CN109272772A

CN109272772A - A kind of parking position detection method, device and terminal device

Info

Publication number: CN109272772A
Application number: CN201810949002.3A
Authority: CN
Inventors: 朱红梅; 于峰崎
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2018-08-20
Filing date: 2018-08-20
Publication date: 2019-01-25
Anticipated expiration: 2038-08-20
Also published as: CN109272772B

Abstract

The present invention is suitable for earth magnetism technical field of vehicle detection, provides a kind of parking position detection method, device and terminal device, wherein method includes: acquisition Geomagnetic signal；The Geomagnetic signal is pre-processed, the amplitude of the Geomagnetic signal is obtained；The Geomagnetic signal is analyzed and determined by the state machine of more intermediate state, determines the state on parking stall；Wherein, the state on the parking stall includes critical state and determining state；If the state machine of more intermediate state judges that the parking stall is in critical state, the cooperation for then carrying out adjacent node to the Geomagnetic signal based on D-S evidence theory judges, obtain the determination state outcome on the parking stall, the vehicle bring that can be avoided adjacent parking stall or adjacent lane influences, the state on accurate judgement parking stall improves the anti-interference ability of parking position detection method.

Description

A kind of parking position detection method, device and terminal device

Technical field

The invention belongs to earth magnetism technical field of vehicle detection more particularly to a kind of parking position detection method, device and Terminal device.

Background technique

In recent years, since the occupation rate of vehicle in the family gradually rises, the parking stall in parking lot becomes at full stretch how Quickly and effectively judge the state of Parking position and then progress vehicle parking is extremely important for people.

Existing parking position detection device is compared with threshold value and is judged whether usually using based on measurement data The algorithm of available free parking stall is easy by adjacent parking stall or adjacent lane however, the anti-interference ability of the detection algorithm is poor Vehicle influences, and is unable to judge accurately the state of parking stall.

Summary of the invention

In view of this, the embodiment of the invention provides a kind of parking position detection method, device and terminal device, with solution Certainly the detection algorithm anti-interference ability of parking position detection device is poor in the prior art, easy to be by adjacent parking stall or adjacent The problem of vehicle in lane influences, and is unable to judge accurately the state of parking stall.

The first aspect of the embodiment of the present invention provides a kind of parking position detection method, comprising:

Obtain Geomagnetic signal；

The Geomagnetic signal is pre-processed, the amplitude of the Geomagnetic signal is obtained；

The Geomagnetic signal is analyzed and determined by the state machine of more intermediate state, determines the state on parking stall；Its In, the state on the parking stall includes critical state and determining state；

If the state machine of more intermediate state judges that the parking stall is in critical state, it is based on D-S evidence theory The cooperation judgement that adjacent node is carried out to the Geomagnetic signal, obtains the determination state outcome on the parking stall.

Optionally, the state machine by more intermediate state analyzes and determines the Geomagnetic signal, determines parking The state of position；Wherein, the state on the parking stall includes critical state and determining state, comprising:

The state machine is initialized, and marks the parking stall for parking stall idle state after the completion of the initialization；

If detecting, there is terrestrial magnetic disturbance in the Geomagnetic signal, calculates the amplitude of terrestrial magnetic disturbance signal, and described in judgement The amplitude of terrestrial magnetic disturbance signal and the default size relation for driving into threshold value；

If the amplitude of the terrestrial magnetic disturbance signal, which is less than described preset, drives into threshold value, determine the parking stall for parking stall sky Not busy state；

If the amplitude of the terrestrial magnetic disturbance signal drives into threshold value not less than described preset, determines that the parking stall enters and sail Enter to drive into intermediate state number described in intermediate state and record and as the first label number: if (1) the first label number No more than the default amplitude for driving into frequency threshold value and the terrestrial magnetic disturbance signal be less than it is default drive into threshold value when, then mark describedly The amplitude of magnetic disturbance signal is less than described preset and drives into frequency threshold value and mark number as second, if the second label number Interference frequency threshold value is driven into not less than default, then determines the parking stall for parking stall idle state；Otherwise, if second label Number is less than described preset and drives into interference frequency threshold value, then determines that the parking stall jumps and drive into intermediate state and continue to record institute State the number of the first label；

(2) if the first label number is not less than the default width for driving into frequency threshold value and the terrestrial magnetic disturbance signal The mean value of value is not less than default amplitude high threshold, then determines the parking stall for parking stall occupied state；

(3) if the first label number is not less than the default width for driving into frequency threshold value and the terrestrial magnetic disturbance signal The mean value of value is less than the default amplitude high threshold, then determines that the parking stall is to drive into critical state.

Optionally, the Geomagnetic signal is analyzed and determined by the state machine of more intermediate state, determines parking stall State；Wherein, the state on the parking stall includes critical state and determining state, further includes:

If the parking stall is in occupied state: if the amplitude of the terrestrial magnetic disturbance signal is driven out to threshold not less than default Value, then determine the parking stall for parking stall occupied state；

If the amplitude of the terrestrial magnetic disturbance signal, which is less than described preset, is driven out to threshold value, determines that the parking stall enters and be driven out to It is driven out to intermediate state number described in intermediate state and record and marks number as third: if (l) described third label number is not Greater than the default amplitude for being driven out to frequency threshold value and the terrestrial magnetic disturbance signal not less than it is described it is default be driven out to threshold value when, then mark institute The amplitude for stating terrestrial magnetic disturbance signal is not less than described preset and is driven out to frequency threshold value and marks number as the 4th, if the 4th mark Note number is driven out to interference frequency threshold value not less than default, then determines the parking stall for parking stall occupied state；Otherwise, if described Four label numbers are less than described preset and are driven out to interference frequency threshold value, then determine that the parking stall jumps and be driven out to intermediate state and continue Record the third label number；

If (m) the third label number is not less than the default width for being driven out to frequency threshold value and the terrestrial magnetic disturbance signal The mean value of value is less than default amplitude Low threshold, then determines the parking stall for parking stall idle state；

If (n) the third label number is not less than the default width for being driven out to frequency threshold value and the terrestrial magnetic disturbance signal The mean value of value is not less than the default amplitude Low threshold, then determines that the parking stall is to be driven out to critical state；

Wherein, the state on the parking stall includes the critical state and the determining state；The critical state includes It is driven out to critical state and drives into critical state；The determining state includes that the parking stall idle state and the parking stall occupy shape State.

Optionally, it if the state machine of more intermediate state judges that the parking stall is in critical state, is demonstrate,proved based on D-S Judge according to the cooperation that theory carries out adjacent node to the Geomagnetic signal, obtain the determination state outcome on the parking stall, comprising:

If the state machine of more intermediate state, which judges that the parking stall is in, drives into critical state, driven into described in acquisition The mean value of the terrestrial magnetic disturbance signal amplitude on the parking stall under critical state, and driven into according to the first probability-distribution function to described The mean value of the terrestrial magnetic disturbance signal amplitude on parking stall is calculated under critical state, to obtain the first evidence；

The terrestrial magnetic disturbance signal amplitude of the first parking stall adjacent with the parking stall under critical state is driven into described in acquisition Mean value, and according to the second probability-distribution function to the terrestrial magnetic disturbance signal amplitude for driving into the parking stall under critical state Mean value, the mean value of terrestrial magnetic disturbance signal amplitude of first parking stall adjacent with the parking stall are calculated, to obtain the second card According to；

The terrestrial magnetic disturbance signal amplitude of the second parking stall adjacent with the parking stall under critical state is driven into described in acquisition Mean value, and according to second probability-distribution function to the terrestrial magnetic disturbance signal width for driving into the parking stall under critical state The mean value of value, the mean value of terrestrial magnetic disturbance signal amplitude of second parking stall adjacent with the parking stall are calculated, to obtain Three evidences；

The terrestrial magnetic disturbance signal amplitude of first parking stall and second parking stall under critical state are driven into described in acquisition The biggish parking stall of terrestrial magnetic disturbance signal amplitude parking stall as a comparison in terrestrial magnetic disturbance signal amplitude；

According to predetermined coefficient calculation formula to the terrestrial magnetic disturbance signal amplitude on the parking stall and the ground of the comparison parking stall Magnetic disturbance signal amplitude is calculated, and the cross correlation coefficient on the parking stall and the comparison parking stall is obtained；

The cross correlation coefficient is calculated according to third probability-distribution function, to obtain the 4th evidence；

According to the first default basic probability assignment function to first evidence, second evidence, the third evidence, 4th evidence is calculated, to obtain the determination state outcome on the parking stall.

