CN113250513A - Parking lot barrier gate control method and system - Google Patents

Parking lot barrier gate control method and system Download PDF

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Publication number
CN113250513A
CN113250513A CN202110666505.1A CN202110666505A CN113250513A CN 113250513 A CN113250513 A CN 113250513A CN 202110666505 A CN202110666505 A CN 202110666505A CN 113250513 A CN113250513 A CN 113250513A
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vehicle
barrier
control device
barrier gate
gate
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CN113250513B (en
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李丰军
周剑光
李赛赛
侯发伟
丁华杰
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China Automotive Innovation Co Ltd
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China Automotive Innovation Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
    • E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E04H6/424—Positioning devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses a parking lot barrier gate control method and system, wherein when a vehicle controller detects a barrier gate opening event, a gate opening request is sent to a barrier gate control device, the barrier gate control device controls the opening of a barrier gate and acquires barrier gate state data; the barrier gate control device generates a vehicle driving instruction according to the barrier gate state data and sends the vehicle driving instruction to the vehicle controller; the vehicle controller controls the vehicle to run in response to the vehicle running instruction; when the vehicle controller detects a preset brake closing event, a brake closing request is sent to the barrier gate control device; the barrier gate control device responds to the barrier gate closing request, controls the barrier gate to be closed, can realize reasonable on-off control of the barrier gate when a vehicle is driven automatically, reduces the collision risk of the vehicle and the barrier gate, and improves the release efficiency.

Description

Parking lot barrier gate control method and system
Technical Field
The invention relates to the field of automatic driving, in particular to a parking lot barrier gate control method and system.
Background
With the development of the internet of things technology, the parking lot barrier gate system can be in mobile communication connection with the background server, a vehicle runs to a region where a camera can shoot through a vehicle owner, the camera of the barrier gate system acquires vehicle information, the barrier gate is opened according to the confirmation of the vehicle information, the vehicle owner drives the vehicle to pass through the barrier gate, and the barrier gate is closed. However, with the development of automatic driving technology, the parking of vehicles automatically enters the track. The automatic parking vehicle is limited by objective reasons such as the size of a barrier, the illumination intensity and the like in an actual scene, cannot perfectly identify the barrier of the barrier, and can generate the risk of collision with the barrier when the vehicle stops in front of the barrier. And the opening of the barrier gate can not be well matched with the running of the vehicle, so that the problems of high management difficulty and high collision risk of the automatic parking vehicle and the barrier gate are caused.
Disclosure of Invention
In order to solve the technical problems, the invention provides a parking lot barrier gate control method and system, which can realize reasonable switch control on a barrier gate when a vehicle is automatically driven, reduce the collision risk between the vehicle and the barrier gate and improve the release efficiency.
In order to achieve the above object, the present application provides a parking lot barrier gate control method, which may include:
when detecting a barrier opening event, the vehicle controller sends a barrier opening request to the barrier control device;
the barrier gate control device controls the barrier gate to be opened and acquires the state data of the barrier gate;
the barrier gate control device generates a vehicle driving instruction according to the barrier gate state data and sends the vehicle driving instruction to the vehicle controller;
the vehicle controller controls the vehicle to run in response to the vehicle running instruction;
when the vehicle controller detects a preset brake closing event, a brake closing request is sent to the barrier gate control device;
and the barrier gate control device responds to the barrier gate closing request and controls the barrier gate to be closed.
On the other hand, this application still provides a parking area banister control system, and this system includes: a vehicle controller and a barrier control device;
the vehicle controller is used for sending a brake opening request to the brake control value device when detecting a brake opening event; controlling the vehicle to run in response to the vehicle running instruction; when a preset gate closing event is detected, a gate closing request is sent to the barrier gate control device;
the barrier gate control device is used for controlling the barrier gate to be opened and acquiring the state data of the barrier gate when receiving the gate opening request; generating a vehicle running instruction according to the barrier state data, and sending the vehicle running instruction to the vehicle controller; and responding to the gate closing request, and controlling the gate to be closed.
The application has the following beneficial effects:
the method comprises the steps that when a barrier gate opening event is detected through a vehicle controller, a barrier gate opening request is sent to a barrier gate control device, the barrier gate control device controls the barrier gate to be opened, and barrier gate state data are obtained; the barrier gate control device generates a vehicle driving instruction according to the barrier gate state data and sends the vehicle driving instruction to the vehicle controller; the vehicle controller controls the vehicle to run in response to the vehicle running instruction; when the vehicle controller detects a preset brake closing event, a brake closing request is sent to the barrier gate control device; and the barrier gate control device responds to the barrier gate closing request and controls the barrier gate to be closed. The vehicle controller and the barrier gate control device are used for data interaction, the barrier gate control device is used for switching on and off the barrier gate according to data sent by the vehicle controller, the vehicle control device responds to a vehicle running instruction sent by the barrier gate control device to control the vehicle to run, reasonable switching control on the barrier gate can be realized when the vehicle is automatically driven, the collision risk between the vehicle and the barrier gate is reduced, and the release efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of a parking lot barrier gate control system according to an embodiment of the present application.
