CN115951341A - Radar positioning system based on driving road interception - Google Patents
Radar positioning system based on driving road interception Download PDFInfo
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Abstract
The invention relates to the field of radar positioning analysis, in particular to a radar positioning system based on driving road interception, which comprises: the first radar data response unit is used for intercepting the vehicle; the radar detection unit comprises a first radar module and a second radar module which are used for detecting information; the system comprises a radar data analysis unit, a second radar data response unit and a corresponding indicating device, wherein the radar data analysis unit is used for adjusting a radar detection period of the radar detection unit according to the total number of vehicles in the parking lot and the variation condition, judging the working mode of the first radar data response unit according to the distance between a first vehicle to be out of the field and a vehicle closest to the rear of the first vehicle to intercept the vehicle, judging the guiding mode of the vehicle to be in the field according to the number of people in the vehicle to be in the field and the parking mode of the vehicle in a parking area, and controlling the corresponding indicating device to operate according to instruction information of the radar data analysis unit.
Description
Technical Field
The invention relates to the field of radar positioning analysis, in particular to a radar positioning system based on driving road interception.
Background
Along with the progress of scientific technology, radars are gradually integrated into daily life of people, the technologies such as radar speed measurement, radar distance measurement and radar positioning are frequent, application scenes are quite various, and the radar technology has the advantages of high precision and high measurement speed; the road interception system has a traffic intersection, a parking lot or other working scenes needing to control and release vehicles, and a lot of card running phenomena exist at present, namely rear vehicles leave along with front vehicles when front vehicles pass through an interception device, but the technology of applying a radar positioning analysis technology to road interception is not perfect at present, and the problem that how to determine information needing to be detected of the radar positioning system in the operation of the system and how to improve the working efficiency of the radar positioning system are currently solved by people is solved.
Chinese patent publication No. CN111352142a discloses an indoor parking positioning method, apparatus, electronic device and medium, wherein the method includes determining a real-time position of a vehicle by using an inertial navigation apparatus, and acquiring a running state of the vehicle; analyzing road information corresponding to the real-time position in indoor map data of the parking lot; positioning the vehicle according to the running state, the real-time position and the road information; chinese patent publication No. CN111335707A discloses an intercepting device provided with an anti-collision induction structure and used for a parking lot, which comprises a protective device and a base, wherein the intercepting device is installed outside the bottom of the protective device, and the protective device is arranged on the outer wall of the front end of the intercepting device; the sensor is installed at the middle part of the inner wall of the intercepting device, and the intercepting device is seen from the prior art: the problems of using radar positioning technology in combination with road interception and low radar positioning efficiency are not considered.
Disclosure of Invention
Therefore, the invention provides a radar positioning system based on driving road interception, which is used for overcoming the problems of poor road interception efficiency and inaccurate radar positioning information in the prior art.
In order to achieve the above object, the present invention provides a radar positioning system based on driving road interception, comprising:
the first radar data response unit comprises an intercepting device fixedly arranged in a preset intercepting area and used for intercepting vehicles according to the instruction information of the radar data analysis unit, and a pre-blocking device movably arranged in the preset intercepting area and used for intercepting vehicles behind the vehicles by following the vehicles on the spot according to the instruction information of the radar data analysis unit;
the radar detection unit comprises a first radar module and a second radar module, wherein the first radar module is arranged at a departure position and used for detecting information required for departure and the second radar module is used for detecting information required for entrance, the information required for departure is the distance between vehicles which depart, the speed of vehicles which depart and the height of the vehicles which depart, and the information required for entrance is the number of people in the vehicles which enter, the number of vehicles in parking lots and the parking mode of the vehicles in the parking area, the first radar module comprises a laser radar, and the second radar module comprises a millimeter wave radar and a satellite radar;
the radar data analysis unit is connected with the first radar data response unit, the radar detection unit and the second radar data response unit, judges the working mode of the first radar data response unit according to the comparison result of the distance between the first to-be-departed vehicle and the nearest vehicle behind the first to-be-departed vehicle and a preset standard under the departure analysis condition so as to intercept the vehicle, adjusts the moving speed of the pre-blocking device according to the speed of the vehicle behind the first to-be-departed vehicle and adjusts the height of the pre-blocking device according to the height of the vehicle behind the first to-be-departed vehicle;
the radar data analysis unit judges a guiding mode aiming at the entering vehicle according to the number of people in the entering vehicle and the parking mode of the vehicle in the parking area under the entering analysis condition, wherein the guiding mode comprises a vehicle parking position and a vehicle parking direction, and the guiding mode is used for enabling the door opening direction of the entering vehicle meeting the preset standard and the door opening direction of the adjacent stopped vehicle to be opposite to each other so as to save the using area of the parking area;
the second radar data response unit is connected with the radar data analysis unit and the radar detection unit, comprises a plurality of indicating devices arranged at preset positions and is used for controlling the corresponding indicating devices to operate according to instruction information of the radar data analysis unit;
the exit analysis condition is that the radar detection unit detects that an exit vehicle exists, and the entrance analysis condition is that the radar detection unit detects that an entrance vehicle exists.
Furthermore, the millimeter wave radar is arranged in the preset intercepting area through an annular slide rail to detect the number of people in the entering vehicle, the annular slide rail is of a semicircular ring structure, the inner wall of the ring of the annular slide rail is an electronic slide way, and the millimeter wave radar is movably connected with the electronic slide way;
the blocking device comprises a fixed column fixedly arranged in a preset blocking area and a blocking rod rotationally connected with the fixed column and used for blocking vehicles by rising and falling of the blocking rod, the pre-blocking device is horizontally adjacent to the blocking device, the pre-blocking device is arranged on one side, away from the first vehicles to be discharged, of the blocking device, the pre-blocking device is connected with a sliding device arranged on the ground in a sliding mode through an electronic telescopic column, and the pre-blocking device further comprises a second blocking rod rotationally connected with the electronic telescopic column and used for blocking the vehicles by sliding of the electronic telescopic column, stretching of the electronic telescopic column and rising and falling of the second blocking rod; the laser radar
The indicating device comprises a base, an indicating column and an indicator, wherein the bottom of the base is provided with a pulley, the indicating column is connected with the top of the base, and the indicator is arranged at the top of the indicating column and used for providing indicating information for an approaching vehicle; the indicator is an electronic display screen and is used for displaying indication information, and the indication information comprises indication directions and parking positions corresponding to the vehicles entering the field.
