CN113936499A - Intelligent chassis equipment and intelligent parking management system - Google Patents
Intelligent chassis equipment and intelligent parking management system Download PDFInfo
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- CN113936499A CN113936499A CN202111202793.1A CN202111202793A CN113936499A CN 113936499 A CN113936499 A CN 113936499A CN 202111202793 A CN202111202793 A CN 202111202793A CN 113936499 A CN113936499 A CN 113936499A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
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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
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
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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
- E04H6/422—Automatically operated car-parks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an intelligent chassis device, comprising: the bearing unit is used for placing a vehicle; a first communication unit; the chassis controller is used for planning a target path for driving to a target parking space according to the position information of the target parking space of the road condition information acquired by the first communication unit and generating a driving control instruction according to the target path; the road condition information comprises at least one of vehicle information, pedestrian information and obstacle information in a passable area of the parking lot; and the driving unit is controlled by the driving control instruction to carry the vehicle to the target parking space and park the vehicle in place. The invention also discloses an intelligent parking management system. By adopting the embodiment of the invention, the parking requirement is met, the automatic parking is realized, and the parking time of a user is saved.
Description
Technical Field
The invention relates to the technical field of parking planning, in particular to intelligent chassis equipment and an intelligent parking management system.
Background
With the increasing of living standard of people, the usage amount of automobiles is greatly increased, but the number of the existing parking spaces is small, especially in old districts, picnic districts and other places, buildings in the districts are generally constructed early and long in time, and parking spaces are not equipped according to the current specified proportion, so that the parking contradiction in the districts is particularly prominent, and the parking spaces are difficult for users to find. And in the shopping malls, hospitals, office buildings and other public places with intensive personnel in the core area of the city, the parking demand is huge, the parking spaces are extremely scarce, and the user also needs to spend a large amount of manpower and time to find the parking spaces. In addition, most of the existing parking lots are self-propelled, so that a user is required to drive a vehicle to park, and the time for the user to find the parking space is undoubtedly increased under the condition that the parking space is scarce.
Disclosure of Invention
The embodiment of the invention aims to provide intelligent chassis equipment and an intelligent parking management system, which can realize automatic parking while meeting the parking requirement and save the parking time of a user.
In order to achieve the above object, an embodiment of the present invention provides an intelligent chassis device, including:
the bearing unit is used for placing a vehicle;
a first communication unit;
the chassis controller is used for planning a target path for driving to the target parking space according to the road condition information and the position information of the target parking space obtained by the first communication unit and generating a driving control instruction according to the target path; the road condition information comprises at least one of vehicle information, pedestrian information and obstacle information in a passable area of the parking lot;
and the driving unit is controlled by the driving control instruction to carry the vehicle to the target parking space and park the vehicle in place.
As an improvement of the above scheme, the intelligent chassis device further includes:
and the first sensing unit is used for acquiring the ambient environment information of the intelligent chassis equipment and sending the ambient environment information to the chassis controller so that the chassis controller controls the driving unit to carry out obstacle avoidance in the carrying process according to the ambient environment information.
As an improvement of the above scheme, the first sensing unit comprises at least one of a monocular camera, a binocular camera, a panoramic camera, a fisheye camera, an infrared camera, a millimeter wave radar, a laser radar and a microwave radar.
As an improvement of the above solution, the chassis controller is further configured to:
when the fact that the vehicle is placed on the bearing unit is detected, controlling a fixing device on the bearing unit to fix the vehicle;
and when the intelligent chassis equipment is detected to reach the target parking space, controlling an unloading device on the bearing unit to stop the vehicle to the target parking space.
As an improvement of the above scheme, the intelligent chassis device further includes:
and the power supply device is used for supplying power to the intelligent chassis equipment.
