CN110267231B - Parking space identification method, device and system based on Bluetooth RSSI (received Signal Strength indicator) - Google Patents
Parking space identification method, device and system based on Bluetooth RSSI (received Signal Strength indicator) Download PDFInfo
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Abstract
The invention discloses a parking space identification method, device and system based on Bluetooth RSSI. The parking space identification method based on the Bluetooth RSSI comprises the following steps: acquiring more than two set index parameters at least comprising RSSI (received signal strength indicator) strength indexes of the Bluetooth slave; comprehensively determining a Bluetooth slave machine to be connected according to the more than two set index parameters, wherein the Bluetooth slave machine to be connected is arranged in a parking space; and connecting the determined Bluetooth slave machine to be connected, and sending the vehicle information of the vehicle where the Bluetooth master machine is located to the connected Bluetooth slave machine. The technical scheme provided by the invention can effectively improve the accuracy of parking space identification.
Description
Technical Field
The invention relates to the technical field of vehicle networking, in particular to a parking space identification method, device and system based on Bluetooth RSSI.
Background
At present, with the continuous development and progress of automobile technology and internet of vehicles technology, the application of internet of vehicles big data is gradually wide. For example, parking space identification may be performed in conjunction with various communication techniques and vehicle networking data.
The mode that is used for parking stall discernment among the prior art includes: the method is based on an image Identification mode, an RFID (Radio Frequency Identification) Identification mode and a Bluetooth RSSI (Received Signal Strength Indication) Identification mode. The method for realizing parking space identification based on the image identification mode comprises the following steps: the method comprises the steps that a plurality of cameras are installed in a parking lot, the cameras judge whether vehicles stop at corresponding parking spaces or not through a vehicle identification algorithm, if the vehicles enter the parking spaces, license plate information of the vehicles is further identified, and the license plate information is sent to a background server through data transmission. The method for realizing parking space identification based on the RFID identification mode comprises the following steps: and an RFID reader is installed on a parking space in a parking lot, and an RFID tag is installed on a vehicle. When a vehicle enters a parking space, the RFID reader transmits radio waves with specific frequency, reads information of RFID tags on the vehicle, and then sends the tag information of the RFID to the background server through data transmission. The method for realizing parking space identification based on the Bluetooth RSSI ranging identification mode comprises the following steps: a Bluetooth slave machine is installed in a parking space in a parking lot, and a Bluetooth host machine is installed on a vehicle. When a vehicle enters a parking space, the Bluetooth slave machine sends broadcast information, when the Bluetooth host machine on the vehicle scans the RSSI of the Bluetooth slave machine, the distance between the Bluetooth host machine and the Bluetooth slave machine is calculated through a smoothing filter, the parking space closest to the Bluetooth slave machine is identified and connected, the Bluetooth host machine sends the vehicle information to the Bluetooth slave machine, and the Bluetooth slave machine forwards the vehicle information to the background server. In the method, the distance measurement is calculated by only using the RSSI index, and the RSSI is converted into the distance.
However, the above methods of the prior art all have some drawbacks: 1) for the parking space identification method based on the image identification mode, a large number of cameras are generally required to be installed in the air to cover all parking spaces, so that the deployment cost is high; in order to realize vehicle identification and license plate identification, very complex software and algorithm need to be developed, and a processor with enough calculation power needs to be used, so that the product cost is high; in addition, the image recognition has high requirements on the environment, and poor light or shielding can affect the recognition accuracy. Therefore, the method has complex software, is easily influenced by the environment and has high hardware cost. 2) For a parking space identification method based on an RFID identification mode, the effective distance of the RFID is short generally, requirements are made on the installation position, if the RFID tag of a vehicle is not aligned with the RFID reader of a parking space, the vehicle cannot be identified, and for the RFID with a long effective distance, the RFID reader may read the RFID tags of a plurality of nearby vehicles at the same time, and which vehicle cannot be correctly judged. Therefore, this method is affected by the communication distance and fails to adapt to a complex recognition environment. 3) According to the parking space identification method based on the Bluetooth RSSI identification mode, a Bluetooth host on a vehicle acquires the RSSI of a Bluetooth slave machine through scanning, stores RSSI points with fixed lengths, calculates the distance through a smooth filtering algorithm, and then identifies the Bluetooth slave machine closest to the distance. Due to the fact that RSSI ranging is used, the vehicle is influenced by a plurality of environmental factors, such as obstacle interference, electromagnetic wave interference and the like, the ranging accuracy is low, and the vehicle cannot identify the parking spaces with small distance differences. Therefore, the method has low distance measurement precision and fails to identify the parking spaces close to each other.
Therefore, the accuracy of the parking space identification in the method in the prior art needs to be improved.
Disclosure of Invention
In view of this, the present invention provides a parking space identification method, device and system based on bluetooth RSSI, which can effectively improve the accuracy of parking space identification.
According to one aspect of the invention, a parking space identification method based on Bluetooth RSSI is provided, which comprises the following steps:
acquiring more than two set index parameters at least comprising RSSI (received signal strength indicator) strength indexes of the Bluetooth slave;
comprehensively determining a Bluetooth slave machine to be connected according to the more than two set index parameters, wherein the Bluetooth slave machine to be connected is arranged in a parking space;
and connecting the determined Bluetooth slave machine to be connected, and sending the vehicle information of the vehicle where the Bluetooth master machine is located to the connected Bluetooth slave machine.
Preferably, the acquiring more than two set index parameters at least including the RSSI strength index of the bluetooth slave includes:
besides the RSSI strong and weak indexes of the Bluetooth slave machines, the RSSI standard deviation indexes and/or scanning success rate indexes are also obtained.
