CN109615917A - A kind of parking stall bootstrap technique and system - Google Patents
A kind of parking stall bootstrap technique and system Download PDFInfo
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- CN109615917A CN109615917A CN201811623497.7A CN201811623497A CN109615917A CN 109615917 A CN109615917 A CN 109615917A CN 201811623497 A CN201811623497 A CN 201811623497A CN 109615917 A CN109615917 A CN 109615917A
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- node
- parking stall
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- parking
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Classifications
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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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
Abstract
The present invention relates to automatic stopping administrative skill fields, specifically disclose a kind of parking stall bootstrap technique, wherein the parking stall bootstrap technique comprises determining that can pass node；According to it is described can pass node calculate parking stall effective nearest path node；According to effectively path node calculating recently and the Entrance apart from shortest path node；Target endpoint is determined apart from shortest path node according to Entrance.The invention also discloses a kind of truck space guiding systems.Number of nodes greatly reduces parking stall bootstrap technique provided by the invention compared with prior art, therefore calculation amount and calculating time are also greatly lowered, to improve parking stall boot efficiency.
Description
Technical field
The present invention relates to automatic stopping administrative skill field more particularly to a kind of parking stall bootstrap technique and parking stall guidance systems
System.
Background technique
Currently, for parking lot automated management system parking stall bootstrap algorithm research and development method mainly have ant group algorithm and
Dijkstra's algorithm.
Ant group algorithm is that simulation ant discharges specific information element in search of food on path, and pheromones itself are ants
Between communication exchanges medium.The length of concentration and path based on this pheromones, ant algorithm simulation construct corresponding side
Method, to obtain the shortest path between node and node.Although ant algorithm has stronger robustness, but have to parameter very strong
Dependence, and cannot be guaranteed accurately converge to globally optimal solution.
Dijkstra's algorithm is the shortest path first between typical node and node.Be mainly characterized by be with starting point
Center extends to the outside, until extension point is until terminal.Dijkstra's algorithm can accurately calculate the optimal solution of shortest path, but
Since it is traversed, there are many node calculated, are to carry out shortest path for all empty parking spaces as the node in dijkstra's algorithm
It calculates, find out entrance to the shortest path of parking stall and then is compared.It such as applies and stops empty wagons bit comparison more (node is more)
Parking lot, calculation amount is very big, so efficiency is relatively low.
Therefore, how to provide a kind of few and high-efficient parking stall bootstrap technique of calculation amount becomes those skilled in the art urgently
The technical issues of solution.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art, provide a kind of parking stall bootstrap technique and
Truck space guiding system, to solve the problems of the prior art.
As the first aspect of the invention, a kind of parking stall bootstrap technique is provided, wherein the parking stall bootstrap technique packet
It includes:
Determination can pass node；
According to it is described can pass node calculate parking stall effective nearest path node；
According to effectively path node calculating recently and the Entrance apart from shortest path node；
Target endpoint is determined apart from shortest path node according to Entrance.
Preferably, the determination can pass node include:
Select the traffic lane intersection neighbouring with empty parking space in parking lot node as a purpose；
Judge the destination node whether and meanwhile to meet the destination node be that traffic lane intersection, the destination node meet vehicle
Space needed for there is parking at current condition and the destination node；
If it is that traffic lane intersection, the destination node meet vehicle pass-through that the destination node meets the destination node simultaneously
Condition and the destination node at have parking needed for space, then being determined as the destination node can pass section
Point.
Preferably, it is described according to can pass node calculate parking stall effective nearest path node include:
Determine the parking stall edge of each parking stall in parking lot headstock position or tailstock position nearest apart from Entrance
Midpoint；
By it is adjacent with the midpoint at parking stall edge of each parking stall and be located along the same line it is multiple can pass node connection
As a paths node straight line；
Make vertical line from the midpoint at the parking stall edge of each parking stall to the path node straight line neighbouring with the parking stall, obtains and the parking stall
Corresponding intersection point；
Calculate on the intersection point and path node straight line corresponding with the parking stall of each parking stall it is all can be between pass node
First path length；
Compare the size of the corresponding multiple first path length in each parking stall；
Using corresponding to the smallest first path length can pass node as effective nearest path node of the parking stall.