Fig. 2 is a schematic view of a parking lot barrier gate control system according to another embodiment of the present disclosure.
Fig. 3 is a schematic flow chart of a parking lot barrier control method according to an embodiment of the present application.
Fig. 4 is a schematic flowchart of a parking lot barrier control method according to another embodiment of the present disclosure.
Fig. 5 is a schematic flowchart of a parking lot barrier control method according to another embodiment of the present disclosure.
Fig. 6 is a schematic flowchart of a parking lot barrier control method according to another embodiment of the present disclosure.
Fig. 7 is a schematic flowchart of a parking lot barrier control method according to another embodiment of the present disclosure.
Fig. 8 is a schematic flow chart of a vehicle controller controlling vehicle running according to an embodiment of the present application.
Fig. 9 is a schematic flowchart of a parking lot barrier control method according to another embodiment of the present disclosure.
Fig. 10 is a schematic structural diagram of a vehicle controller according to an embodiment of the present application.
Fig. 11 is a schematic structural diagram of a barrier gate control device according to an embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to implement the technical solution of the present application, so that more engineering workers can easily understand and apply the present application, the working principle of the present application will be further described with reference to specific embodiments.
The method and the device can be applied to the field of traffic control based on the automatic driving technology. Referring to fig. 1, fig. 1 is a schematic diagram of a parking lot barrier control system according to an embodiment of the present disclosure, and as shown in fig. 1 and fig. 2, the system may include at least a vehicle controller 01, a barrier control device 02, and a barrier 03. The barrier 03 may include a barrier motor 031 and a barrier balustrade 032. The barrier 03 may be a parking lot barrier.
The vehicle controller 01 may be disposed inside a vehicle, and the barrier gate control device 02 may be connected to the barrier gate motor 031, or may be used as a function module in a background server. The barrier gate control device 02 and the vehicle can be connected in a 4G/5G/wifi mode and the like for data interaction, and a communication network can deploy a wide area network provided by an operator and also can deploy a local area network in a parking lot.
The following describes a plurality of embodiments of a parking lot barrier control method according to the present application, and fig. 3 is a schematic flow chart of a parking lot barrier control method according to an embodiment of the present application, and the present specification provides the method operation steps as described in the embodiments or the flow chart, but may include more or less operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution.
In some embodiments, as shown in fig. 3, the method may include:
s101: when the vehicle controller detects a barrier opening event, a barrier opening request is sent to the barrier control device.
Specifically, the barrier gate opening event may be that the position relationship between the vehicle and the barrier gate rail satisfies the barrier gate opening condition, and the barrier gate confirms that the vehicle satisfies the passing condition. Meeting the passing condition may include the barrier gate confirming that the vehicle is out of the parking lot without a parking lot arrearage, or that the vehicle meets the entry criteria when entering the parking lot.
In this embodiment, the data transmission mode between the vehicle controller and the barrier gate control device may include a wireless network, a mobile network, or a bluetooth transmission mode. When detecting a barrier gate opening event, the vehicle controller can send a gate opening request to the barrier gate control device in a wireless network, a mobile network or a Bluetooth transmission mode and the like. The vehicle controller may control the vehicle to stop upon detecting a barrier open event.
S103: the barrier gate control device controls the barrier gate to be opened and acquires the state data of the barrier gate.
Specifically, the barrier gate control device may trigger the barrier gate to open by sending a barrier gate opening signal to the barrier gate. In the opening process of the barrier gate, the opening state of the barrier gate can be changed along with the control of the motor. The barrier gate opening signal may include a barrier gate state acquisition signal, and the barrier gate motor transmits barrier gate state data to the barrier gate control device in real time based on the barrier gate state acquisition signal.
S105: the barrier gate control device generates a vehicle driving command according to the barrier gate state data and sends the vehicle driving command to the vehicle controller.
The barrier control device analyzes the received barrier state data to generate a vehicle driving command. And when the barrier gate control device determines that the barrier gate reaches the preset safety position, the barrier gate control device sends a vehicle driving instruction to the vehicle controller. The preset safety position can be a position where the barrier gate handrail is locked after being opened to the maximum angle, and the preset safety position can also be the lowest position where the barrier gate handrail can be opened to when a vehicle can pass through.
In the embodiment of the application, the barrier gate control device can send the vehicle driving instruction to the vehicle controller in a wireless network, mobile communication or Bluetooth mode and the like.
S107: the vehicle controller controls the vehicle to travel in response to the vehicle travel command.
The vehicle controller receives the vehicle running command, analyzes the vehicle running command, and sends a signal to the vehicle running related controller based on the analyzed data to control the vehicle to run. The vehicle travel associated controller may include a controller that controls a throttle of the vehicle or a motor of the vehicle, i.e., a controller of a vehicle drive system, and may also include a controller of a vehicle brake system and a controller of a vehicle steering system. The vehicle travel can be controlled by the vehicle travel related controller.
