CN107369335B - A reverse car search system and method based on ultrasonic detection technology - Google Patents

Abstract

The invention discloses a reverse car search system and method based on ultrasonic detection technology. By setting the parking space ultrasonic detector and the road ultrasonic detector, the parking space and road information are determined, the parking position of the vehicle is determined in real time, and the location from the entrance and exit to the vehicle is determined. The optimal line at the parking position sends control commands to the corresponding line of the lighting system to perform lighting, realize light guidance, and effectively realize the reverse car search function.

Description

A reverse car search system and method based on ultrasonic detection technology

technical field

The invention relates to a reverse car search system and method based on ultrasonic detection technology.

Background technique

In recent years, the scale of underground parking lots at home and abroad has become larger and larger. Super-large underground parking lots have appeared in many cities. Chongqing Xinpai has built an indoor parking lot that can accommodate 14,000 vehicles. Jinan Hanyu Jingu is also building a parking lot that can accommodate several The large underground parking lot with 10,000 vehicles, the increase of parking spaces can effectively solve the problem of difficult parking, but at the same time it also brings a new side effect - the difficulty of finding a car. As we all know, people have a weak sense of direction in a large and complex space, and the layout of the parking lot is criss-crossed and intricate, with many entrances and exits, which can easily make car owners lose their way. At the same time, the internal structure of the parking lot is highly homogeneous, and the appearance of the cars is roughly similar. Once the owner forgets where his car is stored, it is extremely difficult to find his car among thousands or even tens of thousands of cars.

Aiming at the problem of "difficult to find a car", some domestic companies have given corresponding solutions. Patent 201510215347.2 proposes a reverse car-finding solution based on video recognition. The hardware cost of this solution is too high, which greatly increases the parking lot. Construction investment and operating costs; patent 201510690518.7 proposes a reverse car-finding solution based on surveillance cameras, positioning cameras and RFID tags. This solution fails to reduce the number of cameras used. On this basis, it is necessary to distribute RFID tags to car owners. This not only further increases the hardware cost, but also increases the complexity of the user's use.

Contents of the invention

In order to solve the above-mentioned problems, the present invention proposes a reverse car-finding system and method based on ultrasonic detection technology. The present invention detects the behavior of the vehicle by analyzing the ultrasonic detector, analyzes the position of the vehicle, and effectively reduces the hardware cost. The reverse car search function has been realized.

The first purpose of the present invention is to provide a reverse car-finding system based on ultrasonic detection technology. The path inside the parking lot is divided into small paths by ultrasonic detectors, and an ultrasonic detection system is set at the starting point and the end point of the small paths. The device can detect the information of the vehicles passing in the small path in real time, and the server can obtain the complete driving path and accurate parking position of the vehicle by analyzing and combining the collected ultrasonic data;

The second object of the present invention is to provide a car-finding method of a reverse car-finding system based on ultrasonic detection technology, which realizes the real-time guidance of the vehicle through the guidance of the flashing lights, and calculates the position of the vehicle according to the ultrasonic detector. Make real-time changes to achieve the purpose of real-time navigation.

In order to achieve the above object, the present invention adopts the following technical solutions:

A reverse car search system based on ultrasonic detection technology, including vehicle entrance and exit license plate recognition devices, parking space ultrasonic detectors, road ultrasonic detectors and servers, wherein:

The vehicle entrance and exit license plate recognition device is arranged at each entrance and exit of the parking lot, and is configured to detect the license plate number of the vehicle entering and exiting, and send the acquired license plate number and the time of entering and exiting to the server for storage;

The parking space ultrasonic detector includes a plurality of sensors, which are configured to correspond to the parking spaces one by one to detect the occupancy state of the parking space. When the occupancy state of the parking space changes, the state information and state change time of the corresponding parking space are sent to to the server for storage;

The road ultrasonic detector includes a plurality of intersections arranged at each intersection of the parking lot, configured to detect vehicles passing through each intersection, and when the corresponding road ultrasonic detector detects that a vehicle passes by the corresponding intersection, the elapsed time of the vehicle is sent to to the server for storage;

The server is configured to receive the collected license plate recognition information and parking space and road information, determine the parking position of the vehicle in real time, and determine the optimal route from the entrance and exit to the parking position, and ultrasonically detect the corresponding parking space on the optimal route. Detectors and road ultrasonic detectors send control commands to make their indicator lights work and realize light guidance.