Preferably, it is described according to it is described effectively recently path node calculate and Entrance apart from shortest path node packet
It includes:
Obtain all empty parking spaces in parking lot；
The corresponding nearest path node set of the empty parking space is obtained according to the effectively nearest path node；
Each of calculate in nearest path node set the second path length between nearest path node and Entrance；
Compare the size of corresponding second path length of each nearest path node；
Nearest path node corresponding to the smallest second path length is determined as with Entrance apart from shortest path diametral pitch
Point.
Preferably, the path node set includes multiple nearest path nodes, and each nearest path node is
One in multiple effectively nearest path nodes.
Preferably, the quantity of the nearest path node in the nearest path node set is less than or equal to described effective
The quantity of nearest path node.
Preferably, the basis determines that target endpoint includes: apart from shortest path node with Entrance
Nearest path node corresponding to the smallest second path length is determined as target endpoint.
Preferably, each of in the nearest path node set of calculating between nearest path node and Entrance
Second path length includes: each of to calculate in nearest path node set nearest path node according to dijkstra's algorithm and stop
The second path length between the entrance of parking lot.
Preferably, all empty parking spaces obtained in parking lot include:
Pass through all parking stalls in video acquisition parking lot；
All empty parking spaces in all parking stalls are obtained according to image procossing.
As the second aspect of the invention, a kind of truck space guiding system is provided, wherein the truck space guiding system packet
It includes:
Can pass node determining module, it is described can pass node determining module for determination can pass node；
First computing module, first computing module for according to can pass node calculate the effective nearest of parking stall
Path node；
Second computing module, second computing module are used for according to effectively path node calculating recently and the Entrance
Apart from shortest path node；
Target endpoint determining module, the target endpoint determining module are used for basis with Entrance apart from shortest path node
Determine target endpoint.
Parking stall bootstrap technique provided by the invention, by the way that empty parking space adjacent in parking lot is considered as one group, and in the group
Then a neighbouring nearest active path node determines according to actual conditions is calculating all effective roads recently in parking lot
At a distance from Entrance, the nearest point of selected distance draws diameter node as target endpoint, this parking stall provided by the invention
Guiding method, number of nodes greatly reduces compared with prior art, therefore calculation amount and calculating time are also greatly lowered, to mention
High parking stall boot efficiency.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the flow chart of parking stall bootstrap technique provided by the invention.
Fig. 2 is parking lot schematic diagram provided by the invention.
Fig. 3 is that active path node provided by the invention determines schematic diagram.
Fig. 4 is edge mid-points schematic diagram in parking stall provided by the invention.
Fig. 5 is node schematic diagram provided by the invention.
Fig. 6 is the undirected schematic diagram of Dijkstra provided by the invention.
Fig. 7 is the structural block diagram of truck space guiding system provided by the invention.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As the first aspect of the invention, a kind of parking stall bootstrap technique is provided, wherein as shown in Figure 1, the parking stall is drawn
Guiding method includes:
S110, determination can pass nodes；
S120, according to can pass node calculate parking stall effective nearest path node；
S130, according to it is described effectively recently path node calculate and Entrance apart from shortest path node；
S140, target endpoint is determined apart from shortest path node according to Entrance.
Parking stall bootstrap technique provided by the invention, by the way that empty parking space adjacent in parking lot is considered as one group, and in the group
Then a neighbouring nearest active path node determines according to actual conditions is calculating all effective roads recently in parking lot
At a distance from Entrance, the nearest point of selected distance draws diameter node as target endpoint, this parking stall provided by the invention
Guiding method, number of nodes greatly reduces compared with prior art, therefore calculation amount and calculating time are also greatly lowered, to mention
High parking stall boot efficiency.
Specifically, the determination can pass node include:
Select the traffic lane intersection neighbouring with empty parking space in parking lot node as a purpose；
Judge the destination node whether and meanwhile to meet the destination node be that traffic lane intersection, the destination node meet vehicle
Space needed for there is parking at current condition and the destination node；
If it is that traffic lane intersection, the destination node meet vehicle pass-through that the destination node meets the destination node simultaneously
Condition and the destination node at have parking needed for space, then being determined as the destination node can pass section
Point.