Compared with the prior art, the intelligent chassis equipment disclosed by the embodiment of the invention is used as equipment for automatically transporting the vehicle, after the vehicle is parked on the intelligent chassis equipment by a user, a target path for driving to the target parking space is planned according to the received road condition information and the position information of the target parking space, and then a driving control instruction is generated according to the target path to drive the intelligent chassis equipment to move to the target parking space, so that the automatic parking of the vehicle is realized. Because intelligent chassis equipment can carry out route planning and automatic vehicle parking by oneself, need not the user and drive the vehicle by oneself and park, can save user's parking time. In addition, automatic parking is carried out through intelligent chassis equipment, the requirement on the site of a parking lot is not too high, and the intelligent chassis equipment can be suitable for a three-dimensional parking garage, so that the problem of scarce parking spaces is solved.
In order to achieve the above object, an embodiment of the present invention further provides an intelligent parking management system, including a background management system, a road-side system, and the intelligent chassis device described in any of the above embodiments; wherein the content of the first and second substances,
the background management system is used for acquiring parking demand information of a user and parking space information in a parking lot and determining a target parking space in the parking space information according to the parking demand information;
and the road end system is used for acquiring the road condition information in the parking lot.
As an improvement of the above scheme, the background management system includes:
the management subsystem is used for displaying the state data of the intelligent chassis equipment and the road end system on a display interface;
and the service subsystem is used for determining a target parking space, scheduling the intelligent chassis equipment and processing charging service.
As an improvement of the above scheme, the road end system includes a plurality of road side devices, each of which includes:
the second perception unit is used for acquiring surrounding environment information;
the computing unit is used for processing the ambient environment information obtained by the second sensing unit to obtain the road condition information;
and the second communication unit is used for sending the road condition information to the intelligent chassis equipment.
As an improvement of the above solution, the computing unit forms structured data reflecting traffic information.
As an improvement of the above scheme, the road-end system further includes:
and the signal amplifier is used for enhancing the GNSS signals in the parking lot.
As an improvement of the above scheme, the intelligent parking management system includes a plurality of end-of-road systems, and the end-of-road systems are arranged in the parking lot according to a preset arrangement strategy.
As an improvement of the above scheme, the second sensing unit comprises at least one of a monocular camera, a binocular camera, a panoramic camera, a fisheye camera, an infrared camera, a millimeter wave radar, a laser radar and a microwave radar.
Compared with the prior art, the intelligent parking management system provided by the embodiment of the invention has the advantages that after a user parks a vehicle in the intelligent chassis equipment, the parking demand information of the user and the parking space information in a parking lot are acquired through the background management system, and the corresponding target parking space is searched; the road end system acquires road condition information; planning a target path running to the target parking space according to the road condition information and the position information of the target parking space, and then generating a driving control instruction according to the target path to drive the intelligent chassis equipment to move to the target parking space, so that the automatic parking of the vehicle is realized. Because intelligent chassis equipment can carry out route planning and automatic vehicle parking by oneself, need not the user and drive the vehicle by oneself and park, can save user's parking time. In addition, automatic parking of vehicles is achieved through the intelligent parking management system, the requirement on the parking lot is not too high, and the intelligent parking management system can be applied to a three-dimensional parking garage, so that the problem of scarce parking spaces is solved.
Drawings
Fig. 1 is a block diagram of a parking system according to an embodiment of the present invention;
fig. 2 is a block diagram of a background management system according to an embodiment of the present invention;
FIG. 3 is a schematic distribution diagram of roadside equipment provided by an embodiment of the invention;
fig. 4 is a block diagram of a system at a road end according to an embodiment of the present invention;
fig. 5 is a block diagram of an intelligent chassis device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
Referring to fig. 1, fig. 1 is a block diagram of a parking system 200 according to an embodiment of the present invention, where the parking system 200 includes a user terminal 201, a public network 202, an intelligent chassis docking area 203, an intelligent parking space 204, and an intelligent parking management system 100, and the intelligent parking management system 100 includes a background management system 10, an end-of-road system 20, and an intelligent chassis device 30.