Optionally, it if the state machine of more intermediate state judges that the parking stall is in critical state, is demonstrate,proved based on D-S Judge according to the cooperation that theory carries out adjacent node to the Geomagnetic signal, obtains the determination state outcome on the parking stall, also wrap It includes:

If the state machine of more intermediate state, which judges that the parking stall is in, is driven out to critical state, it is driven out to described in acquisition The mean value of the terrestrial magnetic disturbance signal amplitude on the parking stall under critical state, and according to first probability-distribution function to described The mean value for being driven out to the terrestrial magnetic disturbance signal amplitude on the parking stall under critical state is calculated, to obtain the 5th evidence；

The terrestrial magnetic disturbance signal amplitude of the first parking stall adjacent with the parking stall under critical state is driven out to described in acquisition Mean value, and according to second probability-distribution function to the terrestrial magnetic disturbance signal width for being driven out to the parking stall under critical state The mean value of value, the mean value of terrestrial magnetic disturbance signal amplitude of first parking stall adjacent with the parking stall are calculated, to obtain Six evidences；

The terrestrial magnetic disturbance signal amplitude of the second parking stall adjacent with the parking stall under critical state is driven out to described in acquisition Mean value, and according to second probability-distribution function to the terrestrial magnetic disturbance signal width for being driven out to the parking stall under critical state The mean value of value, the mean value of terrestrial magnetic disturbance signal amplitude of second parking stall adjacent with the parking stall are calculated, to obtain Seven evidences；

The amplitude of the terrestrial magnetic disturbance signal fluctuation on parking stall when being driven into according to preset matching degree calculation formula vehicle Mean value and the mean value of the terrestrial magnetic disturbance signal amplitude for being driven out to the parking stall under critical state calculated, acquisition is driven into Disturbing signal and the matching degree for being driven out to disturbing signal, and the matching degree is calculated according to the 4th probability-distribution function, with Obtain the 8th evidence；

According to the described first default basic probability assignment function to the 5th evidence, the 6th evidence, the described 7th Evidence, the 8th evidence are calculated, to obtain the determination state outcome on the parking stall.

Optionally, the acquisition Geomagnetic signal, comprising:

Obtain X, the Geomagnetic signal of tri- axis direction of Y, Z；Wherein, the X-direction includes parking lot parallel to the ground Vehicle heading, the Y direction include the horizontal direction vertical with the X-axis, and the Z axis includes perpendicular to the perpendicular of ground Histogram to.

Optionally, the state machine by more intermediate state analyzes and determines the Geomagnetic signal, determines parking The state of position；Wherein, the state on the parking stall include critical state and determine state after, comprising:

If the state machine of more intermediate state judges the parking stall to determine state, more intermediate state are obtained The determination state outcome on the parking stall of state machine output.

The second aspect of the embodiment of the present invention provides a kind of parking position detection device, comprising:

First obtains module, for obtaining Geomagnetic signal；

Second acquisition module obtains the amplitude of the Geomagnetic signal for pre-processing to the Geomagnetic signal；

First judgment module analyzes and determines the Geomagnetic signal for the state machine by more intermediate state, sentences Determine the state on parking stall；Wherein, the state on the parking stall includes critical state and determining state；

Second judgment module, if the state machine for more intermediate state judges that the parking stall is in critical state, The cooperation for then carrying out adjacent node to the Geomagnetic signal based on D-S evidence theory judges, obtains the determination shape on the parking stall State result.

The third aspect of the embodiment of the present invention provides a kind of terminal device, comprising: memory, processor and is stored in In the memory and the computer program that can run on the processor, when the processor executes the computer program It realizes such as the step of the above method.

The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage Media storage has computer program, realizes when the computer program is executed by processor such as the step of the above method.

The embodiment of the present invention obtains the amplitude of Geomagnetic signal by obtaining Geomagnetic signal and being pre-processed；In mostly Between the state machine of state Geomagnetic signal is analyzed and determined, determine the state on parking stall；If the state machine of more intermediate state is sentenced Disconnected parking stall is in critical state, then the cooperation for carrying out adjacent node to Geomagnetic signal based on D-S evidence theory judges, is stopped The determination state outcome of parking stall, the vehicle bring that can be avoided adjacent parking stall or adjacent lane influence, accurate judgement parking stall State, improve the anti-interference ability of parking position detection method.

Detailed description of the invention

It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these Attached drawing obtains other attached drawings.

Fig. 1 is the flow diagram for the parking position detection method that the embodiment of the present invention one provides；

Fig. 2 is the flow diagram of parking position detection method provided by Embodiment 2 of the present invention；

Fig. 3 is the state transition diagram of more intermediate state state machines provided by Embodiment 2 of the present invention；

Fig. 4 is the flow diagram for the parking position detection method that the embodiment of the present invention three provides；

Fig. 5 be the embodiment of the present invention three provide cause parking stall the case where critical state schematic diagram occur；

Fig. 6 is the structural schematic diagram for the parking position detection device that the embodiment of the present invention four provides；

Fig. 7 is the structural schematic diagram for the first judgment module that the embodiment of the present invention five provides；

Fig. 8 is the structural schematic diagram for the second judgment module that the embodiment of the present invention six provides；

Fig. 9 is the schematic diagram for the terminal device that the embodiment of the present invention seven provides.

Specific embodiment

In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention Attached drawing, technical solution in the embodiment of the present invention are explicitly described, it is clear that described embodiment is the present invention one The embodiment divided, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing Every other embodiment obtained under the premise of creative work out, should fall within the scope of the present invention.

Description and claims of this specification and term " includes " and their any deformations in above-mentioned attached drawing, meaning Figure, which is to cover, non-exclusive includes.Such as process, method or system comprising a series of steps or units, product or equipment do not have It is defined in listed step or unit, but optionally further comprising the step of not listing or unit, or optionally also wrap Include the other step or units intrinsic for these process, methods, product or equipment.In addition, term " first ", " second " and " third " etc. is for distinguishing different objects, not for description particular order.

In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.

Embodiment one

As shown in Figure 1, this method can be applied to parking stall such as and visit the present embodiment provides a kind of parking position detection method Survey the terminal devices such as device, geomagnetic parking stall detector.Parking position detection method provided by the present embodiment, comprising:

S101, Geomagnetic signal is obtained.

In a particular application, due to earth's magnetic field be in a certain range it is invariable, when parking lot has vehicle to drive into When can generate terrestrial magnetic disturbance, this terrestrial magnetic disturbance signal can obtain measured by geomagnetic sensor, therefore, pass through geomagnetic sensor The Geomagnetic signal on parking stall is obtained, in the present embodiment, the anisotropic magnetoresistive sensor acquisition parking using three axis can be preset The Geomagnetic signal of position.

S102, the Geomagnetic signal is pre-processed, obtains the amplitude of the Geomagnetic signal.

In a particular application, in order to the Geomagnetic signal of measurement carry out that amplitude is asked to calculate, obtain the width of Geomagnetic signal Value calculates the formula of amplitude (i.e. M) such as to reduce influence of the measurement direction to detection algorithm:

Wherein, specifically geomagnetic data is acquired using the anisotropic magnetoresistive sensor of three axis, respectively includes X-axis, Y The measured value of three sensitive directions of axis and Z axis；X-axis refers to vehicle heading parallel to the ground, and Y-axis refers to and above-mentioned X-axis Vertical horizontal direction, Z axis refer to direction perpendicular to ground and straight up.Stop when starting geomagnetism detecting operation and currently In the state that parking stall is idle, using the Geomagnetic signal value of initial measurement as earth magnetism baseline value, it is denoted as x₀, y₀And z₀。

S103, the Geomagnetic signal is analyzed and determined by the state machine of more intermediate state, determines the shape on parking stall State；Wherein, the state on the parking stall includes critical state and determining state.