It should be understood that as shown in Fig. 2, P in parking lot1,P2,P3….P12May be defined as can pass section
Point, Entrance indicate that E at Entrance, Exit indicate parking exit.
Specifically, it is described according to can pass node calculate parking stall effective nearest path node include:
Determine the parking stall edge of each parking stall in parking lot headstock position or tailstock position nearest apart from Entrance
Midpoint；
By it is adjacent with the midpoint at parking stall edge of each parking stall and be located along the same line it is multiple can pass node connection
As a paths node straight line；
Make vertical line from the midpoint at the parking stall edge of each parking stall to the path node straight line neighbouring with the parking stall, obtains and the parking stall
Corresponding intersection point；
Calculate on the intersection point and path node straight line corresponding with the parking stall of each parking stall it is all can be between pass node
First path length；
Compare the size of the corresponding multiple first path length in each parking stall；
Using corresponding to the smallest first path length can pass node as effective nearest path node of the parking stall.
It should be noted that each parking stall majority in parking lot be it is rectangular, by taking rectangle parking stall as an example, rectangle
Two short sides of parking stall are usually headstock or tailstock position, and it is apart from Entrance nearest to choose the parking stall for any parking stall
One short side calculates the midpoint of the short side.
Below with reference to shown in Fig. 3 provided by the invention according to can pass node calculate parking stall it is effective recently
Path node.
With parking stall L shown in Fig. 31For:
(1) parking stall L is determined1Headstock position (short side where the headstock of the parking stall shown in Fig. 3 is nearest apart from Entrance) vehicle
Position edge mid-points M1, as shown in Figure 4；
(2) parking stall L1Have can pass node P on right side1,P5,P9, by P1,P5,P9It is connected to become straight line LINE1；
(3) by midpoint M1To straight line LINE1Make vertical line, obtains intersection point N1；
(4) P is calculated separately1 N1、P5 N1And P9 N1Length obtains P1 N1For nearest path node, therefore by parking stall L1Have
It imitates nearest path node and is determined as P1。
Using the above method, parking stall L2Effective nearest node be determined as P1, parking stall L3Effective nearest node be determined as
P5... ..., successively determine effective nearest node of each parking stall.
Specifically, it is described according to it is described effectively recently path node calculate and Entrance apart from shortest path node packet
It includes:
Obtain all empty parking spaces in parking lot；
The corresponding nearest path node set of the empty parking space is obtained according to the effectively nearest path node；
Each of calculate in nearest path node set the second path length between nearest path node and Entrance；
Compare the size of corresponding second path length of each nearest path node；
Nearest path node corresponding to the smallest second path length is determined as with Entrance apart from shortest path diametral pitch
Point.
Calculating provided by the invention and Entrance are carried out specifically apart from shortest path node below with reference to Fig. 5
It is bright.
(1) all empty parking spaces in parking lot are obtained；
(2) the corresponding nearest path node set Q of empty parking space is obtained, for shown in Fig. 5, set Q is indicated: Q={ Q7, Q8,
Q11, Q12};
It is understood that including Q in set Q7, Q8, Q11, Q12Four nearest path nodes.It should be understood that adjacent
Empty parking space may correspond to the same node, therefore, at most there was only 12 in set Q, each path node recently is Qi(i
∈ [1, n], n are empty parking space corresponding node number)；
(3) according to dijkstra's algorithm each of calculate in nearest path node set nearest path node and Entrance it
Between the second path length.
It should be noted that Entrance E nodes of locations can be defined as P0。
Specifically, the path node set includes multiple nearest path nodes, and each nearest path node is
One in multiple effectively nearest path nodes.
It should be understood that the quantity of the nearest path node in the nearest path node set is less than or equal to institute
State the quantity of effectively nearest path node.
Specifically, the basis determines that target endpoint includes: apart from shortest path node with Entrance
Nearest path node corresponding to the smallest second path length is determined as target endpoint.
Specifically, each of in the nearest path node set of calculating between nearest path node and Entrance
Second path length includes: each of to calculate in nearest path node set nearest path node according to dijkstra's algorithm and stop
The second path length between the entrance of parking lot.