Preferably, the comprehensively determining the bluetooth slave to be connected according to the two or more set index parameters includes:
after the Bluetooth slave machines are scanned, if the RSSI (received signal strength indicator) intensity index of one of the Bluetooth slave machines is larger than that of other Bluetooth slave machines and the absolute value of the difference value is larger than a first set threshold value, determining the Bluetooth slave machine as an optimal Bluetooth slave machine; or if the RSSI strong and weak index of one Bluetooth slave machine is larger than other Bluetooth slave machines, the absolute value of the difference is smaller than or equal to a first set threshold value, and the RSSI standard deviation index is smaller than other Bluetooth slave machines, determining the Bluetooth slave machine as the optimal Bluetooth slave machine;
increasing the value of the counter of the optimal Bluetooth slave machine, and keeping the value of the counter of the Bluetooth slave machine which is not scanned unchanged, wherein the increasing speed of the value of the counter of the Bluetooth slave machine with high scanning success rate is faster;
and when the value of the counter of one Bluetooth slave is increased and exceeds a second set threshold value compared with other Bluetooth slaves, determining the Bluetooth slave as the Bluetooth slave to be connected.
Preferably, the obtained RSSI strength index is an RSSI strength index after gaussian filtering.
Preferably, before acquiring two or more set index parameters at least including the RSSI strength index of the bluetooth slave, the method further includes:
and filtering and deleting the Bluetooth slave machines with the scanned RSSI (received signal strength indicator) strength indexes lower than a third set threshold value, and/or,
and filtering and deleting the Bluetooth slave machines scanned after the vehicle enters the parking space and exceeds a set time threshold.
Preferably, the bluetooth host is located at a position below a steering wheel, a position above the steering wheel or a position below a central control of the vehicle;
the Bluetooth slave machine is located in the center of the parking space, is closed when the vehicle is not detected to enter, and is started after the vehicle is detected to enter.
According to another aspect of the present invention, there is provided a parking space recognition device based on bluetooth RSSI, including:
the parameter acquisition module is used for acquiring more than two set index parameters at least comprising RSSI (received signal strength indicator) strength indexes of the Bluetooth slave;
the target determining module is used for comprehensively determining the Bluetooth slave machine to be connected according to more than two set index parameters acquired by the parameter acquiring module, wherein the Bluetooth slave machine to be connected is arranged in a parking space;
and the connection processing module is used for connecting the Bluetooth slave machines to be connected determined by the target determination module and sending the vehicle information of the vehicle where the Bluetooth master machine is located to the connected Bluetooth slave machines.
Preferably, the parameter acquiring module includes:
the first acquisition submodule is used for acquiring the RSSI (received signal strength indicator) of the Bluetooth slave;
and the second acquisition submodule is used for acquiring the RSSI standard deviation index and/or the scanning success rate index.
Preferably, the goal determining module includes:
the first processing submodule is used for determining that the Bluetooth slave machine is the optimal Bluetooth slave machine if the RSSI (received signal strength indicator) strength index of one Bluetooth slave machine is greater than that of other Bluetooth slave machines and the absolute value of the difference is greater than a first set threshold value after the Bluetooth slave machines are scanned; or if the RSSI strong and weak index of one Bluetooth slave machine is larger than other Bluetooth slave machines, the absolute value of the difference is smaller than or equal to a first set threshold value, and the RSSI standard deviation index is smaller than other Bluetooth slave machines, determining the Bluetooth slave machine as the optimal Bluetooth slave machine; increasing the value of the counter of the optimal Bluetooth slave machine, and keeping the value of the counter of the Bluetooth slave machine which is not scanned unchanged, wherein the increasing speed of the value of the counter of the Bluetooth slave machine with high scanning success rate is faster;
and the second processing submodule is used for determining the Bluetooth slave as the Bluetooth slave to be connected when the value of the counter of one Bluetooth slave processed by the first processing submodule is increased and exceeds a second set threshold value compared with other Bluetooth slaves.
Preferably, the apparatus further comprises:
and the Gaussian filtering module is used for carrying out Gaussian filtering processing on the RSSI strong and weak indexes acquired by the parameter acquisition module.
According to another aspect of the present invention, there is provided a parking space recognition system based on bluetooth RSSI, comprising:
the Bluetooth master machine is used for being arranged in a vehicle, acquiring more than two set index parameters at least comprising RSSI (received signal strength indicator) strength indexes of the Bluetooth slave machines, comprehensively determining the Bluetooth slave machines to be connected according to the more than two set index parameters, connecting the determined Bluetooth slave machines to be connected, and sending vehicle information of the vehicle where the Bluetooth master machine is located to the connected Bluetooth slave machines;
and the Bluetooth slave machine is used for being arranged in the parking space, broadcasting RSSI outwards, and receiving the vehicle information sent by the Bluetooth host machine after establishing connection with the Bluetooth host machine.
According to the scheme provided by the embodiment of the invention, more than two set index parameters at least comprising RSSI (received signal strength indicator) strength indexes of the Bluetooth slave machines are obtained, then the Bluetooth slave machines to be connected are comprehensively determined according to the more than two set index parameters, the determined Bluetooth slave machines to be connected are connected, and the vehicle information of the vehicle where the Bluetooth master machine is located is sent to the connected Bluetooth slave machines. Compared with the prior art, the embodiment of the invention not only considers the RSSI strong and weak indexes of the Bluetooth slave machine, but also comprehensively considers other set index parameters and the RSSI strong and weak indexes together, so that comprehensive evaluation can be carried out more comprehensively, and the most preferable Bluetooth slave machine to be connected is determined, thereby effectively improving the accuracy of parking space identification.
