CN107170276B - Cloud-based automatic parking management system for unmanned parking lot - Google Patents
Cloud-based automatic parking management system for unmanned parking lot Download PDFInfo
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- CN107170276B CN107170276B CN201710429040.1A CN201710429040A CN107170276B CN 107170276 B CN107170276 B CN 107170276B CN 201710429040 A CN201710429040 A CN 201710429040A CN 107170276 B CN107170276 B CN 107170276B
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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
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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Abstract
The invention discloses an unmanned parking lot automatic parking management system based on cloud, which comprises a parking application server, a vehicle end cloud server, an environment sensing device, a parking client and a parking lot management and monitoring client; in the system, the vehicle is positioned at low cost by using a detachable radar, the intelligent vehicle is controlled to run by using a cloud system to realize automatic parking, the vehicle and the parking space are planned by using a parking application server to realize intensive parking, and the capacity of the parking lot is increased; meanwhile, the parking application in the system provides related services such as parking space reservation, lease and the like, the problems of parking space uncertainty and parking space idle waste are solved, and a client of the parking application provides convenient management of an intelligent parking lot and a parking space.
Description
Technical Field
The invention belongs to the technical field of intelligent parking lots, and particularly relates to an automatic parking management system of an unmanned parking lot based on cloud.
Background
With the continuous development of economy, the automobile keeping quantity in China is improved year by year, and more private automobiles are available. By the end of 2015 years, the national automobile holding capacity has reached 1.72 million, with the total number of private cars exceeding 1.24 million; the dilemma of "few vehicles" and "one difficulty" in dealing with such large-scale vehicles will be further aggravated. According to the public report, the data issued by the traffic administration of the ministry of public security: at the end of 2014, 559.1 motor vehicles are shared in Beijing, and the quantity of motor vehicle reserves and the quantity of parking space gaps reach 250 ten thousands; shenzhen, Shanghai, Guangzhou, Nanjing and other urban parking space gaps are more than 150 ten thousand. Taking Hangzhou as an example, the automobile holding capacity of main urban areas in Hangzhou city is about 120 ten thousand, but the official statistical berth number is 45-50 ten thousand, and the hard gap of the berth is about 70 thousand.
Chinese City parking research report (the first half of 2015) showed that about 80% of car owners were troubled by parking problems, while nearly eighty-percent of car owners had the experience of giving up self-driving due to a parking difficulty somewhere. Many times, a car owner needs to "patrol and park" for a long time in order to find a parking space; on one hand, the vehicles roundabout on the street occupy the road space, and particularly in downtown areas with large pedestrian flow and large vehicle flow, the problem of difficult parking inevitably causes serious traffic jam; on the other hand, finding a parking space wastes a lot of time.
In order to solve the problem of difficult parking, on one hand, the number of parking spots needs to be increased, and on the other hand, the infrastructure of the parking lot needs to be perfected, the intellectualization of the parking lot management system needs to be improved, and limited parking lot resources are efficiently utilized. The intelligent parking lot and the management system thereof are developed under the opportunity.
ETCP occupies a large share in domestic intelligent parking systems, the ETCP intelligent parking systems identify vehicle license plates by arranging cameras at an entrance and an exit of a parking lot, calculate the number of free parking spaces in the parking lot, and provide free parking space information, price information and parking place information of the parking lot for users through an intelligent parking application client to achieve parking lot guidance; however, the intelligent parking system has the following defects:
(1) the induction of parking spaces cannot be realized; after the vehicle drives into the parking lot, the user still needs to find the parking space by himself, and the time is still much.
(2) Automatic parking cannot be achieved, and the intelligent degree is not enough; the user still needs to park by himself, and still needs to spend much time.
The capacity of the parking lot cannot be increased, and the benefit of the parking lot is improved to a limited extent. In addition, there are also japanese sky parks, which mainly use a set of mechanical automatic lifting parking equipment; the driver parks the vehicle on the steel plate, the machine automatically raises the vehicle to the appropriate level, and then moves the vehicle and the steel plate to the level. When a vehicle is taken, the vehicle owner gives the card to a worker, the worker presses the card position of the vehicle on the equipment, and then presses the equipment to start, so that the vehicle automatically falls to the ground; the parking mode enlarges the capacity of the parking lot and realizes automatic parking, however, the three-dimensional parking lot has the following defects:
(1) the manufacturing cost is high, and the marketization is difficult; the stereo parking lot needs to carry out thorough physical transformation on the parking lot, and the mechanical automatic lifting parking equipment is expensive in manufacturing cost, huge in investment and difficult to popularize.
