CN108961813A - A kind of novel intelligent parking lot - Google Patents
A kind of novel intelligent parking lot Download PDFInfo
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- CN108961813A CN108961813A CN201810652784.4A CN201810652784A CN108961813A CN 108961813 A CN108961813 A CN 108961813A CN 201810652784 A CN201810652784 A CN 201810652784A CN 108961813 A CN108961813 A CN 108961813A
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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
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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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Abstract
A kind of novel intelligent parking lot: including client, server, parking lot entrance gate inhibition, parking space information identification device, parking stall control device, network node.It had not only taken into account the status of current managing system of car parking and current recent technological advances but also had adapted to the following pilotless automobile, new-energy automobile and smart city construction overall development target in novel intelligent parking lot of the invention, method has general and standard, rigorously and have perspective, it is technologically advanced, economically feasible.
Description
Technical field
The present invention relates to a kind of novel intelligent parking lots.
Background technique
1. the imagination of the following intelligent parking lot
The following pilotless automobile will carry mankind's traveling on wisdom highway, with big small streets of the people in city and city
It shuttles between city, big data computing platform and automobile master control system of the pilotless automobile in city all-around intelligent traffic information pipe network
It is safely operated, follows one's bent under system parallel computation processing function.Correspondingly, following parking lot will it is more intelligent, automatic and
Efficiently.The parking stall in parking lot is no longer limited to ground and underground, floor can be divided to build up parking space and garage.Parking management
Orderly, the management system seamless interfacing with intelligent parking lot, parking system are managed parking stall to intelligence by pilotless automobile automatically,
It admission, parking and appearing on the scene and is not necessarily to human intervention completely, the mankind only need vehicle under the inlet, handle affairs, and vehicles are waited in outlet, are got on the bus,
The effectively save a large amount of time, greatly improve quality of life and work efficiency.
2. the status of current intelligent parking lot management, problem and the particular problem intended to solve and final construction scheme and think of
Road
Intelligent parking lot realizes parking entrance guard management, empty parking space quantity statistics and display mostly at present, or even realizes parking stall
Predetermined and to parking lot navigation, but in the smart allocation and stopping guide on parking stall, because GPS positioning is believed in parking lot
The reasons such as number weak, to lack parking position information of park effective planning, design and information search, even if user is behind entrance parking lot
During finding parking stall parking, in default of effective guidance, always inevitably draw in parking lot interior circuit
It plays meeting, parking difficulty etc. and then causes congestion in parking lot, delayed a large amount of time, therefore roadside would rather be parked in not yet
It is ready the utilization rate for stopping affecting parking lot into underground parking, especially large parking lot and then influences entire city
Traffic.
Summary of the invention
To solve the above problems, the present invention provides a kind of novel intelligent parking lot.
Technical solution of the present invention specifically:
A kind of novel intelligent parking lot management method:
(1) client parking stall predetermined information is received, road is carried out according to client vehicle location and the scheduled parking space information of client
Diameter planning sends navigation information to client, and navigation client vehicle enters predetermined parking stall parking lot；
(2) scanning information for receiving Entrance gate inhibition reads information of vehicles, identifies vehicle, pre- according to the parking stall of client
Determine information to bind parking stall, whether identification vehicle is pilotless automobile, if pilotless automobile, server end catcher
Automobile control, control vehicle enter parking lot and generate navigation picture in parking lot, and control pilotless automobile stops；If
Non- pilotless automobile generates navigation picture in parking lot and navigation information is sent to client；
(3) parking stall is reached, server controls berth lock unlock, and after vehicle drives into parking stall, server changes the parking stall shape
State information；
(4) when user prepares to exit, if pilotless automobile, server takes over automobile control, control running car to visitor
Family end position；If not pilotless automobile, position carries out reversely now for parking stall position and client when server is according to parking
Vehicle navigation is sought, user is instructed to find vehicle, user enters vehicle, generates navigation information guidance vehicle in parking lot and goes out to parking lot
Mouthful, and change the parking stall status information；
(5) vehicle reaches parking exit, and parking exit gate inhibition scans information of vehicles, sends information to server, server
Bill is generated according to information of vehicles, user is prompted to pay, parking exit gate inhibition opens after the completion of payment.