Further, the radar data analysis unit controls the radar detection unit to detect the number of vehicles Nc in the parking lot and compare Nc with a preset number of vehicles to determine a radar detection period under a first radar adjustment condition, the radar data analysis unit is provided with a first preset number of vehicles Nc1 and a second preset number of vehicles Nc2, wherein 0 < Nc1 < Nc2,
if Nc is less than or equal to Nc1, the radar data analysis unit judges that the radar detection period is T, and sets T = T0, wherein T0 is a preset initial radar detection period, and 0 is more than T0;
if Nc1 is more than Nc and less than or equal to Nc2, the radar data analysis unit judges that the radar detection period is T, and sets T = T0 multiplied by epsilon 1, wherein epsilon 1 is a first period adjustment coefficient, and 0 is more than epsilon 1 and less than 1;
if Nc2 is less than Nc, the radar data analysis unit judges that the radar detection period is T, and sets T = T0 multiplied by epsilon 2, wherein epsilon 2 is a second period adjustment coefficient, and 0 < epsilon 2 < epsilon 1;
the first radar adjusting condition is that the radar positioning system starts to work, the radar detection unit detects the number of vehicles in the parking lot once in each radar detection period and transmits the number of vehicles to the display unit, and the display unit is remotely connected with the radar detection unit and used for displaying the total number of vehicles in the parking lot and the parking time of each vehicle.
Further, the radar data analysis unit calculates a difference Δ N between the number of vehicles detected in the current radar detection period and the number of vehicles detected in the latest radar detection period under a second radar adjustment condition, and sets Δ N = i Nc0-Nc0 'i, where Nc0 is the number of vehicles detected in the current radar detection period, and Nc0' is the number of vehicles detected in the latest radar detection period, the radar data analysis unit compares Δ N with a preset number difference standard to determine whether to perform compensation adjustment on the radar detection period, the radar data analysis unit is provided with a first preset number difference Δ N1 and a second preset number difference standard Δ N2, where 0 < Δn1 < Δn2,
if the delta N is less than or equal to the delta N1, the radar data analysis unit judges that compensation adjustment is not needed to be carried out on the radar detection period;
if Δ N1 < Δ N ≦ Δ N2, the radar data analysis unit determines to adjust the radar detection period to T 'using ζ 1, setting T' = T × ζ 1;
if Δ N2 < Δn, the radar data analysis unit determines that the radar detection period is adjusted to T 'using ζ 2, setting T' = T × ζ 2;
and zeta 1 is a first period compensation coefficient, zeta 2 is a second period compensation coefficient, zeta 1 is more than 1 and less than zeta 2, and the second radar adjustment condition is that the radar data analysis unit determines to be finished aiming at the radar detection period.
Further, the radar data analysis unit detects the distance X between the first vehicle to be exited and the second vehicle to be exited through the radar detection unit under the first exiting interception condition and compares the distance X with a preset vehicle distance to judge the working mode of the first radar data response unit, the radar data analysis unit is provided with a first preset vehicle distance X1 and a second preset vehicle distance X2, wherein X1 is more than 0 and less than X2,
if X is less than or equal to X2, the radar data analysis unit judges that the first radar data response unit adopts a first working mode;
if X2 is less than X, the radar data analysis unit judges that the first radar data response unit adopts a second working mode;
when the radar detection unit detects that a first vehicle to be discharged completely passes through the interception rod, the first radar data response unit controls the pre-blocking device to move at a constant moving speed in a first preset direction and fall at a constant speed, when the radar detection unit detects that the first vehicle to be discharged completely passes through the interception rod and the pre-blocking device, the interception rod and the pre-blocking device fall at a constant speed, the first vehicle to be discharged is a vehicle to be discharged closest to the interception rod, the second vehicle to be discharged is a vehicle to be discharged closest to the rear of the first vehicle to be discharged, and the first preset direction is far away from the interception rod and is the same as the moving direction of the first vehicle to be discharged;
the radar data analysis unit compares X with X1 under the second field-outgoing interception condition to judge the moving speed Vz of the pre-blocking device under the first working mode, the radar data analysis unit is provided with a first speed adjustment coefficient alpha 1, a second speed adjustment coefficient alpha 2 and a moving speed base value V0 of the pre-blocking device, wherein alpha 1 is more than 1 and less than alpha 2,0 is less than V0,
if X is less than or equal to X1, the radar data analysis unit judges that the moving speed Vz = V0X alpha 2 of the pre-blocking device;
if X1 is less than X, the radar data analysis unit judges that the moving speed Vz = V0X alpha 1 of the pre-blocking device;
the first departure interception condition is that the radar detection unit detects that vehicles exist in a preset departure monitoring area, and the second departure interception condition is that the radar data analysis unit judges that the first radar data response unit adopts a first working mode.
Further, the radar data analysis unit detects a moving speed V of a second vehicle to be departed under a third departure intercept condition and compares the V with a preset moving speed to judge whether to adjust the moving speed Vz of the pre-blocking device, the radar data analysis unit is provided with a first preset vehicle speed V1, a second preset vehicle speed V2, a first speed compensation coefficient beta 1 and a second speed compensation coefficient beta 2, wherein V1 is more than 0 and less than V2, beta 1 is more than 1 and less than beta 2,
if V is less than or equal to V1, the radar data analysis unit judges that the moving speed Vz of the pre-blocking device is not required to be adjusted;
if V1 < V ≦ V2, the radar data analysis unit determines to adjust the movement speed Vz of the pre-blocking device to Vz 'using β 1, setting Vz' = Vz × β 1;
if V2 < V, the radar data analysis unit determines that the moving speed Vz of the pre-blocking device is adjusted to Vz 'using β 2, and sets Vz' = Vz × β 2;
and the third field-outgoing intercepting condition is that the radar data analysis unit finishes judging the moving speed of the pre-blocking device and an intercepting rod in the intercepting device rises.