S109: when the vehicle controller detects a preset brake closing event, a brake closing request is sent to the road brake control device.
The preset brake closing event means that the vehicle meets a preset brake closing condition.
The vehicle controller sends a brake closing request to the brake control device when detecting a preset brake closing event, for example, the vehicle controller sends the brake closing request to the brake control device when detecting that the vehicle runs to a preset position.
S111: the barrier gate control device responds to the barrier gate closing request and controls the barrier gate to be closed.
In practical application, the barrier gate control device receives a gate closing request, can respond to the gate closing request, generates a barrier gate closing signal, and sends the barrier gate closing signal to the barrier gate to control the barrier gate to be closed.
Optionally, the barrier gate control device may analyze the barrier gate closing request, and if the analysis is successful, generate a barrier gate closing signal, and send the barrier gate closing signal to the barrier gate to control the barrier gate to be closed. If the analysis fails, a gate closing request acquisition instruction is sent to the vehicle controller so that the vehicle can send a gate closing request again, the barrier gate control device receives and analyzes the newly sent gate closing request, a barrier gate closing signal is generated, the barrier gate closing signal is sent to the barrier gate so as to control the barrier gate to be closed, and the robustness of the barrier gate control device for controlling the barrier gate to be closed can be improved.
In the embodiment, when a vehicle controller detects a barrier opening event, a brake opening request is sent to a barrier control device, the barrier control device controls the barrier to open and acquire barrier state data, the barrier control device generates a vehicle driving instruction according to the barrier state data and sends the vehicle driving instruction to the vehicle controller, when a preset barrier closing event is detected, the vehicle controller sends a brake closing request to the barrier control device, the barrier control device controls the barrier to close in response to the brake closing request, data interaction is carried out between the vehicle controller and the barrier control device, the vehicle is controlled to drive according to the barrier state data, corresponding brake opening and brake closing control is carried out according to the brake opening request and the brake closing request sent by the vehicle controller, and the reasonable switch control of the barrier can be realized when the vehicle is automatically driven, so that the collision risk between the vehicle and the barrier is reduced, the release efficiency is improved.
In further embodiments, as shown in fig. 4, the method may further include:
s200: and the vehicle controller receives the vehicle position data sent by the high-precision positioning module.
The vehicle can be equipped with high accuracy Positioning module, and in some embodiments, high accuracy Positioning module can adopt Real-time kinematic (RTK) to carry out high accuracy Positioning, through calculating GPS's (Global Positioning System ) carrier phase observed quantity, utilizes the space correlation of observation error between reference station and the mobile station, removes most error in the mobile station observation data through the mode of difference to realize decimeter level or centimetre level location. Therefore, the vehicle controller can perform positioning in a decimeter level or a centimeter level by receiving the vehicle position data sent by the high-precision positioning module.
S201: the vehicle controller sends a brake-opening request to the brake control device when detecting a brake-opening event based on the vehicle position data.
Specifically, the vehicle controller analyzes according to the vehicle position data to determine whether the vehicle position meets a preset barrier opening condition, where the preset barrier opening condition may be that the vehicle reaches a calibrated position, or that the distance between the vehicle and the barrier is greater than a preset distance threshold, and the like. When the vehicle controller detects a barrier gate opening event, a gate opening request is generated and sent to the barrier gate control device.
The embodiment receives vehicle position data sent by a high-precision positioning module through a vehicle controller, the vehicle controller sends a brake-opening request to a barrier control device when detecting a barrier opening event based on the vehicle position data, the barrier control device controls the barrier to open and acquires barrier state data, the barrier control device generates a vehicle driving instruction according to the barrier state data and sends the vehicle driving instruction to the vehicle controller, the vehicle controller responds to the vehicle driving instruction and controls the vehicle to drive, the vehicle controller sends a brake-closing request to the barrier control device when detecting a preset brake-closing event, the barrier control device responds to the brake-closing request and controls the barrier to close, the high-precision positioning module is utilized to accurately position the vehicle position data to a meter-off level to enable the trigger time of the barrier opening event to be more accurate, and the accuracy of the barrier opening action is improved, prevent that the vehicle from colliding with the banister railing, improved the security that the vehicle passed through the banister.
In some embodiments, the barrier state data may include barrier current data and corresponding time data. Accordingly, as shown in fig. 5, the step S105, in which the barrier control device generates a vehicle travel command according to the barrier state data, and transmits the vehicle travel command to the vehicle controller, may include:
s1051: and the barrier gate control device determines the vehicle starting time according to the barrier gate current data and the corresponding time data.