A kind of novel intelligent parking lot management method as described in claim 1, it is characterised in that: the navigation information
It is generated using the minimal path classic algorithm dijkstra's algorithm based on digraph.
It is further: the detailed process that the step (2) binds parking stall are as follows: vehicle letter is identified at Entrance
Breath, judges whether the vehicle is predefined with parking stall, if there is parking stall is then bound in predetermined parking stall, and according to specific parking road
Diameter planing method carries out parking path planning and generates navigation picture in parking lot；According to user in visitor if not predetermined parking stall
Family end selects preference to carry out parking stall recommendation, and user selectes parking stall according to the parking stall of recommendation, and carries out parking stall to selected parking stall and tie up
It is fixed, it carries out parking path planning and generates in parking lot to navigate according to specific parking path planing method according to selected parking stall
Figure；End user is stopped according to navigation picture in parking lot.
A kind of server: the instruction stored in server is performed, and executes such as any the method for claim 1-3.
A kind of novel intelligent parking lot: including client, server, parking lot entrance gate inhibition, parking space information identification dress
It sets, parking stall control device, network node；Parking lot entrance gate inhibition, parking space information identification device, parking stall control device pass through net
Network node is communicated with server；Client and server is communicated；The parking lot entrance gate inhibition scans vehicle letter
Breath identification vehicle, is server transport information of vehicles, and server is finally completed by information of vehicles and is bound with parking space information；Parking stall
The unlatching and locking of control device are controlled by server according to the submission of client request；The detection of parking space information identification device
Parking space information be transferred to server and stored；Positioning, navigation, parking timing, charging and the charge of server completion vehicle；
Client is interacted with user, and server is server described in claim 4.
It is further:
Parking lot layout is as follows:
It is placed in diagonal line in the close and opposite parking lot of the outer crossing distance of the design and building of parking lot entrance；
Zone number is carried out to parking area and road area；
The occupied area that the length and width area on parking stall is greater than the parking lot vehicle that Parking permitted is evenly dividing；
Stop road one-way traffic；
Parking road width is wider than standard parking width；
The server has parking data library, and the grid and vector figure layer of parking lot layout, number are stored in parking data library
Sorting code number is carried out to parking lot information according to library.
Further: the server has parking data library, and the grid of parking lot layout are stored in parking data library
Grid vector figure layer, database carry out sorting code number to parking lot information.
Further: the entrance gate inhibition uses two-dimension code recognition device；The parking space information identification device uses super
Sonic sensor or optical sensor；The network node includes network node and parking lot boundary network node (BNN) in parking lot, is stopped
Network node uses ZigBee coordinator and router, terminal node networking in parking lot, and parking lot boundary network node (BNN) uses
GPRS or Wi-Fi communication node, network node and parking lot boundary network node (BNN) carry out protocol conversion by gateway in parking lot
And access Internet and server communication.
A kind of novel intelligent parking lot design method, for the novel intelligent parking lot any to claim 5-8 into
Row design, it is characterised in that:
One: according to parking lot map and surrounding enviroment, parking stall of making rational planning for, internal passageway and entrance；
Two: building parking lot grid and vector figure layer carries out sorting code number to various information, generates parking data library and stores to clothes
It is engaged in device end, carrying out the design of stopping guide best path algorithm and emulation, until simulation result reaches most preferably, determines parking lot design
Scheme drawing；
Three: according to parking lot design drawing, carrying out the installation and configuration of intelligent hardware facility.
Compared with the existing technology, to be that novel intelligent parking lot of the invention had both been taken into account stop technical effect of the invention at present
The status of parking lot management system and current recent technological advances adapts to the following pilotless automobile, new-energy automobile and wisdom again
Urban construction overall development target, method have general and standard, rigorously and have perspective, technologically advanced, economically feasible.
Using novel intelligent parking lot provided by the invention, it will effectively solve that parking difficulty, parking lot utilization rate be high, traffic
The problems such as congestion, has saved management of a large amount of manpower and material resources to parking lot, has also ad save the travel time of people, improve people
Go out line efficiency, after the especially following pilotless automobile popularizes parking will fully automated, intelligence and efficiently, improve society
It can productivity and production efficiency.
Detailed description of the invention
Fig. 1 is the network architecture diagram of system.