Further, the radar data analysis unit controls the radar detection unit to detect the height H of the second vehicle and compares the height H with a preset height standard to judge whether to adjust the height Hz of the intercepting pole under the fourth outgoing intercepting condition, the radar data analysis unit is provided with a first preset height standard Hz1, a second preset height standard Hz2, a first height adjusting coefficient gamma 1 and a second height adjusting coefficient gamma 2, wherein Hz1 is more than 0 and less than Hz2, gamma 1 is more than 0 and less than gamma 2,
if H is less than or equal to Hz1, the radar data analysis unit judges that the height of the interception rod is adjusted to Hz 'by using gamma 1, and sets Hz' = Hz multiplied by gamma 1;
if Hz1 is greater than H and less than or equal to Hz2, the radar data analysis unit judges that the height of the interception rod is adjusted to be Hz 'by using gamma 2, and sets Hz' = Hz multiplied by gamma 2;
if Hz2 is less than H, the radar data analysis unit judges that the height of the intercepting rod does not need to be adjusted;
and the fourth outfield interception condition is that V2 is more than V.
Further, the radar data analysis unit controls the radar detection unit to detect the number N of people in the incoming vehicle under the first incoming interception condition and compares the number N with the preset number of people to judge the guidance mode aiming at the incoming vehicle, the radar data analysis unit is provided with a first preset number N1 and a second preset number N2, wherein N1 is more than 0 and less than N2,
if N = N1, the radar data analysis unit judges that a first guide mode is adopted for the approach vehicle;
if N = N2, the radar data analysis unit judges which guiding mode is specifically adopted for the personnel position, if the personnel in the vehicle are all on one side, the radar data analysis unit judges that a first guiding mode is adopted for the approaching vehicle, and if the personnel in the vehicle are not all on one side, the radar data analysis unit judges that a second guiding mode is adopted for the approaching vehicle;
if N is larger than N2, the radar data analysis unit judges that a second guide mode is adopted for the approaching vehicle;
the first approach intercepting condition is that the radar detection unit detects that vehicles exist in an approach monitoring area.
Further, the radar data analysis unit controls the radar detection unit to detect whether vehicles of a first parking mode exist in each parking area in the parking lot under a second approach interception condition, if the vehicles of the first parking mode exist, the radar data analysis unit controls the radar detection unit to detect the vehicles of the first parking mode with the minimum distance to the approach vehicles and marks the vehicles as target vehicles, and the radar data analysis unit controls the second radar data response unit to guide the approach vehicles to move to one side of a target vehicle driving seat for parking, wherein the direction of the head of the approach vehicles is opposite to the direction of the head of the target vehicles; if the vehicle in the first parking mode does not exist, the radar data analysis unit judges that a second guidance mode is adopted for the entering vehicle;
the first parking mode is that the vehicle is located in a parking area, no vehicle exists in the parking area on the side of a door of a driver seat of the vehicle, the number of people in the vehicle, which is recorded by the radar detection unit for the vehicle, is N1, and the second approach interception condition is that the radar data analysis unit judges that a first guidance mode is adopted for the approach vehicle.
Further, the radar data analysis unit controls the radar detection unit and the radar data analysis unit controls the radar detection unit to sequentially detect whether a first parking point, a second parking point or a third parking point exists in a parking area in the parking area under a third entrance interception condition, wherein the priority of the first parking point is higher than that of the second parking point and is higher than that of the third parking point, and when the radar detection unit detects that the parking point exists, the radar data analysis unit controls the radar detection unit to stop detecting and controls the second radar data response unit to guide an entering vehicle to go to the parking point for parking;
the first parking point is that no vehicle exists on two sides of the parking area, the second parking point is that only one side of the two sides of the parking area exists on the vehicle, the third parking point is that the two sides of the parking area both exist on the vehicle, and the third entrance interception condition is that the radar data analysis unit judges that a second guidance mode is adopted for the entering vehicle.
Compared with the prior art, the system has the advantages that the first radar module and the second radar module are arranged to detect information to be detected and comprise laser radars, millimeter wave radars and satellite radars aiming at different information, so that the information detection accuracy is improved, the radar detection period of the radar detection unit is determined according to the number of vehicles in the parking lot and compensation adjustment is carried out according to the change condition of the number of the vehicles, so that the information detected by the radar detection unit is more accurate, secondly, the first radar data response unit selects different working modes according to the instruction information of the radar data analysis unit to intercept outgoing vehicles so as to prevent the vehicles from being jammed, so that the interception efficiency is improved, and finally, the second radar data response unit guides the vehicles to corresponding positions according to the instruction information of the radar data analysis unit, and the guiding mode comprises the parking direction of the vehicles so as to avoid the scratch phenomenon when the vehicles open the doors.
Further, the radar data analysis unit controls the radar detection unit to detect the number Nc of vehicles in the parking lot under the first radar adjustment condition and compares the Nc with the preset number of vehicles to determine the radar detection period, so that the condition that the vehicles in the parking lot cannot be detected in real time due to the fact that the radar detection period is too long is avoided, and the accuracy of radar positioning is improved.
Furthermore, the radar data analysis unit compares the delta N with a preset quantity difference standard to judge whether to perform compensation adjustment on a radar detection period, so that the condition that the vehicle flow in the parking lot cannot be detected in real time due to the fact that the radar detection period is too long is avoided, and the accuracy of radar positioning is improved.
Further, the radar data analysis unit detects the distance X between the first vehicle to be exited and the second vehicle to be exited through the radar detection unit under the first exiting interception condition and compares the distance X with the preset vehicle distance to judge the working mode of the first radar data response unit, so that the second vehicle to be exited is prevented from running the card, and the working efficiency of the radar positioning system is improved.
Further, the radar data analysis unit compares the X with the X1 under the second field-outgoing interception condition to judge the moving speed Vz of the pre-blocking device under the first working mode, so that working parameters of the pre-blocking device are more in line with actual conditions, and further the interception efficiency of vehicles is improved.
Furthermore, the millimeter wave radar is arranged in the preset intercepting area through the annular slide rail and used for detecting the number of people in the entering vehicle, the annular slide rail is of a semicircular annular structure, the inner wall of the annular slide rail is an electronic slide way, the millimeter wave radar is movably connected with the electronic slide way, and the problem of inaccurate measurement information caused by single measurement direction of the radar is solved through the sliding connection, so that the accuracy of information detection of the radar positioning system is improved.