Below with reference to Fig. 6 to each of calculating in nearest path node set nearest path node according to dijkstra's algorithm
The second path length between Entrance is described in detail.
S is to be denoted as P with entrance E(0) be source node set of minimal paths；Two-dimensional matrix Len [m] [n] indicates certain two
Node PmAnd PnBetween directapath length, if directapath be not present if be ∞.The expression of directapath length such as Fig. 6 institute
Show.
In Fig. 6, by taking A point as an example, the directapath length that the directapath length of A and B are 6, A and C is 3, A and remaining
Each point all cannot be reached directly, and directapath is not present, and directapath length is ∞.
1) initialization set of minimal paths S is P0, i.e. S={ P0 }；
Each node PiTo P0Directapath length Len [0] [i], i ∈ [1, n]；
Current path total length Path [i]=0；
(by taking Fig. 5 as an example, only node P1The value of corresponding Len [0] [1] is minimum, and remaining node all can not be reached directly,
Len [0] [i] (i ≠ 1) is ∞).
2) node being newly joined in set S is denoted as Pa, select distance PaThe shortest node P of directapathb, i.e. Path [b]
=Path [a]+Min Len [a] [i] | and Pi ∈ P-V }, by node PbSet S is added, modifies S=S ∪ Pb。
3) due to node PbMay there are directapaths with multiple nodes, in PaPerhaps there is node P beforef, it has been computed
Cross node PfTo node PbPath total length Path [fb].Therefore need to compare Path [fb] with the value of Path [b], and take it
Smaller value is assigned to Path [b] as weight again.That is Path [b]=Min { Path [b], Path [fb]。
4) repeat it is above 2) and 3) the step of, until reaching node Qi(terminal), then path corresponding to Path [b] be into
Mouth E is starting point, QiFor the shortest path of terminal.
The shortest path of more each empty parking space corresponding node, select node corresponding to the smallest path length value as
Target endpoint.
It should be noted that all empty parking spaces obtained in parking lot include:
Pass through all parking stalls in video acquisition parking lot；
All empty parking spaces in all parking stalls are obtained according to image procossing.
Specifically, empty parking space can also be obtained by way of incuding empty parking space detectors such as earth magnetism.
Therefore, parking stall bootstrap technique provided by the invention, in practical truck space guiding system, it is contemplated which node is
There to be vehicle driving (estimating according to average overall travel speed in path length and Parking Area)；Or it can be regarded according to camera
Frequency detection real-time detection node is not suitable for traveling with the presence of barrier.These nodes are rejected in set P, not as effectively may be used
Current node, system dynamic carries out the calculating of the above method to node path, and forms route guidance figure.Since empty parking space is converted
At effective recently after path node, calculation amount is greatly reduced, and improves operation efficiency, so that become can for the guidance of dynamic generation parking stall
Energy.
As the second aspect of the invention, a kind of truck space guiding system is provided, wherein as shown in fig. 7, the parking stall is drawn
Guiding systems 100 include:
Can pass node determining module 110, it is described can pass node determining module 110 for determination can pass
Node；
First computing module 120, first computing module 120 for according to can pass node calculating parking stall have
Imitate nearest path node；
Second computing module 130, second computing module 130 are used for according to effectively path node calculating recently and the parking
Field entrance is apart from shortest path node；
Target endpoint determining module 140, the target endpoint determining module 140 are used for basis with Entrance apart from shortest path
Diameter node determines target endpoint.
Truck space guiding system provided by the invention, by the way that empty parking space adjacent in parking lot is considered as one group, and in the group
Then a neighbouring nearest active path node determines according to actual conditions is calculating all effective roads recently in parking lot
At a distance from Entrance, the nearest point of selected distance draws diameter node as target endpoint, this parking stall provided by the invention
Guiding systems, number of nodes greatly reduces compared with prior art, therefore calculation amount and calculating time are also greatly lowered, to mention
High parking stall boot efficiency.
