CN110648551B

CN110648551B - Underground garage parking space positioning and navigation method based on mixed beacon stream

Info

Publication number: CN110648551B
Application number: CN201910891723.8A
Authority: CN
Inventors: 兰泽多; 孙玉龙; 郭淑敏; 吕沛颖; 王星月
Original assignee: Hohai University HHU
Current assignee: Hohai University HHU
Priority date: 2019-09-20
Filing date: 2019-09-20
Publication date: 2021-11-23
Anticipated expiration: 2039-09-20
Also published as: CN110648551A

Abstract

The invention discloses a beacon stream positioning and navigation method for deploying Bluetooth beacons by using an underground garage and confirming the beacons by combining with manual beacons. The method comprises a navigation map generation method based on partition unit division and specially used for underground garage navigation, and the map design is simplified and multi-task rapid mapping is realized by decomposing and combining units of the navigation map. The invention has the characteristics of simple implementation, low cost and strong practicability, and can be applied to the fields of indoor vehicle searching, indoor navigation and shared parking place renting.

Description

Underground garage parking space positioning and navigation method based on mixed beacon stream

Technical Field

The invention belongs to the technical field of indoor positioning and navigation, and particularly relates to an underground garage parking space positioning and navigation method based on mixed beacon streams.

Background

Along with the enlargement of the urban scale, large public parking lots and large residential district underground garages are more and more, and the underground garages are generally regular in layout, small in visual difference and easy to get lost. The problem that the public parking lot is difficult to find empty parking spaces and parked parking spaces exists; when the sharing of underground parking spaces in a community is open, the problem of difficulty in renting parking spaces and finding parked parking spaces also exists, and a convenient and practical solution does not exist at present. The current outdoor positioning technology tends to be perfect, and the positioning use of systems such as Beidou, GPS and the like in the fields of industry and commerce, transportation industry, tourism industry and the like tends to be mature, but the systems cannot be applied indoors.

The commonly used indoor positioning technology mainly includes the following: 1. impulse radio Ultra Wideband (UWB) location technology; the multi-sensor is used for analyzing the unknown position, the precision can reach the sub-meter level, the transmission rate is high, the transmitting power is low, the penetrating power is strong, the base station communicates in a wireless mode, and the communication cost is not high. The disadvantage is that the occupied bandwidth is high, there may be situations that interfere with other wireless communication systems, and the cost of the layout hardware is too high due to the use of multiple sensors and the complexity of construction. 2. Infrared technology; infrared is an electromagnetic wave having a wavelength between that of visible light and microwaves. The infrared ray is transmitted, the optical sensor is used for receiving signals, and the signals are transmitted to the database through the network for positioning. The technology has high precision, but is easily influenced by shielding, lamplight mixing, smoke dust and the like, and has small transmission range and high arrangement complexity. 3. RFID technology; the RFID technology is composed of an interrogator and a plurality of transponders, data information is input into the transponders by transmitting electromagnetic field signals, centimeter-level precision can be achieved, and the RFID technology is wide in transmission range, small in size and low in cost. But the shortcoming is also very obvious, no communication ability, anti-interference effect is poor, and the difficulty of information integration with the mobile phone end is high. 4. Ultrasonic positioning technology; the technology adopts a reflection type distance measuring method imitating a bat positioning principle, the main components of the sound wave transmitter are a main distance measuring device and a plurality of electronic tags, and the sound wave transmitter transmits ultrasonic waves to the electronic tags and receives echoes transmitted by the electronic tags for positioning. 5. Wi-Fi positioning technology; Wi-Fi positioning relying on fingerprint acquisition is a mature indoor positioning and navigation method at present, has the advantages of low cost, high precision and the like, but in most cases, a fingerprint database frequently changes in indoor buildings, and the maintenance burden is increased because data needs to be acquired again frequently. 6. Bluetooth positioning technology; bluetooth is low in cost and low in power consumption, and is widely applied to mobile phone terminals at present. But is greatly affected by noise and has high maintenance cost.

When the method is applied to navigation of underground parking spaces, the practical degree cannot be achieved like outdoor GPS navigation application, or based on the reason of the sensor, or based on deployment difficulty and cost, or difficult integration on a mobile phone. Therefore, the method for positioning and navigating the indoor underground garage, which can simultaneously consider the cost, is convenient to deploy and maintain, has wide practical value.

Disclosure of Invention

The purpose of the invention is as follows: aiming at the problems, the invention provides an underground garage parking space positioning and navigation method based on mixed beacon stream and a corresponding underground garage special navigation map generation method according to the characteristics of underground garage range limitation, layout rule, small visual difference, strong orderliness and beacon stream navigation requirements.

The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: a parking space positioning and navigation method of an underground garage based on a mixed beacon stream comprises the following steps:

s1: according to the compartment structure and indoor connectivity of the underground garage, deploying Bluetooth beacons at key points (such as an entrance, an exit and a partition transition position) of the underground garage, combining layout information of the underground garage with parking space information, path information and beacon information to generate a special navigation map of the underground garage, and storing the navigation map in a server; the navigation map has complete path information and fixed beacon information;

s2: a user downloads and installs a mobile phone navigation App from a server by using a mobile phone, and downloads a navigation map of the underground garage by using the mobile phone navigation App; the navigation map combines a Bluetooth beacon, a license plate beacon and a direction beacon and is used for navigation based on a mixed beacon;

s3: at the entrance of the garage, the mobile phone navigation App acquires a positioning point from a Bluetooth beacon at the entrance as a starting point, a user selects a target parking space on a mobile phone navigation map as a target point, a planned path is generated by the navigation map generated in the step S1 and a path planning algorithm, and navigation is started; the path planning algorithm adopts a Dijkstra algorithm;

