CN113362638A - Indoor parking space guiding system based on low-energy-consumption Bluetooth and parking space guiding method thereof - Google Patents
Indoor parking space guiding system based on low-energy-consumption Bluetooth and parking space guiding method thereof Download PDFInfo
- Publication number
- CN113362638A CN113362638A CN202110502615.4A CN202110502615A CN113362638A CN 113362638 A CN113362638 A CN 113362638A CN 202110502615 A CN202110502615 A CN 202110502615A CN 113362638 A CN113362638 A CN 113362638A
- Authority
- CN
- China
- Prior art keywords
- parking space
- parking
- indoor
- ibeacon
- map
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an indoor parking space guiding system based on low-energy-consumption Bluetooth and a parking space guiding method thereof, and the system comprises n iBeacon nodes arranged in an indoor parking lot, a background server in wireless transmission connection with the n iBeacon nodes, a user side in wireless transmission with the background server, and parking space detection terminals respectively arranged corresponding to each parking space of the indoor parking lot, wherein the background server completes construction of a parking space map of the indoor parking lot according to coordinate position information of each parking space, the user side acquires a real-time position of the user side on the parking space map by using a triangulation algorithm, and acquires guiding information through the real-time position and the coordinate position of each parking space, wherein n is more than or equal to 3, and n is a positive integer. The invention aims to provide an indoor parking guidance system based on low-energy Bluetooth for providing accurate guidance for indoor parking of a user, and the invention also aims to provide a parking space guidance method.
Description
Technical Field
The invention relates to the technical field of intelligent parking, in particular to an indoor parking space guiding system based on low-energy-consumption Bluetooth and a parking space guiding method thereof.
Background
Compared with the conventional ground parking lot, the underground parking lot has the advantages of precious ground area saving, low cost, more effective parking spaces, convenient vehicle turnover and the like, but also has the problems that a driver cannot timely know the traffic condition in the underground parking lot and the distribution condition of the effective parking spaces because the driver is easily influenced by the sight distance range, so that the problems that a plurality of vehicles are disordered in driving order, the vehicle occupies a traffic lane at will, the vehicles at an entrance and an exit are blocked up and the like easily occur when the number of people on duty and off duty is large. Therefore, it is very important for drivers in underground parking lots to determine their positions in time and perform real-time navigation; on the other hand, drivers can find a most convenient driving route in the underground parking lot to reach an available parking space in the least time, and the driver needs the driving route to reach the available parking space. In general, in terms of the shortest driving path, most drivers first think that the driver does not go around too many intersections from the entrance to the parking space, and preferably reaches the end point in a straight driving route, so that the distance to be driven in the whole driving process is the shortest. However, because most drivers have such thinking mode and are not willing to walk around the route which looks like a curve, in an underground parking lot, a phenomenon that a driver in front of a certain main traffic lane stops the vehicle and then slowly moves occurs frequently, and even at an intersection, traffic paralysis is caused due to too many waiting vehicles, but on other driving branches, there is hardly any vehicle coming in.
Aiming at the situations, products related to intelligent parking systems are available at home and abroad. For example, the chinese patent application CN106205202A discloses a parking space navigation system and method, including a communication server, a positioning terminal, a pressure sensing module, and an information display unit; the communication server comprises a data storage unit, a central processing unit, a time acquisition unit, a navigation unit and a temporary storage list; the data storage unit stores a plurality of parking space information and a plurality of pressure sensor numbers; the navigation unit generates a navigation route according to the current position of the vehicle and the position of the empty parking space; the positioning terminal is a GPS positioning device; the pressure sensing module comprises a plurality of pressure sensors; the information display unit is a liquid crystal display screen, and the information display unit receives the navigation route and displays the navigation route on the liquid crystal display screen.
However, the parking lot navigation system relies on the GPS to perform parking lot internal navigation, but the GPS signal of the indoor parking lot is poor, which results in poor navigation reliability; in addition, the parking lot navigation system can only provide macroscopic map information, lacks detailed information, cannot provide navigation from an entrance of the parking lot to a parking space, and is difficult to guide a user to reach a target parking space through an optimal distance.