Further, if a vehicle of the first parking mode exists, the radar data analysis unit controls the radar detection unit to detect the vehicle of the first parking mode with the minimum distance from the incoming vehicle and marks the vehicle as a target vehicle, and the radar data analysis unit controls the second radar data response unit to guide the incoming vehicle to move to one side of a driver seat of the target vehicle to park, so that the two vehicle door opening positions are located at the same side, and rubbing caused by the fact that the distance between the two vehicles is too short in the vehicle door opening process is avoided.
Drawings
FIG. 1 is a diagram illustrating a connection relationship between elements of a radar positioning system based on driving road interception according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first radar data response unit according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second radar data response unit according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a millimeter wave radar according to an embodiment of the present invention;
fig. 5 is a schematic position diagram of a vehicle 01 and a vehicle 02 according to an embodiment of the present invention;
in the figure, a fixed column 1, an intercepting rod 2, a sliding device 3, an electronic telescopic column 4, a second intercepting rod 5, a base 6, an indicating column 7, an indicator 8, an annular slide rail 9, a millimeter wave radar 10, a vehicle 01 and a vehicle 02 are shown.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 4, the present invention provides a radar positioning system based on driving road interception, including:
the first radar data response unit comprises an intercepting device fixedly arranged in a preset intercepting area and used for intercepting vehicles according to the instruction information of the radar data analysis unit, and a pre-blocking device movably arranged in the preset intercepting area and used for intercepting vehicles behind the vehicles by following the vehicles on the spot according to the instruction information of the radar data analysis unit;
the radar detection unit comprises a first radar module and a second radar module, wherein the first radar module is arranged at a departure position and used for detecting information required by departure and the second radar module is used for detecting information required by entrance, the information required by departure is the distance between vehicles which depart, the speed of vehicles which depart and the height of vehicles which depart, and the information required by entrance is the number of people in the vehicles which enter, the number of vehicles in a parking lot and the parking mode of the vehicles in the parking lot, the first radar module comprises a laser radar, and the second radar module comprises a millimeter wave radar 10 and a satellite radar;
the radar data analysis unit is connected with the first radar data response unit, the radar detection unit and the second radar data response unit, judges the working mode of the first radar data response unit according to the comparison result of the distance between the first vehicle to be departed and the nearest vehicle behind the first vehicle to be departed and a preset standard under the departure analysis condition so as to intercept the vehicle, adjusts the moving speed of the pre-blocking device according to the speed of the vehicle behind the first vehicle to be departed and adjusts the height of the pre-blocking device according to the height of the vehicle behind the first vehicle to be departed;
the radar data analysis unit judges a guiding mode aiming at the approaching vehicle according to the number of people in the approaching vehicle and the parking mode of the vehicle in the parking area under the condition of the approaching analysis, wherein the guiding mode comprises a vehicle parking position and a vehicle parking direction, and is used for enabling the door opening direction of the approaching vehicle meeting a preset standard and the door opening direction of an adjacent stopped vehicle to be opposite to each other so as to save the using area of the parking area;
the second radar data response unit is connected with the radar data analysis unit and the radar detection unit, comprises a plurality of indicating devices arranged at preset positions and is used for controlling the corresponding indicating devices to operate according to instruction information of the radar data analysis unit;
the exit analysis condition is that the radar detection unit detects that an exit vehicle exists, and the entrance analysis condition is that the radar detection unit detects that an entrance vehicle exists.
Specifically, the millimeter wave radar 10 is arranged in the intercepting area through an annular slide rail 9 and used for detecting the number of people in an approaching vehicle, the annular slide rail 9 is of a semicircular annular structure, the inner wall of an annular ring of the annular slide rail is an electronic slide way, and the millimeter wave radar 10 is movably connected with the electronic slide way;
the intercepting device comprises a fixed column 1 fixedly arranged in an intercepting area and an intercepting rod 2 rotationally connected with the fixed column 1 and used for intercepting vehicles by ascending and descending of the intercepting rod 2, the pre-blocking device is horizontally and adjacently arranged with the intercepting device, the pre-blocking device is arranged on one side, far away from the first vehicle to be out of the field, of the intercepting device, the pre-blocking device is connected with a sliding device 3 arranged on the ground in a sliding mode through an electronic telescopic column 4, the pre-blocking device further comprises a second intercepting rod 5 rotationally connected with the electronic telescopic column 4 and used for intercepting the vehicles by sliding of the electronic telescopic column 4, stretching of the electronic telescopic column 4 and ascending and descending of the second intercepting rod 5; the laser radar
The indicating device comprises a base 6, an indicating column 7 and an indicator 8, wherein pulleys are arranged at the bottom of the base 6, the indicating column 7 is connected with the top of the base 6, and the indicator 8 is arranged at the top of the indicating column 7 and used for providing indicating information for an approaching vehicle; the indicator 8 is an electronic display screen and is used for displaying indication information, and the indication information comprises an indication direction and a parking point position corresponding to an approaching vehicle.
Specifically, the radar data analysis unit controls the radar detection unit to detect the number of vehicles Nc in the parking lot and compare Nc with a preset number of vehicles to determine a radar detection period under a first radar adjustment condition, the radar data analysis unit being provided with a first preset number of vehicles Nc1 and a second preset number of vehicles Nc2, where Nc1=50, nc2=100,
if Nc is less than or equal to Nc1, the radar data analysis unit judges that the radar detection period is T, and sets T = T0, wherein T0 is a preset initial radar detection period, and T0=4s;
if Nc1 < Nc ≦ Nc2, the radar data analysis unit judges that the radar detection period is T, and sets T = T0 × ε 1, wherein ε 1 is a first period adjustment coefficient, and ε 1=0.8;
if Nc2 < Nc, the radar data analysis unit judges that the radar detection period is T, and sets T = T0 multiplied by epsilon 2, wherein epsilon 2 is a second period adjustment coefficient, and epsilon 2=0.6;
the first radar adjusting condition is that the radar positioning system starts to work, the radar detection unit detects the number of vehicles in the parking lot once in each radar detection period and transmits the number of vehicles to the display unit, and the display unit is remotely connected with the radar detection unit and used for displaying the total number of vehicles in the parking lot and the parking time of each vehicle.
