnetism sensing module.
Further, the information that the sensing data processing module transmission whether there is vehicle-state is wirelessly transferred mould to described in
Block, and the sensing data processing module receives the finger of the sensor states initialization that the wireless transport module is received
Order.
Further, the sensing data processing module is made up of the STM32L151 processors of ARM cores.
Further, the wireless transport module is made up of MEGA328P master controls and SX1278 communication units.
Further, the millimeter wave sensing module is S+V1 types millimeter wave detection transducing signal process circuit and dual-mode antenna
The millimeter wave detection unit of composition；The earth magnetism sensing module is HMC5983 triaxial inductions magnetic induction chip with sensitivity.
Further, also include：Detection program, the detection program includes that initialization subroutine and sensor states are initialized
Subprogram；
The system detectio program is comprised the following steps：
1) STM32L151 processors first configure system clock for external clock when upper electric, then initialization system peripheral hardware
With millimeter wave sensing module, earth magnetism sensing module, each function of system is configured；
2) can be flashed by LED when electricity on STM32L151 processors indicates millimeter wave sensing module, earth magnetism to sense mould
Whether block configures self-inspection success, and system after the first installation in actual parking stall by after self-inspection, into cycle detection pattern, needing
To be sensed with completing earth magnetism sensing module, millimeter wave in the case of without car to the state initialization of sensing data processing module
Collection of the module to background environment；
3) in cycle detection, system by the way that HMC5983 is to geomagnetic data acquisition process and analyzes HMC5983 data, if
Analysis result then starts millimeter wave sensing module to there is doubtful vehicle to disturb, and earth magnetism sensing module, millimeter wave has been processed respectively and has been passed
After feeling the detection data of module, system is to earth magnetism sensing module, the detection process of millimeter wave sensing module and testing result synthesis
Whether analysis, by earth magnetism sensing module, the characteristic of millimeter wave sensing module, cross validation and correction, judge current parking stall
There is storing cycle, control STM32L151 respective pins；
4) wireless transport module contrasts this result and parking stall laststate, if parking space state has change, is wirelessly transferred
Newest parking space state is sent to gateway by module, and system is sent completely and enters park mode.
Further, the initialization subroutine is comprised the following steps：
1) System startup files acquiescence uses inside 16MHZ after frequency multiplication and frequency dividing to 32MHZ during electricity on；
2) when performing main program, system clock is configured to outside 8MHZ and arrives 32MHZ through frequency multiplication and frequency dividing；
3) complete clock with postponing, system wakes up configuration to the ADC of STM32L151, DAC, dormancy, RTC.
The sensor states initialization subroutine is comprised the following steps：
1) performed in earth magnetism sensing module data processing, skipped when system detectio to GPI02 pin level is low level
The action；
2) performed when system detectio to GPI02 pin level is high level, system initialization earth magnetism sensing module, current magnetic
Field value corresponding states is without car state, and current magnetic field value is stored；
3) system initialization millimeter wave sensing module current state is without car state, and will be currently detected signal value and deposit
Storage.
Beneficial effects of the present invention are：This method employs two kinds of pattern detecting sensors, it is to avoid single-sensor inspection
The interference limitation such as environment that survey is subject to., by two kinds of cross validations of sensor, through actual batch application, detection is accurate for detection algorithm
True rate is high, good stability.
Geomagnetism detecting principle is：Geomagnetic sensor sensitivity is very high, detectably the intensity of signal magnetic field, when dry without the external world
Magnetic field value is stablized relatively when disturbing, and when there is object proximity sensor containing magnetic, can produce disturbance, earth magnetism to a range of magnetic field
Sensor can detect that this disturbance, the detection according to the realization of this principle to object on parking stall, but individually geomagnetic sensor
Because sensitivity is high, trickle changes of magnetic field can be detected, while being also easily subject to external interference, such as running under berth has high-voltage line
Or nearby situations such as have subway all may normal work, while the problems such as there is also adjacent car interference problem, accuracy rate reality
On do not accomplish 100%.
Millimeter wave Cleaning Principle：Millimeter wave sensor is the detection to object, specific table according to the realization of echo reflection principle
Now to there is a pair of R-T units on sensor, system controls dispensing device to be connect by reception device after sending one group of specific signal
Receive, the signal that system docking is received carries out computing, such as calculate difference frequency signal and calculate return signal energy value, according to what is calculated
Signal realizes the detection to object on parking stall.
Now by two kinds of sensor integrations in a detecting system, millimeter wave sensor, one are triggered by geomagnetic sensor
It is that inspection car accuracy rate is lifted in the case where power consumption is not improved substantially, two are tested by two kinds of algorithm fusions of sensor, intersection
Card, comprehensive detection accuracy rate is up to 100%.