In a particular application, the Geomagnetic signal of acquisition is analyzed and determined by the state machine of more intermediate state, is determined The state on parking stall is that critical state still determines state, is further determined that with the state to parking stall.Wherein, critical shape State includes being driven out to critical state and driving into critical state；The state of determination includes parking stall idle state and parking stall occupied state.

If the state machine of S104, more intermediate state judge that the parking stall is in critical state, it is based on D-S evidence The cooperation that theory carries out adjacent node to the Geomagnetic signal judges, obtains the determination state outcome on the parking stall.

In a particular application, if the state machine of more intermediate state determines that parking stall is in critical state, it is based on D-S evidence The cooperation that theory carries out adjacent node to Geomagnetic signal judges, to the Geomagnetic signal of detection by the driving vehicle and phase of adjacent road The interference of the generation of the parking vehicle of adjacent parking stall, so that the state critical point that parking stall is in is judged, so that it is determined that above-mentioned The determination state outcome on parking stall is possession state or is idle state, to improve the parking efficiency of user.

In one embodiment, the step S101 includes:

In a particular application, specifically geomagnetic data is acquired using the anisotropic magnetoresistive sensor of three axis, respectively Measured value including three X-axis, Y-axis and Z axis sensitive directions；Wherein, X-axis refers to vehicle heading parallel to the ground, Y-axis Refer to the horizontal direction vertical with above-mentioned X-axis, Z axis refers to direction perpendicular to ground and straight up.In starting geomagnetism detecting When operation and in the state that current parking stall is idle, using the Geomagnetic signal value of initial measurement as earth magnetism baseline value, it is denoted as x₀, y₀, And z₀。

In one embodiment, after step S103, comprising:

In a particular application, if the state machine of above-mentioned more intermediate state determines that above-mentioned parking stall to determine state, obtains The determination state outcome on the parking stall of the determination of the state machine output of above-mentioned more intermediate state；Wherein, parking stall is determining State outcome includes: parking stall idle state and parking stall occupied state.

The present embodiment obtains the amplitude of Geomagnetic signal by obtaining Geomagnetic signal and being pre-processed；Pass through more intermediate shapes The state machine of state analyzes and determines Geomagnetic signal, determines the state on parking stall；If the state machine judgement of more intermediate state stops Parking stall is in critical state, then the cooperation for carrying out adjacent node to Geomagnetic signal based on D-S evidence theory judges, obtains parking stall Determination state outcome, the vehicle bring that can be avoided adjacent parking stall or adjacent lane influences, the shape on accurate judgement parking stall State improves the anti-interference ability of parking position detection method.

Embodiment two

As shown in Fig. 2, the present embodiment is the further explanation to the method and step in embodiment one.In the present embodiment, Step S103 includes:

S1031, the initialization state machine, and mark the parking stall for parking stall free time shape after the completion of the initialization State.

In a particular application, above-mentioned more intermediate state state machines are initialized, that is, initialize all parameters and baseline, are initialized Setting mark Flg after the completion_itaIt is 1, and jumps to parking stall idle state.

If S1032, detecting that terrestrial magnetic disturbance occurs in the Geomagnetic signal, the amplitude of terrestrial magnetic disturbance signal is calculated, and is sentenced Break the amplitude and the default size relation for driving into threshold value of the terrestrial magnetic disturbance signal.

In a particular application, due to earth's magnetic field be in a certain range it is invariable, when parking lot has vehicle to drive into When can generate terrestrial magnetic disturbance, this terrestrial magnetic disturbance signal can obtain measured by geomagnetic sensor.If detecting Geomagnetic signal There is terrestrial magnetic disturbance, then should calculate the mean value of the amplitude of terrestrial magnetic disturbance signal and the amplitude of above-mentioned terrestrial magnetic disturbance signal, and judge The amplitude of terrestrial magnetic disturbance signal and the default size relation for driving into threshold value, wherein in amplitude calculation formula such as above-described embodiment one Shown, details are not described herein.Mean value (i.e. M) calculation formula of amplitude is as follows:

Wherein, N is the pre-set length averaged, and k is present sample time point, and M (k) is in k time, institute when The terrestrial magnetic disturbance signal amplitude of measurement.

In the present embodiment, the state machine of more intermediate state includes 9 kinds of states: state S0 (init state), state S1 (parking stall idle state), state S2 (driving into state of disturbance), state S3 (driving into intermediate state), state S4 (drive into critical shape State), state S5 (parking stall occupied state), state S6 (being driven out to state of disturbance), state S7 (being driven out to intermediate state), state S8 (sail Critical state out).

If the amplitude of S1033, the terrestrial magnetic disturbance signal, which is less than described preset, drives into threshold value, determine that the parking stall is Parking stall idle state；

If the amplitude of the terrestrial magnetic disturbance signal drives into threshold value not less than described preset, determines that the parking stall enters and sail Enter to drive into intermediate state number described in intermediate state and record and as the first label number: if (1) the first label number Less than or equal to the default amplitude for driving into frequency threshold value and the terrestrial magnetic disturbance signal be less than it is default drive into threshold value when, then mark The amplitude of the terrestrial magnetic disturbance signal is less than described preset and drives into frequency threshold value and mark number as second, if second mark Note number drives into interference frequency threshold value not less than default, then determines the parking stall for parking stall idle state；Otherwise, if described Two label numbers are less than described preset and drive into interference frequency threshold value, then determine that the parking stall jumps and drive into intermediate state and continue Record the number of first label；

In a particular application, if the amplitude M of terrestrial magnetic disturbance signal is less than and default drive into threshold value and (can use Th_avlIndicate), then sentence Determining parking stall is parking stall idle state；It default drive into threshold value when the amplitude M of terrestrial magnetic disturbance signal is more than or equal to and (Th can be used_avl Indicate) when, then determine that parking stall enters to drive into intermediate state and record and drive into intermediate state number and as the first label number: (1) if the first label number is less than or equal to and default drive into frequency threshold value and (can use N_avl1Indicate) and terrestrial magnetic disturbance signal width Value M, which is less than, default to be driven into threshold value and (can use Th_avlIndicate) when, then mark the amplitude M of terrestrial magnetic disturbance signal to drive into number less than default Threshold value (can use N_avl1 indicates) and as the second label number, if the second label number, which is more than or equal to preset, is driven into interference time Number threshold value, then determine parking stall for parking stall idle state；Otherwise, if the second label number, which is less than default drive into, interferes number threshold Value then determines that parking stall jumps the number for driving into intermediate state and continuing the first label of record；

(2) if the first label number is more than or equal to and default drive into frequency threshold value and (can use N_avl1Indicate) and terrestrial magnetic disturbance The mean value of the amplitude M of signal, which is more than or equal to default amplitude high threshold, (can use T_maxIndicate), then determine that parking stall accounts for for parking stall With state, then confirm that there is vehicle parking in current parking stall, current parking stall is parking stall occupied state；This state can effectively filter traveling Interference caused by vehicle.

(3) if the first label number is more than or equal to and default drive into frequency threshold value and (can use N_avl1Indicate) and terrestrial magnetic disturbance The mean value of the amplitude M of signal, which is less than default amplitude high threshold, (can use T_maxIndicate), then determine that parking stall is to drive into critical state.

