CN111260802B - Parking lot intelligent control method and system based on wireless communication network - Google Patents
Parking lot intelligent control method and system based on wireless communication network Download PDFInfo
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- CN111260802B CN111260802B CN202010047139.7A CN202010047139A CN111260802B CN 111260802 B CN111260802 B CN 111260802B CN 202010047139 A CN202010047139 A CN 202010047139A CN 111260802 B CN111260802 B CN 111260802B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
Abstract
The invention relates to a parking lot intelligent control method and system based on a wireless communication network, which comprises three working modes, namely an entrance guidance mode, a vehicle retrieving mode and an exit guidance mode, and can be manually selected by a user according to needs. The invention can not only carry out the guiding of entering the place for the vehicle, but also is convenient for the driver to hold the vehicle-mounted device to quickly retrieve the vehicle, thereby improving the efficiency. In addition, when the vehicle leaves the field, the vehicle can be quickly guided to the nearest exit; or the driver can choose the exit and lead it to the exit quickly.
Description
Technical Field
The invention belongs to the technical field of parking lot guidance, and particularly relates to a parking lot intelligent control method and system based on a wireless communication network.
Background
The existing parking lot guiding technology is mostly an independent approach guiding technology, or an independent vehicle retrieving technology, or an independent departure guiding technology, and a technical scheme integrating the three guiding technologies does not appear, so that the parking lot guiding technology is more mature, and the experience of car owners is better.
Disclosure of Invention
Based on the above defects in the prior art, the invention provides a parking lot intelligent control method and system based on a wireless communication network.
In order to achieve the purpose, the invention adopts the following technical scheme:
the parking lot intelligent control method based on the wireless communication network comprises the following steps:
s1, initializing, and respectively establishing a first control logic table, a second control logic table and a third control logic table;
the first control logic table corresponds to an approach guidance mode, comprises all paths from the positions of all guidance nodes to all parking spaces and corresponding distances thereof and control logic, and is arranged in sequence from short to long according to the distances of all the paths;
the second control logic table corresponds to the vehicle retrieving mode and comprises all shortest paths from the positions of all guide nodes to all parking spaces and control logics corresponding to the shortest paths;
a third control logic table corresponding to the off-field guidance mode, comprising all paths from each guidance node to each exit and corresponding distances thereof, and control logic, and sequencing from short to long according to the distances of all the paths;
wherein the guide nodes are arranged along the lane path;
then, S2 is executed;
s2, judging the working mode of the vehicle-mounted device in the parking lot; if the approach guidance mode is the approach guidance mode, executing S3; if the vehicle recovery mode is selected, executing S7; if the mode is the off-field guidance mode, executing S9;
s3, acquiring a free parking space set, positioning the current position of the vehicle, screening a target parking space closest to the current position of the vehicle from the free parking space set, planning a shortest path to the target parking space, and controlling each guide node arranged along the lane path according to the control logic of the first control logic table to execute guidance; then, S4 is executed;
s4, acquiring the free parking space set again every preset time interval, and comparing the free parking space set with the free parking space set acquired at the last moment; if yes, go to S5; if not, go to S6;
s5, judging whether a vehicle exists in the target parking space through the parking space detection node; if so, the vehicle-mounted device is associated with the target parking space, and the entering guide mode is executed; if not, go to S3;
s6, replacing the free parking space set obtained at the current moment with the free parking space set obtained at the previous moment, and executing S3;
s7, positioning the position of a guide node corresponding to the vehicle-mounted device, screening out the shortest path between the guide node and the associated target parking space, and controlling the guide node to execute guide according to the control logic of the second control logic table; then, S8 is executed;
s8, judging whether the guided target parking space is read to the vehicle-mounted device related to the guided target parking space; if yes, the vehicle retrieving mode is completely executed; if not, go to S7;
and S9, positioning the current position of the vehicle, screening out the shortest path between the current position and the selected target exit, and controlling the guide node to execute guide according to the control logic of the third control logic table.
Preferably, the step S9 is followed by:
s10, judging whether the target outlet is changed; if not, executing S11; if yes, go to S12;
s11, judging whether the vehicle enters a target exit node or not; if yes, go to S13; if not, executing S9;
s12, replacing the target outlet before the change with the target outlet after the change, and then performing S9;
and S13, the vehicle leaves the field through the target exit, the vehicle-mounted device and the corresponding target parking space information are cleared, and the leaving guidance mode is executed.
As a preferred scheme, the working mode of the vehicle-mounted device is manually selected, and the default mode is an approach guidance mode; for the vehicle to enter, the step S2 is preceded by:
s01, monitoring whether vehicles enter each entrance node of the parking lot in real time; if yes, go to S02;
s02, acquiring the number E of the idle parking spaces of the parking lot; if E is equal to 0, then S03 is executed; if E is not equal to 0, go to S04;
s03, sending a forbidding command to each entrance node, prompting forbidding information by the entrance node, and then continuing to execute S02;
s04, issuing a vehicle-mounted device, wherein the vehicle-mounted device is arranged in a vehicle and is in an entrance guiding mode by default; then S3 is executed.
Preferably, the guidance node performs guidance by controlling a color change of an LED indicator lamp.
As a preferred scheme, controlling a bootstrap node according to a control logic to perform bootstrap specifically includes:
it is in the guide node G at present to set the vehicle-mounted devicejJ is a positive integer; when the vehicle-mounted device reaches the guide node G in the shortest pathj+1If so, the guide node G is extinguishedj+1LED indicator lamp and turn on guide node G in greenj+2The LED indicator light, and so on.