Furthermore, in the embodiment of the invention, besides the RSSI strength index of the bluetooth slave, the RSSI standard deviation index and/or the scanning success rate index are also obtained, and in general, the closer the active distance between the bluetooth slave and the bluetooth is, the less interference is received, the stronger the RSSI is, the smaller the standard deviation is and the scanning success rate is higher; in addition, the scanning success rate of the Bluetooth slave machine of the parking space where the vehicle is located is higher, and the numerical value of the counter of the Bluetooth slave machine can be increased faster, so that comprehensive evaluation can be performed more comprehensively by integrating a plurality of indexes for processing, the most preferable Bluetooth slave machine to be connected is determined, and the accuracy of parking space identification can be effectively improved.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in greater detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 is a schematic flow chart of a parking space identification method based on bluetooth RSSI according to an embodiment of the present invention;
fig. 2 is another schematic flow chart of a parking space identification method based on bluetooth RSSI according to an embodiment of the present invention;
FIG. 3 is a graph illustrating a Gaussian distribution of RSSI values according to an embodiment of the present invention;
FIG. 4 is a schematic side view of a vehicle in a parking space according to an embodiment of the present invention;
FIG. 5 is a schematic top view of three consecutive parking spaces in an embodiment of the present invention;
fig. 6 is a schematic diagram of a structural framework of a parking space recognition device based on bluetooth RSSI according to an embodiment of the present invention;
fig. 7 is another schematic view of a structural framework of the parking space recognition device based on bluetooth RSSI according to the embodiment of the present invention;
fig. 8 is a schematic diagram of a structural framework of a parking space identification system based on bluetooth RSSI according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments and the accompanying drawings.
While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The invention provides a parking space identification method based on Bluetooth RSSI, which can effectively improve the accuracy of parking space identification.
The technical solutions of the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a parking space identification method based on bluetooth RSSI according to an embodiment of the present invention.
Referring to fig. 1, an embodiment of the method of the present invention includes:
in step 101, more than two set index parameters at least including the RSSI strength index of the bluetooth slave are obtained.
In the step, besides the RSSI intensity index of the Bluetooth slave, the RSSI standard deviation index and/or the scanning success rate index are/is also obtained. For example, the RSSI strength index and the RSSI standard deviation index may be obtained, the RSSI strength index and the scanning success rate index may also be obtained, and the RSSI strength index, the RSSI standard deviation index and the scanning success rate index may also be obtained.
The RSSI strength indicator obtained may be the RSSI strength indicator after gaussian filtering.
In step 102, a bluetooth slave machine to be connected is determined comprehensively according to the two or more set index parameters, wherein the bluetooth slave machine to be connected is arranged in the parking space.
In the step, after the bluetooth slave machines are scanned, if the RSSI (received signal strength indicator) intensity index of one of the bluetooth slave machines is greater than that of other bluetooth slave machines and the absolute value of the difference is greater than a first set threshold value, determining the bluetooth slave machine as an optimal bluetooth slave machine; or if the RSSI strong and weak index of one Bluetooth slave machine is larger than other Bluetooth slave machines, the absolute value of the difference is smaller than or equal to a first set threshold value, and the RSSI standard deviation index is smaller than other Bluetooth slave machines, determining the Bluetooth slave machine as the optimal Bluetooth slave machine; increasing the value of the counter of the optimal Bluetooth slave machine, and keeping the value of the counter of the Bluetooth slave machine which is not scanned unchanged, wherein the increasing speed of the value of the counter of the Bluetooth slave machine with high scanning success rate is faster; and when the value of the counter of one Bluetooth slave is increased and exceeds a second set threshold value compared with other Bluetooth slaves, determining the Bluetooth slave as the Bluetooth slave to be connected.
In step 103, the determined bluetooth slave machines to be connected are connected, and the vehicle information of the vehicle where the bluetooth master machine is located is sent to the connected bluetooth slave machines.
It should be noted that, before acquiring two or more setting index parameters at least including the RSSI strength index of the bluetooth slave in step 101, the method may further include: and filtering and deleting the scanned Bluetooth slave machines with RSSI (received signal strength indicator) strength indexes lower than a third set threshold value, and/or filtering and deleting the scanned Bluetooth slave machines after the vehicle enters the parking space and exceeds a set time threshold value.
The embodiment of the invention can find that the scheme provided by the embodiment of the invention obtains more than two set index parameters at least comprising RSSI (received signal strength indicator) strength indexes of the Bluetooth slave machines, then comprehensively determines the Bluetooth slave machines to be connected according to the more than two set index parameters, then connects the determined Bluetooth slave machines to be connected, and sends the vehicle information of the vehicle where the Bluetooth master machine is located to the connected Bluetooth slave machines. Compared with the prior art, the embodiment of the invention not only considers the RSSI (received signal strength indicator) strength index of the Bluetooth slave machine, but also comprehensively considers other set index parameters and the RSSI strength index, so that comprehensive evaluation can be carried out more comprehensively, and the most preferable Bluetooth slave machine to be connected is determined, thereby effectively improving the accuracy of parking space identification.
Fig. 2 is another schematic flow chart of a parking space identification method based on bluetooth RSSI according to an embodiment of the present invention. Fig. 2 describes the solution of the embodiment of the invention in more detail with respect to fig. 1.
The accurate parking space identification method based on the Bluetooth RSSI can identify the parking space through comprehensive indexes in multiple aspects, and can effectively improve the accuracy of parking space identification. The comprehensive indexes of multiple aspects provided by the embodiment of the invention comprise: RSSI strong and weak indexes, RSSI standard deviation indexes and scanning success rate indexes. It should be noted that, the embodiment of the present invention is exemplified by integrating 3 indexes, but is not limited to this, and may also integrate 2 indexes according to the situation to perform comprehensive evaluation, for example, an RSSI strength index and an RSSI standard deviation index are integrated, or an RSSI strength index and a scanning success rate index are integrated.
