CN106875740A - Joint earth's magnetic field and the method for detecting parking stalls and system of radio signal quality - Google Patents
Joint earth's magnetic field and the method for detecting parking stalls and system of radio signal quality Download PDFInfo
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- CN106875740A CN106875740A CN201710281113.7A CN201710281113A CN106875740A CN 106875740 A CN106875740 A CN 106875740A CN 201710281113 A CN201710281113 A CN 201710281113A CN 106875740 A CN106875740 A CN 106875740A
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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Abstract
The present invention relates to a kind of joint earth's magnetic field and the method for detecting parking stalls and system of radio signal quality, the method includes：Wireless geomagnetism detector detects the geomagnetic data of parking stall, and the geomagnetic data that will be detected is by transmission of wireless signals to wireless receiver；The change of change and radio signal status according to the geomagnetic data, the accurate state for judging parking stall.The present invention makes full use of car and the difference without vehicle radio transmission channel, the jointly detection algorithm of magnetic number value and radio signal quality, a comprehensive court verdict is given, terrestrial magnetic disturbance can be preferably reduced and be faced the influence of parking stall interference, improve the verification and measurement ratio of parking space state.
Description
Technical field
The present invention relates to the detection of parking space state, in particular to joint earth's magnetic field and the parking stall measure side of radio signal quality
Method and system, for realizing identification for vehicles while passing parking stall and parking stall seizure condition etc..
Background technology
Current earth magnetism wagon detector is all the detection for carrying out vehicle-state in a detector, then wirelessly will inspection
Survey result and issue platform.
In actual detection, in order to reduce influence of the geomagnetic sensor for terrestrial magnetic disturbance, complexity is mainly employed
The mode of digital filtering；Face parking stall interference to reduce, more by the way of different weights are assigned to axially different earth magnetism numerical value,
The weight of lateral numerical value is reduced, but while reduction is faced parking stall and disturbed, the sensitivity of geomagnetism detecting is also reduced simultaneously.
With developing rapidly for auto manufacturing, specific strength (strength-to-weight ratio) is significantly better than the aluminium of ferrimagnet
Material, accounting is increasing in body of a motor car, and the strong of the neighbouring magnetic fluctuation in the parking stall caused due to vehicles while passing can be reduced naturally
Degree, reduces the accuracy rate of parking space state detection.There is portioned product by the way of microwave, infrared or radar to increase at present
For the verification and measurement ratio of this kind of vehicle, while cost and power consumption is significantly increased, introduce again for weather, illumination, environment etc.
The interference and limitation of factor, effect are extremely limited.
The content of the invention
Present invention aim to overcome that above-mentioned the deficiencies in the prior art and a kind of joint earth's magnetic field and wireless signal matter are provided
The method for detecting parking stalls and system of amount, in the case where cost and power consumption is not increased, merge geomagnetic sensor data and wireless communication
Number quality, reduces for terrestrial magnetic disturbance, faces the influence of parking stall interference, improves for lilliput car, the recognition capability of full aluminium vehicle,
Lift the detection accuracy of parking space state.
The technical scheme for realizing the object of the invention use is the parking stall measure of a kind of joint earth's magnetic field and radio signal quality
Method, the method includes：
Wireless geomagnetism detector detects the geomagnetic data of parking stall, and the geomagnetic data that will be detected passes through transmission of wireless signals extremely
Wireless receiver；
The change of change and radio signal status according to the geomagnetic data, the accurate state for judging parking stall.
In the above-mentioned technical solutions, the change and the change of radio signal status according to the magnetic data, accurately
Judge including with the presence or absence of vehicle on parking stall：
Geomagnetic data difference twice before and after detection, and radio signal status difference；
If any difference reaches decision threshold, parking stall shape in the difference of the difference of geomagnetic data and radio signal status
State changes；If both the difference of the difference of geomagnetic data and radio signal status is not up to decision threshold, parking stall shape
State does not change.