Further, the server is connected with a network switch, and communicates with the parking space ultrasonic detector and the road ultrasonic detector through the network.

Further, the parking space ultrasonic detector includes a microcontroller module, an ultrasonic transmitting module, an ultrasonic detection receiving module, a communication module, a power supply module and an indicator light module, wherein the microcontroller module is connected with the ultrasonic transmitting module, the ultrasonic detecting receiving module, The communication module, the power supply module and the indicator light module are connected, and the indicator light module is a multi-color indicator light, which indicates the occupancy state of the parking space through the color change.

Further, the road ultrasonic detector includes a microcontroller module, an ultrasonic transmitting module, an ultrasonic detection receiving module, a communication module, a power supply module and an indicator light module, wherein the microcontroller module is connected with the ultrasonic transmitting module, the ultrasonic detecting receiving module, The communication module, the power supply module and the indicator light module are connected, and the indicator light module is a flashing lamp, which guides the traveling route of the vehicle through the flickering of the light.

The server is configured with a query module, the query module is configured with an input module to receive query information, the query module calculates the position of the vehicle in real time according to the data of the ultrasonic detector, and feeds back the position of the queried vehicle to the query module for display.

The road ultrasonic detectors are configured according to the shape of each intersection and the number of bifurcations, and one ultrasonic detector is arranged in each bifurcation direction of the intersection.

Preferably, the entrance of the parking lot is provided with a display screen. After the server pre-allocates the parking spaces, the display screen receives the signal, outputs the allocated parking space information, displays the parking space number on the screen, and performs a voice broadcast reminder for the reference of the vehicle.

Preferably, each area of the parking lot is provided with a two-dimensional code, and the user can conveniently follow the official account of the parking lot by scanning the two-dimensional code without getting off the car, connect to the server, and determine the parking information of his own vehicle through the unique ID and billing quantity, and search for cars in advance. It can be convenient for users, especially those who work and live around the parking lot, to pay attention to parking information for a long time, to ensure the safety of vehicles and the convenience of finding cars.

Based on the working method of the above system, including:

(1) When a vehicle arrives at the entrance of the parking lot, capture the vehicle, extract the license plate information, and determine the corresponding parking position according to the validity of the parking space of the license plate, determine the optimal path from the entrance to the parking position, and control the optimal path. The road ultrasonic detector corresponding to the optimal path will flash to guide parking;

(2) Use the road ultrasonic detector to judge whether the vehicle is driving along the planned path, if so, continue to guide, if not, re-plan the optimal driving path based on the current real-time position of the vehicle, and change the lighting line until the vehicle reaches the parking lot Location;

(3) When the parking space ultrasonic detector detects that the vehicle is parked, the vehicle driving path and parking space number are stored in the database for user query, and the database is updated to turn off the lights on the corresponding driving route.

In described step (1), identify in the captured picture, extract the license plate information of this car, and retrieve the relevant information of this license plate number in the database, if it is a fixed vehicle, then continue to check the valid period of the corresponding parking space of this vehicle , within the validity period, the barrier gate is opened, and the indicator module of the road ultrasonic detector on the path from the entrance to the parking space is turned on. If it is not within the validity period, the system regards the vehicle as a temporary vehicle; if it is a temporary vehicle, the system assigns a The optimal parking space, at this time, the management server will store the parking space information, license plate information and driving time in the database in one-to-one correspondence, then the barrier gate will be opened, and the vehicle driving time will be recorded as the initial time.

In described step (2), utilize the state change time of each ultrasonic detector at each crossing place, judge the driving path of vehicle in each road section, define the upper and lower threshold value of driving speed between each crossing, and then determine that vehicle arrives at corresponding ultrasonic detector If the ultrasonic detector in the direction a of the next intersection detects the passing of the vehicle, and the time is within the reasonable detection time range of the two intersections, and the passing of the vehicle is not detected or the passing of the vehicle is detected in other directions If the time is unreasonable, it is judged that the vehicle is traveling in the direction a.

