CN108399754A - A kind of Vehicular intelligent detection method in shared berth lock - Google Patents
A kind of Vehicular intelligent detection method in shared berth lock Download PDFInfo
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- CN108399754A CN108399754A CN201810193198.8A CN201810193198A CN108399754A CN 108399754 A CN108399754 A CN 108399754A CN 201810193198 A CN201810193198 A CN 201810193198A CN 108399754 A CN108399754 A CN 108399754A
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- 238000001514 detection method Methods 0.000 title claims abstract description 54
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- 238000009333 weeding Methods 0.000 claims abstract description 4
- 230000002457 bidirectional effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
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- 230000003287 optical effect Effects 0.000 abstract description 3
- 239000013589 supplement Substances 0.000 abstract description 3
- 230000000284 resting effect Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 5
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- 230000009286 beneficial effect Effects 0.000 description 1
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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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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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
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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
- G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights
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Abstract
The present invention relates to the Vehicular intelligent detection methods in a kind of shared berth lock, including following configuration steps：1）, for weeding out faulty sensor diagnostic layer；2）, for according to sensor it is different return the result the final judgement layer for judging vehicle-state and reruning after diagnostic horizon is run；3）, for obtaining sensing data, judge the test result for obtaining single sensor, be then delivered to the initial data logical layer for judging layer；4）, driving layer for driving sensor.The method that the present invention locks the bidifly optical detecting unit or radar detection unit cooperation of rocking arm both sides by ground, by the way of the work of multiple sensor synergisms, the resting state that whether there is vehicle and vehicle come comprehensive judgement by multiple sensing datas of mutual supplement with each other's advantages, greatly improves the precision of vehicle detection.
Description
Technical field
The present invention relates to wisdom to share parking lot, the Vehicular intelligent detection method in specially a kind of shared berth lock.
Background technology
In intelligent parking system, it is key equipment to lock sharedly, and vehicle goes out, enters detection even more the lock system of parking stall
The important prerequisite of normal reliable work.Once vehicle detection there is a problem, flase drop occurs, vehicle can have been caused to be parked in above lock
When lock bounce, this is a kind of destructive strike to entire intelligent bicycle lock system, and serious situation can damage vehicle.It deposits in the past
Vehicle checking method all there are different problems：If ground induction coil is there are difficulty of construction is big and the problems such as pavement preservation is difficult,
Detections of radar is difficult to accomplish effective measurement etc. of speed and distance again in intelligent parking.
Invention content
（One）The technical issues of solution
In view of the deficiencies of the prior art, the present invention provides the Vehicular intelligent detection method in a kind of shared berth lock, pass through this
Invention can be accurately judged to shared parking stall, and whether there is or not the accuracys of vehicle.
（Two）Technical solution
To realize that the purpose of above-mentioned lifting and angular adjustment, the present invention provide the following technical solution：
Vehicular intelligent detection method in a kind of shared berth lock, which is characterized in that including following configuration steps：
1）, for weeding out faulty sensor diagnostic layer；
2）, for final judging vehicle-state and what is reruned after diagnostic horizon is run sentences according to different the returning the result of sensor
Tomography；
3）, for obtaining sensing data, judge the test result for obtaining single sensor, be then delivered to and judge the original of layer
Mathematical logic layer；
4）, driving layer for driving sensor.
Preferably, the sensor includes left and right two laser ranging modules and a radar range finding module.
Preferably, what the laser ranging module was selected is ToF laser ranging modules of new generation, and radar range finding module is one
Kind integrated system on chip ultrasonic transducer driver and signal conditioner, are equipped with DSP core.
Preferably, there are three types of the returned datas of the sensor：There is obstacle, accessible, overtime return.
Preferably, the laser ranging module uses I2C bus protocols, and I/O port is defined as to the form of open-drain output, leads to
External pull-up resistor is crossed, I/O port is directly used as standard bidirectional interface；The communication of radar range finding module uses UART interface
It realizes, system is using the hardware UART modules in piece, and with receiving timeout mechanism.
（Three）Advantageous effect
Compared with prior art, the present invention provides the Vehicular intelligent detection method in a kind of shared berth lock, having following has
Beneficial effect：
1, the present invention is worked by the method for bidifly optical detecting unit and radar detection unit cooperation using multiple sensor synergisms
Mode, by multiple sensing datas of mutual supplement with each other's advantages come comprehensive judgement whether there is vehicle and vehicle resting state, pole
The big precision for improving vehicle detection.
2, in the relatively existing entirely lock system of the present invention, sensor detects consumed power consumption and accounts for whole system after unlocking
60% or more of power consumption, power consumption bigger when radar start；And the detection mode of this layering of the present invention can ensure most of
In the case of, an only laser probe job just returns to having car state enough, compared with the mode of all the sensors standard-sized sheet, power consumption section
90% or more is saved, so this detection mode is very suitable for battery powered lock application.