Fig. 2 is parking space graph model design drawing.
Fig. 3 is parking stall proposed algorithm and parking path planning algorithm flow chart.
Fig. 4 is that Parking guides simulation synthetic evaluation algorithms flow chart.
Specific embodiment
A kind of novel intelligent parking lot, including client, server, parking lot entrance gate inhibition, parking space information identification dress
It sets, parking stall control device, network node；Parking lot entrance gate inhibition, parking space information identification device, parking stall control device pass through net
Network node is communicated with server；Client and server is communicated；The parking lot entrance gate inhibition scans vehicle letter
Breath identification vehicle, is server transport information of vehicles, and server is finally completed by information of vehicles and is bound with parking space information；Parking stall
The unlatching and locking of control device are controlled by server according to the submission of client request；The detection of parking space information identification device
Parking space information be transferred to server and stored；Positioning, navigation, parking timing, charging and the charge of server completion vehicle；
Client is interacted with user.
The parking lot layout in novel intelligent parking lot as described in Figure 2 is as follows:
It is placed in diagonal line in the close and opposite parking lot of the outer crossing distance of the design and building of parking lot entrance；
Zone number is carried out to parking area and road area；
The occupied area that the length and width area on parking stall is greater than the parking lot vehicle that Parking permitted is evenly dividing；
Stop road one-way traffic；
Parking road width is wider than standard parking width to facilitate user to stop.
The server has parking data library, and the grid and vector figure of parking lot layout is stored in parking data library
Layer, database carry out sorting code number to parking lot information.
The entrance gate inhibition uses two-dimension code recognition device；The parking space information identification device uses ultrasonic sensor
Or optical sensor；The network node includes network node and parking lot boundary network node (BNN) in parking lot, network in parking lot
Node uses ZigBee coordinator and router, terminal node networking, and parking lot boundary network node (BNN) is logical using GPRS or Wi-Fi
Believe node, network node and parking lot boundary network node (BNN) carry out protocol conversion by gateway and access Internet in parking lot
With server communication.The network architecture is as shown in Figure 1.
Following methods are run in server to be managed novel intelligent parking lot:
(1) client parking stall predetermined information is received, road is carried out according to client vehicle location and the scheduled parking space information of client
Diameter planning sends navigation information to client, and navigation client vehicle enters predetermined parking stall parking lot.
(2) scanning information for receiving Entrance gate inhibition reads information of vehicles, vehicle is identified, according to the parking stall of client
Predetermined information binds parking stall, and whether identification vehicle is pilotless automobile, if pilotless automobile, server termination
Hand automobile control, control vehicle enter parking lot and generate navigation picture in parking lot, and control pilotless automobile stops；
If not pilotless automobile generates navigation picture in parking lot and navigation information is sent to client.
(3) parking stall is reached, server controls berth lock unlock, and after vehicle drives into parking stall, server changes the parking
Position status information.
(4) when user prepares to exit, if pilotless automobile, server takes over automobile control, controls running car
To client location；If not pilotless automobile, position carries out now for parking stall position and client when server is according to parking
Reverse car search navigation, instructs user to find vehicle, and user enters navigation information in vehicle generation parking lot and guides vehicle to parking
Field outlet, and change the parking stall status information.
(5) vehicle reaches parking exit, and parking exit gate inhibition scans information of vehicles, sends information to server, takes
Device be engaged according to information of vehicles generation bill, prompts user to pay, parking exit gate inhibition opens after the completion of payment.
Above-mentioned navigation information is generated using the minimal path classic algorithm dijkstra's algorithm based on digraph.
The detailed process that above-mentioned steps (2) bind parking stall are as follows: identify information of vehicles at Entrance, judge the vehicle
Whether it is predefined with parking stall, if there is parking stall is then bound in predetermined parking stall, and according to specific parking path planing method
It carries out parking path planning and generates navigation picture in parking lot；It is selected partially according to user in client if not predetermined parking stall
Parking stall recommendation is carried out well, and user selectes parking stall according to the parking stall of recommendation, and carries out parking stall binding to selected parking stall, according to selected
Parking stall carry out parking path planning and generating navigation picture in parking lot according to specific parking path planing method；End user's root
It stops according to navigation picture in parking lot.