Preferably, in the step S3 and the step S9, if a plurality of vehicles are in the lane in the parking lot at the current time, whether a vehicle is located at the current vehicle' S view distance position is determined; if yes, searching all paths from the current vehicle to the target parking space or the target exit, and judging whether a path capable of bypassing the sight distance position exists in the planned path or not under the condition of not backing up by combining the position of the current vehicle; if a path capable of bypassing the sight distance position exists, a green LED indicator lamp is used for guiding the current vehicle to switch to the path capable of bypassing the sight distance position; if no path capable of bypassing the sight distance position exists, an LED indicating lamp corresponding to the sight distance position is turned on red to prompt the current vehicle to wait; and the sight distance position of the current vehicle is the position corresponding to the guide node where the current vehicle is located according to the next guide node of the planned path.
The invention also provides a parking lot intelligent control system based on a wireless communication network, which applies the parking lot intelligent control method according to any scheme, and the parking lot intelligent control system comprises:
the vehicle-mounted device comprises an MCU, a battery, a power supply processing circuit, a first RF module, a key and a display screen, wherein the battery is electrically connected with the MCU through the power supply processing circuit; the key is used for switching an entering guide mode, a vehicle retrieving mode and an leaving guide mode, and the display screen is used for displaying human-computer interaction information;
the entrance node is in signal connection with a camera, a vehicle-mounted device issuing machine and a barrier gate which are arranged at the entrance of the parking lot, the camera is used for shooting license plates of vehicles entering the parking lot, the vehicle-mounted device issuing machine is used for issuing the vehicle-mounted devices, and the barrier gate is lifted up to enable the vehicles to enter the parking lot; the entrance node binds the ID number of the vehicle license plate and the vehicle-mounted device and is in wireless connection with the computer;
the guide nodes are sequentially arranged along the path of the lane, are in wireless connection with the computer and are used for executing vehicle guide according to control logic issued by the computer; the guide node and the vehicle-mounted device carry out radio frequency wireless communication so as to realize position positioning;
the parking space detection nodes are arranged corresponding to the parking spaces, are in wireless connection with the computer and are used for judging whether vehicles exist in the parking spaces or not; the parking space detection node and the vehicle-mounted device are in radio frequency wireless communication so as to realize vehicle searching and positioning;
the exit node is wirelessly connected with the computer; the exit node and the vehicle-mounted device carry out radio frequency wireless communication so as to acquire the information of the vehicle leaving the parking lot;
and the computer interacts with the entrance node, the guide node, the parking space detection node and the exit node so as to receive the information reported by each node and issue a corresponding control instruction to each node.
As a preferred scheme, the parking lot intelligent control system further comprises a ZigBee coordinator and a plurality of ZigBee routing nodes wirelessly connected with the ZigBee coordinator, wherein the ZigBee routing nodes are used for expanding the ZigBee wireless network range; the ZigBee coordinator is wirelessly connected with the inlet node, the guide node, the parking space detection node and the outlet node, is in wired connection with the computer, and is used for generating a ZigBee network and forwarding a control command sent by the computer to the corresponding node or transmitting information reported by each node to the computer.
As a preferred scheme, the guide node comprises a second wireless MCU, a second RF module and an LED indicator light, wherein the second RF module and the LED indicator light are electrically connected with the second wireless MCU; the second wireless MCU is wirelessly connected with the ZigBee coordinator; the second RF module is connected with a second antenna and wirelessly communicates with the first RF module of the vehicle-mounted device;
the parking space detection node comprises a third wireless MCU, a third RF module and an ultrasonic sensor, wherein the third RF module and the ultrasonic sensor are electrically connected with the third wireless MCU; the third wireless MCU is wirelessly connected with the ZigBee coordinator; the third RF module is connected with a third antenna and wirelessly communicates with the first RF module of the vehicle-mounted device;
the outlet node comprises a fourth wireless MCU and a fourth RF module electrically connected with the fourth wireless MCU; the fourth wireless MCU is wirelessly connected with the ZigBee coordinator; the fourth RF module is connected with a fourth antenna and wirelessly communicates with the first RF module of the vehicle-mounted device.
As a preferable scheme, the intelligent control system for parking lot further comprises: the parking area entry barrier gate is preceding the suggestion screen that the certain distance set up, and the suggestion screen is connected with the wired electricity of entry node for whether have idle parking stall in the real-time display parking area.
Compared with the prior art, the invention has the beneficial effects that:
the intelligent control method and system for the parking lot based on the wireless communication network can realize manual switching of an entrance guide mode, a vehicle retrieving mode and an exit guide mode, meet daily guide requirements of the parking lot and achieve better user experience.
Drawings
Fig. 1 is a schematic plan view of a parking lot according to an embodiment of the present invention;
FIG. 2 is a hardware diagram of an onboard device of an embodiment of the present invention;
FIG. 3 is a top view of an installation of a guide node of an embodiment of the present invention;
FIG. 4 is a plan view of an installation of a boot node of an embodiment of the present invention;
FIG. 5 is a hardware diagram of a boot node of an embodiment of the present invention;
FIG. 6 is a hardware diagram of a parking space node according to an embodiment of the present invention;
FIG. 7 is a hardware diagram of an egress node of an embodiment of the present invention;
fig. 8 is a frame diagram of a parking lot intelligent control system based on a wireless communication network;
fig. 9 is a flow chart of a parking lot intelligent control method based on a wireless communication network.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention, the following description will explain the embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
The parking lot intelligent control system based on the wireless communication network is applied to a parking lot. As shown in fig. 1, it is assumed that the parking lot has three entrances and two exits, the black warhead in the figure is a vehicle, and the driving direction of the vehicle is shown by an arrow.
Specifically, the intelligent parking lot control system based on the wireless communication network comprises:
1. entrance of parking lot
Camera, vehicle-mounted device dispenser, banister, entry node (zigBee terminal node).