Disclosure of Invention
The invention aims to provide an indoor parking guidance system based on low-energy-consumption Bluetooth, which uses iBeacon nodes to construct a node network, realizes map construction of an indoor parking lot without GPS or GPS weak time and real-time position calibration of a user terminal, and provides accurate guidance for indoor parking of the user.
In order to achieve the above object, the present invention provides an indoor parking guidance system based on bluetooth with low energy consumption, which is characterized in that the system comprises n iBeacon nodes arranged in an indoor parking lot, a background server wirelessly connected with the n iBeacon nodes, and a user end wirelessly transmitted with the background server, wherein a parking space detection terminal connected with the n iBeacon nodes is respectively arranged corresponding to each parking space of the indoor parking lot, the parking space detection terminal is used for detecting parking information corresponding to the parking space, and calibrating the coordinate position of the parking space by using a weighted centroid algorithm, the background server completes construction of the parking space map of the indoor parking lot according to the coordinate position information of each parking space, and simultaneously transmits the constructed parking space map and parking space parking information data to the user end, and the user end is connected to the background server and the n iBeacon nodes, and acquiring the real-time position of the parking space map by using a triangulation algorithm, and acquiring guidance information through the real-time position and the coordinate position of each parking space, wherein n is more than or equal to 3 and is a positive integer.
Preferably, parking stall monitor terminal is including being used for detecting the infrared sensor that the parking stall stopped the information for stop the information according to the difference and send the parking stall pilot lamp that different light instructed, and be used for inserting the wireless communication module of a plurality of iBeacon nodes of n.
Preferably, the indoor parking lot is further provided with a vehicle access management system, and the background server is connected with the vehicle access management system through a communication network and is used for counting vehicle access quantity and timing charging supervision.
Preferably, the user side is accessed to the vehicle access management system through a background server, so that remote payment, parking space reservation and reverse vehicle searching are realized.
Preferably, the distance between the user terminal and the corresponding iBeacon node is calculated according to a propagation path loss model of the wireless bluetooth signal in the indoor space medium, where the expression of the propagation path loss model is as follows:
P(d)＝P(d0)-10nlg(d/d0)+§
wherein: p (d) is the path loss of the user end at the distance of d meters corresponding to the iBeacon node; p (d)0) Path loss at a distance d0 of 1 m; n is a wireless signal attenuation coefficient, and the value is closely related to a specific environment; is a random variable with a mean value of 0, subject to a gaussian distribution.
Based on the indoor parking guidance system, the invention also provides a parking space guidance method, which comprises the following steps:
s1: the parking space detection terminal is installed in the center of each parking space, and the plane coordinate position of each parking space detection terminal is determined by using n iBeacon nodes and a weighted centroid algorithm;
s2: selecting an absolute coordinate system, and calibrating the relative position of each parking space detection terminal in the absolute coordinate system;
s3: judging parking space and road information according to the design size of the parking spaces, setting the length of each parking space as L, the width as W and the distance between two parking space detection terminals as S, and determining that the two parking space detection terminals belong to adjacent parking spaces when S is less than or equal to W; when W is more than S and less than or equal to 2W, determining that an obstacle exists between the two parking space detection terminals; when S is larger than 2W, a passing road is determined to exist between the two parking space detection terminals;
s4: keeping the origin of the absolute coordinate system unchanged to finish the transformation of the coordinate system, wherein the X axis of the transformed coordinate system is parallel to the connecting line of the two adjacent parking space detection terminals, and the Y axis of the transformed coordinate system is parallel to the perpendicular bisector of the connecting line of the two adjacent parking space detection terminals;
s5: in the converted coordinate system, expanding W/2 in the +/-X direction and expanding L/2 in the +/-Y direction by using the parking space detection terminal coordinates respectively to obtain a rectangular area which is the corresponding parking space, and simultaneously expanding by combining the obstacle and road information determined in the step S2 to finish the final construction of the parking space map;
s6: detecting the occupation condition of the parking spaces by using a parking space detection terminal, and marking in the parking space map constructed in S5;
s7: and calibrating the real-time position of the user terminal in the parking space map constructed in the step S5 by using the three iBeacon nodes and a triangulation algorithm, and planning a guide path from the user terminal to the nearest vacant parking space by using the passing road determined in the step S2 and the vacant parking spaces calibrated in the step S6.