Brief description of the drawings
Fig. 1 is a kind of composition schematic diagrams for being based on the parking space state detection method that two kinds of sensor cross are verified；
Fig. 2 is the composition schematic diagram of sensing data processing module；
Fig. 3 is the composition schematic diagram of wireless transport module；
Fig. 4 is the composition schematic diagram of earth magnetism sensing module；
Fig. 5 is the composition schematic diagram of millimeter wave sensing module；
Fig. 6 is the schematic flow sheet of the main program of parking space state detection method；
Fig. 7 is the schematic flow sheet of initialization subroutine；
Fig. 8 is sensing data processing module initialization subroutine schematic flow sheet.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with the accompanying drawings and example, to this
Invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the present invention, and without
It is of the invention in limiting.
As shown in figure 1, a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross, including：
Sensing data processing module, the treatment of collection and detection algorithm for sensing data, and upload parking space state
To gateway；Will the parking space state of final computing be sent to wireless transport module；
Millimeter wave sensing module, for detecting on parking sensor whether there is vehicle to cover；
Earth magnetism sensing module, for detecting that the magnetic that vehicle causes changes；
Wireless transport module, for being debugged to systematic parameter and equipment state being uploaded into gateway；
Power supply module is passed with wireless transport module, sensing data processing module, millimeter wave sensor module, earth magnetism respectively
Sense module is connected.
Power supply module is passed with wireless transport module, sensing data processing module, millimeter wave sensor module, earth magnetism respectively
Sense module is connected；
Sensing data processing module is connected with wireless transport module, millimeter wave sensing module, earth magnetism sensing module respectively.
The axles of HMC5983 tri- that earth magnetism sensing module is produced by Honeywell Inc. magnetic induction chip with sensitivity.
The millimeter wave detection unit that millimeter wave sensing module is made up of millimeter wave chip, radio circuit and dual-mode antenna；
Geomagnetic sensor is connected with STM32L151MCU respectively with the millimeter wave sensor, constitutes at sensing data
Reason module；
Wireless transport module is made up of ATMEGA328P master controls and SX1278 communication units.
Sensing data processing module drives millimeter wave sensing module emission detection waveform, and sensing data treatment mould
The return waveform that block collection millimeter wave sensing module is received.
Sensing data processing module carries out infall by the data to earth magnetism sensing module and millimeter wave sensing module
Manage and be mutually authenticated, draw final detection result；
Final result is sent to wireless transport module by sensing data processing module by MCU pins；
Wireless module is by sensing data processing module final result by being wirelessly transmitted to gateway；
As shown in Fig. 2 power supply module includes a section 19AH high-energy type lithium batteries, cell output voltage is 3.6V, is passed through
By obtaining 3.3V system power supply voltages after HT533 voltage stabilizings；3.3V after voltage stabilizing supplies electricity to wireless transport module, earth magnetism sensing respectively
Module and sensing data processing module.
Sensing data processing module drives millimeter wave sensing module emission detection waveform, and sensing data treatment mould
The return waveform that block collection millimeter wave sensing module is received.
Sensing data processing module is communicated with earth magnetism sensing module.
Sensing data processing module sends the information for whetheing there is vehicle-state to wireless transport module, and sensing data
Processing module receives the instruction of the sensor states initialization that wireless transport module is received.
Sensing data processing module is made up of the STM32L151 processors of ARM cores, and major function is adopted for sensing data
Collection, and detection algorithm treatment, drive millimeter wave sensing module to launch by integrated DAC drive circuits in STM32L151 processors
Detection waveform, while the return waveform that millimeter wave sensing module is received is gathered by the adc circuit of STM32L151 Embeddeds,
Complete the detection to millimeter wave sensing module.
STM32L151 processors and earth magnetism sensing module constitute spi bus and communicate by SDA, SDI, SCL；Additionally,
STM32L151 processors are powered for common I/O mouthfuls by chip to earth magnetism sensing module (HMC5983).
By controlling GPIO1 pin height, transmission whether there is car status information to being wirelessly transferred to STM32L151 processors respectively
Module, the instruction of the initialization to detector that wireless transport module is received is responded by reading the state of GPIO2 pin, is passed through
The spi bus of MOSI, MISO, SCLK composition send Debugging message etc..
As shown in figure 3, wireless transport module is made up of MEGA328P master controls and SX1278 communication units.