In the step (2), compare whether the first section of the path actually driven by the vehicle is consistent with the first section of the optimal path planned by the system, if the vehicle's driving path is inconsistent with the planned path, plan a new path based on the real-time position of the vehicle, and proceed to Send a switch command to the corresponding road ultrasonic detector, turn on the indicator module of the road ultrasonic detector on the new path, turn off the road ultrasonic detector on the original path, and achieve the effect of real-time light navigation; if the driving path is consistent with the planned path, Switch commands are not executed.

In the step (3), when the vehicle is detected to be parked, the previously passed intersection information is superimposed to obtain a continuous driving path, and the vehicle driving path and the number of the parking space are stored in the database.

Compared with prior art, the beneficial effect of the present invention is:

(1) The present invention only needs to invest in ultrasonic detectors and servers, saving hardware investment costs;

(2) Effectively solve the problem that the vehicles in the large parking lot are difficult to find after parking;

(3) The indicator module of the ultrasonic detector is used to guide the vehicle in real time, and at the same time, the position of the vehicle is calculated according to the ultrasonic detector, and the guiding path is changed in real time to achieve the purpose of real-time navigation, and the vehicle positioning inside the parking lot can be realized , and at the same time provide real-time navigation for the vehicle through the light guidance function.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application, and do not constitute improper limitations to the present application.

Fig. 1 is a system architecture diagram of the present invention;

Fig. 2 is the distribution plan view of ultrasonic detector of the present invention;

Fig. 3 is the structural diagram of the parking space ultrasonic detector of the present invention;

Fig. 4 is a structural diagram of the road ultrasonic detector of the present invention;

Fig. 5 is a system work flowchart of the present invention;

Fig. 6 is a schematic diagram of the lighting guidance work of the present invention,

Fig. 7 is the reverse car search software interface of the present invention.

Wherein, 101 is a server, 102 is a vehicle entrance and exit license plate recognition device, 103 is an ultrasonic detector for a parking space, 104 is a road ultrasonic detector, and 105 is a network switch;

Wherein, 201 is an in-and-out vehicle, 202 is a parking space, 203 is an ultrasonic detector for a parking space, and 204 is an ultrasonic detector for a road.

Detailed ways:

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

As introduced in the background technology, existing technology has the disadvantages of difficult reverse car search and high investment cost. In order to solve the above technical problems, this application proposes a reverse car search system based on ultrasonic detection technology. Through analysis The ultrasonic detector detects the vehicle behavior, analyzes the vehicle position, and effectively realizes the reverse car search function while reducing the hardware cost;

The present invention is applicable to the underground parking lot whose road is a single lane;

The present invention divides the internal path of the parking lot into small paths through ultrasonic detectors, and sets an intersection ultrasonic detector at the starting point and end point of the small paths, which can detect the information of vehicles passing through the small paths in real time, and the server collects the Ultrasonic data is analyzed and combined to obtain a complete driving path and accurate vehicle parking position;

The present invention realizes the path guidance to the vehicle through the flickering of the light module of the ultrasonic detector at the intersection, and can change the guidance path in real time according to the actual driving path of the vehicle;

In order to solve the above-mentioned technical problems, the technical solution adopted by the present invention is to provide a reverse car search system, which consists of a license plate recognition device for vehicle entrances and exits, an ultrasonic detector for parking spaces, an ultrasonic detector for roads, a server, and a network switch;

The vehicle entrance and exit license plate recognition device is used to identify the license plate number of the vehicle entering and exiting, and sends the acquired license plate number and time of entry and exit to the server for storage;

The parking space ultrasonic detector is used to detect the occupancy state of the parking space. When the occupancy state of the parking space changes, the ultrasonic detector sends the state information and state change time of the parking space to the server for storage;

The road ultrasonic detector is used to detect vehicles passing through this intersection. When the road ultrasonic detector detects that a vehicle passes by the corresponding intersection, the road ultrasonic detector will send the elapsed time of the vehicle to the server for storage, and can receive the light control sent by the server. command, use the flashing light to realize the path guidance function for the vehicle;

Intersection detectors are correlated with parking space detectors;

The server is used to store the data uploaded by the license plate recognition device and the ultrasonic detector, and calculate the location of the vehicle in real time according to the data of the ultrasonic detector. When the user queries the vehicle location information through the query module, the server will feed back the location of the queried vehicle to the query module ;

Network switches are used for network transmission.