s4: during navigation, the mobile phone navigation App automatically searches for a Bluetooth beacon along the navigation path, and after receiving a Bluetooth beacon signal on a planned path, a user vehicle on a navigation map is positioned to the position of the Bluetooth beacon according to the planned path; if the Bluetooth beacon corresponding to the received signal is not on the planned path, the mobile phone navigation App processes according to the deviated navigation path to prompt the user to re-plan the path;

s5: during navigation, matching license plate identification on an App navigation chart with an actual license plate of a garage vehicle driven by a user, and identifying the current vehicle position by the user in a manual confirmation mode; if the license plates along the way are matched, the driving path is correct, and the position of the vehicle is adjacent to the confirmed license plate; if the license plates along the way are not matched, the fact that the vehicles of the users deviate from the navigation path on the navigation map is shown, the users should actively process the deviation navigation path, and the path is re-planned according to the actual license plate on the spot;

s6: during navigation, when passing through a direction beacon, a user manually confirms and identifies the current vehicle position through a direction key on the App, and the user vehicle on the navigation chart is positioned at the direction beacon;

s7: and repeating the steps S4-S6, generating a discrete beacon time sequence by the Bluetooth beacon, the license plate beacon and the direction beacon, recording the driving time and the corresponding position point information of the user vehicle on the navigation map by the sequence, and generating the moving track of the user vehicle on the navigation map by the navigation App according to the sequence in combination with the planned path to realize beacon stream navigation.

Further, the navigation map generation method in step S1 is as follows:

s1.1: using a web online vector map editor to abstract and simplify the design of navigation elements; abstract and generalizing the content design of the underground garage into design elements containing graphic element objects and navigation elements corresponding to the navigation chart;

the navigation elements include: paths, parking places, beacons, obstacles, text information and separation marks;

s1.2: dividing the underground garage into subunits according to the primitive object design elements; according to the subunit naming rule, the subunit decomposition of the navigation map is realized by combining the partition identification; the decomposed subunits are used as independent items for grouping the garage content filling tasks;

s1.3: performing internal design and beacon binding on the underground garage subunits according to the primitive object design elements;

s1.4: and (4) submitting the design result of the subunit obtained in the step (S1.3) to a server, merging the subunits through post-processing operation of a navigation map at the server end to form a complete map file for navigation, and storing the complete map file in the server for subsequent navigation.

Further, the step S1.1 uses a web online vector map editor to abstract and simplify the design of the navigation elements; the method comprises the following steps:

under the scaling of 1:1, creating a primitive object visually matched with the navigation map, and visually dragging the primitive object to generate a primitive object set conforming to the visual scale; the primitive object set comprises a complete navigation element and is stored on a server in the form of a map file;

the set of primitive objects comprises: the system comprises a path object, a parking space object, a beacon object, a shape object, a text object, a directed edge object and a partition object;

the path object is defined as an open line segment, is composed of a broken line segment and an arc line segment, and is used for generating a navigation path; directly creating a path object on a vector map editor, or copying and pasting the existing path to generate the path object; the navigation path does not distinguish a single lane or a two-way lane, and all lanes are processed in two ways; different path sections are permitted to be overlapped or intersected, and after the path object is designed, unified path information required by navigation is obtained through post-processing operation of a navigation map;

the parking space object comprises two parameters of name and detail and is used for identifying a parking space; the rear 3-digit short number with the name of a complete license plate refers to the complete license plate number; the parking space object is directly edited on a vector map editor, and a 3-digit short number is directly displayed on a navigation map in a main body identification form; creating a parking space on a navigation map by dragging a parking space object, or zooming, rotating, copying and pasting the existing parking space, and copying to generate the parking space;

the beacon object is provided with an icon and a detail description attribute and is used for associating with the distribution point of the Bluetooth beacon of the garage site; the description attribute is used to bind the bluetooth beacon ID; creating a beacon on the navigation map by dragging the beacon object;

the shape object is composed of a closed path and comprises a single-edge line and a polygon; the single side line is defined as a line which is formed by two points and has zero area and represents the boundary line of the garage; the polygon is defined as a shape with an area which is not zero and is formed by more than three points, and represents the identifier of the occupied/forbidden area; dragging the shape object by dot and dash to form a unilateral line or a polygon object, or dragging a predefined shape object from a shape graphic library to create a polygon object, or copying and pasting the existing shape object to generate a shape object;

the text object is used for text marking, a text identifier is created on the navigation chart by dragging the text object, and the font, the size and the color of the text object are adjusted;

the directed edge object represents adjacent separation lines of two partition compartments, namely partition identification lines, and is also a positioning line for realizing subunit combination; the directional edge object is represented by a directional edge connecting two shape objects, has directivity and is used for assisting the merging of subunits and the generation of interval conversion confirmation and direction beacons during navigation; the region is the boundary separation of two adjacent units;

the partition object encloses parking spaces in a certain area into a graphic partition for aggregation, and is used for assisting navigation route generation and abnormal condition processing; and creating a graphic partition on the navigation chart by dragging the partition object, or merging the existing parking space into a partition or an deconstruction partition by combining shift and a dragging function.