Working principle about truck space guiding system provided by the invention is referred to retouching for parking stall bootstrap technique above
It states, details are not described herein again.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of parking stall bootstrap technique, which is characterized in that the parking stall bootstrap technique includes:
Determination can pass node；
According to it is described can pass node calculate parking stall effective nearest path node；
According to effectively path node calculating recently and the Entrance apart from shortest path node；
Target endpoint is determined apart from shortest path node according to Entrance.
2. parking stall bootstrap technique according to claim 1, which is characterized in that the determination can pass node include:
Select the traffic lane intersection neighbouring with empty parking space in parking lot node as a purpose；
Judge the destination node whether and meanwhile to meet the destination node be that traffic lane intersection, the destination node meet vehicle
Space needed for there is parking at current condition and the destination node；
If it is that traffic lane intersection, the destination node meet vehicle pass-through that the destination node meets the destination node simultaneously
Condition and the destination node at have parking needed for space, then being determined as the destination node can pass section
Point.
3. parking stall bootstrap technique according to claim 1, which is characterized in that it is described can pass node meter according to
Calculate parking stall effective nearest path node include:
Determine the parking stall edge of each parking stall in parking lot headstock position or tailstock position nearest apart from Entrance
Midpoint；
By it is adjacent with the midpoint at parking stall edge of each parking stall and be located along the same line it is multiple can pass node connection
As a paths node straight line；
Make vertical line from the midpoint at the parking stall edge of each parking stall to the path node straight line neighbouring with the parking stall, obtains and the parking stall
Corresponding intersection point；
Calculate on the intersection point and path node straight line corresponding with the parking stall of each parking stall it is all can be between pass node
First path length；
Compare the size of the corresponding multiple first path length in each parking stall；
Using corresponding to the smallest first path length can pass node as effective nearest path node of the parking stall.
4. parking stall bootstrap technique according to claim 3, which is characterized in that described according to the effectively nearest path node
It calculates and Entrance apart from shortest path node includes:
Obtain all empty parking spaces in parking lot；
The corresponding nearest path node set of the empty parking space is obtained according to the effectively nearest path node；
Each of calculate in nearest path node set the second path length between nearest path node and Entrance；
Compare the size of corresponding second path length of each nearest path node；
Nearest path node corresponding to the smallest second path length is determined as with Entrance apart from shortest path diametral pitch
Point.
5. parking stall bootstrap technique according to claim 4, which is characterized in that the path node set includes multiple nearest
Path node, each nearest path node are one in multiple effectively nearest path nodes.
6. parking stall bootstrap technique according to claim 4, which is characterized in that nearest in the nearest path node set
The quantity of path node is less than or equal to the quantity of the effectively nearest path node.
7. parking stall bootstrap technique according to claim 4, which is characterized in that the basis and Entrance distance are most short
Path node determines that target endpoint includes:
Nearest path node corresponding to the smallest second path length is determined as target endpoint.
8. parking stall bootstrap technique according to claim 4, which is characterized in that described to calculate in nearest path node set
Each the second path length recently between path node and Entrance includes: to calculate most shortcut according to dijkstra's algorithm
The second path length each of in diameter node set between nearest path node and Entrance.
9. parking stall bootstrap technique according to claim 4, which is characterized in that all empty parking spaces obtained in parking lot
Include:
Pass through all parking stalls in video acquisition parking lot；
All empty parking spaces in all parking stalls are obtained according to image procossing.
10. a kind of truck space guiding system, which is characterized in that the truck space guiding system includes:
Can pass node determining module, it is described can pass node determining module for determination can pass node；
First computing module, first computing module for according to can pass node calculate the effective nearest of parking stall
Path node；
Second computing module, second computing module are used for according to effectively path node calculating recently and the Entrance
Apart from shortest path node；
Target endpoint determining module, the target endpoint determining module are used for basis with Entrance apart from shortest path node
Determine target endpoint.
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| CN111391824A (en) * | 2020-03-27 | 2020-07-10 | 北京百度网讯科技有限公司 | Control method and device for automatic passenger-replacing parking, electronic equipment and storage medium |
| CN112820141A (en) * | 2021-01-14 | 2021-05-18 | 浙江吉利控股集团有限公司 | Parking space detection method and system |
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Application publication date: 20190412 |