CN109671293A - A kind of Collaborative environment perception dead ship condition monitoring method based on distance vector weighting - Google Patents
A kind of Collaborative environment perception dead ship condition monitoring method based on distance vector weighting Download PDFInfo
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- CN109671293A CN109671293A CN201811618797.6A CN201811618797A CN109671293A CN 109671293 A CN109671293 A CN 109671293A CN 201811618797 A CN201811618797 A CN 201811618797A CN 109671293 A CN109671293 A CN 109671293A
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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Abstract
The invention discloses a kind of Collaborative environments based on distance vector weighting to perceive dead ship condition monitoring method.This method constitutes dynamic cooperative environment sensing cluster based on multiple sensors to construct the distance between multiple sensors vector, filtering is weighted by geomagnetic parameter measured value of the distance vector to environment to be measured, and collect the measurement data of each sensor in Collaborative environment perception cluster by Geomagnetic signal aggregation node and carry out being weighted filtering based on the perception cluster distance vector of aggregation node, the influence due to environmental disturbances to parking space state testing result is reduced with this.The relationship that the present invention passes through setting sensor node and perception cluster, and consider the distance between sensor and central node vector, it is weighted filtering, eliminate the vehicle interference between adjacent sensors node, to accurately obtain the vehicle-state of each sensor node, it is finally reached the state whether detection parking stall has vehicle.
Description
Technical field
The invention belongs to the technical field of information processing of sensor in terms of intelligent transportation.In particular to a kind of to be sweared based on distance
The Collaborative environment of amount weighting perceives dead ship condition monitoring method.
Background technique
With the rapid growth of China's economy, the ownership of automobile also increases sharply, the automobile quantity especially in city
The problem of surge causes parking stall quantity nervous, parking difficulty becomes increasingly conspicuous.Vehicle parking problem has become influence urban transportation
An important factor for, main problem is as follows: nowhere stopping, break rules and regulations road occupying, unattended, security administration etc..And these problems are often
It can ignored, the situation unbearably so that city falls into chaos.
Many parking lots or parking stall also rest on the labor management stage at present, completely by manually checking parking stall, artificial
Record access time, manual toll collection, and in large-scale parking lot or meet peak period, manual type management often power not from
The heart.Manual toll collection is short of management supervision again, it is easy to which there is a situation where claim for charge at random.Therefore parking resource is excavated, establishes and is based on city
The intelligent parking supervisory systems that city manages big data platform is extremely urgent, has in smart city construction from now on wide
Wealthy prospect.
Main dead ship condition detection scheme has currently on the market: ground induction coil, ultrasonic wave, infrared induction and video detection
Deng.Ground induction coil can not be applied to parking lot due to the disadvantages of construction is not easy, road pavement destruction is big, difficult in maintenance.Ultrasonic wave compared with
Easily affected by environment, stability is insufficient, often causes detection accuracy to reduce because of the sensitivity decrease of probe.Infrared induction equally by
Environment influences, and the especially light and shade in the headlight of automobile and parking lot variation often will cause erroneous detection.It ultrasonic wave and infrared can not answer
For open parking ground.The detection accuracy of video detection is not current still high, and higher cost.
For the dead ship condition monitoring method of geomagnetic sensor mode, because its physical characteristic is highly susceptible to adjacent vehicle
The interference of position vehicle, the data of detection are the magnetic field strength after all vehicle joint effects in periphery in fact, and such magnetic field is strong
Magnetic field strength that spending influences with single parking stall vehicle be obviously it is distinguishing, do vehicle detection with such data, acquisition
As a result and inaccuracy.
The prior art attempts to solve the above problems by introducing other vehicle interference value, but is still based on unit/terminal perception
Signal is handled and is adjudicated.It by single-sensor geomagnetic data changes thresholding to judge to have vehicle/dry without vehicle and other vehicle
It disturbs.It finds after tested, surrounding environment change is easy to interfere with the numerical value of geomagnetic sensor to cause judgement to malfunction.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, proposing a kind of cooperation ring based on distance vector weighting
Border perceives dead ship condition monitoring method.This method constitutes dynamic cooperative environment sensing cluster based on multiple sensors to construct multiple biographies
The distance between sensor vector is weighted filtering by geomagnetic parameter measured value of the distance vector to environment to be measured, and passes through
Geomagnetic signal aggregation node is collected the measurement data of each sensor in Collaborative environment perception cluster and is carried out based on aggregation node
Perception cluster distance vector be weighted filtering, the shadow due to environmental disturbances to parking space state testing result reduced with this
It rings.