Further, in the step S1.2, dividing the underground garage into subunits, and combining with the partition separation mark to realize subunit decomposition of the navigation chart according to the subunit naming rule; the decomposed subunits are used as independent items for grouping the garage content filling tasks; the method comprises the following steps:

according to the characteristics of the compartment structure and indoor connectivity of the underground garage, combining the primitive definition in the step S1.1, decomposing the garage into subunits according to the regulated naming, wherein the smallest unit which can not be decomposed any more in the subunits is a compartment;

the design unit is divided into a single-chamber unit or a combined unit; the combination of the plurality of chambers is a combined unit;

the single-chamber unit includes a shared partition and an outer partition, or includes only a shared partition;

the combined unit comprises at least one inner partition, besides the outer partition and/or the shared partition, for connecting the two chambers together;

the naming rules for defining the garage entrance, the garage partition, the design unit and the partition are as follows:

the garage entrance is named: defined by an integer i, i ═ 1,2, …, n, i denotes the entry element name, n denotes the number of entries;

and (3) naming the garage by zones: defined by capital English letters, wherein the letters represent partition names;

on the basis, the design unit names and the partition names among the units are regularly defined;

the design unit regular naming is to decompose the garage design according to units, realize task grouping design and automatically merge the garage design during post-processing; the regularized partition naming is to facilitate automatic merging during post-processing and to be used in conjunction with the path to determine the switching of partitions during navigation;

design unit naming: in ' unit ' + '<Prefix partition string>_<Suffix partition string>' represents;<prefix partition string>Representing a collection of chambers contained in a design cell,<suffix partition string>A set of rooms representing the design units in which the garage content design has been completed;

the garage content filling parts in the design units are individually listed and set as suffix partitions, because the content filling units need to be merged into the units to be completed and issued to a new task group, the whole layout can be manually adjusted (such as space processing at partitions and parking space alignment) during new content filling; the general rule is that the unit of the content to be filled and the existing unit of the adjacent filled content are merged and issued to the task group to be processed;

the partitions are named: denoted by 'partition' + '< entry | prefix partition > _< suffix partition >'; < entrance | prefix zone > represents a garage entrance or starting room and < suffix zone > represents a target room; the partition connects the chamber and the chamber, and the chamber and the outside together.

Further, the garage content design and beacon binding of step S1.3, the method is as follows:

the design of garage content and beacon binding are completed by using the primitive object in the step S1.1 in the sub-unit decomposed in the step S1.2, and designers use notebook computers or tablet computers in groups to complete the design of garage content on the site of a garage or design the garage content indoors according to a garage design sketch; the method specifically comprises the following steps:

designing a sideline, an occupation/forbidden area, an entrance, an exit, a partition mark, a path section and a text mark on a navigation map, designing a vehicle position, and binding a license plate number and a rear three-digit short number of the license plate number on the navigation map;

arranging Bluetooth beacon sensors at the entrance, exit, fork and partition transition positions of a garage site, and carrying out Bluetooth installation debugging and position adjustment; designing the position of the Bluetooth beacon and binding the Bluetooth beacon ID on the navigation map.

Further, in step S1.4, the sub-units are combined through the navigation map post-processing operation at the server end to form a complete map file for navigation, and the complete map file is stored in the server for subsequent navigation; the method comprises the following specific steps:

s1.4.1: according to the rules of design unit and partition naming, registration and combination are carried out on the subunits through partition identification lines, and after adjacent subunits are combined, shared partition identification lines of the subunits are overlapped;

s1.4.2: the paths do not distinguish one-way and two-way lanes, all lanes are processed in two ways, and the central point of the separation identification line is a passing point of the driving path or an intersection point of a plurality of driving paths;

s1.4.3: the paths of the two subunits are connected and communicated through the central point of the separation identification line; synthesizing other paths in the navigation design drawing into a complete connection path, and communicating path intersections;

s1.4.4: and (4) carrying out standard processing on the direction of the fork to form a complete map file for navigation and storing the complete map file in the server.

Further, in the step S4, the mobile phone navigation App automatically searches for the bluetooth beacon along the way to determine the location of the vehicle, and the method includes:

s4.1: the mobile phone navigation App automatically acquires the ID and the signal intensity information of the searched Bluetooth beacon, wherein the ID is used for binding a Bluetooth beacon object on the navigation map; signal strength information is used for signal strength based positioning; determining the position of the user by combining the driving path;

s4.2: when a vehicle passes through a Bluetooth beacon sensor deployed in a garage, the mobile phone navigation App determines the position of the vehicle according to the position of the received Bluetooth beacon, and confirms the unit where the vehicle is located according to the interval where the Bluetooth beacon is located or sends out prompt information at a fork intersection to prompt the vehicle to run according to a specified path. If the Bluetooth beacon corresponding to the Bluetooth signal received by the navigation App is not on the planned path, the navigation App processes according to the deviation of the navigation path, the navigation App actively prompts the user that the user is not on the planned path through voice, simultaneously generates a new planned path, and requires the user to confirm the direction of the new vehicle head and drive according to the new planned path.

Further, license plate identification on the navigation map is matched with a complete license plate of a field vehicle, and license plate beacon positioning and navigation routing planning are realized through confirmation on a mobile phone navigation App interface; the method comprises the following steps:

the method comprises the following steps that the last three digits of a complete license plate are used as digital short numbers to indicate the complete license plate, parking space objects are bound with the license plate and the three-digit short numbers are displayed by main body marks on a navigation map, the parking space marks are manually clicked during navigation, the complete license plate number is associated, the corresponding parking spaces are associated, and license plate beacon confirmation is achieved;

when a user travels along a navigation path and meets a direction beacon set on a navigation map at a fork road, partition conversion or a garage entrance and exit, the direction beacon is confirmed by clicking a direction key on a mobile phone navigation App interface;

the direction keys are three direction buttons arranged on the left, right and front of the upper part of the mobile phone navigation App interface, wherein the straight key is used when the division is switched or when the straight key needs to be moved forwards when a navigation map is pressed at a fork; the left-going key and the right-going key are respectively used when the left-going key or the right-going key is needed to be used for pressing a navigation map at a fork road;

when a user is separated from a navigation path, a license plate beacon of an actual vehicle is searched on a navigation map by using a numeric keyboard, the position of the license plate beacon is determined to be positioned, and at the moment, a navigation App plans the path again according to the new positioning and is combined with the direction key to determine the direction of the vehicle head; and if the license plate beacon is on the left side of the proceeding direction, clicking a left row key on the navigation map, and clicking a right row key on the right side, so that the mobile phone navigation App automatically adjusts the position of the user vehicle to the position of the beacon on the map, and adjusts the current vehicle head direction to be consistent with the actual direction. And if the direction is not consistent with the direction of the new planned path, the user is prompted by voice to turn the head of the vehicle.