The barrier gate control device determines the time of the barrier gate railing reaching the preset safety position according to the barrier gate current data and the corresponding time data, and any time in the process that the barrier gate railing reaches the preset safety position to the highest locking position of the railing can be used as vehicle starting time. For example, when the barrier current data is in direct proportion to the time, the barrier control device may determine the time when the barrier balustrade motor is rotating to the preset angle according to the direct proportion relationship between the barrier current data and the time, and when the barrier balustrade motor is rotating to the preset angle, the barrier balustrade is lifted to reach the preset safety position.
S1053: the barrier gate control device generates a vehicle travel command based on the vehicle start time, and transmits the vehicle travel command to the vehicle controller.
Specifically, the vehicle travel command may include a vehicle start time for triggering execution of the vehicle travel control command and a vehicle travel control command for controlling travel of the vehicle. The barrier gate control device can monitor time, and when the vehicle starting time is up, a vehicle running instruction is sent to the vehicle through a wireless network, a mobile network or a Bluetooth transmission mode.
In the embodiment, the vehicle starting time is determined by the barrier control device according to the barrier current data and the corresponding time data, the barrier control device generates a vehicle driving instruction based on the vehicle starting time and sends the vehicle driving instruction to the vehicle controller, and when the vehicle starting time is reached, the vehicle is controlled to drive, so that the efficiency and the accuracy of the vehicle driving into the parking lot can be improved, and meanwhile, the vehicle is prevented from colliding with the barrier of the barrier; and the vehicle controller and the barrier gate control device are used for data interaction, the vehicle is controlled to run according to the barrier gate state data, and corresponding brake opening and closing control is carried out according to the brake opening request and the brake closing request sent by the vehicle controller, so that the reasonable switch control of the barrier gate can be realized when the vehicle is automatically driven, the collision risk of the vehicle and the barrier gate is reduced, and the release efficiency is improved.
In some embodiments, the gate state data may include gate current data and corresponding time data, and accordingly, as shown in fig. 6, the method may include:
s301: when the vehicle controller detects a barrier opening event, a barrier opening request is sent to the barrier control device.
Specifically, the barrier gate opening event means that the states of the vehicle and the barrier gate meet a preset barrier gate opening condition. When detecting a barrier gate opening event, the vehicle controller can send a gate opening request to the barrier gate control device in a wireless network, a mobile network or a Bluetooth transmission mode and the like.
S303: the barrier gate control device controls the barrier gate to be opened and acquires the state data of the barrier gate.
The barrier gate control device can trigger the barrier gate to be opened by sending a barrier gate opening signal to the barrier gate. In the opening process of the barrier gate, the opening state of the barrier gate can be changed along with the control of the motor. The barrier gate opening signal may include a barrier gate state acquisition signal, and the barrier gate motor transmits the barrier gate state data to the barrier gate control device based on the barrier gate state acquisition signal.
S305: and when the barrier current data and the corresponding time data meet the preset state, the barrier control device generates a vehicle driving instruction and sends the vehicle driving instruction to the vehicle controller.
Specifically, the barrier control device can determine the lifting state of the barrier according to the barrier current data and the corresponding time data when the barrier motor rotates forwards. The barrier gate control device monitors whether the lifting state of the barrier gate railing reaches a preset state, generates a vehicle driving instruction when the barrier gate railing reaches the preset state, and sends the vehicle driving instruction to the vehicle controller in a wireless network, a mobile network or a Bluetooth mode. For example, the preset state is a state in which the barrier of the barrier is lifted and forms an included angle of 45 degrees with the horizontal line, the barrier control device determines that the positive rotation angle of the barrier motor reaches a target angle according to the current data of the barrier and corresponding time data, and when the target angle enables the state of the barrier to meet the preset state, the barrier control device generates a vehicle driving instruction and sends the vehicle driving instruction to the vehicle controller.
S307: the vehicle controller controls the vehicle to travel in response to the vehicle travel command.
The vehicle controller receives the vehicle running command, analyzes the vehicle running command, and sends a signal to the vehicle running related controller based on the analyzed data to control the vehicle to run.
S309: when the vehicle controller detects a preset brake closing event, a brake closing request is sent to the road brake control device.
S311: the barrier gate control device responds to the barrier gate closing request and controls the barrier gate to be closed.
In the embodiment, when a vehicle controller detects a barrier opening event, the vehicle controller sends a gate opening request to a barrier control device, the barrier control device controls the barrier to open and acquires barrier state data, the barrier control device generates a vehicle driving instruction when barrier current data and corresponding time data meet a preset state and sends the vehicle driving instruction to the vehicle controller, the vehicle controller responds to the vehicle driving instruction to control the vehicle to drive, the vehicle controller sends a gate closing request to the barrier control device when detecting the preset barrier closing event, the barrier control device responds to the gate closing request to control the barrier to close, whether the state of a barrier of the barrier meets the preset state can be determined by using the barrier current data and the corresponding time data, and when the preset state is reached, the vehicle is controlled to drive, so that the accuracy of controlling the vehicle to enter a field is improved, and meanwhile, the collision between the vehicle and the barrier of the barrier gate is avoided.