(2) The capacity of the single-deck parking lot is not increased, and each deck of the parking lot is not fully utilized.
Disclosure of Invention
In view of the above, the invention provides a cloud-based automatic parking management system for an unmanned parking lot, in which a vehicle uses a detachable radar to realize low-cost vehicle positioning, uses a cloud system to control an intelligent vehicle to run so as to realize automatic parking, uses a parking application server to plan the vehicle and a parking space so as to realize intensive parking, and increases the capacity of the parking lot; meanwhile, the parking application in the system provides related services such as parking space reservation, lease and the like, the problems of parking space uncertainty and parking space idle waste are solved, and a client of the parking application provides convenient management of an intelligent parking lot and a parking space.
The utility model provides an unmanned parking area automatic parking management system based on cloud, includes parking application server, car end cloud server, environmental awareness equipment, parking client and parking area management and monitoring client, wherein:
the parking application server is used for acquiring the vehicle type and size information of the vehicle from the vehicle-end cloud server, acquiring the position information of the vehicle from the environment sensing equipment, allocating a proper parking space for the vehicle according to the information, and planning a proper driving path for the vehicle to reach the parking space;
the vehicle-end cloud server performs matching according to the driving path provided by the parking application server and the real-time positioning coordinates of the vehicle, generates a vehicle deviation correction instruction and sends the vehicle deviation correction instruction to the vehicle, so that the vehicle runs according to the planned path;
the environment sensing equipment is arranged on the vehicle body, generates environment sensing information by utilizing radar and ultrasonic waves and provides an information basis for vehicle positioning and autonomous obstacle avoidance;
the parking client interacts with the parking application server to provide a visual viewing interface about conditions of a parking lot and a parking space for a user, simultaneously sends requests of automatic parking, automatic car taking and parking space transaction of the user to the parking application server, and feeds back a request response result of the parking application server to the user;
the parking lot management and monitoring client interacts with the parking application server to provide operation data of the parking lot for a parking lot manager, so that the parking lot management and monitoring client can manage the parking lot conveniently.
Further, the parking application server comprises a management module, an external service module, a database module and an environment module, wherein:
the management module is used for managing parking spaces, and performing unified scheduling according to the vehicle information to allocate proper parking spaces for the vehicles, so that the utilization rate of the parking lot is improved; meanwhile, the management module is connected with the external service module, provides services of parking space reservation, parking space leasing and parking space renting for users, and is responsible for monitoring and alarming the real-time state of the parking lot; in addition, the management module is connected with the database module to be responsible for managing the function business of adding, deleting, modifying and checking the parking lot;
the environment module is a pluggable module and is used for acquiring environment sensing information generated by the environment sensing equipment, processing the information, planning a proper driving path for a vehicle to reach an allocated parking space and managing the environment sensing equipment and a map;
the external service module is used for responding to an external service request, is internally connected with the management module, the database module and the environment module and receives and transmits related information; the method comprises the steps that Http requests of a parking client, a parking lot management and monitoring client and a vehicle end cloud server are received and processed, requests of automatic parking, automatic vehicle taking and parking space transaction of the parking client are responded, checking and management requests of the parking lot management and monitoring client are responded, and service and data requests of the vehicle end cloud server are responded;
the database module is connected with the management module, the environment module and the external service module, is responsible for finishing the data management operation of the management module, receives the information access operation from the environment module and provides data support for the external service module, so that the data sharing among the internal modules of the parking application server is realized through the database module; the database module comprises a memory database and a relational database, wherein the memory database is used for realizing high-performance reading and writing of data and periodically persisting the internal data of the memory database to a disk through the relational database.
Further, the environment module comprises a sensor management module, a sensor communication module, a positioning module, a map management module and a path planning module; the positioning module is communicated with the environment sensing equipment through the sensor communication module to acquire vehicle position sensing information, converts the vehicle position sensing information into vehicle positioning coordinates and stores the vehicle positioning coordinates into the memory database; the sensor management module is used for managing the environment sensing equipment and has the functions of equipment registration, modification and deletion; the map management module is communicated with the environment sensing equipment through the sensor communication module to acquire environment map information, is responsible for managing the parking lot map, has the functions of map addition, analysis, search, modification and deletion, and provides map information support for the path planning module; and the path planning module is responsible for planning a proper driving path for the vehicle to reach the distributed parking spaces according to the current vehicle positioning coordinate and the environment map information, and providing the driving path for the vehicle-end cloud server through the external service module.