In one embodiment, step S103, further includes:

If S1034, the parking stall are in occupied state: if the amplitude of the terrestrial magnetic disturbance signal is sailed not less than default Threshold value out then determines the parking stall for parking stall occupied state；

In a particular application, if parking stall is in occupied state: if the amplitude of terrestrial magnetic disturbance signal is more than or equal to It is default to be driven out to threshold value, then determine parking stall for parking stall occupied state；If the amplitude of terrestrial magnetic disturbance signal, which is less than to preset, is driven out to threshold value, Then determine that parking stall enters to be driven out to intermediate state and record to be driven out to intermediate state number and mark number as third:

If (l) third label number, which is less than or equal to, default is driven out to frequency threshold value and the amplitude of terrestrial magnetic disturbance signal is greater than Or equal to it is default be driven out to threshold value when, then mark the amplitude of terrestrial magnetic disturbance signal to be more than or equal to and default be driven out to frequency threshold value simultaneously Parking stall is determined if the 4th label number, which is more than or equal to preset, is driven out to interference frequency threshold value as the 4th label number For parking stall occupied state；Otherwise, if the 4th label number, which is less than to preset, is driven out to interference frequency threshold value, determine that parking stall jumps and sail Out intermediate state and continue record third label number；

If (m) third label number, which is more than or equal to, default is driven out to the equal of frequency threshold value and the amplitude of terrestrial magnetic disturbance signal Value, which is less than default amplitude Low threshold, (can use T_minIndicate), then determine parking stall for parking stall idle state；

If (n) third label number, which is more than or equal to, default is driven out to the equal of frequency threshold value and the amplitude of terrestrial magnetic disturbance signal Value, which is more than or equal to default amplitude Low threshold, (can use T_minIndicate), then determine that parking stall is to be driven out to critical state；

Wherein, the state on parking stall includes critical state and determining state；Critical state includes being driven out to critical state and sailing Enter critical state；The state of determination includes parking stall idle state and parking stall occupied state.

In the present embodiment, the state migration procedure of the state machine of above-mentioned more intermediate state is as shown in Figure 3:

1) state S0 (init state): initializing all parameters and baseline, setting mark Flg after the completion of initialization_itaFor 1, and jump to state S1, it is believed that parking stall original state is idle state；

2) state S1 (parking stall idle state): parking space state is idle (Status=0), when detecting that Geomagnetic signal thankss for your hospitality It is dynamic, and terrestrial magnetic disturbance signal amplitude M drives into threshold value (Th greater than default_avl) then jump to state S2；

3) state S2 (driving into state of disturbance): record terrestrial magnetic disturbance signal amplitude M, which is greater than to preset, drives into threshold value (Th_avl) Drive into disturbance number (Cnt_s2), if terrestrial magnetic disturbance signal amplitude M, which is less than, drives into threshold value (Th_avl), then state S3 is jumped to, it is this It may be the case that of short duration interference caused by the driving vehicle of adjacent lane, carries out true again into another intermediate state S3 Recognize；Otherwise when vehicle drives into disturbance number (Cnt_s2) be greater than to preset and drive into frequency threshold value (N_avl1) and terrestrial magnetic disturbance signal amplitude M Mean value be less than default amplitude high threshold T_maxWhen jump to state S4, such case may be to have the interference of adjacent stalls vehicle Either current parking stall parks cars magnetic weaker caused critical state；If vehicle drives into disturbance number (Cnt_s2) be greater than It is default to drive into frequency threshold value (N_avl1) and terrestrial magnetic disturbance signal amplitude M amplitude mean value be greater than default amplitude high threshold T_maxWhen jump To state S5, then confirm that there is vehicle parking in current parking stall, current parking stall is parking stall occupied state；This state can effectively filter row Sail interference caused by vehicle；

4) state S3 (driving into intermediate state): record nothing drives into disturbance number (Cnt_s3), if terrestrial magnetic disturbance signal amplitude M It is greater than again and drives into threshold value (Th_avl), state S2 is jumped to again；Otherwise, if without disturbance number (Cnt is driven into_s3) it is greater than default nothing Drive into frequency threshold value (N_avl2), then go to step S1, confirms that this terrestrial magnetic disturbance signal is interference signal, determines that parking stall is in Idle state；

5) state S4 (driving into critical state): setting critical state flag bit Flg_cfm=0, parking space state Status=2, Into the adjacent node cooperative work mode based on D-S evidence theory, when inquiring flag bit Flg_cfmWhen=1 and determine state For State_cfmState S5 is jumped to when=1, when inquiring flag bit Flg_cfmWhen=1 and determine that state is State_cfmIt is jumped when=0 Go to state S1；

6) state S5 (parking stall occupied state): setting parking space state Status=1, and keep；If terrestrial magnetic disturbance signal Amplitude M is less than vehicle and is driven out to threshold value (Th_dpt), then jump state S6；

7) state S6 (being driven out to state of disturbance): and record and be driven out to disturbance number (Cnt_s6), if terrestrial magnetic disturbance signal amplitude M Threshold value (Th is driven out to greater than default_dpt), then jump to intermediate state S7；Otherwise, when be driven out to disturbance number (Cnt_s6) it is greater than default sail Outdegree threshold value (N_dpt1) and the mean value of terrestrial magnetic disturbance signal amplitude M be less than default amplitude Low threshold T_minState S1 is jumped to, when It is driven out to disturbance number (Cnt_s6) be greater than and default be driven out to frequency threshold value (N_dpt1) and terrestrial magnetic disturbance signal amplitude M mean value be greater than it is default Amplitude Low threshold T_minIt jumps to and is driven out to critical state S8；

8) state S7 (being driven out to intermediate state): record intermediate state number Cnt_s7, as intermediate state number Cnt_s7It is greater than N_dpt2When jumping to state S5, confirm that current terrestrial magnetic disturbance signal is interference signal, parking stall is still within occupied state；It is no Then terrestrial magnetic disturbance signal amplitude M is again less than Th_dptThen jump to state S6；

9) state S8 (being driven out to critical state): setting critical state flag bit Flg_cfm=0, parking space state Status=2, Into the adjacent node cooperative work mode based on D-S evidence theory, when inquiring flag bit Flg_cfmWhen=1 and determine state For State_cfmState S5 is jumped to when=1, when inquiring flag bit Flg_cfmWhen=1 and determine that state is State_cfmIt is jumped when=0 Go to state S1.

The present embodiment carries out accurate, careful judgement to terrestrial magnetic disturbance signal by more intermediate state state machines, can obtain It determines state (including parking stall occupied state and parking stall idle state) or gets the critical state of current parking stall and (including drive into Critical state and be driven out to critical state), carry out further cooperation judgement to determine the need for D-S evidence theory, improve Obtain the efficiency of the determination state outcome of current parking stall.

Embodiment three

As shown in figure 4, the present embodiment is the further explanation to the method and step in embodiment one.In the present embodiment, Step S104, comprising:

If the state machine of S1041, more intermediate state, which judge that the parking stall is in, drives into critical state, institute is obtained The mean value for driving into the terrestrial magnetic disturbance signal amplitude on the parking stall under critical state is stated, and according to the first probability-distribution function to institute It states and drives into the mean value of the terrestrial magnetic disturbance signal amplitude on parking stall under critical state and calculated, to obtain the first evidence.

In a particular application, the critical state that the present embodiment mainly considers includes driving into critical state and being driven out to critical shape State, above-mentioned critical state mainly by the interference of Adjacent vehicles or current parking vehicle magnetism it is weaker caused by, as shown in figure 5, with For current parking stall (i.e. node B) critical state detected, when node B detects critical state, in fact it could happen that three kinds Situation: as shown in figure 5, the first situation and the third situation are since Adjacent vehicles magnetism is stronger or Adjacent vehicles parking When be not parked in middle, and be biased into intermediate parking stall, the Distance Shortened apart from node B causes node B to detect ground magnetic perturbation Dynamic, result of the both of these case after the adjacent node cooperation judgement based on D-S evidence theory should be that current parking stall is " empty It is not busy " state (it is calculated by the Geomagnetic signal to tri- parking stalls A, B, C by the first default basic probability assignment function, It can determine that parking stall state outcome is parking stall idle state in such cases)；Second situation is the section due to current parking stall Stop that the weaker perhaps chassis of magnetism is higher above point B or the vehicles factor such as small volume itself caused by critical shape State, parking stall at this time should be " occupancy " state (as described in the judgement content of above-described embodiment two-state S2 (driving into state of disturbance), Details are not described herein.)