The present invention devises a kind of continuous detection earth magnetism numerical value on conventional wireless three axles earth magnetism wagon detector, takes out
Several independent critical datas, by wirelessly reporting platform, earth magnetism wagon detector wireless signal strength are recorded at platform end
And signal to noise ratio, car and the difference without vehicle radio transmission channel are made full use of, jointly the inspection of magnetic number value and radio signal quality
Method of determining and calculating, provides a comprehensive court verdict, can preferably reduce terrestrial magnetic disturbance and face the influence of parking stall interference, improves parking stall
The verification and measurement ratio of state.
Brief description of the drawings
Fig. 1 is for the parking stall measure system of embodiment use invention joint earth's magnetic field and radio signal quality in parking stall without car
Schematic diagram during state.
Fig. 2 is the parking stall measure system that embodiment combines earth's magnetic field and radio signal quality in parking stall having car state
Schematic diagram.
Fig. 3 is the flow chart of the method for detecting parking stalls that embodiment combines earth's magnetic field and radio signal quality.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, the parking stall measure system of present invention joint earth's magnetic field and radio signal quality includes being embedded in
Wireless geomagnetism detector on each parking stall ground, (i.e. wireless platform, schemes to set up a wireless receiver every a segment distance
Platform is denoted as in 1 and Fig. 2).Wireless receiver includes storage computing module and judge module.
The parking stall measure system of joint earth's magnetic field and radio signal quality realizes the flow such as Fig. 3 institutes to parking space state detection
Show, comprise the following steps：
S1, wireless geomagnetism detector detect the geomagnetic data of parking stall, and the geomagnetic data that will be detected passes through wireless signal
Send.
S2, wireless receiver receive the geomagnetic data that the wireless geomagnetism detector is sent with wireless signal, by storage
Computing module sets up one 5 tables of data { Xt, Yt, Zt, St, Nt } of dimension, Xt, Yt, Zt to geomagnetic data and radio signal status
Respectively t X, Y and Z axis earth magnetism background value, St are t wireless reception of signals intensity, and Zt is t wireless reception of signals
Signal to noise ratio, and 5 data tieed up are normalized, the geomagnetic data difference before and after then calculating twice, and wireless communication
The difference of number state, the difference of radio signal status is wireless signal strength difference and signal to noise ratio difference, that is, obtain { △ Xt, △
Yt、△Zt、△St、△Nt}。
S3, the change according to the geomagnetic data and the change of radio signal status, the accurate state for judging parking stall, tool
Body deterministic process is as follows：
The vehicle sample of the actual acquisition that two decision thresholds of setting, earth magnetism thresholding θ 1 and joint-detection thresholding θ 2, θ 1 are used
This statistics draw value, the present embodiment takes and is not less than 0.1 Gauss；θ 2 is according to the main lobe of antenna and the gain difference of secondary lobe, this reality
Apply example and take and be not less than 10dB.Weight vectors { α x, α y, α z, α s, α n }, weight vectors represent X, Y and Z axis earth magnetism background value, wireless
The weighted value of received signal strength, wireless reception of signals signal to noise ratio during parking space state differentiation；
The Dang ∣ α x* △ Xt+ α y* △ Yt+ α z* △ Zt ∣≤, Qie ∣ α s* △ St+ α n* △ Nt ∣ of θ 1≤θ 2, then show earth magnetism
Disturbance quantity and radio signal status knots modification, have all reached decision threshold, now adjudicate parking space state and there occurs change；
The Dang ∣ α x* △ Xt+ α y* △ Yt+ α z* △ Zt ∣≤, Qie ∣ α s* △ St+ α n* △ Nt ∣ of θ 1<θ 2, then show disturbing for earth magnetism
Momentum has reached decision threshold, and radio signal status knots modification is not up to thresholding, now adjudicates parking space state and there occurs change；
Dang ∣ α x* △ Xt+ α y* △ Yt+ α z* △ Zt ∣<The , Qie ∣ α s* △ St+ α n* △ Nt ∣ of θ 1≤θ 2, then show disturbing for earth magnetism
Momentum is less than normal, and radio signal status knots modification has reached decision threshold, now adjudicates parking space state and there occurs change；
Dang ∣ α x* △ Xt+ α y* △ Yt+ α z* △ Zt ∣<The , Qie ∣ α s* △ St+ α n* △ Nt ∣ of θ 1<θ 2, then show disturbing for earth magnetism
Momentum is less than normal, and radio signal status knots modification is also not up to thresholding, now adjudicates parking space state and does not change.