Referring to fig. 2, the method according to the embodiment of the present invention includes:
in step 201, the bluetooth master filters and deletes the scanned bluetooth slave which does not meet the preset condition.
In the step, the bluetooth host can filter and delete the scanned bluetooth slave machines with the RSSI lower than the set threshold value, and/or filter and delete the scanned bluetooth slave machines after the vehicle enters the parking space and exceeds the set time threshold value.
In the embodiment of the invention, the Bluetooth host computer can be arranged at the lower position of a steering wheel, the upper position of the steering wheel or the lower position of a central control of a vehicle, the Bluetooth slave computer is arranged at the central position of a parking space, and the Bluetooth slave computer is closed when the vehicle is not detected to enter and is started after the vehicle is detected to enter.
Fig. 4 is a schematic side view of a vehicle in a parking space according to an embodiment of the invention, and fig. 5 is a schematic top view of three consecutive parking spaces according to an embodiment of the invention. In fig. 4 and 5, black dots indicate the installation position of the bluetooth master in the vehicle, and black triangles indicate the installation position of the bluetooth slave at the center of the parking space.
In the scheme of the embodiment of the invention, an OBD (On-Board Diagnostics) device containing a Bluetooth host is arranged at the position below a steering wheel in a vehicle. It should be noted that the extension line may be installed at other positions, such as a position above the steering wheel, a position below the center control, and the like. Since the OBD plug of a car is typically mounted in a position under the steering wheel of the car, it is typically an option to mount it in a position under the steering wheel. Wherein, the OBD device can acquire the state of car, and when the car got into the parking stall after the steadiness, can start the bluetooth host computer, finds peripheral bluetooth from the machine through the mode of scanning.
In the scheme of the invention, a device containing a Bluetooth slave machine is buried in the central position of each parking space. Considering that the position of the automobile entering the garage is not necessarily the center of the parking space, the bluetooth slave is generally suitably arranged at the center of the parking space for accurate identification. The device with the Bluetooth slave machine can turn off the Bluetooth slave machine when the vehicle is not detected to enter; after the vehicle is detected to enter, the Bluetooth slave machine is started, and the Bluetooth slave machine sends broadcast information to the outside by a fixed name. Because the bluetooth host installation position is in the below position of steering wheel, is close to the left side of vehicle, when the worst condition appears, as shown in fig. 5, when vehicle 2 is close to the left side of parking stall 2 when putting in storage, according to the bluetooth RSSI range finding method of prior art, vehicle 2 probably misinterprets as parking stall 1. Therefore, the scheme provided by the invention can solve the worst condition and can correctly identify that the vehicle 2 is positioned in the parking space 2.
In the scheme of the embodiment of the invention, after the vehicle enters the parking space and is stopped stably, the Bluetooth host in the vehicle is started, the Bluetooth host can scan the peripheral Bluetooth slave machines at set time intervals such as 250ms, record the scanned RSSI value and the scanning success rate index (such as the scanning success times), and select the latest scanned 30 RSSI values for analysis, wherein the scanned RSSI value can be used as the RSSI strength index participating in the comprehensive evaluation in the embodiment of the invention. It should be noted that the present invention is illustrated with 30 RSSI values but is not limited thereto. Because the sampling period is 250ms, namely 4 RSSI values are sampled at most in 1 second, sampling is too little and unstable, and too much sampling is slow to identify, the embodiment of the invention can stably and quickly identify the parking spaces, and the number of sampling values can be in the range of 25-45.
In order to reduce the interference of other bluetooth slaves, the embodiments of the present invention may remove some impossible options. According to the embodiment of the invention, tests show that the RSSI value of the Bluetooth slave machine of the parking space where the vehicle is located is usually larger than a set threshold value, such as-85 dBm, so that the Bluetooth slave machine with the RSSI value lower than-85 dBm is filtered out; the Bluetooth slave machine can be started only after the vehicle enters the parking space, so that the Bluetooth slave machine which is scanned after the set time is exceeded, for example, 3 seconds is filtered. It should be noted that the embodiment of the present invention is illustrated as-85 dBm but is not limited thereto. The RSSI value of the Bluetooth slave is influenced by the radio frequency performance of the Bluetooth slave, the practical test equipment is generally properly selected to be-85 dBm, and if the equipment is changed, the equipment can float within +/-3 dB, so the value in the range of-82 dBm to-88 dBm can be selected as the set threshold value in the scheme of the embodiment of the invention. In addition, the Bluetooth slave is triggered to be started only when the automobile enters the garage, so that the condition that the automobile cannot be scanned occasionally is eliminated, the exceeding set time can be set to be 3 seconds, and is suitable, and can be set to be 4 seconds, 5 seconds, 6 seconds and the like according to needs.
In step 202, the bluetooth host acquires 3 setting index parameters of the RSSI strength index, the RSSI standard deviation index and the scanning success rate index of the bluetooth slave.
One of the multiple set index parameters provided by the embodiment of the invention is an RSSI (received signal strength indicator) strength index. The parking space identification method provided by the embodiment of the invention mainly adopts the Bluetooth RSSI technology, and the intensity index of the Bluetooth RSSI is greatly influenced by environmental factors, because the Bluetooth host is arranged in the vehicle, the vehicle greatly influences wireless signals, and the RSSI value is unstable. The RSSI value obtained by scanning can be subjected to Gaussian filtering treatment, the RSSI value within the range of 1 sigma is selected as an effective value, then mean filtering is carried out, and a relatively stable RSSI value is obtained and is used as the RSSI strength index participating in comprehensive evaluation. In order to select the bluetooth slave with the best RSSI, sliding comparison can be performed to realize RSSI strong and weak competition of multiple bluetooth slaves in continuous time. It should be noted that the range of 1 σ in the embodiments of the present invention is only illustrative and not limited thereto. In the testing process, considering that the data samples in the range of 1 sigma account for 68.26% of the total number of samples, the actual strength of the RSSI can be accurately reflected, and when the RSSI is actually tested, the jitter of some values is larger, so that the interference can be effectively filtered by selecting the range of 1 sigma.
