CN117409611A - Intelligent parking guiding system based on large underground parking garage - Google Patents
Intelligent parking guiding system based on large underground parking garage Download PDFInfo
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- CN117409611A CN117409611A CN202311393188.6A CN202311393188A CN117409611A CN 117409611 A CN117409611 A CN 117409611A CN 202311393188 A CN202311393188 A CN 202311393188A CN 117409611 A CN117409611 A CN 117409611A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000004458 analytical method Methods 0.000 claims description 17
- 238000009877 rendering Methods 0.000 claims description 15
- 230000004888 barrier function Effects 0.000 claims description 12
- 238000010276 construction Methods 0.000 claims description 4
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—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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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
Abstract
The invention relates to the technical field of intelligent parking, in particular to an intelligent parking guiding system based on a large-scale underground parking lot, which comprises the following components: the control terminal is a main control terminal of the system and is used for sending out an execution command; the positioning module is used for positioning the position information of the driving user driving the vehicle in real time; the modeling module is used for uploading the parking lot position coordinates and constructing a parking lot three-dimensional model based on the interconnection of the parking lot position coordinates; the sensing module is used for sensing whether parking exists above a parking space in the parking lot or not; according to the method and the device for monitoring the real-time position information of the vehicle, the vehicle around the parking lot can be monitored in real time, whether the vehicle driving user has a parking requirement or not is judged based on the vehicle position monitoring result, the parking requirement of the vehicle driving user is further confirmed through popup verification, and visual real-time state reading conditions of the parking space are provided for the vehicle driving user in a mode of constructing a parking lot model, so that more convenient parking experience is brought to the user with the parking requirement.
Description
Technical Field
The invention relates to the technical field of intelligent parking, in particular to an intelligent parking guiding system based on a large-scale underground parking lot.
Background
Underground parking lot refers to a building used for parking motor vehicles of various sizes underground, and mainly consists of a parking place, a passage, a ramp or mechanical lift, an entrance, a yard and the like.
However, at present, the intellectualization of the underground parking lot is often implemented in the aspect of parking equipment, and for parking guidance, the parking is still performed mostly through manual guidance or visual reading of sign information of a driving user, so that the process convenience is poor, the vehicle manufacturing and parking process is slow, and the congestion condition in the underground parking lot is caused.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an intelligent parking guiding system based on a large-scale underground parking garage, which solves the technical problems in the background art.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
a smart parking guidance system based on a large underground parking garage, comprising:
the control terminal is a main control terminal of the system and is used for sending out an execution command;
the positioning module is used for positioning the position information of the driving user driving the vehicle in real time;
the modeling module is used for uploading the parking lot position coordinates and constructing a parking lot three-dimensional model based on the interconnection of the parking lot position coordinates;
the sensing module is used for sensing whether parking exists above a parking space in the parking lot or not;
the pairing module is used for acquiring driving users with parking requirements and pairing parking spaces for the driving users based on the parking lot three-dimensional model;
the planning module is used for receiving the paired parking spaces in the pairing module, selecting the parking spaces among the parking spaces, and planning a travelling path for the selected parking spaces.
Still further, the positioning module is provided with a sub-module at a lower stage, including:
the monitoring unit is used for acquiring vehicle license plate image data acquired by the entrance barrier gate of the parking lot and monitoring the vehicle entering the parking lot in real time;
the verification unit is used for verifying whether the driving user positioned by the positioning module has a parking requirement or not;
the positioning module is deployed on each driving user to drive the vehicle, a control panel is further arranged at the lower stage of the positioning module and used for sending out an inquiry popup window for a system end user to confirm whether parking is carried out or not, and a parking lot model constructed by the modeling module is displayed.
Furthermore, when the driving user drives the vehicle and does not configure the positioning module, when the vehicle enters the parking lot through the parking lot entrance barrier gate, the barrier gate equipment acquires the vehicle image and the license plate image, and synchronously sends the vehicle image and the license plate image to all deployed monitoring equipment in the parking lot, and the real-time movement direction of the vehicle which does not configure the positioning module is compared and monitored based on the similarity of the vehicle image or the license plate image.
Still further, the verification logic of the verification unit to verify whether the driver user has a parking requirement is expressed as:
wherein: k (k) 1 The distance between the driving user and the parking lot, which is measured based on the positioning module for the 1 st time; k (k) 2 The distance between the driving user and the parking lot, which is measured based on the positioning module for the 2 nd time; k (k) 3 The distance between the driving user and the parking lot, which is measured based on the positioning module for the 3 rd time; omega 1 、ω 2 、ω 3 Is the weight; epsilon is the running times of the verification unit for driving the vehicle based on the same driving user;
wherein omega 1 、ω 2 、ω 3 The value of (2) is set based on the ratio of the number of parking holes in the parking lot to the parking space, and omega is when the ratio of the number of parking holes in the parking lot to the parking space is 1 1 、ω 2 Or omega 3 And if the value of (2) is 0, otherwise, when the ratio of the number of parking in the parking lot to the parking space is any number, omega 1 、ω 2 Or omega 3 Takes a value of 1 in the verification unitWhen the control panel is established, the control panel is triggered to operate.