The vehicle enters, the camera is used for shooting the license plate of the vehicle, the vehicle-mounted device issuing machine issues the vehicle-mounted device, and the entrance node binds the vehicle license plate and the ID number of the vehicle-mounted device. At this time, the driver takes the vehicle-mounted device, places the device in the vehicle, and lifts the barrier gate to enable the vehicle to enter the parking lot. The working modes of the vehicle-mounted device comprise an approach guiding mode, a vehicle retrieving mode and an departure guiding mode, and the approach guiding mode is a default working mode.
As shown in fig. 2, the vehicle-mounted device includes an MCU, a lithium battery, a power processing circuit, a first RF module, a key and a display screen, wherein the key is used for manually switching to an entrance guidance mode, a vehicle retrieving mode or an exit guidance mode, the battery is electrically connected to the MCU through the power processing circuit, and the first RF module, the key and the display screen are electrically connected to the MCU; the display screen is used for displaying human-computer interaction information. In addition, the vehicle-mounted device can also comprise a voice circuit for broadcasting voice.
In addition, a prompt display screen can be arranged at a position with a certain distance from the front of the entrance barrier of the parking lot. The suggestion display screen is used for showing whether have idle parking stall in the parking lot in real time, so can avoid the vehicle to open banister department, discovers not have idle parking stall, the condition that has to fall back again. When the driver sees the prompt display screen to display that no free parking space exists, the driver does not enter the parking space; and when the driver sees the prompt display screen to display the free parking space, the driver enters the parking space.
Wherein, the prompt display screen is connected with the entrance node by wire.
2. Lane
(1) Second RF module
For illustration of an optional bidirectional lane, as shown in fig. 3 and 4, mounting bars 1 are provided at equal intervals on the boundary (dotted line) of the two lanes, and the height of the mounting bars from the ground is preferably close to the general vehicle height. Two second antennas 2, preferably sector directional antennas, are arranged on the top of the mounting pole 1, each second antenna is connected with a second RF module, the two second antennas face to a lane respectively, the second RF modules are reasonably controlled to work at proper power, and the maximum reading distance does not exceed the distance d shown in fig. 3. In fig. 3, a sector area is the signal coverage of a second RF module. Principle of horizontal spacing determination between mounting bars: according to the driving direction of the vehicle, after the current second RF module can not read the vehicle, the next second RF module in the driving direction of the vehicle can read the vehicle, and the equivalent distance value is reasonably set according to the combination of the general vehicle length and the fan-shaped angle, namely: the vehicle is driving on the lane or stationary, ensuring that the at least one second RF module can read the vehicle.
(2) Guide node
Any one guide node on the lane boundary dotted line is formed by hardware as shown in fig. 5, and comprises a second wireless MCU, a second RF module and LED lamp strips (namely LED indicator lamps), wherein the second wireless MCU is electrically connected with a second RF module and one section of LED lamp strip; wherein, the second RF module is connected with the second antenna, and the wireless MCU of second passes through LED lamp area drive circuit control LED lamp area, and the width in LED lamp area is according to actual need and decides, and its surface mounting dull polish shell prevents that light from dazzling. As shown in fig. 3, the left two segments display green a and the right one segment displays red B in the example case. For a straight lane, the LED lamp strip is arranged in a straight section type; for turning lanes, the LED strip is set to left or right turning arrow F. The second wireless MCU adopts a ZigBee scheme, is called as a ZigBee terminal node, and a plurality of ZigBee routing nodes are distributed in the parking lot, so that the wireless signal propagation range can be expanded.
The second wireless MCU is in wireless connection with the ZigBee coordinator to realize bidirectional interaction.
The embodiment of the invention takes ZigBee networking as an example for detailed description.
The guide node acts as follows: and positioning the vehicle-mounted device and lighting the LED lamp strip for guiding.
(3) Parking space detection node (hereinafter referred to as parking space node)
As shown in fig. 6, the parking space node hardware includes a third wireless MCU, and a third RF module and an ultrasonic sensor electrically connected to the third wireless MCU, where the ultrasonic sensor is installed on the parking space floor or ceiling.
Install on the parking stall ground when ultrasonic sensor: the ultrasonic waves are vertically emitted upwards from the ground, and if a vehicle is in the current parking space, the reflected signals can be received; therefore, whether the parking space is provided with the vehicle can be judged.
When the ultrasonic sensor is mounted on the ceiling: the ultrasonic waves are vertically emitted downwards from the ceiling; if the current parking space has no vehicle, the returning distance of the ultrasonic waves is larger; if the current parking space has the car, the returning distance of the ultrasonic waves is smaller; therefore, whether the parking space is provided with the vehicle can be judged.
The third RF module is connected with a third antenna, and the third RF module is in wireless communication with the first RF module of the vehicle-mounted device and reads the parking space number information stored by the vehicle-mounted device so as to facilitate vehicle searching after parking.
And the third wireless MCU is wirelessly connected with the ZigBee coordinator to realize bidirectional interaction.
(4) Egress node
As shown in fig. 7, the exit node is formed by hardware, and includes a fourth wireless MCU, a fourth RF module, and a fourth antenna electrically connected in sequence, where the fourth RF module wirelessly communicates with the first RF module of the onboard device, and is used to acquire information of vehicles leaving the parking lot.
And the fourth wireless MCU is wirelessly connected with the ZigBee coordinator to realize bidirectional interaction.
The vehicle guidance system based on computer monitoring of the embodiment of the invention adopts a ZigBee scheme, and the terminal nodes can be divided into four types: an entrance node, an exit node, a guidance node, and a parking space detection node, as shown in fig. 8.
Entry node, exit node, guide node, parking stall node: are both ZigBee end nodes (enddevices).
ZigBee routing node (Router): the method is used for expanding the ZigBee wireless network range.
ZigBee Coordinator (Coordinator): the ZigBee router is used for generating a ZigBee network, managing an entrance node, an exit node, a guide node, a parking space node and a ZigBee routing node and communicating with a computer. On one hand, the command of the computer is forwarded to each ZigBee terminal node, and on the other hand, the collected/read information such as the state and data of each node is transmitted to the computer.