Above-mentioned novel intelligent parking lot is designed using following methods:
(1) according to parking lot map and surrounding enviroment, designer rationally advises parking stall, internal passageway and entrance
It draws, target is to try under the premise of improving space utilization rate, is reserved sufficient space, is facilitated user to stop, meeting is avoided to cause
Congestion；
Specific method is in two stages:
First stage: according to parking garage architectural drawing and surrounding enviroment road information, parking lot floor, parking are initialized
Field entrance, the static state fix information such as lift port, wall, column and toilet.
Wherein, from the discrepancy for facilitating user and congestion angle is avoided to consider, outside the design and building of parking lot entrance
It is placed in diagonal line in distance close and opposite parking lot in crossing.
Second stage: removing the fixed area such as entrance, elevator and wall, divides parking area and road area, right
Parking area and road area carry out zone number.
Wherein, the method vertically stopped is deferred in the division on parking stall, and the length and width area on parking stall is greater than parking lot and allows to stop
The occupied area of the vehicle of vehicle is evenly dividing, and the division for the road that stops, which then should be taken into account, avoids meeting in docking process, is drawn
Congestion is played, setting parking road one-way traffic, for road width from the parking angle vertically to stop, the demand of road width is wide
In standard parking width to facilitate user to stop, it especially should be taken into account that the situation of automobile is all parked in neighbouring parking stall.
Parking garage cartographic model design drawing according to this method design is as shown in Figure 2.
(2) parking lot grid and vector figure layer is constructed, sorting code number is carried out to various information, designs parking data library, into
The design of row stopping guide best path algorithm and emulation determine the design such as Parking position until simulation result reaches most preferably
Scheme drawing.
Specific method divides four-stage:
First stage: including that entrance information, parking space information, road information all digitize to all parking lot metamessages
It is handled with sorting code number, further generates metamessage attribute list and relational graph, carry out permanence storage.
Second stage: topological diagram and grid and vector figure are generated according to parking lot information in locker room.
Phase III: recommending parking stall and parking path planning selects suitable algorithm to carry out analog simulation.Parking stall
Principle is recommended to select preference to carry out parking stall recommendation according to user, user's selection includes but is not limited to time, distance, parking is facilitated to select
, specific parking path planning uses the minimal path classic algorithm dijkstra's algorithm based on digraph.
Parking stall is recommended and the specific algorithm flow chart of parking path planning is as shown in Figure 3.It is identified at Entrance
Information of vehicles, judges whether the vehicle is predefined with parking stall, if there is predetermined parking stall according to specific parking path planing method into
The planning of row parking path；Preference is selected to carry out parking stall recommendation according to user if not predetermined parking stall, user is according to recommendation
Parking stall is selected in parking stall, carries out parking path planning according to specific parking path planing method according to selected parking stall；End user
It is stopped according to the path of planning.
Fourth stage: carrying out simulation evaluation, adjusts parking lot layout or parking stall proposed algorithm until simulation result is best.
Specific factor of evaluation is as follows: shortest path, Parking Fee, ease of stopping, whether space is big for surrounding, from elevator distance or needs to walk
Row arrives the distance etc. in market.
Evaluation method evaluates simulation run result using multi-objective layer fractional analysis, specific evaluation method process ginseng
It examines shown in Fig. 4.Simulation parking scene in a computer, plans according to parking path and calculates optimal path；According to the subjectivity of user
The specific factor of evaluation Judgement Matricies of judgement and user demand；Weight is calculated according to judgment matrix；To judgment matrix and power
Criterion is carried out again；Comprehensive weight calculates again path planning；Obtain the optimal path of Weight；User judges cum rights
Whether the optimal path of weight is optimal path；It is not that optimal path then repeats above-mentioned movement, is optimal path simulation evaluation
Terminate.
(3) according to parking lot design drawing, parking stall, entrance gate inhibition, internal passageway etc. is carried out and carries out intelligence firmly
The installation and configuration of part facility, to meet perception and the networking transport need of the information such as intelligent parking lot vehicle, parking stall, parking lock
It asks.
(4) software development, installation, deployment and debugging are carried out in server end, parking stall node, gateway and mobile phone terminal, finally
It is delivered for use.