Acquisition is driven out to the mean value of terrestrial magnetic disturbance signal amplitude measured by current parking stall under critical state (i.e. node B), And calculated according to mean value of first probability-distribution function to the terrestrial magnetic disturbance signal amplitude for driving into parking stall under critical state, To obtain the first evidence.Its first probability-distribution function (i.e. mass function) is defined as follows:

Wherein, m_avl.1(occupied) and m_avl.1(vacant) respectively indicate in step S1041 to " occupied " and The probability-distribution function of " vacant " can obtain the first evidence by above-mentioned first probability-distribution function,Expression is currently sailed Enter the mean value of terrestrial magnetic disturbance signal amplitude measured by parking stall under critical state (i.e. node B), T_minAnd T_maxIt is critical respectively The minimum threshold and max-thresholds of state, i.e., it is as shown in Figure 3: as Avg (M) < T_maxWhen to judge parking stall critical to drive into State (the T as described in above-described embodiment two_maxTo preset amplitude high threshold)；As Avg (M) > T_minWhen judge parking stall to sail Critical state out, i.e. T_minIt is default amplitude Low threshold.Wherein, Basic probability assignment function (Basic Probability Assignment, abbreviation BPA) it is one from 2^ΘIt is mapped to a real-valued function m of [0,1], referred to as mass function.

The terrestrial magnetic disturbance signal of the first parking stall adjacent with the parking stall under critical state is driven into described in S1042, acquisition The mean value of amplitude, and according to the second probability-distribution function to the terrestrial magnetic disturbance signal for driving into the parking stall under critical state The mean value of amplitude, the mean value of terrestrial magnetic disturbance signal amplitude of first parking stall adjacent with the parking stall are calculated, to obtain Second evidence.

In a particular application, according to the second probability-distribution function to the ground for driving into parking stall under critical state (i.e. node B) The mean value of magnetic disturbance signal amplitude, first parking stall (i.e. node A) adjacent with parking stall terrestrial magnetic disturbance signal amplitude mean value It is calculated, to obtain the second evidence, the second probability-distribution function (mass function) is defined as follows:

Wherein, m_avl.2(occupied) and m_avl.2(vacant) respectively indicate in step S1042 to " occupied " and The probability-distribution function (the first evidence can be obtained by above-mentioned first probability-distribution function) of " vacant ",Expression is sailed Enter earth magnetism measured by first parking stall (such as the adjacent node A shown on Fig. 5) adjacent with above-mentioned parking stall under critical state The mean value of disturbing signal amplitude,Indicate the equal of the terrestrial magnetic disturbance signal amplitude measured by the node B driven under critical state Value, T_maxAnd T_minIt is the minimum threshold and max-thresholds of preset critical state respectively.Due to such as step S1041, step S1042 Or the result calculated in following step S1043 by different probability distribution function is different to the support of parking stall state outcome, Therefore it introduces Dynamic gene to be adjusted its specific gravity, is introduced into Dynamic gene α and β herein to probability distribution a variety of in the present embodiment The result that function calculates output carries out the adjustment of specific gravity.

The terrestrial magnetic disturbance signal of the second parking stall adjacent with the parking stall under critical state is driven into described in S1043, acquisition The mean value of amplitude, and according to second probability-distribution function to the terrestrial magnetic disturbance for driving into the parking stall under critical state The mean value of signal amplitude, the mean value of terrestrial magnetic disturbance signal amplitude of second parking stall adjacent with the parking stall are calculated, with Obtain third evidence.

In a particular application, the above-mentioned ground magnetic perturbation for driving into the second parking stall adjacent with above-mentioned parking stall under critical state is obtained The mean value of dynamic signal amplitude, and according to above-mentioned second probability-distribution function to the above-mentioned ground for driving into above-mentioned parking stall under critical state The mean value of magnetic disturbance signal amplitude, the mean value of terrestrial magnetic disturbance signal amplitude of second parking stall adjacent with above-mentioned parking stall are counted It calculates, to obtain third evidence；Wherein, mass function described in the second probability-distribution function, that is, above-mentioned steps S1042, needs It is bright, in this calculating,Indicate second parking stall (such as Fig. 5 adjacent with above-mentioned parking stall in the case where driving into critical state Shown on adjacent node C) measured by terrestrial magnetic disturbance signal amplitude mean value.

The terrestrial magnetic disturbance signal amplitude of first parking stall and described second under critical state is driven into described in S1044, acquisition The biggish parking stall of terrestrial magnetic disturbance signal amplitude parking stall as a comparison in the terrestrial magnetic disturbance signal amplitude of parking stall.

In a particular application, it obtains and drives under critical state the terrestrial magnetic disturbance signal width for obtaining the first parking stall (i.e. node A) In the terrestrial magnetic disturbance signal amplitude of value and the second parking stall (i.e. node C), the biggish parking stall of terrestrial magnetic disturbance signal amplitude, as a comparison Parking stall, in order to carry out the calculating of subsequent cross correlation coefficient.

S1045, according to predetermined coefficient calculation formula to the terrestrial magnetic disturbance signal amplitude and the comparison vehicle on the parking stall The terrestrial magnetic disturbance signal amplitude of position is calculated, and the cross correlation coefficient on the parking stall and the comparison parking stall is obtained.

In a particular application, terrestrial magnetic disturbance signal measured by current parking stall (i.e. node B) and terrestrial magnetic disturbance width are detected It is worth the cross correlation coefficient of the terrestrial magnetic disturbance signal of biggish adjacent parking stall.Wherein, the calculation formula of cross correlation coefficient are as follows:X_BIt is the feature vector of terrestrial magnetic disturbance signal measured by current parking stall (the node B as shown on Fig. 5), X_adjIt is the feature vector for disturbing terrestrial magnetic disturbance signal measured by the biggish parking stall adjacent with current parking stall of amplitude, herein Feature vector includes (the ratio between zero passage points, maxima and minima, number of peaks and disturbing signal length), cov (X_B·X_adj) Indicate X_BWith X_adjThe covariance of the two,Indicate X_BWith X_adjThe standard deviation of the two.

S1046, the cross correlation coefficient is calculated according to third probability-distribution function, to obtain the 4th evidence.

In a particular application, the terrestrial magnetic disturbance due to caused by same vehicle has cross correlation, and cross correlation can be made To judge one of judgment condition that whether current parking stall has vehicle to drive into.Wherein, third probability-distribution function (mass function) It is as follows:

Wherein, m_avl.4(occupied) and m_avl.4(vacant) respectively indicate in step S1044 to " occupied " and The probability-distribution function of " vacant " can obtain the 4th evidence by above-mentioned third probability-distribution function, and γ is step S1044 The Dynamic gene of middle third probability-distribution function.

S1047, according to the first default basic probability assignment function to first evidence, second evidence, described Three evidences, the 4th evidence are calculated, to obtain the determination state outcome on the parking stall.