3, entire deterministic process is divided into two sections to execute by the present invention, first continuously detects laser detector three times, then right
Testing result judged, if the result returned three times unanimously if think that result is correct, return to the result and exit the sensing
The detection of device；If the result returned three times is inconsistent, continues to start and detect twice, five times are returned the result after detection
It is counted to determine whether vehicle.Two sections of purpose is made also for power consumption can be reduced as much as possible, because if by 5
Secondary detection process shortens to 3 times, then 40% power consumption can be saved in the detection of the sensor, this to extend battery continuation of the journey
It has great significance.
Description of the drawings
Fig. 1 is module setting structure schematic diagram of the present invention；
Fig. 2 is invention software decision flow chart.
Specific implementation mode
A kind of preferred embodiment of the drawing appliance with elevating function that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment：
As Fig. 1 and Fig. 2 show the Vehicular intelligent detection method in a kind of shared berth lock of the present invention, including following configuration steps：
1）, for weeding out faulty sensor diagnostic layer；
2）, for final judging vehicle-state and what is reruned after diagnostic horizon is run sentences according to different the returning the result of sensor
Tomography；
3）, for obtaining sensing data, judge the test result for obtaining single sensor, be then delivered to and judge the original of layer
Mathematical logic layer；
4）, driving layer for driving sensor.
Preferably, the sensor includes left and right two laser ranging modules and a radar range finding module.
Preferably, what the laser ranging module was selected is ToF laser ranging modules of new generation, and radar range finding module is one
Kind integrated system on chip ultrasonic transducer driver and signal conditioner, are equipped with DSP core.
Preferably, there are three types of the returned datas of the sensor：There is obstacle, accessible, overtime return.
Preferably, the laser ranging module uses I2C bus protocols, and I/O port is defined as to the form of open-drain output, leads to
External pull-up resistor is crossed, I/O port is directly used as standard bidirectional interface；The communication of radar range finding module uses UART interface
It realizes, system is using the hardware UART modules in piece, and with receiving timeout mechanism.
Concrete operating principle：
As depicted in figs. 1 and 2, the Vehicular intelligent detection method in a kind of shared berth lock, the motor vehicle-detecting system locked sharedly
It is made of left and right two laser ranging modules of lock and a radar range finding module.What laser ranging module was selected is a new generation
ToF laser ranging modules, the module can accurately measure the distance within the scope of 1.2 meters in high speed mode, can be based on various mesh
It marks object color and reflection characteristic carries out precision ranging.In addition it is also equipped with built-in physics infrared fileter, it is possible to increase measurement distance, increasing
By force to the immunity to interference of ambient light, and to the immunity to interference of cloche optical crosstalk；And radar range finding module is a kind of highly integrated
System on chip ultrasonic transducer driver and signal conditioner, be equipped with advanced DSP core, can be examined with lower power consumption
Survey the object in wider range.The device carries out reliable object detection by means of echo-signal in the range of 5cm-11m.It returns
Wave signal passes sequentially through low-noise amplifier and programmable time variation gain stage in device simulation front end (AFE), finally
Feed-in analog-digital converter (ADC).Digital signal is handled in DSP core using time-varying threshold value, and this method is suitable for close
Field and distant objects detection.The analysis and calculating of the various mutual supplement with each other's advantages, data that are cooperated by double detecting systems, Ke Yijing
Locating tab assembly vehicle away from discrete state so that automobile detection system is more reliable and stable.
The detection of shared berth lock vehicle will ensure ultralow power consumption, while accomplish to detect reliable and stable, entirely detect and patrol
Volume it is divided into 4 levels to be designed, from top to bottom respectively diagnostic horizon, judges layer, initial data logical layer and bottom layer driving
Layer.
The groundwork of diagnostic horizon is to weed out faulty sensor, is exported after avoiding some sensor from breaking down wrong
Detection data accidentally influences the decision logic of entire software, leads to the judging result mistake of output or larger deviation occurs.
The specific implementation of diagnostic horizon is to establish dynamic tables of data, indicates each in berth lock operational process with a bit field in table
The real-time status of a component.In the bit field, whether just three elements indicate radar, laser probe 1 and laser probe 2 respectively
Often.If some sensor is faulty, system can will indicate that the whether normal position of the sensor carries out set in bit field.Detection
Program can first go in bit field to read the mode bit of the sensor before opening the detection of some sensor, if the position is set,
Detection program can directly ignore the sensor, jump to next sensor and be detected.