Further, the three-digit short number of the license plate on the parking space main body mark is also used as the quick input for searching the parking space by using the numeric keyboard, and the method comprises the following steps:

and (2) awakening a numeric keyboard at the bottom of the navigation App, continuously inputting three license plate short numbers, intelligently identifying and confirming all license plates containing the same short number in the enumerated navigation map by the mobile phone navigation App, if a plurality of license plates in the garage have the same short number, popping up all license plate lists meeting the conditions for further confirmation by a user, and intelligently determining the arrangement sequence of the lists according to the historical driving track of the user.

Further, according to a garage navigation map, when a user temporarily rents a parking space to enter or exit an underground garage, the background server is synchronously updated through a mobile phone network, the license plate information of the user is uploaded, the license plate information containing other rented vehicles is downloaded, the dynamic license plate beacon is updated, and navigation including the dynamic license plate beacon is realized.

Has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:

the beacon stream navigation technology of the invention infers continuous positions through discontinuous positioning information in the running process of a vehicle. Considering that the speed of a vehicle is slow when a parking space is searched indoors and the space in a garage is small, the running vehicle is continuously subjected to path positioning through beacon confirmation in combination with a predefined partition boundary, and the navigation habit of a user is continuously learned through an intelligent method, so that a navigation system with good user experience can be realized. The beacon stream navigation technology does not need to adopt a complex fingerprint acquisition positioning mode like other indoor positioning, but combines the beacon stream with a given navigation path to carry out position inference, a small amount of Bluetooth beacons are deployed at key points, the beacons can be increased at any time, and the deployment and the maintenance are easier.

The mixed beacon stream positioning technology has the advantages of low cost, high arrangement convenience, accurate positioning and low maintenance frequency, can be applied to the fields of indoor vehicle searching, indoor navigation and shared parking places, and solves the problems of difficult parking and difficult vehicle searching.

Drawings

Fig. 1 is a schematic illustration of beacon acknowledgement for a hybrid beacon;

FIG. 2 is a schematic view of a navigation chart;

FIG. 3 is a schematic view of a directional edge partition alignment line;

FIG. 4 is a schematic diagram of the partition;

FIG. 5 is a schematic view of a combination unit;

FIG. 6 is a schematic view of a single chamber unit;

FIG. 7 is a beacon stream navigation handset interface;

FIG. 8 is a diagram of license plate binding.

Detailed Description

The technical scheme of the invention is further explained by combining the drawings and the implementation examples.

The invention relates to an underground garage parking space positioning and navigation method based on mixed beacon flow, which comprises the following steps:

s1: according to the compartment structure and indoor connectivity of the underground garage, deploying Bluetooth beacons at key points (such as an entrance, an exit and a partition transition position) of the underground garage, combining layout information of the underground garage with parking space information, path information and beacon information to generate a special navigation map of the underground garage, and storing the navigation map in a server; the navigation map has complete path information and fixed beacon information, and navigation based on the fixed beacons can be realized;

s2: a user downloads and installs a mobile phone navigation App from a server by using a mobile phone, and downloads a navigation map of the underground garage by using the mobile phone navigation App; the mobile phone navigation App combines a bluetooth beacon, a license plate beacon and a direction beacon, so that navigation based on a mixed beacon can be realized; the direction beacon is an identifier for positioning by using a direction mark; the license plate beacon is an identification positioned by using a parking space license plate, and comprises a fixed parking space license plate and a dynamic license plate which is successfully leased;

s7: because different from the traditional outdoor GPS continuous position navigation, the beacon confirmation mode of the beacon stream navigation is intermittent, if the vehicle is only moved to a positioning point when the beacon is confirmed and is still at other time, the vehicle runs against the user experience; therefore, the steps S4-S6 are repeated, a discrete beacon time sequence is generated by the Bluetooth beacon, the license plate beacon and the direction beacon together, the sequence records the driving time of the user vehicle on the navigation map and the corresponding position point information to form a discrete beacon stream time sequence, the moving track of the user vehicle is generated and estimated by combining the separation information and the historical track of the vehicle, and iteration is carried out through beacon confirmation again until the target point is reached, so that the beacon stream navigation is realized.

The navigation map generation method in step S1 is as follows:

the navigation elements include: paths, parking places, beacons, obstacles (occupied/forbidden areas), text information and separation marks;

s1.2: dividing the underground garage into subunits (units) according to the primitive object design elements; according to the subunit naming rule, the subunit decomposition of the navigation map is realized by combining the partition identification; the decomposed subunits are used as independent items for grouping the garage content filling tasks;

s1.3: according to the primitive object design elements, performing content design and beacon binding on the sub-units on the site of the underground garage;

S1.1, using the web online vector map editor to abstract and simplify the design of navigation elements; the method comprises the following steps:

and under the scaling of 1:1, creating a primitive object which is visually matched with the navigation map, and visually dragging the primitive object to generate a primitive object set which accords with the visual scale.

The primitive object set comprises a complete navigation element and is stored on a server in the form of a map file; the mobile phone navigation App at the mobile phone client downloads the file and can be separated from the server for navigation.

The set of primitive objects comprises: a path object (PathNode), a space object (Node), a beacon object (BeconNode), a shape object (ShapeNode), a text object (TextNode), an oriented edge object (EdgeNode), and a partition object (GroupNode).