MEGA328P master controls are wireless data processing control unit, the GPIO1 pin that MEGA328P master controls pass through STM32L151
Level low state reception system high whether there is the information of vehicle-state, will whether there is the information of vehicle-state according to and gateway communication association
View is encapsulated as packet, and gateway is delivered a packet to by SX1278 transceiver modules, and MEGA328P master controls are connect by SX1278
The sensor states initialization command for receiving then is sent to STM32L151 by the high level of the GPIO2 pin of STM32L151, is
System is communicated by handheld device and debugged, and MEGA328P master controls are sent to by the Debugging message that SX1278 is received by SPI
STM32L151, debugging function can be to system detectio parameter testing, by being wirelessly reconfigured to sensing module parameter.
As shown in figure 4, earth magnetism sensing module is HMC5983 triaxial inductions magnetic induction chip with sensitivity；Chip power VCC
By the common I/O mouthfuls of output power supplies of STM32L151, the parameter measurement scope measurement frequency of chip is by by SDA, SDI, SCL group
Into SPI mouthfuls of communication configuration, HMC5983 is sent to STM32L151 after collecting magnetic field value by SPI.
STM32L151 reads the number of axle evidences of HMC5983 tri- with some cycles by spi bus mode, and stored record is certain
The magnetic field value of time, for detection algorithm analysis, the detection of millimeter wave sensing module is started by the operational analysis to magnetic field.
As shown in figure 5, millimeter wave sensing module is S+V1 types millimeter wave detection transducing signal process circuit and dual-mode antenna
The millimeter wave detection unit of composition,
STM32L151 sends detection drive waveforms to S+V1 by DAC, and S+V1 is according to DAC drive waveforms by launching day
Line sends detectable signal, and detectable signal is returned after vehicle chassis is run into and received by reception antenna, into millimeter wave sensing module
Gathered by ADC by STM32L151 after treatment and return to process signal, system after the treatment of millimeter wave detection signal operation to that will detect
Result is stored for comprehensive descision.
It is a kind of to be based on two kinds of parking space state detection methods of sensor cross checking, also include：Detection program, detects program
Including system initialization subprogram and sensor states initialization subroutine；
As shown in fig. 6, detection program is comprised the following steps：
1) STM32L151 processors first configure system clock for external clock when upper electric, then initialization system peripheral hardware
With millimeter wave sensing module, earth magnetism sensing module, each function of system is configured；
2) can be flashed by LED when electricity on STM32L151 processors indicates millimeter wave sensing module, earth magnetism to sense mould
Whether block configures self-inspection success, and system after the first installation in actual parking stall by after self-inspection, into cycle detection pattern, needing
To be sensed with completing earth magnetism sensing module, millimeter wave in the case of without car to the state initialization of sensing data processing module
Collection of the module to background environment；
3) in cycle detection, system respectively by the way that HMC5983 is to geomagnetic data acquisition process and analyses HMC5983 data,
If analysis result starts millimeter wave sensing module to there is doubtful vehicle to disturb, earth magnetism sensing module, millimeter wave have been processed respectively
After the detection data of sensing module, system is comprehensive to earth magnetism sensing module, the detection process of millimeter wave sensing module and testing result
Analysis is closed, by earth magnetism sensing module, the characteristic of millimeter wave sensing module, cross validation and correction, judges that current parking stall is
It is no to have storing cycle, control STM32L151 respective pins；
4) wireless transport module contrasts this result and parking stall laststate, if parking space state has change, is wirelessly transferred
Newest parking space state is sent to gateway by module, and system is sent completely and enters park mode.
After STM32L151 electrification resets, system enters init state, initialization peripheral configuration etc.；Initial configuration
Complete, system is initialized and configured to sensor and HMC5983；Into sensing module self-check program, HMC5983 is carried out
Initialization and the verification of configuration, to the data check for detecting；Exception Type, self-inspection are indicated by LED if self-inspection is abnormal
Normal survey enters detection data treatment；
Computing is first carried out to HMC5983 gathered datas, HMC5983 is 12 bit resolution earth induction chips, collection numerical value D
The magnetic field value C for obtaining currently gathering by conversion：C=g*D wherein g are corresponding measurement range yield value, successively to HMC5983's
The collection of X, Y, Z three-axle magnetic field value, storage, computing storage array data judge that influence of the vehicle to magnetic field changes；
Result according to HMC5983 data processings judges whether to start the detection of millimeter wave sensing module, does not start then
The integrated treatment program to sensing data processing module is directly entered, millimeter wave sensing module emission detection millimeter wave is driven,
Receive the millimeter-wave signal for returning simultaneously, store and carry out fast Fourier transformation operation to receiving millimeter wave, according to computing knot
Fruit judges the covering information above parking stall, and millimeter wave detection is completed, into the integrated treatment journey of sensing data processing module
Sequence；
The parking stall magnetic field that integrated data processing determines whether vehicle and causes have substantially change and stable magnetic field and
Car is determined whether by earth magnetism, if magnetic field changes small on parking stall, but has the larger magnetic field pulse of generation, and the root after stable magnetic field
According to the result of detection of millimeter wave sensing module, determine whether storing cycle, when millimeter wave detection to sleet etc. is disturbed, then by
Earth magnetism sensing module judges whether vehicle is parked, while detecting clear and definite car in earth magnetism sensing module and millimeter wave sensing module
During the state of position, other two sensing module is corrected respectively；Detection judge after parking space state result with parking space state before
Contrast, if parking space state changes, by controlling to change GPIO1 level just, the parking space state of change is sent to wirelessly
New parking space state is sent to gateway by transport module, wireless transport module by protocol encapsulation；
After previous detection cycle terminates, system closes each peripheral hardware working condition for halted state closes each sensor work
Make state, into resting state, from the detection for newly carrying out a cycle after waiting timer interrupt to wake up.