Specifically, the background management system 10 is configured to obtain parking demand information of a user and parking space information in a parking lot, and determine a target parking space in the parking space information according to the parking demand information; the road end system 20 is used for collecting road condition information in the parking lot; the intelligent chassis device 30 is configured to plan a target path to a target parking space according to the road condition information and the position information of the target parking space, and transport a vehicle of a user to the target parking space for parking according to the target path.
Specifically, the parking demand information may be obtained by receiving a parking demand input by a user, which is sent by a user terminal 201 (such as a mobile phone), where the user terminal 201 establishes a communication connection with the background management system 10 and the intelligent chassis device 30 through the public network 202. The intelligent chassis device 30 is initially parked in the intelligent chassis docking area 203 and subsequently needs to transport the vehicle to the intelligent parking space 204, and the dotted line in fig. 1 represents the travel path of the intelligent chassis device 30.
For example, after the user parks the vehicle in the intelligent chassis device 30, the user may open the intelligent chassis APP in the user terminal 201, scan the unique identification two-dimensional code in the intelligent chassis device 30, register and start the intelligent parking management system 100. The user can input information such as the model of the vehicle and the parking time in the APP. The model of the vehicle may be used for later obtaining size information of the tires of the vehicle. The parking duration information can know how long the user probably needs to park, and a target parking space is selected from the free parking space information according to the length of parking time, for example, when the parking duration is long, a free parking space far away can be obtained as the target parking space, and when the parking duration is short, a free parking space near can be obtained as the target parking space. After the parking duration information is determined, the intelligent parking management system 100 calculates the vehicle taking duration in advance according to the position information of the target parking space, and sends the vehicle taking duration to the intelligent chassis APP to inform the user, so that the user can send a vehicle taking instruction through the APP in advance, and can directly take the vehicle when the user arrives at the parking lot without waiting for too long time.
In the embodiment of the invention, the target parking spaces with different distances are selected according to the parking time, so that the problem of long time spent on taking the car due to too long target parking spaces during short-time parking is avoided, and the parking spaces can be used more reasonably.
Specifically, referring to fig. 2, the background management system 10 includes:
the management subsystem 11 is configured to display, on a display interface, status data of the intelligent chassis device 30 and the end-of-road system 20;
and the service subsystem 12 is used for determining a target parking space, scheduling the intelligent chassis equipment 30 and processing charging service.
Illustratively, the state data is operation state data of the device, and describes an operation mode and an operation duration of the device. The management subsystem 11 has a chassis equipment state management function and a roadside equipment state management function, and the management subsystem 11 receives the state data sent by the intelligent chassis equipment 30 and displays the state data on a display interface of the background management system 10 for a manager to check, so that the intelligent chassis equipment 30 is conveniently maintained; the management subsystem 11 receives the status data sent by the road end system 20, and displays the status data on the display interface of the background management system 10 for the administrator to check, so as to facilitate maintenance of the road end system 20.
The service subsystem 12 has a parking space information management function, a chassis scheduling management function and a charging management function. The parking space information can be detected by a detector installed in the parking lot, the detector reports the parking space information to the service subsystem 12 after detecting the parking space information, and the service subsystem 12 screens out the target parking space according to the parking space information. Since there are a plurality of intelligent chassis devices 30, when a user needs to store/pick up a vehicle, the corresponding intelligent chassis device 30 needs to be scheduled. When the user finishes parking, the service subsystem 12 calculates parking time and calculates corresponding parking fee to provide for the user, and the user can pay by scanning codes or the service subsystem 12 can realize automatic deduction when establishing binding with the user terminal.
Specifically, referring to fig. 3, the road end system 20 includes a plurality of roadside devices 21-2 n, where n is a positive integer, and a value of n is set according to a passable area of the parking lot, which is not specifically limited herein. The white circles in fig. 3 are the roadside apparatuses. The road side equipment is arranged in the parking lot according to a preset arrangement strategy. The arrangement strategy comprises the following steps: in the form of a vertical rod or boom, at a predetermined separation distance (for example 1 metre), is arranged in the accessible area of the parking lot. The structure and the function of each roadside device are the same.