In some embodiments, the vehicle controller, upon detecting the preset gate closing time, sending a gate closing request to the gate control device may include:
the vehicle controller sends a brake closing request to the brake control device when detecting a preset brake closing event based on the vehicle position data.
Specifically, the vehicle controller may monitor whether the vehicle position data reaches a preset position in real time, or the vehicle controller obtains position data of the barrier, and determines whether the vehicle position and the barrier position meet a preset distance condition, for example, the vehicle controller uses the position data detected by the vehicle tail high-precision positioning module as the vehicle position data and obtains the barrier position data, and the vehicle controller sends a barrier closing request when determining that the distance between the vehicle and the barrier is greater than a preset distance zero according to the vehicle position data and the barrier position data.
In some embodiments, the barrier status data may include barrier current data, corresponding time data, vehicle-to-barrier distance data, and vehicle travel speed data. Accordingly, as shown in fig. 7, the step S105 of generating a vehicle travel command by the barrier control device according to the barrier state data and transmitting the vehicle travel command to the vehicle controller may include:
s4051: and the barrier gate control device determines the vehicle starting time according to the barrier gate current data, the corresponding time data, the distance between the real-time vehicle and the barrier gate and the vehicle running speed.
The barrier control device can predict the vehicle starting time according to the barrier current data, the corresponding time data, the distance between the real-time vehicle and the barrier and the vehicle running speed. For example, a mapping relation between the current magnitude at each moment and the lifting angle of the barrier gate at each moment is obtained in advance, the barrier gate current is kept unchanged in T1, and the lifting speed and the lifting state of the barrier gate at time T can be determined according to the current magnitude and the time at each moment; and predicting the starting time of the vehicle according to the lifting speed and the lifting state of the barrier at the time t and the driving speed of the vehicle.
In practical application, the real-time distance between the vehicle and the barrier can be obtained through a high-precision positioning module of the vehicle, the high-precision positioning module sends the distance between the vehicle and the barrier to a vehicle controller in real time, and the vehicle controller sends the real-time distance data between the vehicle and the barrier to a barrier control device in real time. The vehicle running speed may be a vehicle running speed generated by analyzing data such as power, torque, user preference setting, etc. in advance for each vehicle, or may be a uniform vehicle running speed.
In the embodiment of the application, if each vehicle previously analyzes and generates the vehicle running speed according to data such as power, torque and the like, the vehicle running speed can be stored in a storage device of the vehicle in advance, when a vehicle controller detects a barrier opening event, a barrier opening request including the vehicle running speed is sent to a barrier control device, and the barrier control device predicts the vehicle starting time according to barrier current data, corresponding time data, the distance between a real-time vehicle and a barrier and the vehicle running speed.
In practical application, under the condition that the barrier gate control device is deployed independently of the background server, the vehicle running speed can be stored in the background server, when the barrier gate control device receives a brake opening request, a vehicle running speed obtaining request is sent to the background server to obtain the vehicle running speed stored by the background server, and the barrier gate control device predicts the vehicle starting time according to the barrier gate current data, the corresponding time data, the distance between the real-time vehicle and the barrier gate and the vehicle running speed. The vehicle running speed is determined according to the data such as power, torque and the like, namely different types of vehicles and vehicles of different types and systems are different in vehicle running speed, so that the determined vehicle starting time can be suitable for the vehicles of corresponding types and systems, the vehicle passing efficiency during the combined control of the vehicle controller and the barrier gate control device is improved, and the parking lot entrance efficiency is improved.
S4053: the barrier gate control device generates a vehicle travel command based on the vehicle start time, and transmits the vehicle travel command to the vehicle controller.
According to the embodiment, when a vehicle controller detects a barrier opening event, a brake opening request is sent to a barrier control device, the barrier control device controls the barrier to be opened and acquires barrier state data, the barrier control device determines vehicle starting time according to barrier current data, corresponding time data, the distance between a real-time vehicle and the barrier and vehicle running speed, the barrier control device generates a vehicle running instruction based on the vehicle starting time and sends the vehicle running instruction to the vehicle controller, the vehicle controller controls the vehicle to run in response to the vehicle running instruction, the vehicle controller sends a brake closing request to the barrier control device when detecting a preset barrier closing event, and the barrier control device controls the barrier to be closed in response to the brake closing request, so that the passing efficiency of the vehicle can be improved, and the field entrance efficiency of a parking lot can be improved.
In some embodiments, as shown in fig. 8, the vehicle controller, in response to the vehicle travel command, controlling the vehicle to travel may include:
s501: and the vehicle controller analyzes the vehicle running instruction to obtain the vehicle starting time.
Specifically, the vehicle driving command may include a vehicle start time.
S503: and when the vehicle controller detects that the vehicle starting time is reached, controlling the vehicle to run.