In a particular application, by above-mentioned first evidence, the second evidence, third evidence and the 4th evidence that are calculated, draw Enter in the first default basic probability assignment function, the compound prbability of mass function can be obtained, critical state will be driven into and switched to most Whole detection result, obtains the state outcome of the determination of current parking stall.Wherein, the first default basic probability assignment function (Basic Probability Assignment, abbreviation BPA) is one from 2^ΘIt is mapped to a real-valued function m of [0,1], is claimed For mass function, meet conditionMultiple evidence m₁, m₂... according to m_nComposition rule such as:

Wherein K is normalization factor, can be obtained by following formula

In one embodiment, the step S104, further includes:

If the state machine of S1048, more intermediate state, which judge that the parking stall is in, is driven out to critical state, institute is obtained The mean value for being driven out to the terrestrial magnetic disturbance signal amplitude on the parking stall under critical state is stated, and according to first probability-distribution function The mean value of the terrestrial magnetic disturbance signal amplitude for being driven out to the parking stall under critical state is calculated, to obtain the 5th card According to；

The terrestrial magnetic disturbance signal of the first parking stall adjacent with the parking stall under critical state is driven out to described in S1049, acquisition The mean value of amplitude, and according to second probability-distribution function to the terrestrial magnetic disturbance for being driven out to the parking stall under critical state The mean value of signal amplitude, the mean value of terrestrial magnetic disturbance signal amplitude of first parking stall adjacent with the parking stall are calculated, with Obtain the 6th evidence；

The terrestrial magnetic disturbance signal of the second parking stall adjacent with the parking stall under critical state is driven out to described in S10410, acquisition The mean value of amplitude, and according to second probability-distribution function to the terrestrial magnetic disturbance for being driven out to the parking stall under critical state The mean value of signal amplitude, the mean value of terrestrial magnetic disturbance signal amplitude of second parking stall adjacent with the parking stall are calculated, with Obtain the 7th evidence；

S10411, when being driven into according to preset matching degree calculation formula vehicle the parking stall terrestrial magnetic disturbance signal fluctuation The mean value of amplitude and the mean value of the terrestrial magnetic disturbance signal amplitude for being driven out to the parking stall under critical state calculated, obtain The matching degree driven into disturbing signal He be driven out to disturbing signal is taken, and the matching degree is counted according to the 4th probability-distribution function It calculates, to obtain the 8th evidence；

S10412, according to the described first default basic probability assignment function to the 5th evidence, the 6th evidence, institute State the 7th evidence, the 8th evidence is calculated, to obtain the determination state outcome on the parking stall.

In a particular application, the meter of step S1048, S1049 and S10410 in the deterministic process under critical state are driven out to Calculation process is consistent with the above-mentioned calculating process of step S1041, S1042 and S1043 driven under critical state in deterministic process.It needs It is noted that in step S1048, in above-mentioned first probability-distribution functionIt indicates in the node being driven out under critical state The mean value of terrestrial magnetic disturbance signal amplitude measured by B；In step S1049, in above-mentioned second probability-distribution functionIt indicates Measured by first parking stall (such as adjacent node A Fig. 5 shown on) adjacent with above-mentioned parking stall being driven out under critical state The mean value of terrestrial magnetic disturbance signal amplitude；In step S0410, in above-mentioned second probability-distribution functionIt indicates to face being driven out to Terrestrial magnetic disturbance measured by the second parking stall (such as the adjacent node C shown on Fig. 5) adjacent with above-mentioned parking stall under boundary's state The mean value of signal amplitude；Therefore, the step S1048, calculating of S1049 and S10410 and above-mentioned steps S1041, S1042 and S1043 Process is consistent, as a result not consistent.Also, it is that current parking stall is occupied based on the detection basis for being driven out to critical state, In " occupied " state, this vehicle in front is driven into information and has been recorded, and drives into disturbing signal caused by same vehicle and sails Disturbing signal has symmetry out, therefore will drive into disturbance and be driven out to disturbance matching degree as the judgement of parking stall state outcome card According to one of (i.e. the calculated result of S10411), the 4th probability-distribution function (mass function) it is as follows:

Wherein, m_dpt.4(occupied) and m_dpt.4(vacant) respectively indicate in step S1049 to " occupied " and The probability-distribution function of " vacant ",Indicate the terrestrial magnetic disturbance signal amplitude measured by the node B being driven out under critical state Mean value,It is the mean value of caused terrestrial magnetic disturbance signal fluctuation amplitude when vehicle drives into.By above-mentioned the 5th card being calculated According to, the 6th evidence, the 7th evidence and the 8th evidence be introduced into the first default basic probability assignment function, mass function can be obtained Compound prbability, critical state will be driven out to and switch to final detection result, determine that the determination state outcome of current parking stall is vehicle Position idle state or parking stall occupied state.Specifically, obtaining higher detection knot in the detection test that practical parking lot carries out Fruit, about 99%, it was demonstrated that the feasibility and accuracy of this method.

The involved parameter setting of experiment is as shown in Table 1 below:

Table 1: parameter setting

The present invention passes through experimental verification, disposes 10 probe nodes by two months follow-on tests and detects 1834 in total It is a to drive into or be driven out to, wherein occurring driving into critical state 13 times and 7 times are driven out to critical state, by based on D-S evidence theory Adjacent node cooperation judgement can correctly obtain final correct result, as shown in table 2 and table 3:

Drive into the conclusive judgement situation of critical state for table 2:13 times

It is driven out to the conclusive judgement situation of critical state for table 3:7 times

It cooperates judgement by the detection based on state machine with based on D-S evidence theory adjacent node, 3 mistakes finally occurred Sentence/fail to judge, wherein drive into and fail to judge for 1 time, drive into erroneous judgement for 1 time, is driven out to for 1 time and to fail to judge, driving into detection accuracy is about 99.8%, is driven out to inspection Surveying precision is about 99.9%.

The present embodiment passes through D-S evidence theory and is further judged the parking stall state for being currently at adjacency state, The determination state outcome that current parking stall can accurately be obtained avoids the vehicle bring shadow by adjacent lane or adjacent parking stall It rings, improves the accuracy for judging parking stall state.

It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit It is fixed.

Example IV

As shown in fig. 6, the present embodiment provides a kind of parking position detection devices 100, for executing in embodiment one Method and step.Parking position detection device 100 provided in this embodiment, comprising:

First obtains module 101, for obtaining Geomagnetic signal；

Second acquisition module 102 obtains the amplitude of the Geomagnetic signal for pre-processing to the Geomagnetic signal；

First judgment module 103 analyzes and determines the Geomagnetic signal for the state machine by more intermediate state, Determine the state on parking stall；Wherein, the state on the parking stall includes critical state and determining state；

Second judgment module 104, if the state machine for more intermediate state judges that the parking stall is in critical shape State, then the cooperation for carrying out adjacent node to the Geomagnetic signal based on D-S evidence theory judges, obtains the determination on the parking stall State outcome.

In one embodiment, described first module 101 is obtained, comprising:

First acquisition unit, for obtaining X, the Geomagnetic signal of tri- axis direction of Y, Z；Wherein, the X-direction includes and ground The vehicle heading in the parallel parking lot in face, the Y direction include the horizontal direction vertical with the X-axis, the Z axis packet Include the vertical direction perpendicular to ground.

In one embodiment, described device 100, further includes:

Third obtains module, if the state machine for more intermediate state judges that the parking stall to determine state, is obtained The determination state outcome on the parking stall for taking the state machine of more intermediate state to export.

Embodiment five

As shown in fig. 7, in the present embodiment, the first judgment module 103 in example IV further includes for executing implementation In example two method and step with flowering structure:

Initialization unit 1031 for initializing the state machine, and marks the parking after the completion of initialization Position is parking stall idle state.