As a kind of preferred embodiments of the invention, before parking space state is judged, first judge that parking stall original state is
With the presence or absence of whether having movable vehicle near terrestrial magnetic disturbance or parking stall during room, specifically include：
S4, storage computing module obtain geomagnetic data according to what is obtained, respectively obtain the axle of t0 time periods n x, y and z tri- ground magnetic number
According to：Three axle geomagnetic datas are carried out independent row by X { x1, x2 ..., xn }, Y { y1, y2 ..., yn }, Z { z1, z2 ..., zn }
Sequence, the present embodiment sequence can carry out nonlinear filtering counting using existing median filter.Take 0.1n~0.9n in sorting
Numerical value carries out the mean value computation that counts, and is designated as X0, Y0 and Z0, used as the initial base value of the earth magnetism of current parking stall.Wherein 0.1n~0.9n
Refer to the data that maximum 10% and minimum 10% is excluded after being sized, remaining these numerical value are counted again
Mean value computation.
S5, by earth magnetism initial base value X0, Y0 and the Z0 under original state, wireless receiver is sent to by wireless signal,
Wireless receiver records the wireless signal strength S0 and signal to noise ratio N0 for now receiving simultaneously.
S6, three axle geomagnetic datas are persistently detected, every a cycle ticket reserving time t1, calculate current according to S4 methods describeds
Background value Xt, Yt and Zt of moment earth magnetism, and by being wirelessly sent to wireless receiver, wireless receiver record is now received
Wireless signal strength St and signal to noise ratio Nt.
S7, one fluctuation thresholding delta of setting, the fluctuation thresholding is the fluctuation peak-to-peak value according to earth magnetism background to be taken,
Value is more than background fluctuations peak-to-peak value.Maximum or minimum value in n sampled value of any one axle, the difference with background value are big
When the thresholding, then show there is movable vehicle or terrestrial magnetic disturbance near parking stall, persistently track three number of axle evidences, until three axis values with
The difference of background value is returned to below fluctuation thresholding, then show that fluctuation terminates；Now according to S4 steps, calculate once current
Earth magnetism background value Xt, Yt and Zt, and wireless receiver is sent to by wireless signal.
When judgement is present has movable vehicle near terrestrial magnetic disturbance or parking stall, then it is assumed that the environment of parking stall has change, and having can
Dead ship condition can occur, start parking space state detection, that is, starting step S1~S3 carries out parking space state detection.
Claims (7)
1. the method for detecting parking stalls of a kind of joint earth's magnetic field and radio signal quality, it is characterised in that including：
Wireless geomagnetism detector detects the geomagnetic data of parking stall, and the geomagnetic data that will be detected by transmission of wireless signals to nothing
Line receiver；
The change of change and radio signal status according to the geomagnetic data, the accurate state for judging parking stall.
2. the method for detecting parking stalls of earth's magnetic field and radio signal quality is combined according to claim 1, it is characterised in that described
The change of change and radio signal status according to the magnetic data, accurately judges including with the presence or absence of vehicle on parking stall：
Geomagnetic data difference twice before and after detection, and radio signal status difference；
If any difference reaches decision threshold, parking space state hair in the difference of the difference of geomagnetic data and radio signal status
It is raw to change；If both the difference of the difference of geomagnetic data and radio signal status is not up to decision threshold, parking space state is not
Change.