The RSSI value of the Bluetooth is influenced by multipath, scattering and obstacles, and the RSSI value scanned by the Bluetooth fluctuates up and down. However, the RSSI values will exhibit a gaussian distribution rule, and refer to fig. 3, which is a schematic diagram of a gaussian distribution curve of the RSSI values in the embodiment of the present invention. In FIG. 3, (μ - σ, μ + σ) accounted for 68.26% of the total number of samples. Therefore, in order to obtain a stable and accurate RSSI value, in the embodiment of the present invention, the obtained RSSI strength index may be first subjected to gaussian filtering, and specifically, the RSSI array may be filtered through a gaussian filtering algorithm.
RSSI value obeys (mu, sigma)2) The probability density function f of the gaussian distribution of (1) is:
where μ is the mathematical expectation of the RSSI array, it is calculated as follows:
wherein σ is the standard deviation of RSSI array, n is greater than 0, and the calculation method is as follows
Then interval (μ - σ < RSSI(i)< μ + σ) is:
P(μ-σ≤RSSI(i)＜μ+σ)＝2Φ(1)-1＝0.6826
in the embodiment of the invention, the RSSI value within the range of 1 sigma (mu-sigma, mu + sigma) is selected as an effective value, the average value of the RSSI value is calculated, and the RSSI value after Gaussian filtering processing is obtained
The value:
after the Bluetooth host scans the Bluetooth slave, the operation is carried out according to the algorithms of the formulas (1) to (4), so that the standard deviation value of the RSSI array of the Bluetooth slave at the current moment and the standard deviation value after Gaussian filtering processing can be obtained
Value of, after Gaussian filtering processing
The value is used as the RSSI strength index participating in comprehensive evaluation.
Another one of the set indicator parameters proposed by the present invention is an RSSI standard deviation indicator (also referred to as a standard deviation indicator of RSSI sampled values). The RSSI standard deviation index represents the deviation of a group of RSSI sampling values, and for the conditions of long distance and more shielding, the RSSI values are more fluctuated, and the standard deviation values obtained by calculation are larger. Therefore, the RSSI standard deviation index can also be used for assisting the parking space identification. The RSSI standard deviation indicator can be obtained by performing the calculation according to the algorithms of the above formulas (1) to (4).
Another index of the multiple set index parameters provided by the invention is the scanning success rate. Regarding the index of success rate of scanning, it can be reflected by the number of times of success of scanning to the bluetooth slave. In the process of identifying the parking space, the Bluetooth host on the vehicle acquires the RSSI value of the Bluetooth slave machine in a connectionless scanning mode, and the Bluetooth slave machine can not be scanned successfully because of connectionless scanning. According to the test discovery, receive the vehicle and shelter from and apart from the influence, the probability that the bluetooth host computer on the vehicle scanned adjacent 2 parking stalls is lower. The scan success rate is a factor that drives the optimal counter fiest _ cnt to increase continuously. The probability of successful scanning of the bluetooth slave in the parking space of the vehicle is higher, so that the optimal counter fiest _ cnt is increased faster, and the gap between the optimal counter fiest _ cnt and other bluetooth slaves is easier to be opened. Therefore, the scanning success rate index can also be used for assisting parking space identification.
In step 203, the bluetooth slave is comprehensively evaluated according to a plurality of set index parameters, and the optimal bluetooth slave to be connected is determined.
Compared with the prior art, the embodiment of the invention integrates the 3 indexes: the RSSI strong and weak index, the RSSI standard deviation index and the scanning success rate index can be more comprehensively evaluated, and the parking space can be accurately identified.
In this step, the RSSI strength indicator of one of the bluetooth slave machines is compared with the other bluetooth slave machines.
For example, after scanning the Bluetooth slave, the current Bluetooth slave is selected
The value being calculated from the previous time of the other Bluetooth slave
The values are compared. When the blueOf dental slaves
If the value is larger than the other bluetooth slave by a set threshold value, for example, 0.5dB or more, the bluetooth slave is considered to be the most suitable for the comparison.
If the Bluetooth slave is
And when the value is larger than that of other Bluetooth slave machines but the difference is less than or equal to 0.5dB, further comparing the standard difference value, and if the standard difference value is smaller (namely the RSSI standard difference index is smaller than that of other Bluetooth slave machines), determining that the Bluetooth slave machine is optimal in comparison at this time. It should be noted that the present invention is illustrated with 0.5dB but not limited thereto. The difference value can be determined according to actual tests, the difference of the common RSSI values is more than 0.5dB, the parking space can be accurately judged, and if the difference is less than 0.5dB, the standard deviation needs to be further compared.
If the bluetooth slave is optimal in the comparison, increasing the count value of the optimal counter fiest _ cnt of the bluetooth slave, for example, 1 may be added, but the invention is not limited thereto; and keeping the value of the counter of the unscanned Bluetooth slave unchanged, wherein the increasing speed of the value of the counter of the Bluetooth slave with high scanning success rate is faster.
In the embodiment of the invention, whether the Bluetooth slave can be finally determined as the optimal Bluetooth slave can be based on the count value of the optimal counter, and the increase of the count value of the optimal counter depends on the synthesis of 3 indexes. In general, the closer the distance between the bluetooth slave and the bluetooth master is, the less interference is received, the stronger RSSI is, the smaller standard deviation is, and the scanning success rate is higher. That is, the merits of the 3 indicators are reflected on the optimal counter, so that the optimal bluetooth slave can be stably and accurately identified by combining the 3 indicators.