In a typical implementation of the present application, as shown in Figure 1, the reverse car search system provided is composed of a vehicle entrance and exit license plate recognition device, a parking space ultrasonic detector, a road ultrasonic detector, a server, and a network switch;

The vehicle entrance and exit license plate recognition device is composed of a high-definition camera and a barrier, placed at each entrance and exit of the parking lot, used to detect the license plate number of the vehicle entering and leaving, and sending the obtained license plate number and time of entry and exit to the server for storage;

As shown in Fig. 3 and Fig. 4, described ultrasonic detector is made up of five parts of microcontroller module, ultrasonic transmitting module, ultrasonic detection receiving module, communication module, power supply module and indicator light module; Wherein the indication of parking space ultrasonic detector The light is red and green, and the occupancy status of the parking space is indicated by the change of the color; the indicator light of the road ultrasonic detector is a flashing lamp, and the flashing frequency is not less than 60 times per minute, and the driving route of the vehicle is guided by the flashing of the light;

The road ultrasonic detector receives the server control command, and realizes the switch of the flashing lamp by controlling the relay;

The parking space ultrasonic detector is placed above each parking space to detect the occupancy state of the parking space. When the occupancy state of the parking space changes, the ultrasonic detector sends the state information and state change time of the parking space to to the server for storage;

The road ultrasonic detector is installed on the ceiling in all directions of the intersection to detect vehicles passing through the intersection. When the road ultrasonic detector detects that a vehicle passes by the corresponding intersection, the road ultrasonic detector sends the elapsed time of the vehicle to the the above server for storage;

At different intersections, the number of road ultrasonic detectors installed can be reduced as appropriate;

The server is used to store the data uploaded by the license plate recognition device and the ultrasonic detector. In terms of the underlying database, the SQL SERVER 2008 database is used as the storage medium. The server can calculate the position of the vehicle in real time according to the data of the ultrasonic detector. When the user inquires the position information of the vehicle through the inquiry module, the server will feed back the position of the inquired vehicle to the inquiry module;

The network switch is used for network transmission to solve the problem that the transmission radius is too long;

The working process is:

Step 1. When the vehicle arrives at the entrance of the parking lot, the camera detects that a vehicle is approaching and takes a snapshot. At this time, the license plate recognition system recognizes the captured picture, extracts the license plate information of the vehicle, and searches the database for the license plate number. For related information, if it is a fixed vehicle, continue to check the validity period of the corresponding parking space of the vehicle. During the validity period, the barrier gate will be opened, and the lamps of the ultrasonic detector at the intersection on the path from the entrance to the parking space will be turned on. If it is not within the validity period, the system will It is regarded as a temporary vehicle; if it is a temporary vehicle, the system will allocate an optimal parking space for the vehicle. At this time, the management server will store the parking space information, license plate information and driving time into the database one by one, and then the barrier will open and the vehicle will enter The time of is recorded as the initial time t ₀ ;

The second step is to send the control command of the lamps on the path to the corresponding network node, and the network node forwards the control command to the corresponding road ultrasonic detector. The road ultrasonic detector executes the control command and reaches the path through the flickering of lights The effect of guidance; as shown in Figure 6, the road ultrasonic detector lamps represented by the rhombus are in the off state, and the road ultrasonic detector lamps represented by the star are in the blinking state;

The third step, as shown in Figure 2, after the vehicle enters the parking lot, the system uses the state change time of the three ultrasonic detectors a, b, and c at the first intersection to determine the first section of the vehicle's driving path;

The speed of the three intersection detectors a, b, and c from the entrance of the parking lot to the first intersection should have a reasonable range, which we define as [V _min1 , V _max1 ];

in,

Among them, D _1n is the distance from the entrance of the parking lot to the first intersection, and the values of T _min1 and T _max1 are obtained by testing and debugging the actual environment of the parking lot;

The system calculates the actual driving speed v _1n = D _1n /t of the first section of the path, where t is the time when the state of the parking space actually changes, which can be calculated by using t _n -t _n-1 , at the entrance t = t ₁ - t ₀ ;