Further, the vehicle-end cloud server comprises an external service module, a vehicle communication module and a vehicle deviation rectifying module; the vehicle deviation correcting module interacts with the parking application server through the external service module to acquire a driving path reaching a parking space and real-time positioning coordinates of the vehicle and match the driving path and the real-time positioning coordinates to generate a vehicle deviation correcting instruction, and then the vehicle deviation correcting instruction is sent to the vehicle through the vehicle communication module to enable the vehicle to run according to a planned path.
Further, the vehicle comprises a communication module, a command translation module and a command control module; the communication module is used for being responsible for communication between the vehicle and the vehicle-end cloud server to complete data receiving and sending; the command translation module is used for translating the unified control command received from the vehicle-end cloud server into a specific control command which can be recognized by the vehicle control system; the instruction control module is used for sending the translated specific control instruction to the vehicle execution mechanism to realize automatic driving control of the vehicle.
Further, the environment sensing device comprises a detachable radar and an ultrasonic sensor; the radar is used for positioning, the ultrasonic sensor is used for distance measurement and obstacle avoidance, and the radar and the ultrasonic sensor uniformly send the generated environment perception information to the parking application server; the radar is not bound with the vehicle, the radar is attached to the automobile body when the user parks the vehicle, the radar is taken down after the vehicle is taken, and a communication module of the radar is communicated with the parking application server by adopting a TCP (transmission control protocol).
Furthermore, the parking client provides parking lot position and parking price information for the user, the user uses the parking client to make automatic parking and automatic vehicle taking requests, and the parking client automatically deducts fees to realize unmanned management of the parking lot; in addition, the parking client provides related services of parking space reservation, parking space rental and other extended services for the user through the parking application server.
Furthermore, the parking lot management and monitoring client acquires and displays the real-time state of the parking lot through the parking application server, gives an alarm in case of emergency, provides a visual interface for a parking lot manager to add, delete, change and check the parking lot, and is convenient for the parking lot management and monitoring client to effectively manage the parking lot.
Compared with the prior art, the invention has the following beneficial technical effects:
(1) the invention provides a low-cost vehicle positioning method based on a detachable radar, wherein a radar module and a vehicle are completely unbound, and radar data are directly uploaded to a sensor communication module of a parking application server; the vehicle body is pasted with the radar after the vehicle gets into the parking area entry, pulls down the radar before the vehicle leaves the parking area export, realizes the multiplexing of radar, and a radar can serve many cars, has improved the utilization ratio of radar, has reduced the indoor location cost of vehicle.
(2) The invention provides a method for controlling an automatic driving automobile to run by using a cloud system to realize automatic parking, all vehicles in a parking lot are uniformly regulated and controlled by the cloud instead of single vehicle automatic parking, so that the parking space and driving of the parking lot are favorably and uniformly planned, and the parking efficiency and the space utilization rate of the parking lot are improved.
(3) The invention provides a cloud-based low-cost unmanned parking lot automatic parking and management system, which enables a parking lot to be completely unmanned, does not need to reserve space for getting on and off vehicles, realizes compact parking among vehicles and effectively improves the space utilization rate of the parking lot.
(4) The unmanned parking lot provided by the invention has no fixed parking space, the vehicle and the parking space are planned by using the parking application server, the parking application server acquires information such as the type, the size and the like of the vehicle from the vehicle end cloud, and a proper and most space-saving parking position is planned for the vehicle according to the real-time parking lot state, so that intensive parking is further realized, and the utilization rate of the parking lot is improved. Meanwhile, the construction and modification cost of the parking lot is saved because the line is not required to be drawn in the parking lot.
(5) According to the invention, a user uses the parking client to issue automatic parking and automatic vehicle taking instructions, and the parking application automatically deducts fees, so that unmanned management of the parking lot is realized, and the management cost of the parking lot is reduced.
(6) The parking application provided by the invention simultaneously provides related services such as parking space reservation, lease and the like, and solves the problems of parking space uncertainty and parking space idle waste.
(7) The parking application provided by the invention can easily realize data sharing with different applications through the external service module, the application only needs to provide equivalent data and services for exchanging, meanwhile, the data accords with the interface specification of the parking application, and the parking application can be accessed through online verification to acquire the services and information of the parking application.
Drawings
Fig. 1 is a schematic structural diagram of an automated parking management system for an unmanned parking lot according to the present invention.