In order to achieve the above object, the Collaborative environment based on distance vector weighting designed by the present invention perceives dead ship condition
Monitoring method, comprising the following steps:
System is initialized first, and node is divided into different environment sensing clusters, individual node according to geographical location principle
It may belong to different environment sensing clusters according to geographical location, i.e., a Collaborative environment perception cluster may include multiple geographic distances
Similar sensor, the same sensor may belong to different Collaborative environment perception clusters.Each environment sensing cluster has in one
Heart node, as so-called node to be measured, the determination method of environment sensing cluster are used using central node as the center of circle, and radius is the circle of r
Interior included all nodes constitute an environment sensing cluster, i.e.,
WhereinThe set of the label of the node of cluster is perceived for Collaborative environment corresponding with center node c to be measured,WithThree coordinate value of geographical location of respectively i-th of node and center node to be measured；
Based on setConstruct distance vector
Wherein
Then the geomagnetic data of current geomagnetic sensor installation site point is measured under ideal car-free status, i.e. measurement is current
It geomagnetic data value and is averaged under environment, to obtain background magnetic field value (x0 y0 z0), it indicates are as follows:
Wherein (x, y, z) is the geomagnetic data that measurement obtains, N1It, will to take 10~100 for average number of sampling points
Geomagnetic data of this data as ideal background environment, ideal car-free status refers on position to be detected and surrounding is at nothing
Car state；
After completing background earth magnetism environment learning, system enters dead ship condition monitoring pattern, due to the ground of parking stall to be detected
Magnetic strength primary data will receive the influence of adjacent parking stall vehicle parks state；The present invention perceives cluster by Collaborative environment to carry out accordingly
The detection of parking stall parked state；
The same Collaborative environment perception cluster is defined first shares M sensor node, the initial background magnetic of each node
Value is respectively1≤i≤M, it is assumed that corresponding m-th of the node in parking stall to be detected perceives cluster in Collaborative environment
In, sharing K node state under current state other than node to be measured is to have vehicle, and label set is denoted asG node shape
State is no vehicle, and label set is denoted asObviously there is K+G=M-1.DefinitionFor m-th of n-th moment of node
Obtained magnetic field value is measured, and
Each node in Collaborative environment perception cluster periodically measures the magnetic field value on current measurement position, and the period sets
It is set to 30 seconds~5 minutes.When current measurement value reports the absolute value of value to be greater than thresholding T with the last timehWhen, by current measurement
Report wisdom parking management server；Work as:When, i-th of node reporting measurement value.Threshold ThAccording to reality
Measured data is set as 5~20；
Wisdom parking management server carries out corresponding parking space state detection judgement according to the measured magnetic field that each node reports；
Parking space state detection judgement foundation are as follows:
When
When establishment, it is judged to have vehicle resident on the corresponding parking stall of m-th of sensor, it is resident that no person is judged to no vehicle；
Wherein α is the proportionality coefficient set according to test data, is set as 0.7~0.9.
Compared with prior art, the present invention is by being arranged sensor node and perceiving the relationship of cluster, and considers sensor
The distance between central node vector, is weighted filtering, eliminates the vehicle interference between adjacent sensors node, thus
The vehicle-state for accurately obtaining each sensor node has been finally reached the state whether detection parking stall has vehicle.
Specific embodiment
The technical solution in the embodiment of the present invention is clearly and completely described below.
Embodiment 1.
The dead ship condition monitoring method based on Collaborative environment perception of the present embodiment description, this method are based on Collaborative environment sense
Know that cluster detects corresponding parking stall state, for improving the correct probability that dead ship condition detects under complex environment, this method
Specifically comprise the following steps:
Node is divided into different environment sensing clusters according to geographical location principle by step (1) system initialization；Each
Environment sensing cluster has a central node, as so-called node to be measured, and the determination method of environment sensing cluster is used with central node
For the center of circle, radius constitutes an environment sensing cluster by all nodes for including in the circle of r, i.e.,
WhereinThe set of the label of the node of cluster is perceived for Collaborative environment corresponding with center node c to be measured,WithThree coordinate value of geographical location of respectively i-th of node and center node to be measured；
Distance vector of step (2) the building for weighting；
Wherein
Step (3) carries out self study to background magnetic field under car-free status.With measuring under current environment m-th node
Magnetic data value is simultaneously averaged, to obtain background magnetic field valueIt can be indicated are as follows:
Wherein (xm,ym,zm) it is the geomagnetic data that m-th of node measurement obtains, N1For for average number of sampling points,
10~100 can be taken；
The current position magnetic field induction value of step (3) each node periodic measurement present position；
It defines the same Collaborative environment perception cluster and shares M sensor node, the initial background magnetic field value of each node
Respectively1≤i≤M, it is assumed that corresponding m-th of the node in parking stall to be detected, in Collaborative environment perception cluster, when
Sharing K node state under preceding state other than node to be measured is to have vehicle, and label set is denoted asG node state
For no vehicle, label set is denoted asObviously there is K+G=M-1.DefinitionIt is surveyed for m-th of n-th moment of node
The magnetic field value measured, and
Each node in Collaborative environment perception cluster periodically measures the magnetic field value on current measurement position, and the period sets
It is set to 30 seconds~5 minutes；
Step (4) judges whether the difference between the geomagnetic field measuring value that current magnetic field measured value is reported with the last time is big
In threshold Th.Such as larger than current measurement value is then reported wisdom parking management server by threshold value；
Work as:When, i-th of node reporting measurement value.