A computer: data processing, analysis, calculation, decision making, etc. are performed. Also known as a server.
In the embodiment of the invention, the wireless frequency bands of the first RF module, the second RF module, the third RF module and the fourth RF module are preferably 315MHz, so that mutual interference with ZigBee wireless network signals is avoided.
3. Working principle for guiding vehicle to enter position
Assuming that the parking lot has three entrance nodes and a parking space node N1A guide node N2One, two egress nodes.
(1) The computer controls the ZigBee coordinator to periodically send commands to each parking space node, the parking space nodes respond after receiving the commands, and the computer system can know which current parking spaces are free and generate a free parking space set.
(2) And reading the entrance node and the exit node, so that the computer system can obtain the number of vehicles in the current field and the identity ID of each vehicle in the parking field.
(3) When a vehicle enters or leaves a parking lot or moves in a parking space (moves to a lane or another parking space but does not leave the parking lot), the computer system is triggered to start to work, in other words, if the situation does not happen, the computer system is in a standby state.
(4) If at least one free parking space exists in the current parking lot, the vehicle (marked as C1) can enter the parking lot, the entrance node informs the ZigBee coordinator, and the computer system starts to work. Otherwise, closing the barrier gate and making a corresponding prompt.
(5) And (5) initializing. According to the actual conditions of lanes, guide node setting, parking space distribution and the like in the parking lot, a computer system is initialized firstly, and a control logic table corresponding to the shortest paths, distances and control logics of all the positions of the guide nodes and all the parking spaces is stored in advance.
First, shortest path example:
as shown in fig. 1, letVehicle is currently at guidance node GjThen, GjWith a shortest path from a position to a respective space, e.g. space PkThe shortest path of (c) is: gj-Gj+1-Gj+2-Gj+3-Gj+4-Gj+5-Gn-Gn+1A distance of Djk(ii) a To parking space PsThe shortest path of (c) is: gj-Gj+1-Gj+2-Gj+3-Gm-Gm+1A distance of Djs(ii) a And the rest is analogized and stored in advance. Wherein k is more than or equal to 1, and s is more than or equal to N1，1≤j≤N2-5，1≤m,n≤N2-1。
Second, control logic example:
if the vehicle is currently at the guidance node GjIf the current allocated parking space is PkThen the control logic is: the vehicle arrives corresponding guide node, then extinguishes the LED lamp area that corresponding guide node connects to light its next adjacent guide node on the shortest path with green, promptly: first, the guide node G is turned offjConnected LED lamp strip, and green lighting guide node Gj+1The connected LED lamp strip continues to detect the position of the vehicle; if the vehicle is found to be at the guide node Gj+1Then the guide node G is extinguishedj+1Connected LED lamp strip, and green lighting guide node Gj+2A connected LED strip; and so on.
4. Simple working process
The simplest case is: the whole process from the approach of the vehicle C1 to the arrival of the vehicle at the target parking space is that no other vehicle enters and leaves, and all other vehicles in the parking space are still in the whole process.
The entire operation is now described for vehicle C1, specifically as follows:
let the current position of the vehicle C1 be the guide node Gj；
The computer system searches the free parking spaces in the parking lot and then compares all the free parking spaces with the guide node GjThe distance D of the position is distributed to the free parking space C1 with the minimum value of the distance D, and the assumed value is Pk. Thus, the shortest path planned for vehicle C1 is: gj-Gj+1-Gj+2-Gj+3-Gj+4-Gj+5-Gn-Gn+1。
And the computer controls the ZigBee coordinator to periodically send inquiry commands to each guide node underground and wait for response. After receiving the inquiry command, each guide node forwards the inquiry command and waits for receiving a reply within a set time; if a bootstrap node (assumed to be bootstrap node G)j) Can receive a reply indicating that vehicle C1 is currently at the lead node GjPosition of (i.e., positioning of vehicle C1 is achieved), guide node GjAnd extinguishing the LED lamp strip connected with the LED lamp. The ZigBee coordinator acquires the current position of the vehicle C1, inquires an initialized control logic table stored in advance and sends a control command to the guide node Gj+1Guide node Gj+1After receiving the signal, the LED lamp strip connected with the vehicle C1 is turned on green, and the driver of the vehicle C1 sees that the LED lamp strip in front of the vehicle C1 is turned on green, drives forwards and arrives at the guide node Gj+1Position of, guide node Gj+1The connected green LED lamp strip is extinguished; next, the bootstrap node Gj+2The connected LED lamp strip is lighted green; and so on until finally reaching the parking space Pk. In short, when the vehicle reaches the position of a certain guide node, the LED lamp strip corresponding to the position is turned off, and the LED lamp strip connected with the next guide node at the position on the planned path is turned on green, so that effective guide is realized, and the driver is brought to the target parking space.
5. Complicated working process
The functions of the system judgment, the vehicle speed calculation and the like in the invention are realized through the following processes: the computer controls the ZigBee coordinator to initiate inquiry, respond to the node, receive by the ZigBee coordinator and transmit to the computer for judgment.
(1) Initializing augmented content
According to the practical conditions of the distribution of lanes, the arrangement of guide nodes, the distribution of parking spaces and the like in the parking lot, the system is initialized firstly, all paths of all the positions of the guide nodes and all the parking spaces, the corresponding distances of all the paths and the corresponding control logics are stored in advance, and a control logic table is formed in a summary mode. Example (b)Such as: guide node GjPosition to parking space PkThe paths of the system have T paths, each path corresponds to a distance, and the paths are sorted from short to long according to the distance.
(2) Apparent distance
Assume that the vehicle is at a guidance node GjPosition of (1), target parking space is PkGuiding the node G according to the planned pathjThe distance from the location of (a) to the location of the next guidance node, is called the line of sight.