The path object is defined as an open line segment (line), is composed of a broken line segment and an arc line segment, and is used for generating a navigation path. And directly creating a path object on a vector map editor, or copying and pasting the existing path to generate the path object. The navigation path does not distinguish single and double lanes, all lanes are processed in double directions, which accords with the driving habit of most underground garages. Different path sections can be overlapped or intersected, and after the path object is designed, the unified path information required by navigation is finally obtained through the post-processing operation of the navigation map.

The parking space object comprises two parameters of name and description, and is used for identifying a parking space. The name (name) is the last 3 digit short number of the complete license plate, and the description (detail) refers to the complete license plate number. The parking space object is directly edited on a vector map editor, and a 3-digit short number is directly displayed on a navigation map in a main body identification mode, as shown in fig. 2. And creating the parking space on the navigation map by dragging the parking space object, or zooming, rotating, copying and pasting the existing parking space on the navigation map, and copying to generate the parking space.

The beacon object has icon and description (detail) attributes for associating with the stationing of the IBeacon Bluetooth beacon at the garage site. The description (detail) attribute is used to bind the bluetooth beacon ID. A beacon is created on the navigation map by dragging the beacon object.

The shape object is composed of a closed path (path) and comprises a single-edge line and a polygon. The single side line is defined as a line which is formed by two points and has zero area and represents the boundary line of the garage; the polygon is defined as a shape with an area different from zero and composed of three or more points, and represents the occupied/forbidden region identifier. The shape objects are dragged by a dot and dash to form a single-sided line or a polygon object, or the polygon object is created by dragging a predefined shape object from a shape graph library, or the shape objects are generated by copying and pasting existing shape objects.

The text object is used for text marking. A textual identification is created on the navigation map by dragging a textual object. The font, size, color can be adjusted for the text object.

The directed edge object represents the adjacent separation lines (separation identification lines) of the two compartments, and is also a positioning line for realizing the merging of the sub-units, as shown in fig. 3. The directional edge object is represented by a directional edge connecting two shape objects, has directivity, and is used for assisting the merging of subunits, the confirmation of interval conversion during navigation and the generation of directional beacons. The partition refers to a boundary separation of two adjacent cells.

And the partition object encloses the parking spaces in a certain area into a graphic partition for aggregation, and is used for assisting navigation route generation and abnormal condition processing. And creating a graphic partition on the navigation chart by dragging the partition object, or merging the existing parking space into a partition or an deconstruction partition by combining shift and a dragging function.

The display results of the path object, the parking space object, the beacon object, the shape object, the text object and the directed edge object on the navigation map are shown in fig. 2.

S1.2, dividing the underground garage into subunits, and combining with a partition identification to realize subunit decomposition of the navigation chart according to subunit naming rules; the decomposed subunits are used as independent items for grouping the garage content filling tasks; the method comprises the following steps:

according to the characteristics of the compartment structure and indoor connectivity of the underground garage, the graphic element definition in the step S1.1 is combined, and the design of one garage navigation map is decomposed into a plurality of subunit designs. The design task of the navigation chart is decomposed, and the design of the multi-person parallel navigation chart can be realized.

According to the characteristics of the chamber-dividing structure and indoor connectivity of the underground garage, combining the definition of the graphic elements in the step S1.1, decomposing the garage into sub-units according to the regulated naming, wherein the minimum unit which can not be decomposed any more in the sub-units is a chamber (Cell);

the single-room unit comprises a shared partition (connection of two rooms) and an external partition (connection of a room and a garage entrance and exit), or only comprises the shared partition;

for example: 'cell ABC _ B' represents a group of three chambers consisting of A, B, CA unit of; the suffix B represents the B-room has completed the garage contents design, leaving room A, C empty.

The reason why the parts of the design units which are filled with the garage content are listed separately is set as the suffix partition is that the units which are filled with the content need to be merged into the units to be completed as much as possible and are issued to a new task group together, which is favorable for manual adjustment of the whole layout (such as space processing at the partition and parking space alignment) during the filling of new content; the general rule is that the unit of content to be filled should be merged with the existing units of adjacent filled content and published into the pending task packet.

The partitions are named: denoted by 'partition' + '< entry | prefix partition > _ < suffix partition >'. < entrance | prefix zone > represents a garage entrance or starting room and < suffix zone > represents a target room; if 'partition 1_ a' represents the partition from garage entrance 1 to room a, 'partition a _ B' represents the partition from room a to room B. As shown in fig. 4. The partition connects the chamber and the chamber, and the chamber and the outside together. A narrowly defined partition can be understood as a door.

An example of a unit decomposition is as follows:

the cell ABC _ ABC is the cell ABC _ a + the cell ABC _ B + the cell ABC _ C;

a unit ABC _ ABC is unit a _ a + unit B _ B + unit C _ C;

the cell ABC _ ABC is cell ABC _0+ cell a _ a + cell B _ B + cell C _ C.

FIG. 5 shows four examples of combination units;

firstly, as shown in fig. 5(a), 'cell ABC _ 0', which contains three ABC cells, there is no design of garage content;

secondly, as shown in fig. 5(b), 'cell ABC _ a' includes three cells ABC, partition a has a garage content design, and other partitions have no content design;

thirdly, as shown in fig. 5(c), 'cell ABC _ B' contains three cells ABC, partition B has a garage content design, and other partitions have no content design;

fourthly, as shown in fig. 5(d), 'cell ABC _ C' includes three cells ABC, partition C has a garage content design, and other partitions have no content design;

the above four combination units have the same frame and thus the same partitions, namely, the outer partition 'partition 1_ a', the inner partition 'partition a _ B', and the 'partition B _ C'.