If v _1n ∈[V _min1 , V _max1 ], then v _1n is valid, and the corresponding path is the effective path l ₀₁ ;

As shown in Figure 2, if the ultrasonic detector c detects the passing of the vehicle within the time period when the vehicle enters the parking lot [T _min1 , T _max1 ], at the same time detectors a and b are the time when the vehicle is detected or detected Unreasonable, it can be judged that the vehicle is going straight along the direction of the entrance → c;

The fourth step is to determine whether the vehicle is traveling along the planned route. The system compares whether the first section of the vehicle's actual driving path is consistent with the first section of the optimal path planned by the system. If the driving path of the vehicle is inconsistent with the planned path, the system will plan a new path based on the real-time position of the vehicle, issue a lamp switch command to the corresponding road ultrasonic detector, turn on the lamps on the new path, and turn off the lamps on the original path to achieve real-time lighting. The effect of navigation; if the driving path is consistent with the planned path, the switch light command will not be executed;

Described path planning can adopt common optimal path calculation methods such as ant colony algorithm, genetic algorithm, neural network algorithm, Dijkstra; parking space;

The fifth step is to judge whether the vehicle is parked in the section c→d. Since there is a one-way street between ultrasonic detectors c and d, the vehicle will travel along the direction of c→d. After the ultrasonic detector c detects the passing of the vehicle, if the status of the parking space changes from idle to occupied in the c→d road section, and the ultrasonic detector does not detect the passing of the vehicle at this time, it can be considered that the vehicle is parked in the c→d road section The car is in place; if there is no change in the state of the parking space on the road section, and the detector d detects the passing of the vehicle, it can be considered that the vehicle continues to drive

Step 6: After d detects the passing of the vehicle, if one of e, f, and g detects the passing of the vehicle within the effective time [V _min2 , V _max2 ], the vehicle can be considered to be traveling in this direction, and the calculation method is the same as The third step, at this time, the second path l ₁₂ traveled by the vehicle can be obtained;

In the seventh step, the system continuously detects the driving path and calculates the vehicle position until it detects that the vehicle is parked. Through the above calculations, the system can obtain a series of driving paths l ₀₁ , l ₁₂ , l ₂₃ , l ₃₄ ... The complete driving path l _all of the vehicle can be obtained by adding these execution paths;

The eighth step, the server stores the vehicle driving path and the number of the parking space in the database for user query; when the user needs to query the location of the vehicle, he can enter the license plate number in the management service interface for query, the query interface is shown in Figure 7;

Step 9: The system issues a command to turn off the lights to turn off the lights of the flashing ultrasonic detectors.

Through the above workflow, a simple reverse car search system can be realized.

The present invention explores a new reverse car-finding scheme by analyzing and excavating the vehicle behavior detected by the ultrasonic detector, which has obvious cost advantages and practicability compared with the traditional reverse car-finding system.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (8)