Preferably, when n > 3, the user terminal is triangulated by three iBeacon nodes with the largest RSSI value.
Preferably, the parking space map constructed in step S5 is optimized according to the traveling path of the vehicle in the parking lot in combination with a crowd sensing algorithm.
Preferably, when parking is needed, the user side is used for logging in the background server to check the free parking space condition of the parking lot and submitting a free parking space condition reservation request, the server allocates corresponding free parking spaces to reservation clients according to the parking space reservation request, and when the user side is accessed into three iBeacon nodes, the map reconstructed in the step S5 is combined, and the free parking spaces are used as target parking spaces to plan the guide route.
Preferably, when a vehicle needs to be taken, the user login server is used for checking the vehicle parking information, and when the user accesses the three iBeacon nodes, the map reconstructed in the step S5 is combined, and the vehicle parking space is used as the target space to plan the reverse vehicle searching route.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the method, a certain amount of iBeacon nodes are deployed in an indoor parking lot to form a node network, after the RSSI values of different nodes are obtained by a user end and a parking space detection terminal, the distance between the user end and the corresponding iBeacon nodes is calculated by combining a distance measurement formula, and then map reconstruction and user end real-time position calibration are completed under the calculation of a related positioning algorithm, so that higher indoor positioning accuracy is obtained;
(2) according to the invention, the parking space map reconstruction is carried out on the indoor parking lot without GPS signals or when the GPS signals are weak through the weighted centroid algorithm, so that the construction cost of the system at the initial stage is reduced, meanwhile, the system is optimized by combining with the crowd sensing algorithm, the real-time online inquiry and parking space reservation can be realized, the parking is convenient and fast, and the user trip efficiency is greatly improved;
(3) in an indoor environment of an underground parking lot with a complex structure, a triangulation algorithm is utilized to accurately acquire real-time coordinate information of a user side in a constructed parking space map, a most reasonable driving route is planned for each vehicle entering a garage in real time according to the distribution condition of vacant parking spaces calibrated by the parking space map, a driver can reach an available parking space in the shortest time according to the driving route, and traffic jam in the parking lot is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of an indoor space guidance system according to the present invention.
Fig. 2 is a functional flow chart of the indoor parking space guidance system of the present invention.
FIG. 3 is a schematic diagram of a weighted centroid algorithm.
FIG. 4 is a schematic diagram of a triangulation algorithm.
Fig. 5 is a flowchart illustrating a parking space guidance method.
Reference numbers in the figures: the system comprises 1-iBeacon nodes, 2-user terminals, 3-parking space detection terminals, 4-background servers, 5-vehicle access management systems, 6-obstacles and 7-parking spaces.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 and 2, the invention provides an indoor parking guidance system based on low energy consumption bluetooth, which is characterized by comprising n iBeacon nodes 1 arranged in an indoor parking lot, a background server 4 connected with the n iBeacon nodes 1 through wireless transmission, and a user end 2 connected with the background server 4 through wireless transmission, wherein a parking space detection terminal 3 connected with the n iBeacon nodes 1 is respectively arranged corresponding to each parking space 7 of the indoor parking lot, the parking space detection terminal 3 is used for detecting parking information corresponding to the parking space 7 on one hand, and calibrating the coordinate position of the parking space 7 by using a weighted centroid algorithm on the other hand, the background server 4 completes construction of the parking space map of the indoor parking lot according to the coordinate position information of each parking space 7, and transmits the constructed parking space map and parking space parking information data to the user end 2, the user side 2 is accessed to a background server 4 and n iBeacon nodes 1, the real-time position of the user side on the parking space map is obtained through a triangulation algorithm, and guiding information is obtained through the real-time position and the coordinate position of each parking space, wherein n is larger than or equal to 3, and n is a positive integer.