Detailed Description
In order to more specifically describe the present invention, the following detailed description is provided for the technical solution of the present invention with reference to the accompanying drawings and the specific embodiments.
As shown in fig. 1, the cloud-based low-cost unmanned parking lot automatic parking and management system of the present invention includes: the system comprises a parking application server, a vehicle end cloud server, an environment sensing device, an automatic driving vehicle, a parking client and a parking lot management and monitoring client; the parking application server comprises an environment module, a management module, an external service module and a database module; the vehicle-end cloud server comprises an external service module, a vehicle communication module and a vehicle deviation rectifying module; the automatic driving automobile comprises a communication module, an instruction translation module and an instruction control module; the environment sensing equipment comprises a radar, an ultrasonic sensor and the like, obtains environment information, and calculates to realize the functions of positioning, obstacle avoidance and the like; the parking client side mainly checks the conditions of the parking lot and the parking space through the parking application server, issues parking and vehicle taking instructions, and acquires other parking related services and extended services; the parking lot management and monitoring client is mainly used for a parking lot administrator to acquire parking lot data information through the parking application server and manage the parking lot.
The environment module in the parking application server is a pluggable module and comprises a sensor management module, a sensor communication module, a positioning module, a map management module and a path planning module; the sensor management module is responsible for the management of the environment sensing sensor and mainly comprises the functions of sensor registration, modification, deletion and the like; the path planning module is responsible for planning a proper driving path between the entrance of the parking lot where the vehicle is located and the parking space planned for the vehicle; the positioning module is responsible for processing the vehicle position sensing information acquired through the sensor communication module into vehicle positioning coordinates and storing the positioning information into a memory database; the map management module is responsible for managing the map of the parking lot, and the map management module comprises the function services of map addition, analysis, searching, modification, deletion and the like.
The parking application server obtains information such as the type and size of the vehicle from the vehicle-end cloud server through the external service module, the parking position of the vehicle is planned by the management module in the parking application server according to the type and size of the vehicle, the appropriate and space-saving parking position is distributed for the vehicle, intensive parking is achieved, the capacity of the parking lot is improved, and meanwhile the construction cost of the parking lot is reduced.
The management module of the parking application server is responsible for parking space management, and comprises the functions of parking space planning, parking space reservation, parking space leasing, parking space renting and the like; the management module is simultaneously responsible for the management of the parking lot and the monitoring of the parking lot, the parking lot management comprises function services of adding, deleting, changing, checking and the like of the parking lot, wherein the functions of adding, deleting and changing of the parking lot are all service applications, the functions can be passed only after auditing and offline parking lot modification, and the monitoring of the parking lot comprises the monitoring and alarming of the real-time state of the parking lot.
The external service module of the parking application server is responsible for responding to the request of the external service, and Http requests of the parking client, the parking lot management and monitoring client and other servers are received and processed by the external service module. The external service module in the parking application server mainly responds to the parking client-side automatic parking, automatic vehicle taking and parking space ordering instructions, responds to the checking and managing instructions of the parking lot management and monitoring client-side, responds to the service and data request of the vehicle-side cloud server, and meanwhile, the external service module expands the related parking application service through an open data interface, so that the expandability of the parking application service is realized.
The database module of the parking application server is responsible for completing management operation of data, data sharing is achieved among the parking application server modules through the database module, if the positioning module in the environment module calculates vehicle positioning coordinates, the vehicle positioning coordinates are stored in the memory database, when the external service module calls the vehicle positioning data, a latest positioning record of the current vehicle ID is directly read out from the memory database, and the module coupling degree is reduced. The database module comprises interfaces and implementations of a memory database and a persistence relational database, the memory database implements high-performance reading and writing, and periodically persists the contents of the memory database to a disk by using the relational database.
The external service module of the vehicle-end cloud server receives a path planned for the vehicle and real-time positioning coordinates of the vehicle from the parking application server, the vehicle deviation correction module of the vehicle-end cloud server matches the path with the vehicle in real-time positioning to generate a vehicle deviation correction instruction, the deviation correction instruction is sent to the communication module of the automatic driving vehicle through the vehicle communication module to control the vehicle, and the vehicle can run according to the planned path.
The communication module of the automatic driving automobile realizes network connection between the automobile and the automobile end cloud server to complete data receiving and sending, the instruction translation module is responsible for translating the unified control instruction sent by the automobile end cloud server into a specific control instruction of the corresponding automobile, and the instruction control module sends the translated unified control instruction to the automobile execution mechanism.