Threshold Th5~20 are set as according to measured data；
Step (5) wisdom parking management server calculates m-th of corresponding distance vector of central node to be measured and weights environment
Interference valueWhereinPerceiving in group for the corresponding Collaborative environment of m-th of central node to be measured does not have vehicle resident
Nodal scheme set；
Step (6) wisdom parking management server calculates the corresponding decision threshold value of m-th of central node to be measured
WhereinThe set for having the resident nodal scheme of vehicle in group is perceived for the corresponding Collaborative environment of m-th of central node to be measured；
Step (7) wisdom parking management server is to the parked state on m-th of central node to be measured according to following formula
It makes decisions:When the condition is set up, it is judged to the central node sensor
There is vehicle resident on corresponding parking stall, it is resident that no person is judged to no vehicle.Wherein α is the ratio system set according to test data
Number, generally may be configured as 0.7~0.9.
Claims (1)
1. a kind of Collaborative environment based on distance vector weighting perceives dead ship condition monitoring method, it is characterized in that including following step
It is rapid:
Initialize system first, node be divided into different environment sensing clusters according to geographical location principle, individual node according to
Geographical location may belong to different environment sensing clusters, and each environment sensing cluster has a central node, as so-called section to be measured
Point, the determination method of environment sensing cluster are used using central node as the center of circle, and radius is made of all nodes for including in the circle of r
One environment sensing cluster, i.e.,
WhereinThe set of the label of the node of cluster is perceived for Collaborative environment corresponding with center node c to be measured,
WithThree coordinate value of geographical location of respectively i-th of node and center node to be measured；
Based on setConstruct distance vector
Wherein
Then the geomagnetic data of current geomagnetic sensor installation site point is measured under ideal car-free status, i.e. measurement current environment
Lower geomagnetic data value is simultaneously averaged, to obtain background magnetic field value (x0 y0 z0), it indicates are as follows:
Wherein (x, y, z) is the geomagnetic data that measurement obtains, N1To take 10~100 for average number of sampling points, this is counted
According to the geomagnetic data as ideal background environment, ideal car-free status refers on position to be detected and surrounding is at no vehicle shape
State；
After completing background earth magnetism environment learning, system enters dead ship condition monitoring pattern,
The same Collaborative environment perception cluster is defined first shares M sensor node, the initial background magnetic field value of each node
RespectivelyAssuming that corresponding m-th of the node in parking stall to be detected, in Collaborative environment perception cluster,
Sharing K node state under current state other than node to be measured is to have vehicle, and label set is denoted asG node state
For no vehicle, label set is denoted asObviously there is K+G=M-1, defineIt is surveyed for m-th of n-th moment of node
The magnetic field value measured, and
Each node in Collaborative environment perception cluster periodically measures the magnetic field value on current measurement position, and the period is set as
30 seconds~5 minutes, when current measurement value reports the absolute value of value to be greater than thresholding Th with the last time, current measurement is reported
Wisdom parking management server；Work as:When, i-th of node reporting measurement value, threshold ThAccording to actual measurement number
According to being set as 5~20；
Wisdom parking management server carries out corresponding parking space state detection judgement according to the measured magnetic field that each node reports；Parking stall
State-detection adjudicates foundation are as follows:
When
When establishment, it is judged to have vehicle resident on the corresponding parking stall of m-th of sensor, it is resident that no person is judged to no vehicle；
Wherein α is the proportionality coefficient set according to test data, is set as 0.7~0.9.
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| CN105575166A (en) * | 2015-12-23 | 2016-05-11 | 数源科技股份有限公司 | Parking condition monitoring method based on geomagnetic disturbance detection by engine |
| CN106875733A (en) * | 2017-03-17 | 2017-06-20 | 南京理工大学 | Based on adaptive environment multisensor low-power consumption vehicle detecting system and method |
| CN107978174A (en) * | 2017-12-26 | 2018-05-01 | 数源科技股份有限公司 | The parking lot state monitoring apparatus and monitoring method perceived based on Collaborative environment |
| CN207752649U (en) * | 2017-12-26 | 2018-08-21 | 数源科技股份有限公司 | Parking lot state monitoring apparatus based on Collaborative environment perception |
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- 2018-12-28 CN CN201811618797.6A patent/CN109671293B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102932812A (en) * | 2012-11-06 | 2013-02-13 | 武汉大学 | Vehicle sensor concurrent monitoring method facing road conditions |
| CN104462608A (en) * | 2014-12-31 | 2015-03-25 | 中山大学 | Wireless sensor network data clustering method based on fuzzy C-mean clustering algorithm |
| CN105575166A (en) * | 2015-12-23 | 2016-05-11 | 数源科技股份有限公司 | Parking condition monitoring method based on geomagnetic disturbance detection by engine |
| CN106875733A (en) * | 2017-03-17 | 2017-06-20 | 南京理工大学 | Based on adaptive environment multisensor low-power consumption vehicle detecting system and method |
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