Still further, the parking lot location coordinates uploaded by the modeling module are manually uploaded by a system end user, and the parking lot location coordinates include: the outline coordinates of the parking lot and the parking space coordinates in the parking lot;
the modeling module is controlled by the refreshing unit, renders each parking space in the built parking space three-dimensional model, further distinguishes the parked parking space, the parking space to be parked and the non-parked parking space in the parking space based on the rendering result, and the rendering result of the parking space three-dimensional model is refreshed in the control panel based on the refreshing module to display and overlap in real time.
Furthermore, the refreshing unit is used for setting a refreshing period, controlling the modeling module to run in real time according to the refreshing period, and continuously rendering the parking lot three-dimensional model;
the positioning module and the verification unit run in real time based on the refresh period set by the refresh unit.
Further, the sensing modules are deployed on parking spaces in each parking lot, and the sensing modules are integrated by any one of pressure sensors, infrared sensors or ranging sensors in a plurality of groups;
when the sensing module senses that parking exists above the parking space, the modeling module renders the specified color of the corresponding parking space in the parking space three-dimensional model.
Still further, the pairing module is provided with a sub-module at a lower level, including:
the receiving unit is used for receiving the position information of the driving vehicle which is confirmed to park by a system end user in the control panel;
the analysis unit is used for traversing and reading the parking lot three-dimensional model, and identifying a feasible path of each parking space in the parking lot relative to the entrance of the parking lot barrier gate based on the parking lot three-dimensional model;
the analysis unit is further used for analyzing the parking spaces in the parking space three-dimensional model, which are not rendered, and the operation results of the receiving unit and the analysis unit, namely the pairing module, are the operation logic for acquiring the driving users with the parking requirements and pairing the parking spaces for the driving users based on the parking space three-dimensional model.
Still further, the logic for selecting the parking space in the planning module is expressed as:
wherein: chi is the recommended degree of the parking space for parking; n is a parking space set; f (f) i The distance between the ith parking space and the current driving user for driving the vehicle is the i parking space; ko is the current use frequency of the ith parking space, delta is the number of times of operation of the verification unit for confirming the parking space on the control panel; q i The i-th parking space is the exit distance of the parking lot; gamma is the number of times that verification logic is not established in the operation process of the verification unit, and the selected parking space in the planning module is the parking space with the highest χ value;
after the parking space is selected through the parking space selection logic, further acquiring a feasible path corresponding to the selected parking space in the analysis unit, selecting a group of feasible paths with the shortest distance relative to the entrance of the parking space gate in the feasible paths when the acquired feasible paths are not the same, and synchronously rendering the parking space selected in the parking space three-dimensional model by the construction module after the parking space is selected, wherein the rendering result of the selected parking space is different from the non-parking space and the parked space.
Still further, the positioning module subordinate has monitoring unit and verification unit through subordinate's medium electric connection, verification unit has control panel through medium electric connection, positioning module is connected with control terminal through wireless network with control panel, positioning module is connected with modeling module through wireless network, modeling module is connected with control panel through wireless network, modeling module is inside to have refreshing unit through medium electric connection, modeling module has sensing module and pair the module through medium electric connection, pair the module and have receiving unit and analysis unit through medium electric connection, pair the module and have planning module through medium electric connection, planning module is connected with analysis unit through the medium electric connection.
Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:
1. the invention provides a smart parking guide system based on a large-scale underground parking lot, which can monitor real-time position information of vehicles around the parking lot in the running process, further judge whether a vehicle driving user has a parking requirement or not based on a vehicle position monitoring result, further determine the parking requirement of the vehicle driving user through popup window verification, and provide a visual parking space real-time state reading condition for the vehicle driving user in a mode of constructing a parking lot model so as to bring more convenient parking experience for the user with the parking requirement.
2. Compared with a parking user without the system, the system provided by the invention has the advantages that the management of the parking space is facilitated for the management end of the parking space, and the parked parking space and the parking path can be further provided for the user in the parking stage of the system, so that the parking efficiency of the parking user is further improved, and the situation that the underground parking space is blocked due to the parking behavior of the underground parking user is reduced.