Specifically, the radar data analysis unit calculates a difference Δ N between the number of vehicles detected in the current radar detection period and the number of vehicles detected in the latest radar detection period under a second radar adjustment condition, sets Δ N = i Nc0-Nc0 'i, where Nc0 is the number of vehicles detected in the current radar detection period, and Nc0' is the number of vehicles detected in the latest radar detection period, compares Δ N with a preset number difference standard to determine whether to perform compensation adjustment on the radar detection period, and is provided with a first preset number difference Δ N1 and a second preset number difference standard Δ N2, where Δ N1=8, and Δ N2=15,
if the delta N is less than or equal to the delta N1, the radar data analysis unit judges that compensation adjustment is not needed to be carried out on the radar detection period;
if Δ N1 < Δ N ≦ Δ N2, the radar data analysis unit determines to adjust the radar detection period to T 'using ζ 1, setting T' = T × ζ 1;
if Δ N2 < Δn, the radar data analysis unit determines that the radar detection period is adjusted to T 'using ζ 2, setting T' = T × ζ 2;
where ζ 1 is a first period compensation coefficient, ζ 2 is a second period compensation coefficient, ζ 1=0.7, ζ 2=0.5, and the second radar adjustment condition is that the radar data analysis unit determines completion for a radar detection period.
Specifically, the radar data analysis unit detects a distance X between a first vehicle to be exited and a second vehicle to be exited through a radar detection unit under a first exiting interception condition and compares the distance X with a preset vehicle distance to determine an operating mode of a first radar data response unit, the radar data analysis unit is provided with a first preset vehicle distance X1 and a second preset vehicle distance X2, wherein X1=0.5m, X2=1m,
if X is less than or equal to X2, the radar data analysis unit judges that the first radar data response unit adopts a first working mode;
if X2 is less than X, the radar data analysis unit judges that the first radar data response unit adopts a second working mode;
when the radar detection unit detects that a first vehicle to be discharged completely passes through the interception rod 2, the first radar data response unit controls the pre-blocking device to move at a constant moving speed in a first preset direction and fall at a constant speed, when the radar detection unit detects that the first vehicle to be discharged completely passes through the interception rod 2 and the pre-blocking device, the interception rod 2 and the pre-blocking device fall at a constant speed, the first vehicle to be discharged is a vehicle to be discharged closest to the interception rod 2, the second vehicle to be discharged is a vehicle to be discharged closest to the rear of the first vehicle to be discharged, and the first preset direction is far away from the interception rod 2 and is the same as the moving direction of the first vehicle to be discharged;
the radar data analysis unit compares X with X1 under a second field-outgoing interception condition to judge the moving speed Vz of the pre-blocking device under the first working mode, the radar data analysis unit is provided with a first speed adjustment coefficient alpha 1, a second speed adjustment coefficient alpha 2 and a moving speed base value V0 of the pre-blocking device, wherein alpha 1=1.2, alpha 2=1.4,0 < V0=3m/s,
if X is less than or equal to X1, the radar data analysis unit judges that the moving speed Vz = V0X alpha 2 of the pre-blocking device;
if X1 is less than X, the radar data analysis unit judges that the moving speed Vz = V0X alpha 1 of the pre-blocking device;
the first departure interception condition is that the radar detection unit detects that vehicles exist in a preset departure monitoring area, and the second departure interception condition is that the radar data analysis unit judges that the first radar data response unit adopts a first working mode.
Specifically, the radar data analysis unit detects a second vehicle moving speed V to be departed under a third departure intercept condition and compares V with a preset moving speed to determine whether to adjust the moving speed Vz of the pre-blocking device, and the radar data analysis unit is provided with a first preset vehicle speed V1, a second preset vehicle speed V2, a first speed compensation coefficient β 1 and a second speed compensation coefficient β 2, wherein V =6m/s, V2=10m/s, β 1=1.2, β 2=1.4,
if V is less than or equal to V1, the radar data analysis unit judges that the moving speed Vz of the pre-blocking device does not need to be adjusted;
if V1 < V ≦ V2, the radar data analysis unit determines to adjust the movement speed Vz of the pre-blocking device to Vz 'using β 1, setting Vz' = Vz × β 1;
if V2 < V, the radar data analysis unit determines that the moving speed Vz of the pre-blocking device is adjusted to Vz 'using β 2, and sets Vz' = Vz × β 2;
and the third outgoing interception condition is that the radar data analysis unit finishes judging the moving speed of the pre-blocking device and an interception rod 2 in the interception device rises.
Specifically, the radar data analysis unit controls the radar detection unit to detect the height H of the second vehicle and compares the height H with a preset height standard under the fourth outbound intercept condition to determine whether to adjust the height Hz of the intercept lever 2, and the radar data analysis unit is provided with a first preset height standard Hz1, a second preset height standard Hz2, a first height adjustment coefficient γ 1 and a second height adjustment coefficient γ 2, wherein Hz1=1.5m, hz2=2m, γ 1=0.6 < γ 2=0.8, hz =2.5m,
if H is less than or equal to Hz1, the radar data analysis unit judges that the height of the interception rod 2 is adjusted to Hz 'by using gamma 1, and sets Hz' = Hz multiplied by gamma 1;
if Hz1 is larger than H and smaller than or equal to Hz2, the radar data analysis unit judges that the height of the interception rod 2 is adjusted to Hz 'by using gamma 2, and sets Hz' = Hz multiplied by gamma 2;
if Hz2 is less than H, the radar data analysis unit judges that the height of the intercepting rod 2 does not need to be adjusted;
and the fourth outgoing interception condition is that V2 is more than V.