Specifically, parking stall monitor terminal is including being used for detecting the infrared sensor that 7 information of berthing in parking stall for according to the different parking information send the parking stall pilot lamp that different light instructed, and be used for inserting n iBeacon node 1's wireless communication module.
Specifically, the indoor parking lot is further provided with a vehicle access management system 5, and the background server 4 is connected with the vehicle access management system 5 through a communication network and is used for counting vehicle access quantity and timing charging supervision.
Specifically, the user side 2 is connected to the vehicle access management system 5 through the background server 4, so that remote payment, parking space reservation and reverse vehicle finding are realized.
Specifically, the distance between the user terminal 2 and the corresponding iBeacon node 1 is calculated according to a propagation path loss model of the wireless bluetooth signal in the indoor space medium, where the expression of the propagation path loss model is as follows:
P(d)＝P(d0)-10nlg(d/d0)+§
wherein: p (d) is the path loss of the ue 2 at a distance of 1d from the corresponding iBeacon node; p (d)0) Path loss at a distance d0 of 1 m; n is a wireless signal attenuation coefficient, and the value is closely related to a specific environment; is a random variable with a mean value of 0, subject to a gaussian distribution.
When n is 6, the principle of the weighted centroid algorithm is shown in fig. 3, and the vehicle detection terminal is the same as that of the vehicle detection terminalWhen receiving Bluetooth signals from other n iBeacon nodes 1 arranged indoors, the center of mass of a polygon formed by the n iBeacon nodes 1 is the coordinate of the vehicle detection terminal; the weighted centroid location algorithm considers the distance as a parameter factor on the basis of the centroid location algorithm, and the weighted centroid does not directly take the calculated polygonal centroid as a final result, but distinguishes the polygonal centroid as a weight according to the action size (closely related to the distance) of different iBeacon nodes 1 on the vehicle detection terminal. Let the coordinate positions of n iBeacon nodes 1 be O respectively1(x1,y1)， O2(x2,y2)，...,On(xn,yn) And the coordinate of the point to be measured is O (x, y). The coordinates of the point to be measured can be obtained according to the following formula:
in the above relation, kiThe weight is expressed as the influence weight of different iBeacon nodes 1 on the vehicle detection terminal, the weight is determined by the distance between the iBeacon nodes 1 and the vehicle detection terminal, the value is the reciprocal of the distance under the common condition, and the distance between the iBeacon nodes 1 and the vehicle detection terminal can be calculated according to the RSSI value received by the mobile terminal and the propagation model of the signal. The weighted centroid algorithm principle is simple, the requirement on the accuracy of measuring equipment is not high, and the algorithm equation is easy to calculate, so that the practicability is high. The most important influence on the algorithm is the acquisition of the RSSI value at the mobile terminal, which has been said above, the RSSI value is easily affected by the environment and fluctuates up and down, and even at the same position, the RSSI value is very unstable, so that advanced filtering processing needs to be performed on the acquired RSSI value, thereby improving the positioning accuracy.
The principle of triangulation algorithm is shown in FIG. 4, assuming that the coordinate position O of each iBeacon node 1 in a room is known1(Ox1,Oy1)，O2(Ox2、0y2)，...，O3(Ox3、0y3) Coordinates of the user end 2The position is (x, y), and the distance from each iBeacon node 1 to the user end 2 is d respectively measured by the RSSI ranging principle1，d2,...,dn. Finding 3 known iBeacon nodes 1 with the maximum RSSI values through a user side 2, wherein the corresponding distance values are d1,d2,d3Using the 3 iBeacon nodes 1 as the center of circle, d1,d2,d3The 3 circles have an intersection region, and the intersection points of the intersection regions are respectively set as A, B and C.