The invention has the characteristics that:
(1) parking space information identification is carried out using ultrasonic wave or optical sensor.
(2) acquisition, transmission and the control of information are carried out using ZigBee technology building wireless sensor network.
(3) gateway is formed using GPRS/Wi-Fi technology and ZigBee coordinator node to realize and remote parking field server
And the communication of City ITS cloud server, and system stability is improved using large-scale tree topology.
(4) parking data library is designed using building grid and vector figure layer and sorting code number to parking lot.
(5) server end is using the planning of dijkstra's algorithm progress optimal path and in mobile phone terminal or unmanned vehicle interface shape
Stopping guide is carried out at navigation picture Dynamically Announce.
(6) mobile phone terminal client software and server end or urban traffic control cloud real time communication are used to realize parking letter
Breath inquiry, predetermined or distribution parking stall, the functions such as stopping guide.
(7) two-dimensional code scanning technology is used, vehicle identification and distribution parking stall are carried out.
(8) it is scanned using gate inhibition and reads vehicle two-dimensional barcode information, identify vehicle, if pilotless automobile is then and parking lot
Management system can be entered and left after plugging into automatic identification, control vehicle, and the payment terminals for connecting client after leaving the theatre automatically are charged
And prompt user.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those skilled in the art,
Without depart from that overall concept of the invention, several changes and improvements can also be made, these also should be considered as of the invention
Protection scope.
Claims (9)
1. a kind of novel intelligent parking lot management method, it is characterised in that:
(1) client parking stall predetermined information is received, road is carried out according to client vehicle location and the scheduled parking space information of client
Diameter planning sends navigation information to client, and navigation client vehicle enters predetermined parking stall parking lot；
(2) scanning information for receiving Entrance gate inhibition reads information of vehicles, identifies vehicle, pre- according to the parking stall of client
Determine information to bind parking stall, whether identification vehicle is pilotless automobile, if pilotless automobile server end is taken over
Automobile control, control vehicle enter parking lot and generate navigation picture in parking lot, and control pilotless automobile stops；If
Non- pilotless automobile generates navigation picture in parking lot and navigation information is sent to client；
(3) parking stall is reached, server controls berth lock unlock, and after vehicle drives into parking stall, server changes the parking stall shape
State information；
(4) when user prepares to exit, if pilotless automobile, server takes over automobile control, control running car to visitor
Family end position；If not pilotless automobile, position carries out reversely now for parking stall position and client when server is according to parking
Vehicle navigation is sought, user is instructed to find vehicle, user enters navigation information guidance vehicle in vehicle generation parking lot and goes out to parking lot
Mouthful, and change the parking stall status information；
(5) vehicle reaches parking exit, and parking exit gate inhibition scans information of vehicles, sends information to server, server
Bill is generated according to information of vehicles, user is prompted to pay, parking exit gate inhibition opens after the completion of payment.
2. a kind of novel intelligent parking lot management method as described in claim 1, it is characterised in that: the navigation information is adopted
It is generated with the minimal path classic algorithm dijkstra's algorithm based on digraph.
3. a kind of novel intelligent parking lot management method as described in claim 1, it is characterised in that: the step (2) is to vehicle
The detailed process of position binding are as follows: information of vehicles is identified at Entrance, judges whether the vehicle is predefined with parking stall, if there is
Parking stall is then bound in predetermined parking stall, and is carrying out parking path planning and generating to stop according to specific parking path planing method
Navigation picture in parking lot；If not predetermined parking stall according to user client selection preference carry out parking stall recommendation, user according to
Parking stall is selected in the parking stall of recommendation, and carries out parking stall binding to selected parking stall, according to selected parking stall according to specific parking path
Planing method carries out parking path planning and generates navigation picture in parking lot；End user stops according to navigation picture in parking lot
Vehicle.
4. a kind of server, it is characterised in that: the instruction stored in server is performed, and is executed as claim 1-3 is any
The method.