In the embodiment, the barrier gate control device controls the barrier gate to be opened, barrier gate state data is acquired, vehicle starting time is determined according to the barrier gate state data, the barrier gate control device generates a vehicle running instruction according to the vehicle starting time and sends the vehicle running instruction to the vehicle controller, the vehicle controller analyzes the vehicle running instruction to obtain the vehicle starting time, the vehicle is controlled to run when the vehicle starting time is detected to be reached, the vehicle starting time is sent to the vehicle controller in advance, the vehicle controller determines whether the vehicle starting time is reached or not, and therefore when the vehicle is controlled to run, errors in transmission of the vehicle starting time can be reduced, and response efficiency of vehicle running control is improved.
In some embodiments, as shown in fig. 9, the parking lot barrier control method may include:
s600: the vehicle controller acquires nominal position data of a plurality of barriers.
Specifically, the calibration position data of the multiple barriers may be stored in the background server in advance, the vehicle controller sends a calibration position data acquisition request of the multiple barriers to the background server, and the background server sends the calibration position data of the multiple barriers to the vehicle controller based on the acquisition request.
S601: and the vehicle controller receives the vehicle position data sent by the high-precision positioning module.
S6031: the vehicle controller determines position data for a target barrier based on the vehicle position data and the calibrated position data for the plurality of barriers.
Specifically, when the distance between the vehicle and a certain barrier gate is smaller than a preset distance threshold, the barrier gate can be determined to be a target barrier gate, and the vehicle controller screens out the position data of the target barrier gate from the calibration position data of the plurality of barrier gates.
In practical application, the background server may store the calibration position data of the entire barrier gate in advance. The vehicle controller can obtain the standard position data of a plurality of barriers within the preset distance of the square circle of the current vehicle according to the position data of the current vehicle, and the transmission quantity of the standard position data of the barriers can be reduced and the data transmission efficiency is improved by obtaining partial data in the standard position data of the full-quantity barriers. After the vehicle controller receives the calibration position data of the multiple barriers, the position data of the target barrier can be determined based on the vehicle position data and the calibration position data of the multiple barriers, and the processing efficiency in determining the position data of the target barrier is improved.
S6033: and the vehicle controller sends a brake opening request to the barrier gate control device when determining that the distance between the vehicle and the target barrier gate is equal to the preset distance based on the vehicle position data and the position data of the target barrier gate.
The vehicle controller can determine the distance between the vehicle and the target barrier gate based on the vehicle position data and the position data of the target barrier gate, when the distance between the vehicle and the target barrier gate is equal to a preset distance, the vehicle controller triggers and generates a brake opening request, and the brake opening request is sent to the barrier gate control device through a wireless network, a mobile network or a Bluetooth transmission mode.
In practical application, when the high-precision positioning module is deployed at the middle position of the vehicle body length, the preset distance may be a distance between the middle position of the vehicle body length and the barrier plus a reaction distance, where the reaction distance refers to a distance traveled by the vehicle in a time period from when the vehicle controller sends a switch-off request to when the barrier of the barrier is lifted to the safe position.
S605: the barrier gate control device controls the barrier gate to be opened and acquires the state data of the barrier gate.
S607: the barrier gate control device generates a vehicle driving command according to the barrier gate state data and sends the vehicle driving command to the vehicle controller.
S609: the vehicle controller controls the vehicle to travel in response to the vehicle travel command.
S611: when the vehicle controller detects a preset brake closing event, a brake closing request is sent to the road brake control device.
S613: the barrier gate control device responds to the barrier gate closing request and controls the barrier gate to be closed.
In the embodiment, vehicle position data sent by a high-precision positioning module is received through a vehicle controller, the vehicle controller determines position data of a target barrier gate based on the vehicle position data and calibration position data of a plurality of barrier gates, the vehicle controller sends a gate opening request to a barrier gate control device when determining that the distance between a vehicle and the target barrier gate is equal to a preset distance based on the vehicle position data and the position data of the target barrier gate, the barrier gate control device controls the barrier gate to be opened and acquires barrier gate state data, the barrier gate control device generates a vehicle driving instruction according to the barrier gate state data and sends the vehicle driving instruction to the vehicle controller, the vehicle controller responds to the vehicle driving instruction to control the vehicle to drive, the vehicle controller sends a gate closing request to the barrier gate control device when detecting a preset gate closing event, the barrier gate control device responds to the gate closing request, and the closing of the barrier gate is controlled, so that the processing efficiency when the position data of the target barrier gate is determined can be improved.
The present application additionally provides embodiments of a parking lot barrier control system that may include a vehicle controller and a barrier control device.
The vehicle controller may be configured to send a brake-open request to the brake control device when a brake-open event is detected; controlling the vehicle to run in response to the vehicle running instruction; and when the preset gate closing event is detected, sending a gate closing request to the gate control device.
The barrier gate control device is used for controlling the barrier gate to be opened and acquiring the state data of the barrier gate when receiving the gate opening request; generating a vehicle running instruction according to the barrier state data, and sending the vehicle running instruction to a vehicle controller; and responding to the gate closing request, and controlling the gate to be closed.