The bluetooth master performs 4 times of scanning operations (the period is 250ms) one second, and the bluetooth master performs the above operation every time the bluetooth master scans one bluetooth slave, and performs comparison. For due to Bluetooth
Errors due to fluctuations in the values, during the comparison, if
If the values are not very different, the reference values are not very large, and further comparison of the standard deviation values is needed. When in use
When the value difference is large, the standard difference value does not need to be compared, but the scanning success rate comprehensive evaluation is generally considered.
In the embodiment of the invention, when the optimal counter fiest _ cnt of the bluetooth slave is detected to be apart from the rest bluetooth slaves by a certain difference, for example, the difference is greater than the set threshold 40, the bluetooth slave is considered to be effective. That is, when the value of the counter of one bluetooth slave increases and reaches a value exceeding the set threshold value than the other bluetooth slaves, the bluetooth slave is determined as the bluetooth slave to be connected. It should be noted that the present invention is illustrated and not limited to setting the threshold value to 40, for example, the difference may be (30, 50) range.
It should be noted that, for the bluetooth slave machine in the parking space where the vehicle is located, the interference is less, and the distance is closer, so compared with the bluetooth slave machine in the adjacent parking space, the bluetooth slave machine in the parking space where the vehicle is located
The value is larger and the standard deviation is smaller. Although the bluetooth slave in the parking space will not be optimal every comparison, the value of the optimal counter fiest _ cnt will increase faster as long as a large probability conforms to this rule. In addition, the probability of successful scanning of the bluetooth slave in the parking space of the vehicle is higher, so that the optimal counter fiest _ cnt is increased faster, and the gap between the optimal counter fiest _ cnt and other bluetooth slaves is easier to be opened. Regarding the optimal counter finest _ cnt, the counter is set and recorded on the bluetooth master, and the function of the counter is to evaluate whether a bluetooth slave is the optimal choice for parking space identification. On the Bluetooth host canMany scanned information of bluetooth slaves, such as a Media Access Control Address (MAC), an RSSI value, a scanning timestamp, an optimal counter, etc., are recorded. It should be noted that, the RSSI value still fluctuates after being filtered, and even if the bluetooth slave in the parking space is not always optimal in each comparison, a large probability is only optimal, for example, 10 comparisons are optimal, and 7 comparisons are optimal. If the comparison of 10 times shows that the Bluetooth slave A has 7 times of optimization and the Bluetooth slave B has 3 times of optimization, the Bluetooth slave A is better than the Bluetooth slave B. In addition, each time the bluetooth slave a is scanned, the gaussian filtering process is performed, and then the RSSI strength index and the RSSI standard deviation index are combined and compared with other bluetooth slaves to evaluate whether the bluetooth slave a is optimal, if so, the optimal counter is increased by 1, and if the bluetooth slave a is not scanned, the optimal counter is kept unchanged. Then if the scan success rate of bluetooth slave a is high, the optimal counter will also increase faster. Generally, the closer the distance, the higher the scan success rate.
In step 204, the determined optimal bluetooth slave machine to be connected is connected, and the vehicle information of the vehicle where the bluetooth master machine is located is sent to the connected bluetooth slave machine.
In the step, the Bluetooth host on the vehicle is actively connected with the Bluetooth slave machine and sends the information of the vehicle to the Bluetooth slave machine, and then the Bluetooth slave machine forwards the vehicle information to the background server to complete parking space identification. That is, the bluetooth master is actively connected to the bluetooth slave, and the vehicle information is sent to the bluetooth slave.
In step 205, the connected bluetooth slave sends the vehicle information of the bluetooth master and the parking space information of the bluetooth slave to the background server.
In the step, after receiving the vehicle information, the bluetooth slave machine communicates with a nearby gateway in a wired or wireless manner, and sends the vehicle information of the bluetooth host machine and the parking space information of the bluetooth slave machine to the background server, so that the background server can know which parking space has the vehicle parked and the information of the parked vehicle, such as the license plate of the vehicle.
In summary, the scheme of the embodiment of the invention has the following beneficial effects:
the embodiment of the invention adopts the Bluetooth RSSI technology to realize parking space identification, and compared with other technical schemes, the Bluetooth RSSI technology has the characteristics of low power consumption, low cost and high accuracy and can be suitable for various application environments. In the prior art, as interference factors are more in the parking space identification process, the Bluetooth RSSI ranging technology has a large error, and the identification effect on adjacent parking spaces is poor, but the scheme of the embodiment of the invention is improved according to the test, the RSSI value is not considered any more, but the RSSI strong and weak index, the RSSI standard deviation index and the scanning success rate index are synthesized, the Bluetooth slave machines in the parking spaces are comprehensively evaluated, the optimal Bluetooth slave machines can be stably and accurately identified, and the accuracy of parking space identification can be effectively improved.
The parking space identification method based on the bluetooth RSSI according to the embodiment of the present invention is described in detail above, and the parking space identification device and system based on the bluetooth RSSI according to the embodiment of the present invention are correspondingly described below.
Fig. 6 is a schematic diagram of a structural framework of a parking space recognition device based on bluetooth RSSI according to an embodiment of the present invention.
Referring to fig. 6, the parking space recognition device based on bluetooth RSSI according to the embodiment of the present invention includes: a parameter acquisition module 61, a target determination module 62 and a connection processing module 63.
The parameter obtaining module 61 is configured to obtain at least two set index parameters including RSSI strength indexes of the bluetooth slave.