Specifically, the radar data analysis unit controls the radar detection unit to detect the number N of people in the incoming vehicle under a first incoming interception condition and compares N with a preset number of people to determine a guidance mode for the incoming vehicle, the radar data analysis unit is provided with a first preset number N1 and a second preset number N2, wherein N1=1, N2=2,
if N = N1, the radar data analysis unit judges that a first guide mode is adopted for the approach vehicle;
if N = N2, the radar data analysis unit judges which guiding mode is specifically adopted for the personnel position, if the personnel in the vehicle are all on one side, the radar data analysis unit judges that a first guiding mode is adopted for the approaching vehicle, and if the personnel in the vehicle are not all on one side, the radar data analysis unit judges that a second guiding mode is adopted for the approaching vehicle;
if N is larger than N2, the radar data analysis unit judges that a second guide mode is adopted for the approaching vehicle;
the first approach intercepting condition is that the radar detection unit detects that vehicles exist in an approach monitoring area.
Specifically, the radar data analysis unit controls the radar detection unit to detect whether vehicles of a first parking mode exist in each parking area in the parking lot under a second approach interception condition, if the vehicles of the first parking mode exist, the radar data analysis unit controls the radar detection unit to detect the vehicles of the first parking mode with the minimum distance from the approach vehicles and mark the vehicles as target vehicles, and the radar data analysis unit controls the second radar data response unit to guide the approach vehicles to move to one side of a target vehicle driving seat for parking, wherein the direction of the head of the approach vehicles is opposite to the direction of the head of the target vehicles; if the vehicle in the first parking mode does not exist, the radar data analysis unit judges that a second guidance mode is adopted for the entering vehicle;
the first parking mode is that the vehicle is located in a parking area, no vehicle exists in the parking area on the side of a door of a driver seat of the vehicle, the number of people in the vehicle, which is recorded by the radar detection unit for the vehicle, is N1, and the second approach interception condition is that the radar data analysis unit judges that a first guidance mode is adopted for the approach vehicle.
Specifically, the radar data analysis unit controls the radar detection unit and the radar data analysis unit to control the radar detection unit to sequentially detect whether a first parking point, a second parking point or a third parking point exists in a parking area in the parking area under a third entrance interception condition, wherein the priority of the first parking point is higher than that of the second parking point and is higher than that of the third parking point, and when the radar detection unit detects that the parking point exists, the radar data analysis unit controls the radar detection unit to stop detecting and controls the second radar data response unit to guide an entrance vehicle to the parking point for parking;
the first parking point is that no vehicle exists on two sides of a parking area, the second parking point is that only one side of two sides of the parking area exists, the third parking point is that vehicles exist on two sides of the parking area, and the third entrance interception condition is that the radar data analysis unit judges that a second guidance mode is adopted for an entrance vehicle.
In particular, the first radar data response unit of the present invention may be applied, but not limited to, a work scenario for a parking lot including a plurality of parking areas.
Specifically, the preset intercepting region comprises an entrance intercepting region and an exit intercepting region, the entrance intercepting region and the exit intercepting region are both provided with the intercepting devices and the pre-blocking devices, and the millimeter wave radar 10 is arranged in the entrance intercepting region.
Example 1
In this embodiment, the radar detection unit detects that the number of vehicles Nc =80 in the parking lot, at this time, nc1 < Nc2, the radar data analysis unit determines that the radar detection period is T, and sets T =5 × 0.8=4s, the radar data analysis unit calculates, under the second radar adjustment condition, a difference Δ N =5 between the number of vehicles detected in the current radar detection period and the number of vehicles detected in the latest radar detection period, at this time, Δ N =Δn1, and the radar data analysis unit determines that compensation adjustment is not required for the radar detection period;
in this embodiment, the radar data analysis unit detects, through the radar detection unit, that a distance X =1m between a first vehicle to be detected and a second vehicle to be detected under a first departure interception condition, where X = X2, the radar data analysis unit determines that the first radar data response unit adopts the first operating mode, the radar data analysis unit compares X with X1 under a second departure interception condition to determine a movement speed Vz of the pre-blocking device under the first operating mode, where X1 is less than X, the radar data analysis unit determines that the movement speed Vz =3 × 1.2=3.6m/s of the pre-blocking device, the radar data analysis unit detects, under a third departure interception condition, a movement speed V =8m/s of the second vehicle to be detected, where V1 is less than V2, the radar data analysis unit determines that the movement speed Vz of the pre-blocking device is adjusted to be Vz ', set to be Vz' =3.6 × 1.2/s, where V1 is less than V2, the radar data analysis unit determines that no adjustment of the radar data is required by the radar data analysis unit under the second departure interception condition, and determines that no adjustment of the height H2 is required by the radar data analysis unit.
Example 2
Please refer to fig. 5, which is a schematic position diagram of the vehicle 01 and the vehicle 02 according to this embodiment, in this embodiment, the radar data analysis unit controls the radar detection unit to detect that the number of people N =1 in the vehicle 01 under the first entrance interception condition, at which N = N1, the radar data analysis unit determines that the first guidance mode is adopted for the entrance vehicle, the radar data analysis unit controls the radar detection unit to detect that the vehicle 02 in the parking lot is the vehicle in the first parking mode and marks the vehicle as the target vehicle under the second entrance interception condition, and the radar data analysis unit controls the second radar data response unit to guide the vehicle 01 to go to the driver seat side of the vehicle 02 for parking, where the direction of the head of the vehicle 01 is opposite to the direction of the head of the vehicle 02.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A radar positioning system based on driving road interception, comprising:
the first radar data response unit comprises an intercepting device fixedly arranged in a preset intercepting area and used for intercepting vehicles according to the instruction information of the radar data analysis unit, and a pre-blocking device movably arranged in the preset intercepting area and used for intercepting vehicles behind the vehicles by following the vehicles on the spot according to the instruction information of the radar data analysis unit;
the radar detection unit comprises a first radar module and a second radar module, wherein the first radar module is arranged at a departure position and used for detecting information required by departure and the second radar module is used for detecting information required by entrance, the information required by departure is the distance between vehicles which depart, the speed of vehicles which depart and the height of vehicles which depart, and the information required by entrance is the number of people in the vehicles which enter, the number of vehicles in a parking lot and the parking mode of the vehicles in the parking lot;
the radar data analysis unit is connected with the first radar data response unit, the radar detection unit and the second radar data response unit, judges the working mode of the first radar data response unit according to the comparison result of the distance between the first vehicle to be departed and the nearest vehicle behind the first vehicle to be departed and a preset standard under the departure analysis condition so as to intercept the vehicle, adjusts the moving speed of the pre-blocking device according to the speed of the vehicle behind the first vehicle to be departed and adjusts the height of the pre-blocking device according to the height of the vehicle behind the first vehicle to be departed;
the radar data analysis unit judges a guiding mode aiming at the entering vehicle according to the number of people in the entering vehicle and the parking mode of the vehicle in the parking area under the entering analysis condition, wherein the guiding mode comprises a vehicle parking position and a vehicle parking direction, and the guiding mode is used for enabling the door opening direction of the entering vehicle meeting the preset standard and the door opening direction of the adjacent stopped vehicle to be opposite to each other so as to save the using area of the parking area;
the second radar data response unit is connected with the radar data analysis unit and the radar detection unit, comprises a plurality of indicating devices arranged at preset positions and is used for controlling the corresponding indicating devices to operate according to instruction information of the radar data analysis unit;
the exit analysis condition is that the radar detection unit detects that an exit vehicle exists, and the entrance analysis condition is that the radar detection unit detects that an entrance vehicle exists.