As shown in fig. 7, initialization subroutine is comprised the following steps：
1) System startup files acquiescence uses inside 16MHZ after frequency multiplication and frequency dividing to 32MHZ during electricity on；
2) when performing main program, system clock is configured to outside 8MHZ and arrives 32MHZ through frequency multiplication and frequency dividing；
3) complete clock with postponing, system wakes up configuration to the ADC of STM32L151, DAC, dormancy, RTC.
Enter the initialization of row clock, the inside that system clock is configured by System startup files during electricity on STM32L151
16MHZ clock sources are switched to outside 8MHZ clock sources, and then PLL frequencys multiplication are divided to 32MHZ for system kernel to 64MHZ
With peripheral hardware ADC, DAC, SPI, I2C, IO etc. as clock source；
STM32L151 peripheral hardwares ADC is initialized, configuration ADC clocks are inside HSI clocks, 12 bit resolutions, sense channel
It is single, corresponds to ADC channel 6, the ADC single conversion times is 4 clock cycle, and the triggering of ADC is software triggering；
STM32L151 peripheral hardwares DAC is initialized, configuration DAC triggering modes are triggered for software, without systems soft ware waveform, opened
STM32L151DAC passages 1；
GPIOA, GPIOB, GPIOC to STM32L151 are not used pin initialization；The low-power consumption of STM32L151 is used
STOP mode sleeps, set dormancy mark, and all peripheral clocks and power supply are closed in park mode, while configure dormancy calling out
It is RTC awakening modes to wake up, RTC triggering connection external interrupt lines 20, and triggering pattern is rising edge, triggers interrupt vector number 3, RTC
Elapsed time clock source is LSI, opens the LSI clock sources of STM32L151, and clock source four is divided.
As shown in figure 8, sensor states initialization subroutine is comprised the following steps：
1) performed in earth magnetism sensing module data processing, skipped when system detectio to GPI02 pin level is low level
The action；
2) performed when system detectio to GPI02 pin level is high level, system initialization earth magnetism sensing module, current magnetic
Field value corresponding states is without car state, and current magnetic field value is stored；
3) system initialization millimeter wave sensing module current state is without car state, and will be currently detected signal value and deposit
Storage.
Reached after these circuits are and program can be write by conventional electricity Theoretical Design and function program above-mentioned
Function, then this repeats no more specific circuit structure and program circuit.
Embodiment described above only expresses embodiments of the present invention, and its description is more specific and detailed, but can not
Therefore it is interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
Enclose.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. it is a kind of to be based on two kinds of parking space state detection methods of sensor cross checking, it is characterised in that including：
Sensing data processing module, the treatment of collection and detection algorithm for sensing data, and upload parking space state and arrive
Gateway；
Millimeter wave sensing module, for detecting on parking sensor whether there is vehicle to cover；
Earth magnetism sensing module, for detecting that the magnetic that vehicle causes changes；
Wireless transport module, for being debugged to systematic parameter and equipment state being uploaded into gateway；
Power supply module, supplies electricity to the wireless transport module, the earth magnetism sensing module and sensing data processing module respectively.
2. a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross according to claim 1, its feature
It is：The power supply module is sensed with the wireless transport module, the sensing data processing module, the millimeter wave respectively
Device module, the earth magnetism sensing module are connected；
The sensing data processing module respectively with the wireless transport module, the millimeter wave sensing module and the earth magnetism
Sensing module is connected.
3. a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross according to claim 1, its feature
It is：The sensing data processing module drives the millimeter wave sensing module emission detection waveform, and the sensor
Data processing module gathers the return waveform that the millimeter wave sensing module is received.