The environment sensing equipment is positioned by using a detachable radar, and is a low-cost accurate positioning scheme; the radar is not bound with the vehicle, the sensor communication module of the environment module in the radar communication module and the parking application server communicates by using a TCP (transmission control protocol), and the radar data is directly uploaded to the parking application server. The radar is attached to the automobile body when the user parks the automobile, the radar is taken down after the automobile is taken, one radar can serve multiple automobiles, the radar reuse is realized, and the indoor positioning cost of the parking lot is reduced.
The ultrasonic wave is used for distance measurement and obstacle avoidance in the environment sensing equipment, a path planned by the cloud for the vehicle bypasses a known obstacle, the ultrasonic wave is used for detecting the suddenly appearing obstacle, and the vehicle stops to avoid the obstacle after the suddenly appearing obstacle is detected.
The parking client is responsible for responding to user operation, a user can check the distance of nearby parking lots, the number of free parking lots and the price of the parking lots through the parking client, meanwhile, the parking application server calculates and recommends a proper parking lot for the user according to the three factors, and after the user selects the parking lot, the parking application server induces the vehicle of the user to the entrance of the designated parking lot. After getting off the vehicle, the user selects automatic parking by using the parking client, the vehicle can realize automatic parking, and the user can also realize automatic vehicle taking by using the parking client; meanwhile, the user can use the parking client to perform services such as parking space reservation, leasing, renting, parking card purchase and the like.
The parking lot monitoring and management client is mainly used for a parking lot manager, and the parking lot manager can apply for parking lot transformation and check the operation condition of the parking lot through the client.
Specifically, the basic parking process using the above system is as follows:
(1) after the vehicle arrives at the entrance of the parking lot, the user gets off the vehicle and attaches the positioning radar to the vehicle body.
(2) The user uses the parking client to issue an automatic parking instruction, and the parking application server plans a proper parking position for the vehicle after acquiring the instruction.
(3) The parking application server calculates a proper driving path between the vehicle entrance and the parking space, and sends the planned path to the vehicle-end cloud server.
(4) Meanwhile, the parking application server acquires radar sensing data, processes the data into positioning coordinates, stores the positioning coordinates in the memory database and sends the positioning coordinates to the vehicle-end cloud server.
(5) And the vehicle-end cloud server generates a deviation rectifying instruction for the vehicle according to the planned path and the real-time vehicle positioning coordinates and sends the deviation rectifying instruction to the automatic driving vehicle, the automatic driving vehicle translates the instruction into a vehicle control instruction, and the vehicle runs according to the control instruction.
(6) In the car taking scene, a user uses a parking client to give a car taking instruction, a car runs to an exit, and the user gets on the car and leaves the car after taking off a radar.
The embodiments described above are presented to enable a person having ordinary skill in the art to make and use the invention. It will be readily apparent to those skilled in the art that various modifications to the above-described embodiments may be made, and the generic principles defined herein may be applied to other embodiments without the use of inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications to the present invention based on the disclosure of the present invention within the protection scope of the present invention.
Claims (1)
1. The utility model provides an unmanned parking area automatic management system that parks based on cloud which characterized in that: including parking application server, car end cloud ware, environmental perception equipment, parking client and parking area management and monitoring client, wherein:
the parking application server is used for acquiring the vehicle type and size information of the vehicle from the vehicle-end cloud server, acquiring the position information of the vehicle from the environment sensing equipment, allocating a proper parking space for the vehicle according to the information, and planning a proper driving path for the vehicle to reach the parking space;
the vehicle-end cloud server performs matching according to the driving path provided by the parking application server and the real-time positioning coordinates of the vehicle, generates a vehicle deviation correction instruction and sends the vehicle deviation correction instruction to the vehicle, so that the vehicle runs according to the planned path;
the environment sensing equipment is arranged on the vehicle body, generates environment sensing information by utilizing radar and ultrasonic waves and provides an information basis for vehicle positioning and autonomous obstacle avoidance;
the parking client interacts with the parking application server to provide a visual viewing interface about conditions of a parking lot and a parking space for a user, simultaneously sends requests of automatic parking, automatic car taking and parking space transaction of the user to the parking application server, and feeds back a request response result of the parking application server to the user;
the parking lot management and monitoring client interacts with the parking application server to provide operation data of the parking lot for a parking lot manager, so that the parking lot management and monitoring client can manage the parking lot conveniently;
the parking application server comprises a management module, an external service module, a database module and an environment module, wherein:
the management module is used for managing parking spaces, and performing unified scheduling according to the vehicle information to allocate proper parking spaces for the vehicles, so that the utilization rate of the parking lot is improved; meanwhile, the management module is connected with the external service module, provides services of parking space reservation, parking space leasing and parking space renting for users, and is responsible for monitoring and alarming the real-time state of the parking lot; in addition, the management module is connected with the database module to be responsible for managing the function business of adding, deleting, modifying and checking the parking lot;