In further embodiments, the vehicle controller is further configured to receive vehicle position data sent by the high-precision positioning module; and when the barrier opening event is detected based on the vehicle position data, sending a barrier opening request to the barrier control device.
In another embodiment, the barrier state data may include barrier current data and corresponding time data, and the barrier control device is further configured to determine a vehicle start time according to the barrier current data and the corresponding time data; and generating a vehicle running instruction based on the vehicle starting time, and sending the vehicle running instruction to the vehicle controller.
In another embodiment, the barrier state data may include barrier current data and corresponding time data, and the barrier control device is further configured to generate a vehicle driving instruction and send the vehicle driving instruction to the vehicle controller when the barrier current data and the corresponding time data satisfy a preset state.
In a further embodiment, the vehicle controller is further configured to send a brake-off request to the brake control device upon detection of a preset brake-off event based on the vehicle position data.
In another embodiment, the barrier status data may include barrier current data, corresponding time data, vehicle-to-barrier distance data, and vehicle travel speed data, and the barrier control device is further configured to determine a vehicle start time based on the barrier current data, the corresponding time data, the vehicle-to-barrier distance, and the vehicle travel speed; and generating a vehicle running instruction based on the vehicle starting time, and sending the vehicle running instruction to the vehicle controller.
In another embodiment, the barrier state data may include barrier current data, corresponding time data, a distance between the vehicle and the barrier, and vehicle driving speed data, and the barrier control state is further configured to generate a vehicle driving command and transmit the vehicle driving command to the vehicle controller when the barrier current data, the corresponding time data, the distance between the vehicle and the barrier, and the vehicle driving speed data satisfy a preset state.
In another embodiment, the vehicle controller is further configured to analyze the vehicle driving command to obtain a vehicle start time; and controlling the vehicle to run when the vehicle starting time is detected to be reached.
In further embodiments, the vehicle controller is further configured to obtain nominal position data for a plurality of barrier gates; determining position data of a target barrier gate based on the vehicle position data and the calibration position data of the multiple barrier gates; and when the distance between the vehicle and the target barrier gate is determined to be equal to the preset distance based on the vehicle position data and the position data of the target barrier gate, sending a brake opening request to the barrier gate control device.
FIG. 10 is a block diagram of a vehicle controller, shown in accordance with an exemplary embodiment. Referring to fig. 10, the vehicle controller may include:
the request sending module 701 is configured to send a brake opening request to the barrier control device when detecting a barrier opening event, so that the barrier control device controls the barrier to open when receiving the brake opening request, acquires the barrier state data, and generates a vehicle driving instruction according to the barrier state data.
And a vehicle control module 703 configured to control the vehicle to run in response to the vehicle running instruction.
The gate closing request sending module 705 is configured to send a gate closing request to the gate control device when a preset gate closing event is detected, so that the gate control device controls the gate to be closed in response to the gate closing request.
Specifically, the vehicle controller may be a single chip controller, and certainly, the vehicle controller may also be other chips having a data processing function, for example, processing chips such as a DSP or an ARM.
Fig. 11 is a block diagram illustrating a barrier control apparatus according to an exemplary embodiment. Referring to fig. 11, the barrier gate control apparatus may include:
the first control module 801 is configured to control the barrier to open and acquire the state data of the barrier when receiving the request for opening the barrier.
And a driving instruction generating module 803 configured to generate a vehicle driving instruction according to the barrier state data, and send the vehicle driving instruction to the vehicle controller, so that the vehicle controller controls the vehicle to drive in response to the vehicle driving instruction.
The second control module 805 is configured to control the barrier to close in response to a gate closing request sent by the vehicle controller upon detection of a preset gate closing event.
Specifically, the main controller in the barrier gate control device may be a single chip controller, or other chips with data processing functions, such as processing chips of a DSP or an ARM.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that although embodiments described herein include some features included in other embodiments, not other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims of the present invention, any of the claimed embodiments may be used in any combination.
The present invention may also be embodied as apparatus or system programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps or the like not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several systems, several of these systems may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering and these words may be interpreted as names.

Claims (12)

1. A parking lot barrier gate control method, characterized in that the method comprises:
when detecting a barrier opening event, the vehicle controller sends a barrier opening request to the barrier control device;
the barrier gate control device controls the barrier gate to be opened and acquires the state data of the barrier gate;
the barrier gate control device generates a vehicle driving instruction according to the barrier gate state data and sends the vehicle driving instruction to the vehicle controller;
the vehicle controller controls the vehicle to run in response to the vehicle running instruction;
when the vehicle controller detects a preset brake closing event, a brake closing request is sent to the barrier gate control device;
and the barrier gate control device responds to the barrier gate closing request and controls the barrier gate to be closed.