(3) Vehicle speed calculation
Vehicle C1 once arriving at guide node GjThe system starts a timer and continues until vehicle C1 reaches the location of the next leader node, which stops the timer. According to the position of the next known guide node and the guide node GjThe distance between the positions is divided by the time counted by the timer, and the speed of the vehicle C1 is obtained. In addition, for the long-term stay of the vehicle C1 at the guidance node GjIs also easily determined, such as the system finding that vehicle C1 is in the guidance node G for a long timej。
(4) Working process
Assume that at some point in the parking lot, two vehicles (C1, C2, respectively) are on the lane and are in motion.
For vehicle C1:
the system determines whether to re-plan the route for the vehicle C1 (i.e., determines whether the target parking space of the vehicle C1 has changed), and if so, re-inquires the shortest route for the vehicle C1 and performs guidance control of the LED strip.
The system judges whether the sight distance position of the vehicle C1 has a vehicle; if so, any of the following boot methods may be performed:
the method comprises the following steps:
searching all paths from the vehicle C1 to a target parking space, screening the shortest distance route from all the paths, and judging whether a path capable of bypassing the sight distance position exists in the screened shortest distance route set under the condition of not backing a car by combining the current position of the vehicle C1; if a path capable of bypassing the line-of-sight position exists, the green LED lamp strip is used for guiding the vehicle C1 to switch to a new path capable of bypassing the line-of-sight position; if there is no route that can bypass the line-of-sight position, the LED light at the line-of-sight position is illuminated red, prompting vehicle C1 to wait.
The method 2 comprises the following steps:
searching all paths from the vehicle C1 to a target parking space, and judging whether paths capable of bypassing the sight distance position exist in all the paths under the condition of not backing a vehicle by combining the current position of the vehicle C1; if a path capable of bypassing the line-of-sight position exists (whether the path is the shortest path or not), the green LED lamp strip is used for guiding the vehicle C1 to switch to a new path capable of bypassing the line-of-sight position; if there is no route that can bypass the line-of-sight position, the LED light at the line-of-sight position is illuminated red, prompting vehicle C1 to wait.
The method 3 comprises the following steps:
the vehicle speeds of vehicle C1 and vehicle C2 at the stadia position are read and compared, denoted V respectively1、V2。
If V1≤V2Whether or not the planned path includes a line-of-sight location, vehicle C1 follows the planned path (i.e., without having to bypass the line-of-sight location because V1≤V2And the vehicle is going ahead), the LED at the position of the vehicle C2 lights up green.
If V1>V2Searching all paths from the C1 to a target parking space, screening the shortest distance route from all the paths, and judging whether a path capable of bypassing the sight distance position exists in the screened shortest distance route set under the condition of not backing a car by combining the current position of the vehicle C1; if a path capable of bypassing the line-of-sight position exists, the green LED lamp strip is used for guiding the vehicle C1 to switch to a new path capable of bypassing the line-of-sight position; if there is no route that can bypass the line-of-sight position, the LED light at the line-of-sight position is illuminated red, prompting vehicle C1 to wait.
The method 4 comprises the following steps:
if V1≤V2Whether or not the planned path includes a line-of-sight location, vehicle C1 follows the planned path (i.e., without having to bypass the line-of-sight location because V1≤V2And the vehicle is going ahead), the LED at the position of the vehicle C2 lights up green.
If V1>V2Search forJudging whether all paths from the vehicle C1 to the target parking space exist paths capable of bypassing the sight distance position or not in the condition of not backing by combining the current position of the vehicle C1; if a path capable of bypassing the line-of-sight position exists (whether the path is the shortest path or not), the green LED lamp strip is used for guiding the vehicle C1 to switch to a new path capable of bypassing the line-of-sight position; if there is no route that can bypass the line-of-sight position, the LED light at the line-of-sight position is illuminated red, prompting vehicle C1 to wait.
The working mode of the vehicle-mounted device is manually selected by a user according to needs, and the default mode is an approach guidance mode.
For vehicles in the parking lot:
based on the above parking lot intelligent control system based on the wireless communication network, as shown in fig. 9, the parking lot intelligent control method based on the wireless communication network of the embodiment of the present invention specifically includes the following steps:
s1, initializing, and respectively establishing and storing a first control logic table, a second control logic table and a third control logic table according to actual conditions such as lane in the parking lot, guide node setting, parking space distribution, exit distribution and the like;
the first control logic table corresponds to an approach guidance mode and comprises all paths from the positions of all guidance nodes to all parking spaces and corresponding distances thereof and control logic, and the first control logic table is arranged in sequence from short to long according to the distances of all the paths. For example, the bootstrap node GjPosition to parking space PkHas a common path T1And the strips are used for arranging the paths from short to long according to the distance, wherein each path corresponds to one distance. The first control logic table is shown in table 1.
Table 1 first control logic table of the embodiment of the present invention
And the second control logic table corresponds to the vehicle retrieving mode and comprises all shortest paths from the positions of the guide nodes to the parking spaces and control logics corresponding to the shortest paths. For example, the bootstrap node GjPosition to vehicleBit PkHas a shortest path of Gj-Gj+1-Gj+2-Gj+3-Gj+4-Gj+5-Gn-Gn+1. An example of the second control logic table is shown in table 2.
Table 2 second control logic table of the embodiment of the present invention
A third control logic table corresponding to the off-field guidance mode, comprising all paths from each guidance node to each exit and corresponding distances thereof, and control logic, and sequencing from short to long according to the distances of all the paths; for example, the bootstrap node GjThe path from the position to the first outlet has a total of T2And the strips are used for arranging the paths from short to long according to the distance, wherein each path corresponds to one distance. An example of the third control logic table according to the embodiment of the present invention is shown in table 3.