2. The radar positioning system based on driving road interception according to claim 1, wherein the millimeter wave radar is arranged in the preset interception area through an annular slide rail to detect the number of people in an entering vehicle, the annular slide rail is of a semicircular annular structure, the inner wall of the annular slide rail is an electronic slide way, and the millimeter wave radar is movably connected with the electronic slide way;
the intercepting device comprises a fixed column fixedly arranged in a preset intercepting area and an intercepting rod rotationally connected with the fixed column and used for intercepting vehicles by ascending and descending of the intercepting rod, the pre-blocking device is horizontally and adjacently arranged with the intercepting device, the pre-blocking device is arranged on one side of the intercepting device, which is far away from a first vehicle to be out of a field, and is in sliding connection with a sliding device arranged on the ground through an electronic telescopic column, the pre-blocking device further comprises a second intercepting rod rotationally connected with the electronic telescopic column and used for intercepting the vehicles by sliding of the electronic telescopic column, stretching of the electronic telescopic column and ascending and descending of the second intercepting rod; the laser radar
The indicating device comprises a base, an indicating column and an indicator, wherein the bottom of the base is provided with a pulley, the indicating column is connected with the top of the base, and the indicator is arranged at the top of the indicating column and used for providing indicating information for an approaching vehicle; the indicator is an electronic display screen and is used for displaying indication information, and the indication information comprises indication directions and parking positions corresponding to the vehicles entering the field.
3. The radar positioning system based on driving road interception according to claim 2, wherein said radar data analyzing unit controls said radar detecting unit to detect the number of vehicles Nc in the parking lot and compare Nc with the preset number of vehicles to determine the radar detection period under the first radar adjusting condition, said radar data analyzing unit is provided with a first preset number of vehicles Nc1 and a second preset number of vehicles Nc2, wherein 0 < Nc1 < Nc2,
if Nc is less than or equal to Nc1, the radar data analysis unit judges that the radar detection period is T, and sets T = T0, wherein T0 is a preset initial radar detection period, and 0 is more than T0;
if Nc1 is more than Nc and less than or equal to Nc2, the radar data analysis unit judges that the radar detection period is T, and sets T = T0 multiplied by epsilon 1, wherein epsilon 1 is a first period adjustment coefficient, and 0 is more than epsilon 1 and less than 1;
if Nc2 is less than Nc, the radar data analysis unit judges that the radar detection period is T, and sets T = T0 multiplied by epsilon 2, wherein epsilon 2 is a second period adjustment coefficient, and 0 < epsilon 2 < epsilon 1;
the first radar adjusting condition is that the radar positioning system starts to work, the radar detection unit detects the number of vehicles in the parking lot once in each radar detection period and transmits the number to the display unit, and the display unit is remotely connected with the radar detection unit and used for displaying the total number of the vehicles in the parking lot and the parking duration of each vehicle.
4. The system of claim 3, wherein the radar data analysis unit calculates a difference Δ N between the number of detected vehicles in the current radar detection period and the number of detected vehicles in the last radar detection period under the second radar adjustment condition, sets Δ N = I Nc0-Nc0 'I, where Nc0 is the number of detected vehicles in the current radar detection period and Nc0' is the number of detected vehicles in the last radar detection period, compares Δ N with a preset number difference criterion to determine whether to make a compensation adjustment for the radar detection period, and is provided with a first preset number difference Δ N1 and a second preset number difference criterion Δ N2, where 0 <. DELTA.N 1 <. DELTA.N 2,
if the delta N is less than or equal to the delta N1, the radar data analysis unit judges that the compensation adjustment of the radar detection period is not needed;
if Δ N1 < Δ N ≦ Δ N2, the radar data analysis unit determines to adjust the radar detection period to T 'using ζ 1, setting T' = T × ζ 1;
if Δ N2 < Δn, the radar data analysis unit determines that the radar detection period is adjusted to T 'using ζ 2, setting T' = T × ζ 2;
and zeta 1 is a first period compensation coefficient, zeta 2 is a second period compensation coefficient, zeta 1 is greater than 1 and is less than zeta 2, and the second radar adjustment condition is that the radar data analysis unit completes the determination of the radar detection period.