2. The method of claim 1, further comprising:
the vehicle controller receives vehicle position data sent by the high-precision positioning module;
when the vehicle controller detects a barrier opening event, the step of sending a barrier opening request to the barrier control device comprises the following steps:
and the vehicle controller sends the brake opening request to the barrier gate control device when detecting the barrier gate opening event based on the vehicle position data.
3. The method of claim 1, wherein the barrier status data comprises barrier current data and corresponding time data;
the barrier gate control device generates a vehicle driving instruction according to the barrier gate state data, and sends the vehicle driving instruction to the vehicle controller, and the method comprises the following steps:
the barrier gate control device determines vehicle starting time according to the barrier gate current data and the corresponding time data;
the barrier gate control device generates the vehicle running instruction based on the vehicle starting time, and sends the vehicle running instruction to the vehicle controller.
4. The method of claim 1, wherein the barrier status data comprises barrier current data and corresponding time data;
the barrier gate control device generates a vehicle driving instruction according to the barrier gate state data, and sends the vehicle driving instruction to the vehicle controller, and the method comprises the following steps:
and when the barrier current data and the corresponding time data meet a preset state, the barrier control device generates a vehicle running instruction and sends the vehicle running instruction to the vehicle controller.
5. The method of claim 2, wherein the vehicle controller sending a gate off request to the barrier gate control device upon detecting a preset gate off event comprises:
and the vehicle controller sends the brake closing request to the barrier gate control device when detecting the preset brake closing event based on the vehicle position data.
6. The method of claim 1, wherein the barrier status data comprises barrier current data, corresponding time data, vehicle-to-barrier distance data, and vehicle travel speed data;
the barrier gate control device generates a vehicle driving instruction according to the barrier gate state data, and sends the vehicle driving instruction to the vehicle controller, and the method comprises the following steps:
the barrier gate control device determines vehicle starting time according to the barrier gate current data, the corresponding time data, the distance between the vehicle and the barrier gate and the vehicle running speed;
the barrier gate control device generates the vehicle running instruction based on the vehicle starting time, and sends the vehicle running instruction to the vehicle controller.
7. The method according to claim 3 or 6, wherein the vehicle controller controlling vehicle travel in response to the vehicle travel command includes:
the vehicle controller analyzes the vehicle running instruction to obtain the vehicle starting time;
and when the vehicle controller detects that the vehicle starting time is up, controlling the vehicle to run.
8. The method of claim 2, further comprising:
the vehicle controller acquires calibration position data of a plurality of barrier gates;
the vehicle controller, when detecting a barrier gate opening event based on the vehicle position data, sending a gate opening request to a barrier gate control device includes:
the vehicle controller determines position data of a target barrier based on the vehicle position data and the calibrated position data of the plurality of barriers;
and the vehicle controller sends the brake opening request to the barrier gate control device when determining that the distance between the vehicle and the target barrier gate is equal to a preset distance based on the vehicle position data and the position data of the target barrier gate.
9. The method of claim 1, further comprising:
the vehicle controller receives vehicle position data sent by the high-precision positioning module;
when the vehicle controller detects a preset brake-off event, the step of sending a brake-off request to the barrier gate control device comprises the following steps:
and the vehicle controller sends the brake opening request to the barrier gate control device when detecting the preset brake closing event based on the vehicle position data.
10. A parking lot barrier gate control system, characterized in that the system comprises a vehicle controller and a barrier gate control device;
the vehicle controller is configured to send a brake-open request to the brake control device upon detection of a brake-open event; controlling the vehicle to run in response to the vehicle running instruction; when a preset gate closing event is detected, a gate closing request is sent to the barrier gate control device;
the barrier gate control device is set to control the barrier gate to be opened and acquire the state data of the barrier gate when receiving the gate opening request; generating a vehicle running instruction according to the barrier state data, and sending the vehicle running instruction to the vehicle controller; and responding to the gate closing request, and controlling the gate to be closed.
11. The system of claim 10, wherein the vehicle controller comprises:
the request sending module is configured to send the brake opening request to the barrier control device when detecting the barrier opening event, so that the barrier control device controls the barrier to be opened when receiving the brake opening request, acquires the barrier state data, and generates the vehicle driving instruction according to the barrier state data;
a vehicle control module configured to control a vehicle to run in response to the vehicle running instruction;
and the gate closing request sending module is configured to send the gate closing request to the barrier gate control device when the preset gate closing event is detected, so that the barrier gate control device controls the barrier gate to be closed in response to the gate closing request.
12. The system of claim 10, wherein the barrier control device comprises:
the first control module is configured to control the barrier gate to be opened and acquire the state data of the barrier gate when receiving the gate opening request;
a driving instruction generating module, configured to generate the vehicle driving instruction according to the barrier status data, and send the vehicle driving instruction to the vehicle controller, so that the vehicle controller controls the vehicle to drive in response to the vehicle driving instruction;
the second control module is used for controlling the barrier to be closed in response to the brake closing request sent by the vehicle controller when the preset brake closing event is detected.
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