The coordinate position of the user terminal 2 can be obtained according to the weighted centroid location algorithm as follows:
referring to fig. 5, based on the indoor parking guidance system, the present invention further provides a parking space guidance method, including the following steps:
s1: the parking space detection terminal 3 is installed in the center of each parking space, and the plane coordinate position of each parking space detection terminal 3 is determined by using n iBeacon nodes 1 and a weighted centroid algorithm;
s2: selecting an absolute coordinate system, and calibrating the relative position of each parking space detection terminal 3 in the absolute coordinate system;
s3: judging parking space and road information according to the design size of the parking spaces, setting the length of each parking space as L, the width as W and the distance between two parking space detection terminals 3 as S, and determining that the two parking space detection terminals 3 belong to adjacent parking spaces when S is less than or equal to W; when W is more than S and less than or equal to 2W, determining that an obstacle 6 exists between the two parking space detection terminals 3; when S is larger than 2W, a passing road is determined to exist between the two parking space detection terminals 3;
s4: keeping the origin of the absolute coordinate system unchanged to finish the transformation of the coordinate system, wherein the X axis of the transformed coordinate system is parallel to the connecting line of the two adjacent parking space detection terminals 3, and the Y axis of the transformed coordinate system is parallel to the perpendicular bisector of the connecting line of the two adjacent parking space detection terminals 3;
s5: in the converted coordinate system, expanding W/2 in the +/-X direction and expanding L/2 in the +/-Y direction by using the coordinates of the parking space detection terminal 3 respectively to obtain a rectangular area, namely a corresponding parking space 7, and simultaneously expanding by combining the obstacle 6 and road information determined in the step S2 to finish the final construction of a parking space map;
s6: detecting the occupation condition of the parking space by using the parking space detection terminal 3, and marking in the parking space map constructed in S5;
s7: the real-time position of the user end 2 is calibrated in the parking space map constructed in the step S5 by using the three iBeacon nodes 1 and the triangulation algorithm, and the guide path from the user end 2 to the nearest vacant parking space is planned by using the passing road identified in the step S2 and the vacant parking spaces calibrated in the step S6.
Specifically, when n > 3, the ue 2 is triangulated by three iBeacon nodes 1 with the largest RSSI value.
Specifically, the parking space map constructed in step S5 is optimized according to the traveling path of the vehicle in the parking lot in combination with the crowd sensing algorithm.
Specifically, when parking is needed, the user terminal 2 is used for logging in the background server 4 to check the free parking space condition of the parking lot and submitting a free parking space condition reservation request, the server allocates corresponding free parking spaces to reservation clients according to the parking space reservation request, and when the user terminal 2 is connected with three iBeacon nodes 1, the map reconstructed in the step S5 is combined, and the free parking spaces are used as target parking spaces to plan a guide route.
Specifically, when a vehicle needs to be taken, the user 2 logs in the server to check the parking information of the vehicle, and when the user 2 accesses the three iBeacon nodes 1, the map reconstructed in the step S5 is combined, and the parking space of the vehicle is used as the target parking space to plan the reverse vehicle searching route.