Specifically, referring to fig. 4, the roadside apparatus 21 includes:
a second sensing unit 211 for acquiring ambient environment information;
a calculating unit 212, configured to process the ambient environment information obtained by the second sensing unit to obtain the road condition information;
the second communication unit 213 sends the traffic information to the intelligent chassis device;
and a signal amplifier 214 for enhancing the GNSS signals in the parking lot.
Illustratively, the second sensing unit 211 includes at least one of a monocular camera, a binocular camera, a panoramic camera, a fisheye camera, an infrared camera, a millimeter wave radar, a laser radar, and a microwave radar. The ambient environment information acquired by the second sensing unit 211 is raw data, and the computing unit 212 is required to perform data processing on the ambient environment information to form structured data reflecting road condition information. For example, the computing unit 212 unifies a coordinate system to generate coordinate information of each road block, and the second communication unit 213 sends the road condition information after data processing to the intelligent chassis device 30. The second communication unit 213 includes at least one of a bluetooth module and a WiFi module. The signal amplifier 214 is configured to enhance GNSS signals in the parking lot and provide a time service positioning source for the second communication unit 213.
Specifically, referring to fig. 5, the intelligent chassis device 30 includes:
a carrying unit 31 for placing a vehicle;
a first communication unit 32;
a chassis controller 33, which plans a target path to the target parking space according to the road condition information and the position information of the target parking space obtained by the first communication unit 32, and generates a driving control instruction according to the target path; the road condition information comprises at least one of vehicle information, pedestrian information and obstacle information in a passable area of the parking lot;
and the driving unit 34 is controlled by the driving control instruction to carry the vehicle to the target parking space and park the vehicle in place.
Specifically, the carrying unit 31 is provided with an intelligent lifting system and a parking standard line, the intelligent lifting system is used for lowering the height of the carrying unit 31 when a user needs to park a vehicle, and the user can drive the vehicle to park in the carrying unit 31; the parking standard line is used for prompting a user that the vehicle needs to be parked in the parking standard line, so that the intelligent chassis device 30 can be prevented from colliding in the way of transporting the vehicle due to the fact that the parking position of the vehicle is improper. Further, a fixing device for fixing the vehicle is further arranged on the carrying unit 31, and the fixing device is used for fixing the vehicle to prevent the vehicle from falling off the intelligent chassis device 30 in the transportation process; the carrying unit 31 is also provided with an unloading device for unloading vehicles, and the unloading device can unload the vehicles independently or together with an auxiliary device on a target parking space.
The first communication unit 32 establishes communication connection with a plurality of road end systems arranged in the parking lot in advance, and receives the road condition information sent by the road end system 20 and the position information of the target parking space determined by the background management system 10 according to the parking space information. Illustratively, the communication unit 32 includes at least one of a bluetooth communication module and a WiFi communication module.
And after receiving the road condition information and the position information of the target parking space, the chassis controller 33 self-plans a target path for driving to the target parking space. Further, the road condition information and the position information of the target parking space can be input into a pre-trained path planning model in the process by means of a path planning model, and a target path output by the path planning model is obtained, so that a driving control instruction is generated according to the target path. It should be noted that the path planning model may be a CNN (Convolutional Neural network) model, and when the path planning model is trained, the path planning model is trained based on an overall planning map (marked with a passable area and a non-passable area) of a parking lot and simulated road barriers (such as pedestrians, vehicles, or obstacles in the simulated passable area) as a training set, and the path planning model is output after multiple times of training and applied to path planning.
The driving unit 34 is configured to receive the driving control instruction, and drive the intelligent chassis device 30 to move forward to the target parking space according to the driving control instruction.