FIG. 6 shows three examples of single-chamber units;

first, as shown in fig. 6(a), 'cell a _ a' includes an outer partition 'partition 1_ a', a shared partition 'partition a _ B';

secondly, as shown in fig. 6(B), ' cell B _ B ' includes a shared partition ' partition a _ B ' and a partition B _ C ';

third, as shown in fig. 6(C), 'cell C _ C' includes a shared partition 'partition B _ C'.

Step S1.3, the garage content design and beacon binding are carried out by the following method:

The Bluetooth beacon adopts a Bluetooth IBeacon beacon, and the beacon sends a radio frequency signal every second. The Bluetooth IBeacon beacon is low in price, appropriate in signal receiving distance and convenient to deploy, the version is connected quickly after 4.0 Bluetooth, power consumption is low, and power can be supplied to a battery for a long time; and bluetooth has become the standard configuration of smart mobile phone, can directly read. The power consumption of the Bluetooth at the mobile phone end is low, and the power consumption is not needed to be worried when the Bluetooth is opened for a long time.

And S1.4, the navigation chart post-processing is to process through a post-processing program of a server end after submitting the navigation chart post-processing to the server according to the sub-unit design result obtained in the step S1.2.

The post-treatment comprises the following steps: and combining all the sub-units into a complete navigation map according to the characteristics of the unit names. Because the adjacent subarea subunits are merged and then coincide with each other at the shared subarea identification line, the paths do not distinguish one-way lanes from two-way lanes, and all the lanes are processed in two ways, the central point of the subarea identification line is a passing point of the driving path or an intersection point of a plurality of driving paths. The sub-units can be registered and merged through the separation identification line, and the paths of the two sub-units are connected and communicated through the central point of the separation identification line. And other paths in the design drawing are synthesized into a complete connection path, and the path intersection points are communicated. And (5) carrying out standard processing on the direction of the fork. Finally, a complete map file which can be used for navigation is formed and stored in the server.

Fig. 4(a) shows that the garage number 1 entrance, i.e., the junction of the siemens entrance and the zone a, forms the outer zone 'zone 1_ a', and the driving path passes through the center point of the zone. Fig. 4(B) shows that when the zone a and the zone B are combined, the junction of the two chambers a and B forms an internal zone 'zone a _ B', and the travel path passes through the center point of the zone. When the a and B regions belong to different cells, the 'region a _ B' is the same shared region of the cells a and B. The path 1(path1) in zone a and the path 2(path2) in zone B meet at the center point of the 'partition a _ B' when merging.

In the step S4, the mobile phone navigation App automatically searches for the bluetooth beacon along the way to determine the location of the vehicle, and the method includes:

s4.1: the mobile phone navigation App automatically acquires the ID and the signal intensity information of the searched Bluetooth beacon, wherein the ID is used for binding a Bluetooth beacon object on the navigation map; the signal strength information is used for positioning based on signal strength (RSS) and determining the position of a user by combining a driving path;

Bluetooth beacon sensors are usually arranged at garage entrances, exits and partition transitions.

The bluetooth beacon is used as the positioning beacon with the highest priority, and the mobile phone navigation App can timely position the user to the position of the beacon after receiving the signal, so that the situation that the user unconsciously walks by mistake can be timely corrected. When the Bluetooth beacon is separated from the navigation path, the Bluetooth beacon can be used for positioning, but the direction of the vehicle head cannot be automatically determined, and the Bluetooth beacon is combined with other beacons to determine the direction of the vehicle head and replan the navigation route.

The license plate identification on the navigation picture is matched with the complete license plate of the on-site vehicle, and the license plate identification is confirmed on the mobile phone navigation App, so that the license plate beacon positioning is realized; the method comprises the following steps:

on a navigation chart, the parking space displays a three-digit short number bound with a license plate by a main body identifier, the digital short number is a three-digit short number which adopts the last three digits of a complete license plate to replace the license plate number of a finished vehicle so as to be convenient and quick for matching, and the parking space identifier is manually clicked during navigation and is associated to the parking space to which the license plate number belongs, so that license plate beacon confirmation is realized;

if the license plates along the way are matched, the driving path is correct, and the position of the vehicle is adjacent to the confirmed license plate; if the license plates along the way are not matched, the fact that the vehicles of the users deviate from the navigation path on the navigation map is shown, the users need to process according to the deviation of the navigation path, and the route is re-planned by a method of waking up a numeric keyboard to search for the actual garage vehicle license plate beacon;

when a user travels along a navigation path and encounters a fork road, partition conversion or garage entrance and exit direction beacon, the direction beacon is confirmed by clicking a direction key on a mobile phone navigation App interface;

the direction keys are three direction buttons arranged on the left, right and front of the mobile phone navigation App interface, as shown in fig. 7, wherein the straight key is used when the division is switched or when the forward straight is needed when the navigation map is pressed at a fork; the left-going key and the right-going key are respectively used when the left-going key or the right-going key is needed to be used for pressing a navigation map at a fork road; the direction keys are distributed on the mobile phone navigation App interface according to the directions, are consistent with the thinking habits of users, and are easy to operate.

When a navigation user is separated from a navigation path, the navigation user cannot confirm the vehicle license plate through license plate matching along the way, and needs to search the actual garage vehicle license plate beacon through activating a numeric keyboard to position the navigation user. At the moment, the three-position license plate short number on the parking space main body mark is also used as a quick input method for the function, and the method comprises the following steps:

on a mobile phone navigation App, a numeric keyboard is awakened by long pressing of fingers on the bottom of a navigation drawing, three-digit short numbers of license plates are continuously input, the App carries out intelligent identification and confirmation on all license plates containing the same short numbers in the enumerated navigation drawing, if a plurality of license plates in a garage have the same short numbers, all license plate lists meeting conditions are popped up for further confirmation of a user, and the arrangement sequence of the lists is intelligently determined according to the historical driving track of the user.