In summary, a certain amount of iBeacon nodes 1 are deployed in an indoor parking lot to form a node network, so that after the RSSI values of different nodes are obtained by a user terminal 2 and a parking space detection terminal 3, the distance between the user terminal and the corresponding iBeacon nodes 1 is calculated by combining a ranging formula, and then map reconstruction and real-time position calibration of the user terminal 2 are completed under calculation of a related positioning algorithm, thereby obtaining higher indoor positioning accuracy; according to the invention, the parking space map reconstruction is carried out on the indoor parking lot without GPS signals or when the GPS signals are weak through the weighted centroid algorithm, so that the construction cost of the system at the initial stage is reduced, meanwhile, the system is optimized by combining with the crowd sensing algorithm, the real-time online inquiry and parking space reservation can be realized, the parking is convenient and fast, and the user trip efficiency is greatly improved; in an indoor environment of an underground parking lot with a complex structure, a triangulation algorithm is used for accurately acquiring real-time coordinate information of a user terminal 2 in a constructed parking space map, a most reasonable driving route is planned for each vehicle entering a garage in real time according to the distribution condition of vacant parking spaces calibrated by the parking space map, a driver can reach an available parking space 7 in the shortest time according to the driving route, and traffic jam in the parking lot is avoided.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An indoor parking guidance system based on low energy consumption Bluetooth is characterized by comprising n iBeacon nodes arranged in an indoor parking lot, a background server connected with the n iBeacon nodes in a wireless transmission manner and a user side wirelessly transmitted by the background server, wherein a parking space detection terminal connected with the n iBeacon nodes is arranged on each parking space corresponding to the indoor parking lot respectively, the parking space detection terminal is used for detecting parking information corresponding to the parking space on one hand, and calibration of the coordinate position of the parking space is realized by using a weighted centroid algorithm on the other hand, the background server completes construction of the parking space map of the indoor parking lot according to the coordinate position information of each parking space, simultaneously transmits the constructed parking space map and parking space parking information data to the user side, and the user side is accessed into the background server and the n iBeacon nodes, and acquiring the real-time position of the parking space map by using a triangulation algorithm, and acquiring guidance information through the real-time position and the coordinate position of each parking space, wherein n is more than or equal to 3 and is a positive integer.
2. The indoor parking guidance system based on bluetooth low energy according to claim 1, wherein the parking space monitoring terminal comprises an infrared sensor for detecting parking space parking information, a parking space indicator lamp for emitting different light indications according to different parking information, and a wireless communication module for accessing n iBeacon nodes.
3. The system for guiding indoor parking based on bluetooth low energy according to claim 1, wherein a vehicle access management system is further disposed in the indoor parking lot, and the background server is connected to the vehicle access management system through a communication network, and is configured to count vehicle access amount and perform time counting and charging supervision.
4. The system of claim 3, wherein the user side accesses the vehicle access management system through a background server to realize remote payment, parking space reservation and reverse vehicle finding.
5. The system of claim 4, wherein the distance between the user terminal and the corresponding iBeacon node is calculated according to a propagation path loss model of the wireless Bluetooth signal in the indoor space medium, and the expression of the propagation path loss model is as follows:
P(d)＝P(d0)-10nlg(d/d0)+§
wherein: p (d) is the path loss of the user end at the distance of d meters corresponding to the iBeacon node; p (d0) is the path loss when the distance d0 is 1 m; n is a wireless signal attenuation coefficient, and the value is closely related to a specific environment; is a random variable with a mean value of 0, subject to a gaussian distribution.
6. A space guidance method of an indoor parking guidance system according to any one of claims 1 to 5, comprising the steps of:
s1: the parking space detection terminal is installed in the center of each parking space, and the plane coordinate position of each parking space detection terminal is determined by using n iBeacon nodes and a weighted centroid algorithm;
s2: selecting an absolute coordinate system, and calibrating the relative position of each parking space detection terminal in the absolute coordinate system;
s3: judging parking space and road information according to the design size of the parking spaces, setting the length of each parking space as L, the width as W and the distance between two parking space detection terminals as S, and determining that the two parking space detection terminals belong to adjacent parking spaces when S is less than or equal to W; when W is more than S and less than or equal to 2W, determining that an obstacle exists between the two parking space detection terminals; when S is larger than 2W, a passing road is determined to exist between the two parking space detection terminals;
s4: keeping the origin of the absolute coordinate system unchanged to finish the transformation of the coordinate system, wherein the X axis of the transformed coordinate system is parallel to the connecting line of the two adjacent parking space detection terminals, and the Y axis of the transformed coordinate system is parallel to the perpendicular bisector of the connecting line of the two adjacent parking space detection terminals;
s5: in the converted coordinate system, expanding W/2 in the +/-X direction and expanding L/2 in the +/-Y direction by using the parking space detection terminal coordinates respectively to obtain a rectangular area which is the corresponding parking space, and simultaneously expanding by combining the obstacle and road information determined in the step S2 to finish the final construction of the parking space map;
s6: detecting the occupation condition of the parking spaces by using a parking space detection terminal, and marking in the parking space map constructed in S5;
s7: and calibrating the real-time position of the user terminal in the parking space map constructed in the step S5 by using the three iBeacon nodes and a triangulation algorithm, and planning a guide path from the user terminal to the nearest vacant parking space by using the passing road determined in the step S2 and the vacant parking spaces calibrated in the step S6.