4. a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross according to claim 1, its feature
It is：The sensing data processing module is communicated with the earth magnetism sensing module.
5. a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross according to claim 1, its feature
It is：Sensing data processing module transmission whether there is the information of vehicle-state to the wireless transport module, and described
Sensing data processing module receives the instruction of the sensor states initialization that the wireless transport module is received.
6. a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross according to claim 1, its feature
It is：The sensing data processing module is made up of the STM32L151 processors of ARM cores.
7. a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross according to claim 1, its feature
It is：The wireless transport module is made up of MEGA328P master controls and SX1278 communication units.
8. a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross according to claim 1, its feature
It is：The millimeter wave sensing module is the millimeter that S+V1 types millimeter wave detection transducing signal process circuit and dual-mode antenna are constituted
Ripple probe unit；The earth magnetism sensing module is HMC5983 triaxial inductions magnetic induction chip with sensitivity.
9. a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross according to claim 1, its feature
It is also to include：Detection program, the detection program includes initialization subroutine and sensor states initialization subroutine；
The system detectio program is comprised the following steps：
1) STM32L151 processors first configure system clock for external clock when upper electric, then initialization system peripheral hardware and milli
Metric wave sensing module, earth magnetism sensing module, configure each function of system；
2) can flash instruction millimeter wave sensing module, earth magnetism sensing module by LED when electricity on STM32L151 processors is
No configuration self-inspection success, system after the first installation in actual parking stall by after self-inspection, into cycle detection pattern, needing
Without in the case of car to the state initialization of sensing data processing module, to complete earth magnetism sensing module, millimeter wave sensing module
Collection to background environment；
3) in cycle detection, system is by the way that HMC5983 is to geomagnetic data acquisition process and analyzes HMC5983 data, if analysis
Result then starts millimeter wave sensing module to there is doubtful vehicle to disturb, and earth magnetism sensing module, millimeter wave sensing mould have been processed respectively
After the detection data of block, system to earth magnetism sensing module, the detection process of millimeter wave sensing module and testing result comprehensive analysis,
By earth magnetism sensing module, the characteristic of millimeter wave sensing module, cross validation and correction, judge whether current parking stall has vehicle
Park, control STM32L151 respective pins；
4) wireless transport module contrasts this result and parking stall laststate, if parking space state has change, wireless transport module
Newest parking space state is sent to gateway, system is sent completely and enters park mode.
10. a kind of parking space state detection methods for being based on the checking of two kinds of sensor cross according to claim 9, its feature
It is：
The initialization subroutine is comprised the following steps：
1) System startup files acquiescence uses inside 16MHZ after frequency multiplication and frequency dividing to 32MHZ during electricity on；
2) when performing main program, system clock is configured to outside 8MHZ and arrives 32MHZ through frequency multiplication and frequency dividing；
3) complete clock with postponing, system wakes up configuration to the ADC of STM32L151, DAC, dormancy, RTC.
The sensor states initialization subroutine is comprised the following steps：
1) performed in earth magnetism sensing module data processing, this is skipped when system detectio to GPI02 pin level is low level and is moved
Make；
2) performed when system detectio to GPI02 pin level is high level, system initialization earth magnetism sensing module, current magnetic field value
Corresponding states is without car state, and current magnetic field value is stored；
3) system initialization millimeter wave sensing module current state is without car state, and will be currently detected signal value storage.
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Cited By (9)
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| CN107481546A (en) * | 2017-08-16 | 2017-12-15 | 太原理工大学 | A kind of parking stall supervision intelligence sensor and parking stall monitoring and managing method |
| CN108961773A (en) * | 2018-07-05 | 2018-12-07 | 青岛海信网络科技股份有限公司 | A kind of method and device of parking stall parked state detection |
| CN109637190A (en) * | 2019-01-31 | 2019-04-16 | 苏州卷积智能信息技术有限公司 | Buried two sensory perceptual system of vehicle |
| CN110009921A (en) * | 2019-03-15 | 2019-07-12 | 中电共建科技(北京)有限公司 | A kind of meeting early warning system and installation method |
| CN110869936A (en) * | 2017-06-06 | 2020-03-06 | 智加科技公司 | Method and system for distributed learning and adaptation in autonomous vehicles |
| CN111524364A (en) * | 2020-04-29 | 2020-08-11 | 武汉拓宝科技股份有限公司 | Parking space state detection method and system |
| CN112530198A (en) * | 2020-11-17 | 2021-03-19 | 江苏集萃深度感知技术研究所有限公司 | Parking stall detector based on earth magnetic sensor and millimeter wave radar |
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