TABLE 3 third control logic table of an embodiment of the present invention
Wherein, it is comparatively similar with the guidance mode of approach to find back the vehicle mode, and the difference lies in: for the approach guidance mode, the target slot may be dynamic; and for the mode of retrieving the vehicle, the target parking space is fixed and unchanged.
Then S2 is executed.
S2, judging the working mode of the vehicle-mounted device in the parking lot; if the approach guidance mode is the approach guidance mode, executing S3; if the vehicle recovery mode is selected, executing S8; if the mode is the off-field guidance mode, S12 is executed.
S3, acquiring a free parking space set, recording the free parking space set as a first free parking space set, and positioning the current position of the vehicle Ci; reading the first free parking space set according to the position obtained by positioning the vehicle Ci, and screening out the free parking space P closest to the current position of the vehicle CikAccording to a first control logicAnd editing the table to execute the guidance by controlling the LED lamp strip.
The specific guiding method is as follows: judging whether a vehicle exists at the sight distance position of the vehicle Ci; if yes, searching all paths from the vehicle Ci to the target parking space, and judging whether a path capable of bypassing the sight distance position exists in the planned path or not under the condition of not backing up by combining the current position of the vehicle Ci; if a path capable of bypassing the sight distance position exists, the green LED lamp strip is used for guiding the vehicle Ci to be switched to a new path; if no path capable of bypassing the sight distance position exists, the LED lamp at the sight distance position is bright red, and the vehicle Ci is prompted to wait. The specific boot method may also perform other methods of methods 1-4 described above.
Then S4 is executed.
S4, acquiring the free parking space set again every preset time interval to obtain a second free parking space set, and comparing the second free parking space set with the first free parking space set; monitoring whether the free parking space is changed or not, wherein when other vehicles leave the parking space, the dynamic change of the free parking space is caused;
if the second free parking space set is identical to the first free parking space set, S5 is executed.
If the second free parking space set is not identical to the first free parking space set, S6 is executed.
S5, judging target vacant parking space P through parking space detection nodeskWhether a vehicle is parked or not;
if so (namely, the vehicle Ci is shown to have arrived at the free parking space PkStop booting), S7 is executed.
If not (namely, the vehicle Ci is not reached to the free parking space PkAnd booting is continued), S3 is executed.
And S6, replacing or refreshing the first free parking space set by the second free parking space set, and then executing S3.
S7, vehicle Ci entering parking space PkVehicle-mounted device and parking space PkThe parking space nodes are mutually associated to generate a storage parking space PkRecording of serial numbers to associate the vehicle-mounted device with the parking space PkAfter the approach guidance mode is executed, the process returns to step S2.
S8, coordinating the computer through ZigBeeThe device reads a wireless signal which is transmitted to a guide node corresponding to the current position of the vehicle-mounted device by the vehicle-mounted device, and the computer knows that: at a bootstrap node GjThe owner of the position is ready to retrieve the parking space PkAnd then executes S9.
S9, positioning the vehicle-mounted device, and screening the current position of the vehicle-mounted device and the target parking space P from the second control logic table according to the position obtained by positioning the vehicle-mounted devicekAnd the path closest to the vehicle and the corresponding control logic thereof guide the vehicle owner by controlling the LED lamp strip. Because the current guiding target is the owner of the vehicle, not the vehicle, the problems of bypassing the sight distance position, waiting and the like do not exist.
The specific guiding method comprises the following steps: the simple LED lamp strip is lighted green to guide; acquiring the first appearing position of the vehicle-mounted device, and moving the vehicle-mounted device from the first appearing position to the target parking space PkThe LED lamp belts corresponding to the shortest path are all lighted green, and set time is kept, so that a vehicle owner can quickly acquire a complete path; then, when the vehicle-mounted device reaches a certain guide node, the LED lamp strip at the guide node at the corresponding sight distance position is lighted in green. In addition, if two or more vehicle-mounted devices exist at the current position, the vehicle owner may choose to mistake the route corresponding to the vehicle owner; however, as the owner moves, the situation that the guidance node only reads one vehicle-mounted device inevitably occurs, and the situation of path confusion does not exist in subsequent guidance.
Then S10 is executed.
S10, judging whether the guided target parking space is read to a vehicle-mounted device which is matched with the guided target parking space in a relevant mode;
if yes, go to S11.
If not, S9 is executed.
S11, vehicle-mounted device arrives at parking space PkThat is, the owner finds his vehicle, and the vehicle retrieving mode is executed, and the process returns to S2.
S12, reading a wireless signal transmitted to the current parking space node by the vehicle-mounted device through the ZigBee coordinator by the computer, and obtaining by the computer: is in parking space PkVehicle Ci is ready to depart from the first target exit; then executes S13。
And S13, positioning the vehicle Ci, screening out a path with the current position of the vehicle Ci closest to the current target exit and a corresponding control logic from the third control logic table according to the position obtained by positioning the vehicle Ci, and executing guidance by controlling the LED lamp strip.
The specific guiding method comprises the following steps: the system judges whether a vehicle exists at the sight distance position of the vehicle Ci; if yes, searching all paths from the vehicle Ci to the current target exit, and judging whether a path capable of bypassing the sight distance position exists in the planned path or not under the condition of combining the current position of the vehicle Ci and not backing; if a path capable of bypassing the sight distance position exists, the LED lamp strip is lightened in green to guide the vehicle Ci to be switched to a new path; if no path capable of bypassing the sight distance position exists, the LED lamp at the sight distance position is bright red, and the vehicle Ci is prompted to wait.
The specific boot method may also perform other methods of methods 1-4 described above.
Then S14 is executed.
S14, judging whether the target exit is changed by the user through the vehicle-mounted device;
if not, S15 is executed.
If so, the changed target outlet is referred to as a second target outlet, and S16 is performed.
S15, judging whether the vehicle Ci enters a target exit node;
if yes, go to S17.
If not, S13 is executed.