7. The parking space guidance method according to claim 6, wherein when n is greater than 3, the user side is triangulated by three iBeacon nodes with the largest RSSI values.
8. The parking space guidance method according to claim 7, wherein the parking space map constructed in step S5 is optimized according to a traveling path of the vehicle in the parking lot in combination with a crowd sensing algorithm.
9. The parking space guidance method according to claim 8, wherein when parking is required, a user terminal is used to log in a background server to check the free parking space condition of the parking lot and submit a free parking space condition reservation request, the server allocates corresponding free parking spaces to reservation clients according to the parking space reservation request, and when the user terminal accesses three iBeacon nodes, the user terminal combines the map reconstructed in step S5 to plan a guidance route with the free parking spaces as target parking spaces.
10. The car space guiding method according to claim 9, wherein when a car needs to be taken, the user login server is used to check the car parking information, and when the user accesses three iBeacon nodes, the map reconstructed in step S5 is combined to plan the reverse car searching route with the car parking space as the target car space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110502615.4A CN113362638A (en) | 2021-05-09 | 2021-05-09 | Indoor parking space guiding system based on low-energy-consumption Bluetooth and parking space guiding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110502615.4A CN113362638A (en) | 2021-05-09 | 2021-05-09 | Indoor parking space guiding system based on low-energy-consumption Bluetooth and parking space guiding method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113362638A true CN113362638A (en) | 2021-09-07 |
Family
ID=77525989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110502615.4A Pending CN113362638A (en) | 2021-05-09 | 2021-05-09 | Indoor parking space guiding system based on low-energy-consumption Bluetooth and parking space guiding method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113362638A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114155737A (en) * | 2021-11-17 | 2022-03-08 | 珠海格力电器股份有限公司 | RSSI positioning algorithm-based personalized public parking space positioning and guiding system |
| CN114339597A (en) * | 2021-12-30 | 2022-04-12 | 联创汽车电子有限公司 | TBOX BLE-RSSI positioning method |
| CN114913703A (en) * | 2022-04-25 | 2022-08-16 | 广州瀚信通信科技股份有限公司 | Parking guidance method, device, equipment and medium based on historical parking data |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105321213A (en) * | 2014-06-18 | 2016-02-10 | 深圳市金溢科技股份有限公司 | On-street parking fee collection management method and system |
| CN105702085A (en) * | 2016-04-19 | 2016-06-22 | 重庆喜玛拉雅科技有限公司 | Parking navigation method and device based on intelligent terminal |
| CN106067260A (en) * | 2016-07-22 | 2016-11-02 | 宁波大红鹰学院 | A kind of based in field TWA preengage parking management system online |
| CN107895504A (en) * | 2017-11-07 | 2018-04-10 | 重庆大学 | Parking garage truck space guiding system and its map reconstructing method |
| CN108615396A (en) * | 2018-04-26 | 2018-10-02 | 中设设计集团股份有限公司 | Stopping guide, reverse vehicle searching system and method based on bluetooth positioning |
| CN208580509U (en) * | 2018-07-25 | 2019-03-05 | 中山大学新华学院 | A kind of indoor intelligent parking navigation system based on ibeacon |
-
2021
- 2021-05-09 CN CN202110502615.4A patent/CN113362638A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105321213A (en) * | 2014-06-18 | 2016-02-10 | 深圳市金溢科技股份有限公司 | On-street parking fee collection management method and system |
| CN105702085A (en) * | 2016-04-19 | 2016-06-22 | 重庆喜玛拉雅科技有限公司 | Parking navigation method and device based on intelligent terminal |
| CN106067260A (en) * | 2016-07-22 | 2016-11-02 | 宁波大红鹰学院 | A kind of based in field TWA preengage parking management system online |