Optionally, the intelligent chassis device 30 further includes:
the first sensing unit 35 is configured to acquire ambient environment information of the intelligent chassis device 30, and send the ambient environment information to the chassis controller 33, so that the chassis controller 33 controls the driving unit 34 to perform avoidance in a carrying process according to the ambient environment information.
Illustratively, the sensing unit acquires the original data of the surrounding environment information through capabilities of image sensing, millimeter wave sensing, laser point cloud and the like. The sensing unit 35 includes at least one of a monocular camera, a binocular camera, a panoramic camera, a fisheye camera, an infrared camera, a millimeter wave radar, a laser radar, and a microwave radar. Since the road condition information received by the first communication unit 32 is not fixed, the first sensing unit 35 is required to monitor the ambient environment information during the operation of the intelligent chassis device 30, and once it is monitored that a road block exists on a target path, the road block needs to be avoided in time. The avoidance maneuver may be: when the roadblock is detected to be a self-movable roadblock (such as a pedestrian and a vehicle), controlling the intelligent chassis equipment 30 to wait in situ and operate after the pedestrian leaves; when the roadblock is detected to be a non-self-movable roadblock (such as a carton, a trash can and the like influencing traffic), the intelligent chassis device 30 is controlled to pass by the non-self-movable roadblock.
Further, the sensing unit 35 is further provided with a communication interface, the communication interface is used for receiving a control instruction sent by the chassis controller 33, such as an instruction for starting a collection function, an instruction for sending collected data, and the like, the communication interface may be a PC5 interface (direct connection communication interface), the PC5 interface may implement communication between a terminal and a terminal, that is, a short-distance direct communication interface between a vehicle, a person, and a road infrastructure, and implement low-latency, high-capacity, and highly reliable communication in the form of direct connection, broadcasting, and network scheduling.
Still further, the chassis controller 33 is further configured to:
when the vehicle is detected to be placed on the carrying unit 31, controlling a fixing device on the carrying unit 31 to fix the vehicle;
when it is detected that the intelligent chassis device 30 reaches the target parking space, controlling an unloading device on the carrying unit 31 to park the vehicle in the target parking space.
For example, the chassis controller 33 monitors, in real time, a situation that the vehicle is placed on the carrying unit 31 and a running path of the intelligent chassis device 30, and when it is detected that the vehicle is placed on the carrying unit 31, sends a fixing instruction to a fixing device on the carrying unit 31, so that the fixing device fixes the vehicle. When the chassis controller 33 detects that the intelligent chassis device 30 has been operated to the target parking space, it sends an unloading instruction to the carrying unit 31 to cause the unloading device on the carrying unit 31 to unload the vehicle.
The fixing device can be a lifting type clamping groove, and the clamping groove can be adjusted according to the size information of the tire, so that the tire is clamped. After the vehicle is accurately parked to the parking standard line, the chassis controller 33 obtains tire information of the vehicle, for example, directly measures the size of the tire through a camera device, or obtains the model of the vehicle after identifying and analyzing the vehicle, and then obtains corresponding vehicle parameters according to the model, wherein the vehicle parameters include the size information of the tire.
Still further, the intelligent chassis device further comprises:
and the power supply device 36 is used for supplying power to the intelligent chassis equipment.
For example, the power supply device 36 may be a movable charging power supply, the chassis controller 33 monitors the power of the power supply device 36, and when it is detected that the power of the rechargeable power supply is too low, a prompt message may be sent to prompt a worker to charge the rechargeable power supply, or the intelligent chassis device 30 is controlled to move to a charging place to automatically charge the rechargeable power supply, and returns to the original place after charging is completed.