S16: the first target outlet is replaced or refreshed with the second target outlet and then S13 is performed.
S17: the vehicle Ci leaves the field through a target exit, the vehicle-mounted device is recovered, the parking space number information record stored by the vehicle-mounted device is cleared, and the field leaving guide mode is executed; returning to S2.
For the vehicle to enter the parking lot intelligent control method based on the wireless communication network, before step S2, the method further includes the following steps:
s01, the system monitors whether vehicles enter each entrance node of the parking lot in real time; if yes, go to S02;
s02, acquiring the number E of the idle parking spaces of the parking lot; if E is equal to 0, then S03 is executed; if E is not equal to 0, go to S04;
s03, sending a forbidding command to each entrance node, prompting forbidding information by the entrance node, and then continuing to execute S02;
s04, issuing a vehicle-mounted device, placing the vehicle-mounted device in a vehicle by a driver, and enabling the vehicle-mounted device to work in an entrance guiding mode by default; then S2 is executed.
The foregoing has outlined rather broadly the preferred embodiments and principles of the present invention and it will be appreciated that those skilled in the art may devise variations of the present invention that are within the spirit and scope of the appended claims.
Claims (7)
1. The parking lot intelligent control method based on the wireless communication network is characterized by comprising the following steps of:
s1, initializing, and respectively establishing a first control logic table, a second control logic table and a third control logic table;
the first control logic table corresponds to an approach guidance mode, comprises all paths from the positions of all guidance nodes to all parking spaces and corresponding distances thereof and control logic, and is arranged in sequence from short to long according to the distances of all the paths;
the second control logic table corresponds to the vehicle retrieving mode and comprises all shortest paths from the positions of all guide nodes to all parking spaces and control logics corresponding to the shortest paths;
a third control logic table corresponding to the off-field guidance mode, comprising all paths from each guidance node to each exit and corresponding distances thereof, and control logic, and sequencing from short to long according to the distances of all the paths;
wherein the guide nodes are arranged along the lane path;
then, S2 is executed;
s2, judging the working mode of the vehicle-mounted device in the parking lot; if the approach guidance mode is the approach guidance mode, executing S3; if the vehicle recovery mode is selected, executing S7; if the mode is the off-field guidance mode, executing S9;
s3, acquiring a free parking space set, positioning the current position of the vehicle, screening a target parking space closest to the current position of the vehicle from the free parking space set, planning a shortest path to the target parking space, and controlling a guidance node according to the control logic of the first control logic table to perform guidance; then, S4 is executed;
s4, acquiring the free parking space set again every preset time interval, and comparing the free parking space set with the free parking space set acquired at the last moment; if yes, go to S5; if not, go to S6;
s5, judging whether a vehicle exists in the target parking space through the parking space detection node; if so, the vehicle-mounted device is associated with the target parking space, and the entering guide mode is executed; if not, go to S3;
s6, replacing the free parking space set obtained at the current moment with the free parking space set obtained at the previous moment, and executing S3;
s7, positioning the position of a guide node corresponding to the vehicle-mounted device, screening out the shortest path between the guide node and the associated target parking space, and controlling the guide node to execute guide according to the control logic of the second control logic table; then, S8 is executed;
s8, judging whether the guided target parking space is read to the vehicle-mounted device related to the guided target parking space; if yes, the vehicle retrieving mode is completely executed; if not, go to S7;
s9, positioning the current position of the vehicle, screening out the shortest path between the current position and the selected target exit, and controlling the guide node to execute guide according to the control logic of the third control logic table;
the guide node performs guide by controlling color change of the LED indicator lamp;
controlling a bootstrap node according to the control logic to perform bootstrap, specifically comprising:
it is in the guide node G at present to set the vehicle-mounted devicejJ is a positive integer; when the vehicle-mounted device reaches the guide node G in the shortest pathj+1If so, the guide node G is extinguishedj+1LED indicator lamp and turn on guide node G in greenj+2The LED indicator lamp is analogized in the same way;
in the step S3 and the step S9, if a plurality of vehicles are in the lane in the parking lot at the current time, whether a vehicle is in the sight distance position of the current vehicle is judged; the sight distance position of the current vehicle is a position corresponding to a guide node where the current vehicle is located according to a next guide node of the planned path; if yes, executing any one of the following guiding methods:
the method comprises the steps of 1, searching all paths from a current vehicle to a target parking space or a target exit, and judging whether a path capable of bypassing a sight distance position exists in a planned path or not under the condition of not backing a vehicle by combining the position of the current vehicle; if a path capable of bypassing the sight distance position exists, a green LED indicator lamp is used for guiding the current vehicle to switch to the path capable of bypassing the sight distance position; if no path capable of bypassing the sight distance position exists, an LED indicating lamp corresponding to the sight distance position is turned on red to prompt the current vehicle to wait;
the method 2, searching all paths from the current vehicle to a target parking space or a target exit, and judging whether paths capable of bypassing the sight distance position exist in all the paths under the condition of not backing a vehicle by combining the current position of the current vehicle; if a path capable of bypassing the line-of-sight position exists, the green LED lamp strip is used for guiding the vehicle C1 to switch to a new path capable of bypassing the line-of-sight position; if no path capable of bypassing the sight distance position exists, the LED lamp at the sight distance position is bright red to prompt the current vehicle to wait;
method 3, reading and comparing current vehicle V1And the vehicle speed V of the vehicle at the apparent distance position2；
If V1≤V2If the current vehicle travels according to the planned path, the LED lamp at the sight distance position is bright green;
if V1>V2Searching all paths from the current vehicle to a target parking space or a target exit, screening the shortest distance route from all the paths, and judging whether a path capable of bypassing the sight distance position exists in the screened shortest distance route set under the condition of not backing a car by combining the current position of the current vehicle; if a path capable of bypassing the sight distance position exists, the green LED lamp strip is used for guiding the current vehicle to be switched to a new path capable of bypassing the sight distance position; if no path capable of bypassing the sight distance position exists, the LED lamp strip at the sight distance position is bright redColor, prompting the current vehicle to wait;
method 4, reading and comparing current vehicle V1And the vehicle speed V of the vehicle at the apparent distance position2；
If V1≤V2If the current vehicle travels according to the planned path, the LED lamp at the sight distance position is bright green;
if V1>V2Searching all paths from the current vehicle to a target parking space or a target exit, and judging whether paths capable of bypassing the sight distance position exist in all the paths under the condition of not backing a vehicle by combining the current position of the current vehicle; if a path capable of bypassing the sight distance position exists, the green LED lamp strip is used for guiding the current vehicle to be switched to a new path capable of bypassing the sight distance position; and if no path capable of bypassing the sight distance position exists, the LED lamp at the sight distance position is bright red to prompt the current vehicle to wait.