| CN107895504A (en) * | 2017-11-07 | 2018-04-10 | 重庆大学 | Parking garage truck space guiding system and its map reconstructing method |
| CN108615396A (en) * | 2018-04-26 | 2018-10-02 | 中设设计集团股份有限公司 | Stopping guide, reverse vehicle searching system and method based on bluetooth positioning |
| CN208580509U (en) * | 2018-07-25 | 2019-03-05 | 中山大学新华学院 | A kind of indoor intelligent parking navigation system based on ibeacon |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114155737A (en) * | 2021-11-17 | 2022-03-08 | 珠海格力电器股份有限公司 | RSSI positioning algorithm-based personalized public parking space positioning and guiding system |
| CN114339597A (en) * | 2021-12-30 | 2022-04-12 | 联创汽车电子有限公司 | TBOX BLE-RSSI positioning method |
| CN114913703A (en) * | 2022-04-25 | 2022-08-16 | 广州瀚信通信科技股份有限公司 | Parking guidance method, device, equipment and medium based on historical parking data |
| CN114913703B (en) * | 2022-04-25 | 2024-03-19 | 广州瀚信通信科技股份有限公司 | Parking guiding method, device, equipment and medium based on historical parking data |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113362638A (en) | Indoor parking space guiding system based on low-energy-consumption Bluetooth and parking space guiding method thereof | |
| US11874119B2 (en) | Traffic boundary mapping | |
| CN101191832B (en) | Wireless sensor network node position finding process based on range measurement | |
| CN108961811B (en) | Parking lot vehicle positioning method, system, mobile terminal and storage medium | |
| CN105157699B (en) | A kind of parking garage air navigation aid based on WiFi and Sensor Network technological incorporation | |
| CN107076826B (en) | Ultra-broadband ranging method and apparatus, barrier-avoiding method and avoidance equipment | |
| CN107895504B (en) | Parking space guiding system of indoor parking lot and map reconstruction method thereof | |
| CN103325255B (en) | The method of region transportation situation detection is carried out based on photogrammetric technology | |
| CN109147317B (en) | Automatic driving navigation system, method and device based on vehicle-road cooperation | |
| US20140236686A1 (en) | Method of using virtual gantries to optimize the charging performance of in-vehicle parking systems | |
| EP3708960A1 (en) | Maplets for maintaining and updating a self-healing high definition map | |
| CN104284419A (en) | Indoor positioning and aided navigation method, device and system based on iBeacon | |
| CN106412826A (en) | Indoor positioning method and positioning device based on multi-source information fusion | |
| US20200292331A1 (en) | Maplets for maintaining and updating a self-healing high definition map | |
| CN111081047A (en) | Accurate intelligent parking management method and management system based on photoelectric image processing | |
| CN103200675A (en) | Wireless sensor network target locating method and locating system without need of node self-localization | |
| CN106991842B (en) | Parking robot parking and lifting positioning method for underground parking lot | |
| CN111681445A (en) | Indoor parking lot management system, V2X road side equipment and vehicle-mounted equipment | |
| CN113375678B (en) | Driving path planning method, management server and parking management system | |
| US20200292326A1 (en) | Maplets for maintaining and updating a self-healing high definition map | |
| CN110514255A (en) | Motor vehicle emission quantity measuring method and its detection system | |
| CN111693055A (en) | Road network change detection and local propagation of detected changes | |
| US11287266B2 (en) | Maplets for maintaining and updating a self-healing high definition map | |
| US20200292329A1 (en) | Maplets for maintaining and updating a self-healing high definition map | |
| US20200292324A1 (en) | Maplets for maintaining and updating a self-healing high definition map |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210907 |