Diagnosis was run immediately after lock falls.Laser probe carries out one-shot measurement and takes around 60ms, and radar carries out one
Secondary measurement takes around 250ms, and entire sensor group refreshes a pass according to the time for needing 60*2+250=370ms, counts in confirming
It is 370*5=1.85s after function.Automobile is hardly possible to stop in 1.85 seconds time into parking stall after lock locking bar falls down, so
At this moment, it is believed that be to be in accessible state above sensor.Diagnostic program obtains the measurement of all the sensors successively
As a result, if result is not no vehicle, then it is assumed that the sensor fault will indicate that position of the sensor in bit field table is accordingly set
Position.
Diagnostic program can all be run after lock locking bar each time falls down, because not being in some cases sensor damage
It is bad, it may be covered temporarily by object (such as leaf, dust).The object blocked during wind or subsequent switch lock can
It can fall, sensor can remove fault bit in next round process of self-test at this time, return to normal condition.
Judge that layer can be run after diagnostic horizon, for finally judging vehicle-state according to different the returning the result of sensor.
For each sensor returned data meeting there are three types of as a result, A：There are obstacle, B：It is accessible, C：Time-out does not return.Judging
In program, in order to simplify decision logic, sensor fault is classified as time-out and is not returned in a row, then shares 3*3*3=27 kind feelings
Condition.Because in determining program, there is the weight of vehicle more than no vehicle, it is possible to be further simplified 27 kinds of situations, rule of simplification
Time-out is not returned for time-out is not returned and brought out as special case simultaneously by three sensors, in the case of remaining and is attributed to without car state
Under, so just only it is left 9 kinds of situations, as shown in the table：
| Combinations of states | Laser acquisition 1 | Laser acquisition 2 | Radar detection |
| 1 | A | A | A |
| 2 | A | A | B |
| 3 | A | B | A |
| 4 | A | B | B |
| 5 | B | A | A |
| 6 | B | A | B |
| 7 | B | B | A |
| 8 | B | B | B |
| 9 | C | C | C |
First consider that flase drop occur in the worst situation, i.e. system.Will appear after flase drop have vehicle by flase drop be failure or without vehicle, without vehicle
It is detected as failure or has the case where vehicle.There is vehicle, failure is detected as without vehicle and has been detected as vehicle in the case of these three without vehicle
Ground lock can keep unlocking condition without arguing for the sake of arguing, when the charging of user can be caused to stop duration more than practical parking in this case
It is long, as long as therefore sensor will not continue to carry out flase drop (to illustrate that sensor has damaged if persistently carrying out flase drop, lock can be held
Continuous alarm), lock will obtain correct detected value in next detection cycle, rise locking bar, terminate charging.The detection week of lock
Phase is 5S, even if so in this case chargeable time be extended be also the second grade, be completely in tolerance interval；And there is vehicle to be missed
In the case that inspection is no vehicle, lock will be considered that user has driven to sail out of parking stall to carry out operation of arguing for the sake of arguing.In this case
Locking bar can scratch the chassis of automobile, although lock can carry out overcurrent monitoring during lifting, be fallen rapidly after encountering chassis
Under, but it is that we cannot that this phenomenon, which still can cause many unnecessary disputes to compare with the first erroneous judgement situation,
Receive.Based on this logic, layer is being judged, it is believed that judging, which has the weighted value of vehicle to be much larger than, judges no vehicle.
System obtains the sensor result in all fault-free sensor lists in turn, and having vehicle then directly to return has vehicle, institute
Judge whether that all the sensors return to time-out after having sensor acquisition, that is, there is sensor return to there is vehicle then to think there is vehicle,
If being determined as no vehicle, must all the sensors all return to no vehicle.Since in entirely lock system, sensor after unlocking
The consumed power consumption of detection accounts for 60% or more of whole system power consumption, power consumption bigger when radar start.And the detection of this layering
Mode can ensure that in most cases an only laser probe job just returns to having car state enough, compared with all biographies
The mode of sensor standard-sized sheet, 90% or more Save power consumption, so this detection mode is very suitable for battery powered lock application.
Initial data logical layer is directed to the processing logic of single sensor internal.In this layer, groundwork is
Sensing data is obtained, the test result for obtaining single sensor is judged, is then delivered to judgement layer.In this layer, there are two types of
Sensor, i.e. laser and radar.In the judgement of laser sensor, bound is added to the layback value of module, because not
The chassis road clearance of same automobile is different, though distance is also likely to be different to same vehicle different places from the ground, but
It is that these distances one are scheduled within the scope of one.By inspection information and statistics, it is contemplated that the road clearance popped one's head in actual conditions,
Distance range is scheduled on 6cm-100cm by system.Entire deterministic process is divided into two sections to execute, and first continuously detects laser acquisition three times
Then device judges testing result, if the result returned three times unanimously if think that result is correct, return to the result and move back
Go out the detection of the sensor；If the result returned three times is inconsistent, continues to start and detect twice, to five times after detection
It returns the result and is counted to determine whether vehicle.Two sections of purpose is made also for power consumption can be reduced as much as possible, because
If to shorten to 5 detection process 3 times, 40% power consumption can be saved in the detection of the sensor, this is to extending electricity
The continuation of the journey in pond has great significance.