the environment module is a pluggable module and is used for acquiring environment sensing information generated by the environment sensing equipment, processing the information, planning a proper driving path for a vehicle to reach an allocated parking space and managing the environment sensing equipment and a map;
the external service module is used for responding to an external service request, is internally connected with the management module, the database module and the environment module and receives and transmits related information; the method comprises the steps that Http requests of a parking client, a parking lot management and monitoring client and a vehicle end cloud server are received and processed, requests of automatic parking, automatic vehicle taking and parking space transaction of the parking client are responded, checking and management requests of the parking lot management and monitoring client are responded, and service and data requests of the vehicle end cloud server are responded;
the database module is connected with the management module, the environment module and the external service module, is responsible for finishing the data management operation of the management module, receives the information access operation from the environment module and provides data support for the external service module, so that the data sharing among the internal modules of the parking application server is realized through the database module; the database module comprises a memory database and a relational database, wherein the memory database is used for realizing high-performance reading and writing of data and periodically persisting the internal data of the memory database to a disk through the relational database;
the environment module comprises a sensor management module, a sensor communication module, a positioning module, a map management module and a path planning module; the positioning module is communicated with the environment sensing equipment through the sensor communication module to acquire vehicle position sensing information, converts the vehicle position sensing information into vehicle positioning coordinates and stores the vehicle positioning coordinates into the memory database; the sensor management module is used for managing the environment sensing equipment and has the functions of equipment registration, modification and deletion; the map management module is communicated with the environment sensing equipment through the sensor communication module to acquire environment map information, is responsible for managing the parking lot map, has the functions of map addition, analysis, search, modification and deletion, and provides map information support for the path planning module; the path planning module is responsible for planning a proper driving path for the vehicle to reach the distributed parking spaces according to the current vehicle positioning coordinate and the environment map information, and providing the driving path for the vehicle-end cloud server through the external service module;
the vehicle-end cloud server comprises an external service module, a vehicle communication module and a vehicle deviation rectifying module; the vehicle correction module interacts with the parking application server through the external service module to acquire a driving path reaching a parking space and real-time positioning coordinates of the vehicle and match the driving path and the real-time positioning coordinates to generate a vehicle correction instruction, and the vehicle correction instruction is sent to the vehicle through the vehicle communication module so that the vehicle can run according to a planned path;
the vehicle comprises a communication module, an instruction translation module and an instruction control module; the communication module is used for being responsible for communication between the vehicle and the vehicle-end cloud server to complete data receiving and sending; the command translation module is used for translating the unified control command received from the vehicle-end cloud server into a specific control command which can be recognized by the vehicle control system; the instruction control module is used for sending the translated specific control instruction to a vehicle execution mechanism to realize automatic driving control of the vehicle;
the environment sensing equipment comprises a detachable radar and an ultrasonic sensor; the radar is used for positioning, the ultrasonic sensor is used for distance measurement and obstacle avoidance, and the radar and the ultrasonic sensor uniformly send the generated environment perception information to the parking application server; the radar is not bound with the vehicle, the radar is attached to the body of the vehicle when the user parks the vehicle, the radar is taken down after the user gets the vehicle, and a communication module of the radar is communicated with a parking application server by adopting a TCP (transmission control protocol);
the parking client provides parking lot position and parking price information for a user, the user uses the parking client to carry out automatic parking and automatic vehicle taking requests, and the parking client automatically deducts fees to realize unmanned management of the parking lot; in addition, the parking client provides related services of parking space reservation, parking space rental and other extended services for the user through the parking application server;
the parking lot management and monitoring client acquires and displays the real-time state of the parking lot through the parking application server, gives an alarm in an emergency, provides a visual interface for a parking lot manager to add, delete, change and check the parking lot, and is convenient for the parking lot management and monitoring client to effectively manage the parking lot.
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| CN107993478B (en) * | 2017-09-15 | 2019-05-03 | 路特迩科技(杭州)有限公司 | Berth service and management system and method based on vehicle detection |
| CN109723263A (en) * | 2017-10-27 | 2019-05-07 | 郝守昌 | A kind of matrix form Intelligent parking lot system |
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