5. a kind of novel intelligent parking lot, it is characterised in that: including client, server, parking lot entrance gate inhibition, parking stall letter
Cease identification device, parking stall control device, network node；Parking lot entrance gate inhibition, parking space information identification device, parking stall control dress
It sets and is communicated by network node with server；Client and server is communicated；The parking lot entrance gate inhibition sweeps
Information of vehicles identification vehicle is retouched, is server transport information of vehicles, server is finally completed by information of vehicles and parking space information
Binding；The unlatching and locking of parking stall control device are controlled by server according to the submission of client request；Parking space information is known
The parking space information of other device detection is transferred to server and is stored；Server complete the positioning of vehicle, navigation, parking timing,
Charging and charge；Client is interacted with user, and the server is server described in claim 4.
6. a kind of novel intelligent parking lot as claimed in claim 5, it is characterised in that:
Parking lot layout is as follows:
It is placed in diagonal line in the close and opposite parking lot of the outer crossing distance of the design and building of parking lot entrance；
Zone number is carried out to parking area and road area；
The occupied area that the length and width area on parking stall is greater than the parking lot vehicle that Parking permitted is evenly dividing；
Stop road one-way traffic；
Parking road width is wider than standard parking width.
7. a kind of novel intelligent parking lot as claimed in claim 5, it is characterised in that: the server has parking data
Library, the grid and vector figure layer of parking lot layout is stored in parking data library, and database carries out sorting code number to parking lot information.
8. a kind of novel intelligent parking lot as claimed in claim 5, it is characterised in that: the entrance gate inhibition uses two dimensional code
Identification device；The parking space information identification device uses ultrasonic sensor or optical sensor；The network node includes parking
Network node and parking lot boundary network node (BNN) in, network node uses ZigBee coordinator, router, terminal in parking lot
Node networking, parking lot boundary network node (BNN) use GPRS or Wi-Fi communication node, network node and parking lot side in parking lot
Boundary's network node carries out protocol conversion by gateway and accesses Internet and server communication.
9. a kind of novel intelligent parking lot design method is carried out for the novel intelligent parking lot any to claim 5-8
Design, it is characterised in that:
One: according to parking lot map and surrounding enviroment, parking stall of making rational planning for, internal passageway and entrance；
Two: building parking lot grid and vector figure layer carries out sorting code number to various information, generates parking data library and stores to clothes
It is engaged in device end, carrying out the design of stopping guide best path algorithm and emulation, until simulation result reaches most preferably, determines parking lot design
Scheme drawing；
Three: according to parking lot design drawing, carrying out the installation and configuration of intelligent hardware facility.
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| CN109615915A (en) * | 2018-12-28 | 2019-04-12 | 福建叮叮管家电子科技有限公司 | A kind of parking management method and system in community parking lot |
| CN109949604A (en) * | 2019-04-01 | 2019-06-28 | 南京邮电大学 | A kind of large parking lot scheduling air navigation aid, system and application method |
| CN110033647A (en) * | 2019-05-27 | 2019-07-19 | 北京中岩智泊科技有限公司 | A kind of intelligent three-dimensional garage parking lot and its access process suitable for pilotless automobile |
| CN110159039A (en) * | 2019-04-26 | 2019-08-23 | 纵目科技（上海）股份有限公司 | A kind of method of parking, system, terminal and the storage medium of parking systems |
| CN111489580A (en) * | 2019-01-29 | 2020-08-04 | 阿里巴巴集团控股有限公司 | Parking space positioning method, parking space navigation method and related device |
| CN111540233A (en) * | 2020-05-09 | 2020-08-14 | 知寻(上海)信息技术有限公司 | Parking lot management system based on WeChat applet |
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| CN112908027A (en) * | 2021-02-03 | 2021-06-04 | 芜湖泊啦图信息科技有限公司 | Control algorithm and system based on characteristic path construction of main positioning points in parking lot |
| CN113380071A (en) * | 2021-06-25 | 2021-09-10 | 南京静态交通产业技术研究院 | Parking space level parking demand state evaluation method for large complex |
| CN114333395A (en) * | 2020-09-30 | 2022-04-12 | 北京智行者科技有限公司 | Parking method and system based on label system |
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| CN111489580A (en) * | 2019-01-29 | 2020-08-04 | 阿里巴巴集团控股有限公司 | Parking space positioning method, parking space navigation method and related device |
| CN109949604A (en) * | 2019-04-01 | 2019-06-28 | 南京邮电大学 | A kind of large parking lot scheduling air navigation aid, system and application method |
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Application publication date: 20181207 |