In the judgement of detections of radar, decision logic compared with laser it is entirely different because the range of radar surveying is wider,
More easily by aerial electromagnetism and echo interference, so the detection judgement to radar is more harsh.By prolonged practical
Measure and find, the wrong report situation of radar is usually by accessible detection at there is obstacle, this may be due to detections of radar distance and
Fan-shaped range is wider, detects the objects such as roof or the fire extinguisher canvas hose in garage.In detections of radar, one 5 are opened
FIFO, each result of radar can all be sent in FIFO, and system can with rolling judge FIFO, if 5 knots
Fruit, which is no vehicle, can just return to no vehicle.If finding to frequently enter overtime situation in the detection, detection time-out can be returned, it is no
Then returning has vehicle.
It driving in layer design, laser acquisition part uses I2C bus protocols, and I/O port is defined as to the form of open-drain output,
By external pull-up resistor, I/O port can directly be used in this way as standard bidirectional interface, avoid and toggle data
Mouth mold formula it is loaded down with trivial details；The communication of radar realizes that system is used and connect using the hardware UART modules in piece using UART interface
Receive timeout mechanism.The design concept that super low-power consumption is all used to the design of all detection modules ensure that entirely shared lock body
The normal operation of system.
Vehicular intelligent detection method in this shared berth lock, uses Laser Detection Technique in lock for the first time, and
Work is assisted with the radar exploration technique, accuracy and the reliability of the position detection that comes in and goes out of vehicle are ensure that, to be entire intelligence
Shutdown system provides guarantee.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions.By sentence " including one ... the element limited, it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element ".
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. the Vehicular intelligent detection method in a kind of shared berth lock, which is characterized in that including following configuration steps：
1）, for weeding out faulty sensor diagnostic layer；
2）, for final judging vehicle-state and what is reruned after diagnostic horizon is run sentences according to different the returning the result of sensor
Tomography；
3）, for obtaining sensing data, judge the test result for obtaining single sensor, be then delivered to and judge the original of layer
Mathematical logic layer；
4）, driving layer for driving sensor.
2. the Vehicular intelligent detection method in a kind of shared berth lock according to claim 1, it is characterised in that：The biography
Sensor includes ground lock left and right two laser ranging modules of rocking arm and a radar range finding module.
3. the Vehicular intelligent detection method in a kind of shared berth lock according to claim 2, it is characterised in that：It is described to swash
What ligh-ranging module was selected is ToF laser ranging modules of new generation, and radar range finding module is a kind of integrated system on chip ultrasound
Wave transducer driven device and signal conditioner are equipped with DSP core.
4. the Vehicular intelligent detection method in a kind of shared berth lock according to claim 1 or 2, it is characterised in that：Institute
There are three types of the returned datas for stating sensor：There is obstacle, accessible, overtime return.
5. the Vehicular intelligent detection method in a kind of shared berth lock according to claim 3, it is characterised in that：It is described to swash
Ligh-ranging module uses I2C bus protocols, and I/O port is defined as to the form of open-drain output, by external pull-up resistor, by IO
Mouth is directly used as standard bidirectional interface；The communication of radar range finding module realizes that system uses in piece using UART interface
Hardware UART modules, and with reception timeout mechanism.
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| CN201810193198.8A CN108399754B (en) | 2018-03-09 | 2018-03-09 | Intelligent detection method for vehicles in shared parking spot lock |
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| CN201810193198.8A CN108399754B (en) | 2018-03-09 | 2018-03-09 | Intelligent detection method for vehicles in shared parking spot lock |
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Cited By (4)
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| CN110400465A (en) * | 2019-07-24 | 2019-11-01 | 深圳市凯达尔科技实业有限公司 | Wisdom parking management method, storage medium and system based on ETC |
| CN112748221A (en) * | 2020-12-30 | 2021-05-04 | 南京汽车集团有限公司 | Method for detecting hydrogen leakage of whole vehicle by using light truck hydrogen fuel cell vehicle |
| CN113140133A (en) * | 2021-04-22 | 2021-07-20 | 开迈斯新能源科技有限公司 | Detection method and device for ultrasonic radar ground lock |
| CN114561890A (en) * | 2022-03-04 | 2022-05-31 | 上海畅停信息科技有限公司 | Intelligent parking spot lock flat plate lifting control method |
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Denomination of invention: A Vehicle Intelligent Detection Method in Shared Parking Lock Granted publication date: 20201103 Pledgee: Industrial Bank Co.,Ltd. Shanghai Jing'an Sub branch Pledgor: SHANGHAI CHANGTING INFORMATION TECHNOLOGY CO.,LTD. Registration number: Y2024310000080 |
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