Compared with the prior art, the intelligent chassis device 30 disclosed in the embodiment of the present invention is used as a device for automatically transporting a vehicle, and after a user parks the vehicle in the intelligent chassis device 30, a target path for driving to a target parking space is planned according to received road condition information and position information of the target parking space, and then a driving control instruction is generated according to the target path to drive the intelligent chassis device 30 to move forward to the target parking space, so as to achieve automatic parking of the vehicle. Since the intelligent chassis device 30 can perform path planning and park the vehicle automatically, the user does not need to drive the vehicle to park by himself, and the parking time of the user can be saved. In addition, automatic parking is performed through the intelligent chassis equipment 30, the requirement on the parking lot is not too high, and the intelligent chassis equipment can be applied to a three-dimensional parking garage, so that the problem of scarce parking spaces is solved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (11)
1. An intelligent chassis device, comprising:
the bearing unit is used for placing a vehicle;
a first communication unit;
the chassis controller is used for planning a target path for driving to the target parking space according to the road condition information and the position information of the target parking space obtained by the first communication unit and generating a driving control instruction according to the target path; the road condition information comprises at least one of vehicle information, pedestrian information and obstacle information in a passable area of the parking lot;
and the driving unit is controlled by the driving control instruction to carry the vehicle to the target parking space and park the vehicle in place.
2. The intelligent chassis device of claim 1, further comprising:
and the first sensing unit is used for acquiring the ambient environment information of the intelligent chassis equipment and sending the ambient environment information to the chassis controller so that the chassis controller controls the driving unit to carry out obstacle avoidance in the carrying process according to the ambient environment information.
3. The intelligent chassis device of claim 2, wherein the first sensing unit comprises at least one of a monocular camera, a binocular camera, a look-around camera, a fisheye camera, an infrared camera, a millimeter wave radar, a lidar, and a microwave radar.
4. The intelligent chassis device of claim 1, wherein the chassis controller is further to:
when the fact that the vehicle is placed on the bearing unit is detected, controlling a fixing device on the bearing unit to fix the vehicle;
and when the intelligent chassis equipment is detected to reach the target parking space, controlling an unloading device on the bearing unit to stop the vehicle to the target parking space.
5. The intelligent chassis device of claim 1, further comprising:
and the power supply device is used for supplying power to the intelligent chassis equipment.
6. An intelligent parking management system, which is characterized by comprising a background management system, a road end system and the intelligent chassis equipment of any one of the claims 1-5; wherein the content of the first and second substances,
the background management system is used for acquiring parking demand information of a user and parking space information in a parking lot and determining a target parking space in the parking space information according to the parking demand information;
and the road end system is used for acquiring the road condition information in the parking lot.
7. The intelligent parking management system of claim 6 wherein the back office management system comprises:
the management subsystem is used for displaying the state data of the intelligent chassis equipment and the road end system on a display interface;
and the service subsystem is used for determining a target parking space, scheduling the intelligent chassis equipment and processing charging service.
8. The intelligent parking management system of claim 6 wherein the end-of-road system comprises a plurality of road side devices, each road side device comprising:
the second perception unit is used for acquiring surrounding environment information;
the computing unit is used for processing the ambient environment information obtained by the second sensing unit to obtain the road condition information;
and the second communication unit is used for sending the road condition information to the intelligent chassis equipment.
9. The intelligent parking management system of claim 8 wherein the computing unit forms structured data reflecting road condition information.
10. The intelligent parking management system of claim 8, wherein the end-of-road system further comprises:
and the signal amplifier is used for enhancing the GNSS signals in the parking lot.
11. The intelligent parking management system of claim 8, wherein the second sensing unit comprises at least one of a monocular camera, a binocular camera, a look-around camera, a fisheye camera, an infrared camera, a millimeter wave radar, a lidar, and a microwave radar.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110091813A (en) * | 2019-05-29 | 2019-08-06 | 华人运通(江苏)技术有限公司 | Intelligent chassis backplate control system and method |
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| CN109087526A (en) * | 2018-08-06 | 2018-12-25 | 上海义嘉工业技术有限公司 | A kind of intelligent parking method based on Omni-mobile AGV |
| CN112343384A (en) * | 2020-11-09 | 2021-02-09 | 湖南天桥利亨停车装备有限公司 | Stereo garage repeated parking space automatic parking and taking method and stereo garage |
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