When the vehicle head direction is separated from the navigation path, the vehicle head direction can not be determined only by the license plate beacon, the vehicle head direction needs to be determined by combining the direction keys, if the determined license plate beacon is on the left side of the proceeding direction, a left line key is clicked on the navigation map, and if the determined license plate beacon is on the right side, a right line key is clicked, after the license plate beacon and the direction beacon are determined, the mobile phone navigation App automatically adjusts the position of the vehicle of the user to the position of the beacon on the map, and adjusts the current vehicle head direction to be consistent with the actual direction. If the direction is not consistent with the direction of the new planned path, the user is prompted by voice to turn the locomotive to re-plan the navigation route.

The license plate beacon is the combination of a fixed parking space license plate and a dynamic license plate which is successfully leased, and the dynamic license plate is updated by a network real-time updating method, wherein the method comprises the following steps:

according to a garage navigation map, when a user temporarily rents a parking space to enter and exit an underground garage, a background server is synchronously updated through a mobile phone network, license plate information of the user is uploaded, license plate information containing other rented vehicles is downloaded, and updating of dynamic license plate beacons and navigation containing the dynamic license plate beacons are achieved.

In the embodiment, beacon stream navigation is realized through beacon confirmation operation, and license plate identification and direction identification are used, but the method is not limited to the identification and is also suitable for identification realized through mandatory specifications. It is within the scope of the invention to achieve navigation via beacon stream acknowledgement techniques in principle.

The embodiment needs to install a web online special underground garage map design service at a server end, and the service is used on a computer or a mobile phone in a browser application mode. Other parking space registration applications are matched with conventional services, a user is required to have a wireless network and Bluetooth connection function during navigation, and a special mobile phone navigation App is installed; the IBeacon Bluetooth beacon with a battery needs to be arranged in an underground garage.

The following describes a specific process of using beacon stream navigation by taking a cell sharing parking space as an example:

1. and the user downloads and installs the mobile phone navigation App from the server by using the mobile phone and then downloads the navigation map of the corresponding garage.

2. A user reserves a parking place for a server at the entrance of a garage (or reserves in advance, and the reservation is verified at the entrance), after the reservation is successful, the license plate of the user is bound to the selected parking place, meanwhile, real-time binding information is synchronously updated at a mobile phone navigation App and the server, the license plate number of the vehicle in parking is changed into the license plate number of the renter, and the mobile phone navigation App simultaneously displays the new license plate number on a navigation map. When the parking space is not rented, the license plate information in the parking space is the license plate of the vehicle owner, namely the fixed parking space information. As shown in fig. 8.

3. At the entrance of the garage, mobile phone navigation App software acquires a positioning point from a Bluetooth beacon at the entrance as a starting point, a selected target parking space is a target point, navigation is started, and then a path is planned through a positioning navigation algorithm module to calculate a navigation route.

4. The navigation route and the current vehicle position are highlighted on the navigation map, under the general condition, the vehicle runs according to the generated continuous navigation stream, and on the way of running, a user can search and obtain the license plate on the way according to the field as required, and compares the license plate with the license plate identification (three-digit short number) adjacent to the navigation path on the map, and selects and presses the matched parking space on the navigation map, thereby realizing the beacon confirmation of the license plate beacon. And moving the vehicle on the navigation map to a positioning point, and then continuing to drive at a certain speed according to the planned path.

5. When meeting the intersection and the district is switched, the vehicle reduces the speed in advance and stops gradually, and reminds the user with sound, at the moment, the direction is confirmed, the user waits for the confirmation of the direction beacon on the navigation map, and the vehicle continues to run at a certain speed after the confirmation. The user should confirm the direction beacon at the intersection before the bay switch is started.

6. The mobile phone navigation App can automatically acquire the information of the Bluetooth beacon along the way, and immediately move the vehicle on the navigation map to the Bluetooth beacon positioning point after receiving the signal.

7. By continuously applying the mixed beacon stream for positioning, the user can reach the target parking space according to the navigation path. When a user is separated from a navigation path and mistakenly enters a strange compartment, the license plate along the way can be searched and obtained on site, a 10-digit keyboard is awakened on a navigation interface, three-digit short numbers are continuously input to estimate the parking space on a navigation map, a direction key is combined on the left side, the right side or the right front of the advancing direction of the actual license plate to confirm the beacon of the license plate beacon, and the position and the advancing direction of the vehicle head are determined at the same time. If the number short number has a double number, all the complete license plate lists conforming to the short number are popped up for further confirmation of the user. And the complete license plate list intelligently determines priority sequencing according to the driving historical track of the user.

8. And when the user stops the vehicle, parking determination is carried out on the mobile phone navigation App. The mobile phone navigation App can automatically and dynamically refresh the parking space binding information from the server when entering and exiting from the entrance next time so as to adapt to the searching task (such as searching parked vehicles) after license plate dynamic binding update. The underground garage is not needed to be communicated with a mobile phone network signal in the navigation process of the underground garage.

9. After the lease is finished, when the user selects to leave the navigation, the corresponding exit is selected, and then the navigation task is changed into the navigation from the current parking space to the exit. And the vehicle is unbound when leaving the exit, and the vehicle unbound information is updated to the server at the same time. At the moment, the license plate of the parking space is bound to the original main license plate of the vehicle again.

10. If the network is in a connected state, if a user enters and exits an underground garage every time, the synchronous dynamic binding result is updated from the server, and the navigation apps of the mobile phones of other users also dynamically acquire the latest license plate binding information from the server through the network and update the latest license plate binding information to the navigation map of the mobile phones in real time.