2. The intelligent control method for parking lot based on wireless communication network as claimed in claim 1, further comprising after said step S9:
s10, judging whether the target outlet is changed; if not, executing S11; if yes, go to S12;
s11, judging whether the vehicle enters a target exit node or not; if yes, go to S13; if not, executing S9;
s12, replacing the target outlet before the change with the target outlet after the change, and then performing S9;
and S13, the vehicle leaves the field through the target exit, the vehicle-mounted device and the corresponding target parking space information are cleared, and the leaving guidance mode is executed.
3. The intelligent control method for the parking lot based on the wireless communication network as claimed in claim 1, wherein the working mode of the vehicle-mounted device is manually selected, and the default mode is an approach guidance mode; for the vehicle to enter, the step S2 is preceded by:
s01, monitoring whether vehicles enter each entrance node of the parking lot in real time; if yes, go to S02;
s02, acquiring the number E of the idle parking spaces of the parking lot; if E is equal to 0, then S03 is executed; if E is not equal to 0, go to S04;
s03, sending a forbidding command to each entrance node, prompting forbidding information by the entrance node, and then continuing to execute S02;
s04, issuing a vehicle-mounted device, wherein the vehicle-mounted device is arranged in a vehicle and is in an entrance guiding mode by default; then S3 is executed.
4. A parking lot intelligent control system based on a wireless communication network, which applies the parking lot intelligent control method according to any one of claims 1 to 3, wherein the parking lot intelligent control system comprises:
the vehicle-mounted device comprises an MCU, a battery, a power supply processing circuit, a first RF module, a key and a display screen, wherein the battery is electrically connected with the MCU through the power supply processing circuit; the key is used for switching an entering guide mode, a vehicle retrieving mode and an leaving guide mode, and the display screen is used for displaying human-computer interaction information;
the entrance node is in signal connection with a camera, a vehicle-mounted device issuing machine and a barrier gate which are arranged at the entrance of the parking lot, the camera is used for shooting license plates of vehicles entering the parking lot, the vehicle-mounted device issuing machine is used for issuing the vehicle-mounted devices, and the barrier gate is lifted up to enable the vehicles to enter the parking lot; the entrance node binds the ID number of the vehicle license plate and the vehicle-mounted device and is in wireless connection with the computer;
the guide nodes are sequentially arranged along the path of the lane, are in wireless connection with the computer and are used for executing vehicle guide according to control logic issued by the computer; the guide node and the vehicle-mounted device carry out radio frequency wireless communication so as to realize position positioning;
the parking space detection nodes are arranged corresponding to the parking spaces, are in wireless connection with the computer and are used for judging whether vehicles exist in the parking spaces or not; the parking space detection node and the vehicle-mounted device are in radio frequency wireless communication so as to realize vehicle searching and positioning;
the exit node is wirelessly connected with the computer; the exit node and the vehicle-mounted device carry out radio frequency wireless communication so as to acquire the information of the vehicle leaving the parking lot;
and the computer interacts with the entrance node, the guide node, the parking space detection node and the exit node so as to receive the information reported by each node and issue a corresponding control instruction to each node.
5. The parking lot intelligent control system based on the wireless communication network is characterized by further comprising a ZigBee coordinator and a plurality of ZigBee routing nodes wirelessly connected with the ZigBee coordinator, wherein the ZigBee routing nodes are used for expanding the ZigBee wireless network range; the ZigBee coordinator is wirelessly connected with the inlet node, the guide node, the parking space detection node and the outlet node, is in wired connection with the computer, and is used for generating a ZigBee network and forwarding a control command sent by the computer to the corresponding node or transmitting information reported by each node to the computer.
6. The parking lot intelligent control system based on the wireless communication network as claimed in claim 5, wherein the guide node comprises a second wireless MCU, a second RF module and an LED indicator light which are electrically connected with the second wireless MCU; the second wireless MCU is wirelessly connected with the ZigBee coordinator; the second RF module is connected with a second antenna and wirelessly communicates with the first RF module of the vehicle-mounted device;
the parking space detection node comprises a third wireless MCU, a third RF module and an ultrasonic sensor, wherein the third RF module and the ultrasonic sensor are electrically connected with the third wireless MCU; the third wireless MCU is wirelessly connected with the ZigBee coordinator; the third RF module is connected with a third antenna and wirelessly communicates with the first RF module of the vehicle-mounted device;
the outlet node comprises a fourth wireless MCU and a fourth RF module electrically connected with the fourth wireless MCU; the fourth wireless MCU is wirelessly connected with the ZigBee coordinator; the fourth RF module is connected with a fourth antenna and wirelessly communicates with the first RF module of the vehicle-mounted device.
7. The parking lot intelligent control system based on the wireless communication network according to claim 4, further comprising: the parking area entry barrier gate is preceding the suggestion screen that the certain distance set up, and the suggestion screen is connected with the wired electricity of entry node for whether have idle parking stall in the real-time display parking area.
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