5. The radar positioning system based on driving road interception according to claim 4, wherein the radar data analysis unit detects the distance X between the first vehicle to be detected and the second vehicle to be detected through the radar detection unit under the first condition of departure interception and compares X with a preset vehicle distance to determine the operation mode of the first radar data response unit, the radar data analysis unit is provided with a first preset vehicle distance X1 and a second preset vehicle distance X2, wherein 0 < X1 < X2,
if X is less than or equal to X2, the radar data analysis unit judges that the first radar data response unit adopts a first working mode;
if X2 is less than X, the radar data analysis unit judges that the first radar data response unit adopts a second working mode;
when the radar detection unit detects that a first vehicle to be discharged completely passes through the interception rod, the first radar data response unit controls the pre-blocking device to move at a constant moving speed in a first preset direction and fall at a constant speed, when the radar detection unit detects that the first vehicle to be discharged completely passes through the interception rod and the pre-blocking device, the interception rod and the pre-blocking device fall at a constant speed, the first vehicle to be discharged is a vehicle to be discharged closest to the interception rod, the second vehicle to be discharged is a vehicle to be discharged closest to the rear of the first vehicle to be discharged, and the first preset direction is far away from the interception rod and is the same as the moving direction of the first vehicle to be discharged;
the radar data analysis unit compares X with X1 under the second field-outgoing interception condition to judge the moving speed Vz of the pre-blocking device under the first working mode, the radar data analysis unit is provided with a first speed adjustment coefficient alpha 1, a second speed adjustment coefficient alpha 2 and a moving speed base value V0 of the pre-blocking device, wherein alpha 1 is more than 1 and less than alpha 2,0 is less than V0,
if X is less than or equal to X1, the radar data analysis unit judges that the moving speed Vz = V0X alpha 2 of the pre-blocking device;
if X1 is less than X, the radar data analysis unit judges that the moving speed Vz = V0X alpha 1 of the pre-blocking device;
the first departure interception condition is that the radar detection unit detects that vehicles exist in a preset departure monitoring area, and the second departure interception condition is that the radar data analysis unit judges that the first radar data response unit adopts a first working mode.
6. The radar positioning system based on driving road interception according to claim 5, wherein said radar data analyzing unit detects a second speed V of the vehicle to be departed under a third departure interception condition and compares V with a preset moving speed to determine whether to adjust the moving speed Vz of said pre-blocking device, said radar data analyzing unit is provided with a first preset vehicle speed V1, a second preset vehicle speed V2, a first speed compensation coefficient β 1 and a second speed compensation coefficient β 2, wherein 0 < V1 < V2,1 < β 2,
if V is less than or equal to V1, the radar data analysis unit judges that the moving speed Vz of the pre-blocking device is not required to be adjusted;
if V1 < V ≦ V2, the radar data analysis unit determines to adjust the movement speed Vz of the pre-blocking device to Vz 'using β 1, setting Vz' = Vz × β 1;
if V2 < V, the radar data analysis unit determines that the moving speed Vz of the pre-blocking device is adjusted to Vz 'using β 2, and sets Vz' = Vz × β 2;
and the third field-outgoing intercepting condition is that the radar data analysis unit finishes judging the moving speed of the pre-blocking device and an intercepting rod in the intercepting device rises.
7. The radar positioning system based on driving road interception according to claim 6, wherein said radar data analysis unit controls said radar detection unit to detect the height H of the second vehicle and compares H with a preset height standard to determine whether to adjust the height Hz of the interception bar under a fourth departure interception condition, said radar data analysis unit is provided with a first preset height standard Hz1, a second preset height standard Hz2, a first height adjustment coefficient γ 1 and a second height adjustment coefficient γ 2, wherein 0 < Hz1 < Hz2,0 < γ 1 < γ 2,
if H is less than or equal to Hz1, the radar data analysis unit judges that the height of the interception rod is adjusted to Hz 'by using gamma 1, and sets Hz' = Hz multiplied by gamma 1;
if Hz1 is larger than H and smaller than or equal to Hz2, the radar data analysis unit judges that the height of the interception rod is adjusted to be Hz 'by using gamma 2, and sets Hz' = Hz multiplied by gamma 2;
if Hz2 is less than H, the radar data analysis unit judges that the height of the intercepting rod does not need to be adjusted;
and the fourth outfield interception condition is that V2 is more than V.
8. The radar positioning system based on driving road interception according to claim 7, wherein said radar data analysis unit controls the radar detection unit to detect the number of people N in the approaching vehicle and compare N with the preset number of people to determine the guidance mode for the approaching vehicle under the first condition of approaching interception, said radar data analysis unit has a first preset number N1 and a second preset number N2, wherein 0 < N1 < N2,
if N = N1, the radar data analysis unit judges that a first guide mode is adopted for the approach vehicle;
if N = N2, the radar data analysis unit judges which guiding mode is specifically adopted for the personnel position, if the personnel in the vehicle are all on one side, the radar data analysis unit judges that a first guiding mode is adopted for the approaching vehicle, and if the personnel in the vehicle are not all on one side, the radar data analysis unit judges that a second guiding mode is adopted for the approaching vehicle;
if N is larger than N2, the radar data analysis unit judges that a second guide mode is adopted for the approaching vehicle;
the first approach intercepting condition is that the radar detection unit detects that vehicles exist in an approach monitoring area.
9. The radar positioning system based on driving road interception as recited in claim 8, wherein the radar data analysis unit controls the radar detection unit to detect whether there is a vehicle in a first parking manner in each parking area in the parking lot under a second approach interception condition, if there is a vehicle in the first parking manner, the radar data analysis unit controls the radar detection unit to detect the vehicle in the first parking manner with the smallest distance to the approach vehicle and mark the vehicle as a target vehicle, and the radar data analysis unit controls the second radar data response unit to guide the approach vehicle to go to one side of a target vehicle driver seat for parking, wherein the direction of the head of the approach vehicle is opposite to the direction of the head of the target vehicle; if the vehicle in the first parking mode does not exist, the radar data analysis unit judges that a second guidance mode is adopted for the entering vehicle;
the first parking mode is that the vehicle is located in a parking area, no vehicle exists in the parking area on the side of the door of a driver seat of the vehicle, the number of people in the vehicle, which is recorded by the radar detection unit for the vehicle, is N1, and the second approach intercepting condition is that the radar data analysis unit judges that a first guidance mode is adopted for the approach vehicle.
10. The radar positioning system based on driving road interception according to claim 9, wherein the radar data analysis unit controls the radar detection unit under a third entrance interception condition, controls the radar detection unit to sequentially detect whether a first parking spot, a second parking spot or a third parking spot exists in a parking area in a parking lot, wherein the priority of the first parking spot is higher than that of the second parking spot, and when the radar detection unit detects that a parking spot exists, the radar data analysis unit controls the radar detection unit to stop detecting and controls the second radar data response unit to guide an entrance vehicle to the parking spot for parking;
the first parking point is that no vehicle exists on two sides of a parking area, the second parking point is that only one side of two sides of the parking area exists, the third parking point is that vehicles exist on two sides of the parking area, and the third entrance interception condition is that the radar data analysis unit judges that a second guidance mode is adopted for an entrance vehicle.
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