3. the method for detecting parking stalls of earth's magnetic field and radio signal quality is combined according to claim 2, it is characterised in that：
One 5 tables of data { Xt, Yt, Zt, St, Nt } of dimension, Xt, Yt, Zt difference are set up to geomagnetic data and radio signal status
It is t X, Y and Z axis earth magnetism background value, St is t wireless reception of signals intensity, and Zt is t wireless reception of signals noise
Than；
Data for 5 dimensions are normalized；
It is calculated data difference { △ Xt, △ Yt, △ Zt, △ St, the △ of front and rear geomagnetic data and radio signal status twice
Nt}。
4. the method for detecting parking stalls of earth's magnetic field and radio signal quality is combined according to claim 3, it is characterised in that：
Two decision thresholds of setting, earth magnetism thresholding θ 1 and joint-detection thresholding θ 2, weight vectors { α x, α y, α z, α s, α n }, weight
Vector represents X, Y and Z axis earth magnetism background value, wireless reception of signals intensity, wireless reception of signals signal to noise ratio and differentiates in parking space state
During weighted value；
The Dang ∣ α x* △ Xt+ α y* △ Yt+ α z* △ Zt ∣≤, Qie ∣ α s* △ St+ α n* △ Nt ∣ of θ 1≤θ 2, then show the disturbance of earth magnetism
Amount and radio signal status knots modification, have all reached decision threshold, now adjudicate parking space state and change；
The Dang ∣ α x* △ Xt+ α y* △ Yt+ α z* △ Zt ∣≤, Qie ∣ α s* △ St+ α n* △ Nt ∣ of θ 1<θ 2, then show the disturbance quantity of earth magnetism
Decision threshold has been reached, and radio signal status knots modification is not up to thresholding, now adjudicates parking space state and there occurs change；
Dang ∣ α x* △ Xt+ α y* △ Yt+ α z* △ Zt ∣<The , Qie ∣ α s* △ St+ α n* △ Nt ∣ of θ 1≤θ 2, then show the disturbance quantity of earth magnetism
It is less than normal, and radio signal status knots modification has reached decision threshold, now adjudicates parking space state and there occurs change；
Dang ∣ α x* △ Xt+ α y* △ Yt+ α z* △ Zt ∣<The , Qie ∣ α s* △ St+ α n* △ Nt ∣ of θ 1<θ 2, then show the disturbance quantity of earth magnetism
It is less than normal, and radio signal status knots modification is also not up to thresholding, now adjudicates parking space state and does not change.
5. the method for detecting parking stalls of earth's magnetic field and radio signal quality, its feature are combined according to any one of Claims 1 to 4
It is：Before the accurate state for judging parking stall of change of change and radio signal status according to the geomagnetic data, first sentence
It is disconnected to whether there is near terrestrial magnetic disturbance or parking stall whether have movable vehicle, specifically include：
Geomagnetic data detection is carried out to the parking stall without vehicle, axle geomagnetic data X { x1, x2 ..., xn } of x, y and z tri-, Y is obtained
Three axle geomagnetic datas are carried out independent sequence by { y1, y2 ..., yn }, Z { z1, z2 ..., zn }, take sequence in 0.1n~
The numerical value of 0.9n carries out mean value computation, is designated as X0, Y0 and Z0, used as the initial base value of the earth magnetism of current parking stall；
By base value X0, Y0 and Z0 under original state, wireless receiving platform is sent to by wireless signal, wireless receiving platform is same
Wireless signal strength S0 and signal to noise ratio N0 that Shi Jilu is now received；
Three axle geomagnetic datas are persistently detected, every a cycle ticket reserving time t1, current time ground is calculated according to (1) methods described
Background value Xt, Yt and Zt of magnetic, and by wirelessly reporting, wireless signal strength St and signal to noise ratio that platform record is now received
Nt
One fluctuation thresholding delta of setting, maximum or minimum value in n sampled value of any one axle, the difference with background value
When value is more than the thresholding, then show there is movable vehicle or terrestrial magnetic disturbance near parking stall, three number of axle evidences are persistently tracked, until three number of axle
Value is returned to below fluctuation thresholding with the difference of background value, then show that fluctuation terminates；Current earth magnetism is now calculated once again
Background value Xt, Yt and Zt, and by wirelessly reporting.