Computing unit 1032, if calculating terrestrial magnetic disturbance signal for detecting that terrestrial magnetic disturbance occurs in the Geomagnetic signal Amplitude, and judge the amplitude and the default size relation for driving into threshold value of the terrestrial magnetic disturbance signal；

First judging unit 1033, if the amplitude for the terrestrial magnetic disturbance signal is less than described preset and drives into threshold value, Determine the parking stall for parking stall idle state；

In one embodiment, first judgment module 103, further includes:

Second judging unit 1034, if be in occupied state for the parking stall: if the terrestrial magnetic disturbance signal Amplitude is driven out to threshold value not less than default, then determines the parking stall for parking stall occupied state；

Embodiment six

As shown in figure 8, in the present embodiment, the second judgment module 104 in embodiment three further includes for executing implementation In example three method and step with flowering structure:

Second acquisition unit 1041 faces if the state machine for more intermediate state judges that the parking stall is in drive into Boundary's state then drives into the mean value of the terrestrial magnetic disturbance signal amplitude on the parking stall under critical state described in acquisition, and according to first Probability-distribution function calculates the mean value of the terrestrial magnetic disturbance signal amplitude for driving into parking stall under critical state, to obtain First evidence；

Third acquiring unit 1042 described drives into the first parking stall adjacent with the parking stall under critical state for obtaining Terrestrial magnetic disturbance signal amplitude mean value, and the parking stall under critical state is driven into described according to the second probability-distribution function The mean value of terrestrial magnetic disturbance signal amplitude, first parking stall adjacent with the parking stall terrestrial magnetic disturbance signal amplitude mean value into Row calculates, to obtain the second evidence；

4th acquiring unit 1043 described drives into the second parking stall adjacent with the parking stall under critical state for obtaining Terrestrial magnetic disturbance signal amplitude mean value, and described stop is driven under critical state to described according to second probability-distribution function The mean value of the terrestrial magnetic disturbance signal amplitude of parking stall, second parking stall adjacent with the parking stall terrestrial magnetic disturbance signal amplitude it is equal Value is calculated, to obtain third evidence；

5th acquiring unit 1044, for obtaining the terrestrial magnetic disturbance signal for driving into first parking stall under critical state The biggish parking stall of terrestrial magnetic disturbance signal amplitude parking stall as a comparison in the terrestrial magnetic disturbance signal amplitude of amplitude and second parking stall；

6th acquiring unit 1045, for the terrestrial magnetic disturbance signal width according to predetermined coefficient calculation formula to the parking stall Value and it is described comparison parking stall terrestrial magnetic disturbance signal amplitude calculated, obtain the parking stall and it is described comparison parking stall it is mutual Close property coefficient；

7th acquiring unit 1046, for being calculated according to third probability-distribution function the cross correlation coefficient, To obtain the 4th evidence；

8th acquiring unit 1047, for according to the first default basic probability assignment function to first evidence, described Second evidence, the third evidence, the 4th evidence are calculated, to obtain the determination state outcome on the parking stall.

In one embodiment, second judgment module 104, further includes:

9th acquiring unit, if the state machine for more intermediate state, which judges that the parking stall is in, is driven out to critical shape State is then driven out to the mean value of the terrestrial magnetic disturbance signal amplitude on the parking stall under critical state described in acquisition, and according to described first Probability-distribution function calculates the mean value of the terrestrial magnetic disturbance signal amplitude for being driven out to the parking stall under critical state, with Obtain the 5th evidence；

Tenth acquiring unit, for obtaining the ground for being driven out to the first parking stall adjacent with the parking stall under critical state The mean value of magnetic disturbance signal amplitude, and the parking stall under critical state is driven out to described according to second probability-distribution function The mean value of terrestrial magnetic disturbance signal amplitude, first parking stall adjacent with the parking stall terrestrial magnetic disturbance signal amplitude mean value into Row calculates, to obtain the 6th evidence；

11st acquiring unit described is driven out to the second parking stall adjacent with the parking stall under critical state for obtaining The mean value of terrestrial magnetic disturbance signal amplitude, and the parking under critical state is driven out to described according to second probability-distribution function Mean value, the mean value of the terrestrial magnetic disturbance signal amplitude of second parking stall adjacent with the parking stall of the terrestrial magnetic disturbance signal amplitude of position It is calculated, to obtain the 7th evidence；

12nd acquiring unit, the earth magnetism on parking stall when for being driven into according to preset matching degree calculation formula vehicle The mean value of the amplitude of disturbing signal fluctuation is equal with the terrestrial magnetic disturbance signal amplitude for being driven out to the parking stall under critical state Value is calculated, and disturbing signal and the matching degree for being driven out to disturbing signal are driven into acquisition, and according to the 4th probability-distribution function to institute It states matching degree to be calculated, to obtain the 8th evidence；

13rd acquiring unit is used for according to the described first default basic probability assignment function to the 5th evidence, institute It states the 6th evidence, the 7th evidence, the 8th evidence to be calculated, to obtain the determination state outcome on the parking stall.

Embodiment seven

Fig. 9 is the schematic diagram for the terminal device that one embodiment of the invention provides.As shown in figure 9, the terminal of the embodiment is set Standby 9 include: processor 90, memory 91 and are stored in the meter that can be run in the memory 91 and on the processor 90 Calculation machine program 92, such as parking position detect program.The processor 90 is realized above-mentioned when executing the computer program 92 Step in each parking position detection method embodiment, such as step S101 to S104 shown in FIG. 1.Alternatively, the place Reason device 90 realizes the function of each module/unit in above-mentioned each Installation practice, such as Fig. 6 institute when executing the computer program 92 Show the function of module 101 to 104.

Illustratively, the computer program 92 can be divided into one or more module/units, it is one or Multiple module/units are stored in the memory 91, and are executed by the processor 90, to complete the present invention.Described one A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for Implementation procedure of the computer program 92 in the terminal device 9 is described.For example, the computer program 92 can be divided It is as follows to be cut into the first acquisition module, the second acquisition module, first judgment module and the second judgment module, each module concrete function:

First obtains module, for obtaining Geomagnetic signal；

The terminal device 9 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set It is standby.The terminal device may include, but be not limited only to, processor 90, memory 91.It will be understood by those skilled in the art that Fig. 9 The only example of terminal device 9 does not constitute the restriction to terminal device 9, may include than illustrating more or fewer portions Part perhaps combines certain components or different components, such as the terminal device can also include input-output equipment, net Network access device, bus etc..

Alleged processor 90 can be central processing unit (Central Processing Unit, CPU), can also be Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field- Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic, Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor Deng.

The memory 91 can be the internal storage unit of the terminal device 9, such as the hard disk or interior of terminal device 9 It deposits.The memory 91 is also possible to the External memory equipment of the terminal device 9, such as be equipped on the terminal device 9 Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), safe digital card (Secure Digital, SD) dodge Deposit card (Flash Card) etc..Further, the memory 91 can also both include the storage inside list of the terminal device 9 Member also includes External memory equipment.The memory 91 is for storing needed for the computer program and the terminal device Other programs and data.The memory 91 can be also used for temporarily storing the data that has exported or will export.

It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment The part of load may refer to the associated description of other embodiments.

Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed The scope of the present invention.

In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.

If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions Believe signal.

Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all It is included within protection scope of the present invention.

Claims

1. a kind of parking position detection method characterized by comprising

Obtain Geomagnetic signal；

The Geomagnetic signal is analyzed and determined by the state machine of more intermediate state, determines the state on parking stall；Wherein, institute The state for stating parking stall includes critical state and determining state；

If the state machine of more intermediate state judges that the parking stall is in critical state, based on D-S evidence theory to institute The cooperation judgement that Geomagnetic signal carries out adjacent node is stated, the determination state outcome on the parking stall is obtained.

2. parking position detection method as described in claim 1, which is characterized in that the state by more intermediate state Machine analyzes and determines the Geomagnetic signal, determines the state on parking stall；Wherein, the state on the parking stall includes critical shape State and determining state, comprising:

If detecting, there is terrestrial magnetic disturbance in the Geomagnetic signal, calculates the amplitude of terrestrial magnetic disturbance signal, and judges the earth magnetism The amplitude of disturbing signal and the default size relation for driving into threshold value；

If the amplitude of the terrestrial magnetic disturbance signal, which is less than described preset, drives into threshold value, determine the parking stall for parking stall free time shape State；

If the amplitude of the terrestrial magnetic disturbance signal drives into threshold value not less than described preset, determine the parking stall into driving into Between state and record described in drive into intermediate state number and as first label number:

(1) if the first label number is less than in advance no more than the default amplitude for driving into frequency threshold value and the terrestrial magnetic disturbance signal If drive into threshold value, then marks the amplitude of the terrestrial magnetic disturbance signal to be less than described preset and drive into frequency threshold value and as the second mark Remember number, if the second label number drives into interference frequency threshold value not less than default, determines the parking stall for parking stall sky Not busy state；Otherwise, if the second label number, which is less than described preset, drives into interference frequency threshold value, determine that the parking stall is jumped Turn to drive into intermediate state and continues to record the number of first label；

(2) if the first label number is not less than default frequency threshold value and the amplitude of the terrestrial magnetic disturbance signal driven into Mean value is not less than default amplitude high threshold, then determines the parking stall for parking stall occupied state；

(3) if the first label number is not less than default frequency threshold value and the amplitude of the terrestrial magnetic disturbance signal driven into Mean value is less than the default amplitude high threshold, then determines that the parking stall is to drive into critical state.