The parameter obtaining module 61 may obtain the RSSI standard deviation index and/or the scanning success rate index, in addition to the RSSI strength index of the bluetooth slave. For example, the RSSI strength index and the RSSI standard deviation index may be obtained, the RSSI strength index and the scanning success rate index may also be obtained, or the RSSI strength index, the RSSI standard deviation index and the scanning success rate index may also be obtained.
And the target determining module 62 is configured to comprehensively determine the bluetooth slave to be connected according to the more than two set index parameters acquired by the parameter acquiring module 61, where the bluetooth slave to be connected is arranged in a parking space.
And the connection processing module 63 is configured to connect the bluetooth slave to be connected determined by the target determination module 62, and send vehicle information of the vehicle where the bluetooth master is located to the connected bluetooth slave.
It can be found from this embodiment that the solution provided by the embodiment of the present invention is to obtain two or more set index parameters at least including RSSI strength indexes of the bluetooth slave machines, then comprehensively determine the bluetooth slave machines to be connected according to the two or more set index parameters, connect the determined bluetooth slave machines to be connected, and send vehicle information of a vehicle where the bluetooth master machine is located to the connected bluetooth slave machines. Compared with the prior art, the embodiment of the invention not only considers the RSSI strong and weak indexes of the Bluetooth slave machine, but also comprehensively considers other set index parameters and the RSSI strong and weak indexes together, so that comprehensive evaluation can be carried out more comprehensively, and the most preferable Bluetooth slave machine to be connected is determined, thereby effectively improving the accuracy of parking space identification.
Fig. 7 is another schematic diagram of a structural framework of a parking space recognition device based on bluetooth RSSI according to an embodiment of the present invention.
Referring to fig. 7, the parking space recognition device based on bluetooth RSSI according to the embodiment of the present invention includes: the device comprises a parameter acquisition module 61, a target determination module 62, a connection processing module 63 and a Gaussian filter module 64.
The functions of the parameter obtaining module 61, the target determining module 62 and the connection processing module 63 can be described with reference to fig. 6, and are not described herein again.
The parameter obtaining module 61 may further include: a first obtaining submodule 611 and a second obtaining submodule 612.
The first obtaining sub-module 611 is configured to obtain the RSSI strength indicator of the bluetooth slave.
The second obtaining sub-module 612 is configured to obtain an RSSI standard deviation indicator and/or a scanning success rate indicator.
Wherein the goal determination module 62 may include: a first processing sub-module 621 and a second processing sub-module 622.
The first processing submodule 621 is configured to, after the bluetooth slaves are scanned, determine that the bluetooth slave is an optimal bluetooth slave if the RSSI strength index of one of the bluetooth slaves is greater than that of the other bluetooth slaves and the absolute value of the difference is greater than a first set threshold; or if the RSSI strong and weak index of one Bluetooth slave machine is larger than other Bluetooth slave machines, the absolute value of the difference is smaller than or equal to a first set threshold value, and the RSSI standard deviation index is smaller than other Bluetooth slave machines, determining the Bluetooth slave machine as the optimal Bluetooth slave machine; increasing the value of the counter of the optimal Bluetooth slave machine, and maintaining the value of the counter of the Bluetooth slave machine which is not scanned unchanged, wherein the increasing speed of the value of the counter of the Bluetooth slave machine with high scanning success rate is higher;
the second processing submodule 622 is configured to determine the bluetooth slave as a bluetooth slave to be connected when the value of the counter of one of the bluetooth slaves processed by the first processing submodule 621 increases and reaches a value exceeding a second set threshold value compared with other bluetooth slaves.
And a gaussian filtering module 64, configured to perform gaussian filtering on the RSSI strength indicator acquired by the parameter acquiring module 61.
It should be noted that, the parking space recognition device based on bluetooth RSSI in the embodiment of the present invention may further include: a pre-filtering processing module (not shown in the figure), configured to filter and delete the scanned bluetooth slave devices whose RSSI strength indicators are lower than a third set threshold before the parameter obtaining module 61 obtains at least two set indicator parameters including the RSSI strength indicators of the bluetooth slave devices, and/or filter and delete the bluetooth slave devices scanned after the vehicle enters the parking space and exceeds the set time threshold.
Fig. 8 is a schematic diagram of a structural framework of a parking space identification system based on bluetooth RSSI according to an embodiment of the present invention.
Referring to fig. 8, a parking space recognition system based on bluetooth RSSI according to an embodiment of the present invention includes: a bluetooth master 81 and a bluetooth slave 82.
The Bluetooth master 81 is used for being arranged in a vehicle, acquiring more than two set index parameters at least including RSSI (received signal strength indicator) strength indexes of the Bluetooth slave, comprehensively determining the Bluetooth slave to be connected according to the more than two set index parameters, connecting the determined Bluetooth slave to be connected, and sending vehicle information of the vehicle where the Bluetooth master 81 is located to the connected Bluetooth slave 82.
And the Bluetooth slave 82 is used for being arranged in the parking space, broadcasting RSSI outwards, and receiving the vehicle information sent by the Bluetooth master 81 after establishing connection with the Bluetooth master 81.
The mechanism and function of the bluetooth host 81 can be referred to the description of fig. 6 and fig. 7, and are not described herein again.
The technical solution according to the present invention has been described in detail above with reference to the accompanying drawings.
Furthermore, the method according to the invention may also be implemented as a computer program or computer program product comprising computer program code instructions for carrying out the above-mentioned steps defined in the above-mentioned method of the invention.
Alternatively, the invention may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or computing device, server, etc.), causes the processor to perform the steps of the above-described method according to the invention.