6. the parking stall measure system of a kind of joint earth's magnetic field and radio signal quality, it is characterised in that including：
Wireless geomagnetism detector, is embedded on each parking stall ground, the geomagnetic data for detecting parking stall, and will detect
Geomagnetic data is sent by wireless signal；
Wireless receiver, for receiving the geomagnetic data that the wireless geomagnetism detector is sent with wireless signal, and according to described
The change of geomagnetic data and the change of radio signal status, the accurate state for judging parking stall.
7. the parking stall measure system of earth's magnetic field and radio signal quality is combined according to claim 6, it is characterised in that described
Wireless receiver includes：
Storage computing module, receives the geomagnetic data that the wireless geomagnetism detector is sent with wireless signal, and count for storing
Geomagnetic data difference twice before and after calculating, and radio signal status difference；
Judge module, for judging whether the difference of geomagnetic data and the difference of radio signal status reach decision threshold, if appointing
One difference reaches decision threshold, then parking space state changes；If two differences are all not up to decision threshold, parking space state is not
Change.
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Cited By (10)
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| CN107730916A (en) * | 2017-11-10 | 2018-02-23 | 杭州朗米科技有限公司 | A kind of earth magnetism parking space detection method |
| CN108682177A (en) * | 2018-05-28 | 2018-10-19 | 杭州目博科技有限公司 | Using the parking lot detector and control method of multisensor |
| CN109360442A (en) * | 2018-12-10 | 2019-02-19 | 无锡加视诚智能科技有限公司 | A kind of intelligent parking position management system |
| CN109523805A (en) * | 2018-11-12 | 2019-03-26 | 张明荣 | A kind of vehicle is in position detecting method and device |
| CN110364017A (en) * | 2019-07-11 | 2019-10-22 | 武汉拓宝科技股份有限公司 | A kind of parking space state detection method for combining magnetic field and microwave |
| CN111344760A (en) * | 2017-11-06 | 2020-06-26 | 罗伯特·博世有限公司 | Method and device for determining the occupancy state of a parking space |
| CN111696380A (en) * | 2020-05-20 | 2020-09-22 | 深圳市中智车联科技有限责任公司 | Method for detecting parking spaces by double barrels |
| CN112150852A (en) * | 2019-06-26 | 2020-12-29 | 中兴通讯股份有限公司 | Geomagnetic parking space detection method and device |
| CN112767712A (en) * | 2019-11-04 | 2021-05-07 | 深圳长城开发科技股份有限公司 | Method, system and storage medium for geomagnetic sensor to detect fast passing vehicle |
| CN115273490A (en) * | 2021-04-30 | 2022-11-01 | 阿尔卑斯通信器件技术（上海）有限公司 | Parking space detection device and parking space detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111344760A (en) * | 2017-11-06 | 2020-06-26 | 罗伯特·博世有限公司 | Method and device for determining the occupancy state of a parking space |
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| CN108682177A (en) * | 2018-05-28 | 2018-10-19 | 杭州目博科技有限公司 | Using the parking lot detector and control method of multisensor |
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| CN112150852A (en) * | 2019-06-26 | 2020-12-29 | 中兴通讯股份有限公司 | Geomagnetic parking space detection method and device |
| CN110364017A (en) * | 2019-07-11 | 2019-10-22 | 武汉拓宝科技股份有限公司 | A kind of parking space state detection method for combining magnetic field and microwave |
| CN112767712A (en) * | 2019-11-04 | 2021-05-07 | 深圳长城开发科技股份有限公司 | Method, system and storage medium for geomagnetic sensor to detect fast passing vehicle |
| CN111696380A (en) * | 2020-05-20 | 2020-09-22 | 深圳市中智车联科技有限责任公司 | Method for detecting parking spaces by double barrels |
| CN115273490A (en) * | 2021-04-30 | 2022-11-01 | 阿尔卑斯通信器件技术（上海）有限公司 | Parking space detection device and parking space detection method |
| CN115273490B (en) * | 2021-04-30 | 2023-09-19 | 阿尔卑斯通信器件技术（上海）有限公司 | Parking space detection device and parking space detection method |
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