3. parking position detection method as claimed in claim 2, which is characterized in that the state by more intermediate state Machine analyzes and determines the Geomagnetic signal, determines the state on parking stall；Wherein, the state on the parking stall includes critical shape State and determining state, further includes:

If the parking stall is in occupied state: if the amplitude of the terrestrial magnetic disturbance signal is driven out to threshold value not less than default, Determine the parking stall for parking stall occupied state；

If the amplitude of the terrestrial magnetic disturbance signal, which is less than described preset, is driven out to threshold value, determines that the parking stall enters and be driven out to centre It is driven out to intermediate state number described in state and record and marks number as third:

If (l) third label number is driven out to frequency threshold value and the amplitude of the terrestrial magnetic disturbance signal is not less than no more than default It is described default when being driven out to threshold value, then mark the amplitude of the terrestrial magnetic disturbance signal default to be driven out to frequency threshold value not less than described and make The parking stall is determined if the 4th label number is driven out to interference frequency threshold value not less than default for the 4th label number For parking stall occupied state；Otherwise, if the 4th label number, which is less than described preset, is driven out to interference frequency threshold value, described in judgement Parking stall, which jumps, to be driven out to intermediate state and continues to record the third label number；

If (m) third label number is not less than default frequency threshold value and the amplitude of the terrestrial magnetic disturbance signal of being driven out to Mean value is less than default amplitude Low threshold, then determines the parking stall for parking stall idle state；

If (n) third label number is not less than default frequency threshold value and the amplitude of the terrestrial magnetic disturbance signal of being driven out to Mean value is not less than the default amplitude Low threshold, then determines that the parking stall is to be driven out to critical state；

Wherein, the state on the parking stall includes the critical state and the determining state；The critical state includes being driven out to Critical state and drive into critical state；The determining state includes the parking stall idle state and the parking stall occupied state.

4. parking position detection method as described in claim 1, which is characterized in that if the state machine of more intermediate state Judge that the parking stall is in critical state, then carries out the cooperation of adjacent node to the Geomagnetic signal based on D-S evidence theory Judgement, obtains the determination state outcome on the parking stall, comprising:

If the state machine of more intermediate state, which judges that the parking stall is in, drives into critical state, driven into described in acquisition critical The mean value of the terrestrial magnetic disturbance signal amplitude on the parking stall under state, and according to the first probability-distribution function to it is described drive into it is critical The mean value of the terrestrial magnetic disturbance signal amplitude on parking stall is calculated under state, to obtain the first evidence；

The mean value of the terrestrial magnetic disturbance signal amplitude of the first parking stall adjacent with the parking stall under critical state is driven into described in acquisition, And according to the second probability-distribution function to the mean value of the terrestrial magnetic disturbance signal amplitude for driving into the parking stall under critical state, The mean value of the terrestrial magnetic disturbance signal amplitude of first parking stall adjacent with the parking stall is calculated, to obtain the second evidence；

The mean value of the terrestrial magnetic disturbance signal amplitude of the second parking stall adjacent with the parking stall under critical state is driven into described in acquisition, And according to second probability-distribution function to the terrestrial magnetic disturbance signal amplitude for driving into the parking stall under critical state Mean value, the mean value of terrestrial magnetic disturbance signal amplitude of second parking stall adjacent with the parking stall are calculated, to obtain third card According to；

The earth magnetism of the terrestrial magnetic disturbance signal amplitude of first parking stall and second parking stall under critical state is driven into described in acquisition The biggish parking stall of terrestrial magnetic disturbance signal amplitude parking stall as a comparison in disturbing signal amplitude；

According to predetermined coefficient calculation formula to the terrestrial magnetic disturbance signal amplitude on the parking stall and the ground magnetic perturbation of the comparison parking stall Dynamic signal amplitude is calculated, and the cross correlation coefficient on the parking stall and the comparison parking stall is obtained；

According to the first default basic probability assignment function to first evidence, second evidence, the third evidence, described 4th evidence is calculated, to obtain the determination state outcome on the parking stall.

5. parking position detection method as claimed in claim 4, which is characterized in that if the state machine of more intermediate state Judge that the parking stall is in critical state, then carries out the cooperation of adjacent node to the Geomagnetic signal based on D-S evidence theory Judgement, obtains the determination state outcome on the parking stall, further includes:

If the state machine of more intermediate state, which judges that the parking stall is in, is driven out to critical state, it is driven out to described in acquisition critical The mean value of the terrestrial magnetic disturbance signal amplitude on the parking stall under state, and be driven out to according to first probability-distribution function to described The mean value of the terrestrial magnetic disturbance signal amplitude on the parking stall is calculated under critical state, to obtain the 5th evidence；

The mean value of the terrestrial magnetic disturbance signal amplitude of the first parking stall adjacent with the parking stall under critical state is driven out to described in acquisition, And according to second probability-distribution function to the terrestrial magnetic disturbance signal amplitude for being driven out to the parking stall under critical state Mean value, the mean value of terrestrial magnetic disturbance signal amplitude of first parking stall adjacent with the parking stall are calculated, to obtain the 6th card According to；

The mean value of the terrestrial magnetic disturbance signal amplitude of the second parking stall adjacent with the parking stall under critical state is driven out to described in acquisition, And according to second probability-distribution function to the terrestrial magnetic disturbance signal amplitude for being driven out to the parking stall under critical state Mean value, the mean value of terrestrial magnetic disturbance signal amplitude of second parking stall adjacent with the parking stall are calculated, to obtain the 7th card According to；

The amplitude of the terrestrial magnetic disturbance signal fluctuation on the parking stall is equal when being driven into according to preset matching degree calculation formula vehicle Value and the mean value of the terrestrial magnetic disturbance signal amplitude for being driven out to the parking stall under critical state are calculated, and disturbance is driven into acquisition Signal and the matching degree for being driven out to disturbing signal, and the matching degree is calculated according to the 4th probability-distribution function, to obtain 8th evidence；

According to the described first default basic probability assignment function to the 5th evidence, the 6th evidence, the 7th evidence, 8th evidence is calculated, to obtain the determination state outcome on the parking stall.

6. parking position detection method as described in claim 1, which is characterized in that the acquisition Geomagnetic signal, comprising:

Obtain X, the Geomagnetic signal of tri- axis direction of Y, Z；Wherein, the X-direction includes the vehicle in parking lot parallel to the ground Driving direction, the Y direction include the horizontal direction vertical with the X-axis, and the Z axis includes the vertical side perpendicular to ground To.

7. parking position detection method as described in claim 1, which is characterized in that the state by more intermediate state Machine analyzes and determines the Geomagnetic signal, determines the state on parking stall；Wherein, the state on the parking stall includes critical shape After state and determining state, comprising:

If the state machine of more intermediate state judges the parking stall to determine state, the state of more intermediate state is obtained The determination state outcome on the parking stall of machine output.

8. a kind of parking position detection device characterized by comprising

First obtains module, for obtaining Geomagnetic signal；

First judgment module analyzes and determines the Geomagnetic signal for the state machine by more intermediate state, determines to stop The state of parking stall；Wherein, the state on the parking stall includes critical state and determining state；

Second judgment module, if the state machine for more intermediate state judges that the parking stall is in critical state, base Judge in the cooperation that D-S evidence theory carries out adjacent node to the Geomagnetic signal, obtains the determination state knot on the parking stall Fruit.

9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 7 when executing the computer program The step of any one the method.

10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists In when the computer program is executed by processor the step of any one of such as claim 1 to 7 of realization the method.