Those of skill would further appreciate that the various illustrative logical data blocks, analog data blocks, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or combinations of both.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module data, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (9)
1. The utility model provides a parking stall identification method based on bluetooth RSSI which characterized in that:
acquiring more than two set index parameters at least comprising RSSI (received signal strength indicator) strength indexes of the Bluetooth slave machines, wherein the set index parameters comprise the RSSI strength indexes of the Bluetooth slave machines and RSSI standard deviation indexes and/or scanning success rate indexes;
comprehensively determining a Bluetooth slave machine to be connected according to the more than two set index parameters, wherein the Bluetooth slave machine to be connected is arranged in a parking space;
and connecting the determined Bluetooth slave machine to be connected, and sending the vehicle information of the vehicle where the Bluetooth master machine is located to the connected Bluetooth slave machine.
2. The method according to claim 1, wherein the comprehensively determining the bluetooth slave to be connected according to the two or more set index parameters comprises:
after the Bluetooth slave machines are scanned, if the RSSI (received signal strength indicator) intensity index of one of the Bluetooth slave machines is larger than that of other Bluetooth slave machines and the absolute value of the difference value is larger than a first set threshold value, determining the Bluetooth slave machine as an optimal Bluetooth slave machine; or if the RSSI strong and weak index of one Bluetooth slave machine is larger than other Bluetooth slave machines, the absolute value of the difference is smaller than or equal to a first set threshold value, and the RSSI standard deviation index is smaller than other Bluetooth slave machines, determining the Bluetooth slave machine as the optimal Bluetooth slave machine;
increasing the value of the counter of the optimal Bluetooth slave machine, and maintaining the value of the counter of the Bluetooth slave machine which is not scanned unchanged, wherein the increasing speed of the value of the counter of the Bluetooth slave machine with high scanning success rate is higher;
and when the value of the counter of one Bluetooth slave is increased and exceeds a second set threshold value compared with other Bluetooth slaves, determining the Bluetooth slave as the Bluetooth slave to be connected.
3. The method of claim 1, wherein:
the obtained RSSI strength index is the RSSI strength index after Gaussian filtering processing.
4. The method of claim 1, wherein before obtaining the two or more set indicator parameters at least including the RSSI strength and weakness indicator of the bluetooth slave, the method further comprises:
and filtering and deleting the Bluetooth slave machines with the scanned RSSI (received signal strength indicator) lower than a third set threshold value, and/or,
and filtering and deleting the Bluetooth slave machines scanned after the vehicle enters the parking space and exceeds a set time threshold.
5. The method according to any one of claims 1 to 4, characterized in that:
the Bluetooth host is positioned at the lower position of a steering wheel, the upper position of the steering wheel or the lower position of a central control of the vehicle;
the Bluetooth slave machine is located in the center of the parking space, is closed when the vehicle is not detected to enter, and is started after the vehicle is detected to enter.
6. The utility model provides a parking stall recognition device based on bluetooth RSSI, its characterized in that includes:
the parameter acquisition module is used for acquiring more than two set index parameters at least comprising RSSI (received signal strength indicator) strength indexes of the Bluetooth slave;
the target determining module is used for comprehensively determining a Bluetooth slave machine to be connected according to more than two set index parameters acquired by the parameter acquiring module, wherein the Bluetooth slave machine to be connected is arranged in a parking space;
the connection processing module is used for connecting the Bluetooth slave machines to be connected determined by the target determination module and sending the vehicle information of the vehicle where the Bluetooth master machine is located to the connected Bluetooth slave machines;
wherein the parameter acquisition module comprises:
the first acquisition submodule is used for acquiring the RSSI (received signal strength indicator) of the Bluetooth slave;
and the second acquisition submodule is used for acquiring the RSSI standard deviation index and/or the scanning success rate index.
7. The apparatus of claim 6, wherein the goal determination module comprises:
the first processing submodule is used for determining the Bluetooth slave machine as the optimal Bluetooth slave machine if the RSSI (received signal strength indicator) intensity index of one Bluetooth slave machine is greater than that of other Bluetooth slave machines and the absolute value of the difference value is greater than a first set threshold value after the Bluetooth slave machines are scanned; or if the RSSI strong and weak index of one Bluetooth slave machine is greater than other Bluetooth slave machines, the absolute value of the difference is less than or equal to a first set threshold value, and the RSSI standard deviation index is less than other Bluetooth slave machines, determining the Bluetooth slave machine as the optimal Bluetooth slave machine; increasing the value of the counter of the optimal Bluetooth slave machine, and keeping the value of the counter of the Bluetooth slave machine which is not scanned unchanged, wherein the increasing speed of the value of the counter of the Bluetooth slave machine with high scanning success rate is faster;
and the second processing submodule is used for determining the Bluetooth slave as the Bluetooth slave to be connected when the value of the counter of one Bluetooth slave processed by the first processing submodule is increased and exceeds a second set threshold value compared with other Bluetooth slaves.
8. The apparatus of claim 6 or 7, further comprising:
and the Gaussian filtering module is used for carrying out Gaussian filtering processing on the RSSI strong and weak indexes acquired by the parameter acquisition module.
9. The utility model provides a parking stall identification system based on bluetooth RSSI, its characterized in that includes:
the Bluetooth master machine is used for being arranged in a vehicle, acquiring more than two set index parameters at least comprising RSSI (received signal strength indicator) strength indexes of the Bluetooth slave machines, wherein the RSSI strength indexes of the Bluetooth slave machines are acquired, and RSSI standard deviation indexes and/or scanning success rate indexes are/is acquired;
and the Bluetooth slave machine is used for being arranged in the parking space, broadcasting RSSI outwards, and receiving the vehicle information sent by the Bluetooth host machine after establishing connection with the Bluetooth host machine.
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| CN204142952U (en) * | 2014-06-27 | 2015-02-04 | 深圳市康源新通信技术有限公司 | Bluetooth real-time dynamic positioning system and Bluetooth base. station |
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