Claims

1. The utility model provides an underground garage parking stall location and navigation based on mix beacon flow which characterized in that: the method comprises the following steps:

s1: according to the compartment structure and indoor connectivity of the underground garage, deploying Bluetooth beacons at key points of the underground garage, combining layout information of the underground garage with parking space information, path information and beacon information to generate a special navigation map of the underground garage, and storing the navigation map in a server; the key points comprise an entrance and an exit and a partition conversion part;

s2: a user downloads and installs a mobile phone navigation App from a server by using a mobile phone, and downloads a navigation map of the underground garage through the App; the navigation map combines a Bluetooth beacon, a license plate beacon and a direction beacon and is used for navigation based on a mixed beacon;

on a navigation chart, a parking space displays a three-digit short number bound with a license plate by a main body identifier, the digital short number adopts the last three digits of a complete license plate to replace the license plate of a finished vehicle, and the parking space identifier is manually clicked in the navigation process and is associated to the parking space to which the license plate of the finished vehicle belongs, so that license plate beacon confirmation is realized;

the method comprises the following steps that a fork road, a partition switching or a garage entrance and exit are position points of a preselected direction beacon, when a vehicle on a navigation map meets the direction beacon, the speed of the vehicle is reduced in advance and the vehicle stops gradually, a user is reminded, the user waits for the confirmation of the direction beacon on the navigation map through a direction key, and the vehicle continues to run at a certain speed after the confirmation; the direction keys are three direction buttons arranged on the left, right and front of the upper part of the mobile phone navigation App interface;

s3: at the entrance of the garage, the mobile phone navigation App acquires a positioning point from a Bluetooth beacon at the entrance as a starting point, a user selects a target parking space on a mobile phone navigation map as a target point, a planned path is generated by the navigation map generated in the step S1 and a path planning algorithm, and navigation is started;

when the user is separated from the navigation path, determining the position of the vehicle of the current user on the navigation map by searching the license plate beacon, replanning the path, and determining the direction of the vehicle head on the navigation map by combining with the direction key;

if the license plate beacon is on the left side of the advancing direction, a left row key is clicked on the navigation map, a right row key is clicked on the right side, the navigation App automatically adjusts the direction of the vehicle head on the navigation map to be consistent with the actual direction of the current vehicle according to the selected direction key, and if the direction is not consistent with the direction of the planned path, the user is prompted to turn the vehicle head through voice;

2. The underground garage parking space positioning and navigation method based on the mixed beacon stream as claimed in claim 1, wherein: the navigation map generation method in step S1 is as follows:

3. The underground garage parking space positioning and navigation method based on the mixed beacon stream as claimed in claim 2, wherein: s1.1, using a web online vector map editor to abstract and simplify the design of navigation elements; the method comprises the following steps:

4. The underground garage parking space positioning and navigation method based on the mixed beacon stream as claimed in claim 3, wherein: s1.2, dividing the underground garage into subunits, and combining with a partition identification to realize subunit decomposition of the navigation chart according to subunit naming rules; the decomposed subunits are used for grouping the garage content filling tasks as independent items, and the method comprises the following steps:

on the basis of garage entrance and partition naming, regularly defining unit naming and partition naming among units;

design unit naming: in ' unit ' + '<Prefix partition string>_<Suffix partition string>' represents;<prefix partition string>Representing the collection of chambers contained in the design cell,<suffix partition string>A set of rooms representing the design units in which the garage contents have been filled;

5. The underground garage parking space positioning and navigation method based on the mixed beacon stream as claimed in claim 4, wherein: step S1.3 the garage content design and beacon binding specifically includes:

bluetooth beacon sensors are arranged at the entrance, the exit, the fork and the partition conversion positions of the garage site; designing the position of the Bluetooth beacon and binding the Bluetooth beacon ID on the navigation map.

6. The underground garage parking space positioning and navigation method based on the mixed beacon stream as claimed in claim 5, wherein: s1.4, combining the subunits through navigation map post-processing operation of the server end to form a complete map file for navigation, and storing the complete map file in the server for subsequent navigation; the method comprises the following specific steps:

7. The underground garage parking space positioning and navigation method based on the mixed beacon stream as claimed in claim 6, wherein: in the step S4, the mobile phone navigation App automatically searches for the bluetooth beacon along the way to determine the location of the vehicle, and the method includes:

s4.1: the mobile phone navigation App automatically acquires the ID and the signal intensity information of the searched Bluetooth beacon, wherein the ID is used for binding a Bluetooth beacon object on the navigation map; the signal intensity is used for positioning based on the signal intensity, and the position of the user is determined by combining the driving path;

s4.2: if the Bluetooth beacon corresponding to the Bluetooth signal received by the navigation App is not on the planned path, the navigation App processes according to the deviation of the navigation path, the navigation App actively prompts the user that the user is not on the planned path through voice, simultaneously generates a new planned path, and requires the user to confirm the direction of the new vehicle head and drive according to the new planned path.

8. The underground garage parking space positioning and navigation method based on the mixed beacon stream as claimed in claim 1, wherein: the quick input matching of the license plate on the mobile phone navigation App interface is realized by utilizing the three-digit short number; the method comprises the following steps:

and awakening a numeric keyboard at the bottom of the mobile phone navigation App, continuously inputting three license plate short numbers, intelligently identifying and confirming all license plates containing the same short number in the enumerated navigation map by the mobile phone navigation App, if a plurality of license plates in the garage have the same short number, popping up all license plate lists meeting conditions for further confirmation by a user, and intelligently determining the arrangement sequence of the lists according to the historical driving track of the user.

9. The underground garage parking space positioning and navigation method based on the mixed beacon stream as claimed in any one of claims 1 to 8, wherein: according to a garage navigation map, when a user temporarily rents a parking space to enter and exit an underground garage, a background server is synchronously updated through a mobile phone network, the license plate of the user is uploaded, the license plate containing other rented vehicles is downloaded, and the updating of a dynamic license plate beacon and the navigation containing the dynamic license plate beacon are realized.