1. A working method of a reverse car search system based on ultrasonic detection technology, the reverse car search system includes a vehicle entrance and exit license plate recognition device, a parking space ultrasonic detector, a road ultrasonic detector and a server, wherein: The vehicle entrance and exit license plate recognition device is arranged at each entrance and exit of the parking lot, and is configured to detect the license plate number of the vehicle entering and exiting, and send the acquired license plate number and the time of entering and exiting to the server for storage; The parking space ultrasonic detector includes a plurality of sensors, which are configured to correspond to the parking spaces one by one to detect the occupancy state of the parking space. When the occupancy state of the parking space changes, the state information and state change time of the corresponding parking space are sent to to the server for storage; The road ultrasonic detector includes a plurality of intersections arranged at each intersection of the parking lot, configured to detect vehicles passing through each intersection, and when the corresponding road ultrasonic detector detects that a vehicle passes by the corresponding intersection, the elapsed time of the vehicle is sent to to the server for storage; The server is configured to receive the collected license plate recognition information and parking space and road information, determine the parking position of the vehicle in real time, and determine the optimal route from the entrance and exit to the parking position, and ultrasonically detect the corresponding parking space on the optimal route. The detector and road ultrasonic detector send control commands to make the indicator light work and realize light guidance; It is characterized in that the working method includes: (1) When a vehicle arrives at the entrance of the parking lot, capture the vehicle, extract the license plate information, and determine the corresponding parking position according to the validity of the parking space of the license plate, determine the optimal path from the entrance to the parking position, and control the optimal path. The road ultrasonic detector corresponding to the optimal path will flash to guide parking; (2) Use the road ultrasonic detector to judge whether the vehicle is driving along the planned path, if so, continue to guide, if not, re-plan the optimal driving path based on the current real-time position of the vehicle, and change the lighting line until the vehicle reaches the parking lot Location; (3) When the parking space ultrasonic detector detects that the vehicle is parked, the vehicle driving path and parking space number are stored in the database for user query, and the database is updated to turn off the lights on the corresponding driving route; In described step (2), utilize the state change time of each ultrasonic detector at each crossing place, judge the driving path of vehicle in each road section, define the upper and lower threshold value of driving speed between each crossing, and then determine that vehicle arrives at corresponding ultrasonic detector If the ultrasonic detector in the direction a of the next intersection detects the passing of the vehicle, and the time is within the reasonable detection time range of the two intersections, and the passing of the vehicle is not detected or the passing of the vehicle is detected in other directions If the time is unreasonable, it is judged that the vehicle is traveling in the direction a. 2. the working method of a kind of reverse car search system based on ultrasonic detection technology as claimed in claim 1, is characterized in that: described server is connected with network exchange, carries out network communication with parking space ultrasonic detector and road ultrasonic detector . 3. the working method of a kind of reverse car search system based on ultrasonic detection technology as claimed in claim 1, is characterized in that: described parking space ultrasonic detector comprises microcontroller module, ultrasonic emission module, ultrasonic detection receiving module, A communication module, a power supply module and an indicator light module, wherein the microcontroller module is connected with the ultrasonic transmitting module, the ultrasonic detection receiving module, the communication module, the power supply module and the indicator light module. The change of indicates the occupancy state of the parking space. 4. the working method of a kind of reverse car search system based on ultrasonic detection technology as claimed in claim 1, is characterized in that: described road ultrasonic detector comprises microcontroller module, ultrasonic emission module, ultrasonic detection receiving module, A communication module, a power supply module and an indicator light module, wherein the microcontroller module is connected with the ultrasonic transmitting module, the ultrasonic detection receiving module, the communication module, the power supply module and the indicator light module. Guide the route of the vehicle. 5. the working method of a kind of reverse car search system based on ultrasonic detection technology as claimed in claim 1, is characterized in that: described server is configured with query module, and described query module is configured with input module to receive query information, so The inquiry module calculates the position of the vehicle in real time according to the data of the ultrasonic detector, and feeds back the position of the inquired vehicle to the inquiry module for display. 6. the working method of a kind of reverse car search system based on ultrasonic detection technology as claimed in claim 1, is characterized in that: described road ultrasonic detector is configured according to the shape of each crossing and the number of bifurcations, in An ultrasonic detector is arranged in each bifurcation direction of the intersection. 7. the working method as claimed in claim 1, is characterized in that, in described step (1), in the picture of capturing, is identified, extracts the license plate information of this car, and retrieves the relevant information of this license plate number in database , if it is a fixed vehicle, continue to check the validity period of the parking space corresponding to the vehicle. During the validity period, the barrier gate will be opened, and the indicator module of the road ultrasonic detector on the path from the entrance to the parking space will be turned on. If it is not within the validity period, the system will The vehicle is regarded as a temporary vehicle; if it is a temporary vehicle, the system allocates an optimal parking space for the vehicle. At this time, the management server saves the parking space information, license plate information and driving time into the database one by one, and then the barrier gate is opened, and the vehicle drives The time entered is recorded as the initial time. 8. The working method as claimed in claim 1, wherein it is characterized in that comparing whether the first segment of the route actually traveled by the vehicle is consistent with the first segment of the optimal route planned by the system, if the vehicle travel route is inconsistent with the planned route, based on Plan a new path based on the real-time position of the vehicle, issue a switch command to the corresponding road ultrasonic detector, turn on the indicator module of the road ultrasonic detector on the new path, and turn off the road ultrasonic detector on the original path, so as to achieve the effect of real-time light navigation; If the driving path is consistent with the planned path, the switch command is not executed.