3. When the system is operated, the real-time state of each parking space in the underground parking lot can be displayed in the constructed three-dimensional model of the parking lot, so that the system is taken as an auxiliary reference, a user with a parking requirement can decide whether to park in the parking lot, and the parking lot carrying the system brings more comfortable parking experience for the user with the parking requirement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a smart parking guidance system based on a large underground parking garage;
reference numerals in the drawings represent respectively: 1. a control terminal; 2. a positioning module; 21. a monitoring unit; 22. a verification unit; 23. a control unit; 3. a modeling module; 31. a refresh unit; 4. a sensing module; 5. a pairing module; 51. a receiving unit; 52. an analysis unit; 6. and a planning module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described below with reference to examples.
Example 1
An intelligent parking guidance system based on a large-scale underground parking garage of the present embodiment, as shown in fig. 1, includes:
the control terminal 1 is a main control end of the system and is used for sending out an execution command;
the positioning module 2 is used for positioning the position information of the driving user driving the vehicle in real time;
the modeling module 3 is used for uploading parking lot position coordinates and constructing a parking lot three-dimensional model based on the interconnection of the parking lot position coordinates;
the sensing module 4 is used for sensing whether parking exists above a parking space in the parking lot or not;
the pairing module 5 is used for acquiring a driving user with a parking requirement and pairing a parking space for the driving user based on a three-dimensional model of a parking lot;
the planning module 6 is used for receiving the paired parking spaces in the pairing module 5, selecting the parking spaces among the parking spaces, and planning a travelling path for the selected parking spaces;
the positioning module 2 is provided with the submodule in the lower level, includes:
the monitoring unit 21 is used for acquiring vehicle license plate image data acquired by the entrance barrier gate of the parking lot and monitoring the vehicle entering the parking lot in real time;
a verification unit 22, configured to verify whether the driving user located by the location module 2 has a parking requirement;
the positioning module 2 is deployed on each driving user to drive the vehicle, the lower level of the positioning module 2 is also provided with a control panel 23, the control panel 23 is used for sending out an inquiry popup window for a system end user to confirm whether parking is performed or not, and the parking lot model constructed by the modeling module 3 is displayed;
the pairing module 5 is provided with a sub-module at a lower stage, and comprises:
a receiving unit 51 for receiving the position information of the driving vehicle confirmed to park by the system end user in the control panel 23;
an analysis unit 52, configured to traverse and read the parking space three-dimensional model, and identify a feasible path of each parking space in the parking space relative to the entrance of the parking space barrier based on the parking space three-dimensional model;
the analysis unit 52 is further configured to analyze a parking space in the parking space three-dimensional model, where the rendering of the parked parking space is not performed, and in the pairing module 5, which is an operation result of the receiving unit 51 and the analysis unit 52, for obtaining an operation logic of pairing the parking space for a driving user based on the parking space three-dimensional model, where the driving user has a parking requirement;
the selection logic of the parking space in the planning module 6 is expressed as:
wherein: chi is the recommended degree of the parking space for parking; n is a parking space set; f (f) i The distance between the ith parking space and the current driving user for driving the vehicle is the i parking space; ko is the current frequency of use of the ith parkable parking space, delta is the confirmation of parking on the control panel 23, and verificationThe number of runs of the certification unit 22; q i The i-th parking space is the exit distance of the parking lot; gamma is the number of times that verification logic is not established in the operation process of the verification unit 22, and the selected parking space in the planning module 6 is the parking space with the highest χ value;
after the parking space is selected through the parking space selection logic, a feasible path corresponding to the selected parking space is further acquired in the analysis unit 52, when the acquired feasible path is not unique, a group of feasible paths with the shortest distance relative to the entrance of the parking space gate in the feasible path is selected, and after the parking space is selected, the construction module 3 synchronously renders the parking space selected in the parking space three-dimensional model, wherein the rendering result of the selected parking space is different from the non-parking space and the parking space;
the lower level of the positioning module 2 is electrically connected with a monitoring unit 21 and a verification unit 22 through a lower level medium, the verification unit 22 is electrically connected with a control panel through the medium, the positioning module 2 is connected with the control terminal 1 through a wireless network, the positioning module 2 is connected with a modeling module 3 through the wireless network, the modeling module 3 is connected with the control terminal 23 through the wireless network, a refreshing unit 31 is internally connected with the modeling module 3 through the medium, the modeling module 3 is electrically connected with a sensing module 4 and a pairing module 5 through the medium, the pairing module 5 is electrically connected with a receiving unit 51 and an analysis unit 52 through the medium, the pairing module 5 is electrically connected with a planning module 6 through the medium, and the planning module 6 is electrically connected with the analysis unit 52 through the medium.
In this embodiment, the control terminal 1 controls the positioning module 2 to position the position information of the driving user driving the vehicle in real time, the modeling module 3 synchronously uploads the position coordinates of the parking lot, a three-dimensional model of the parking lot is built based on the mutual connection of the position coordinates of the parking lot, the sensing module 4 runs at the rear position to sense whether parking exists above the parking spaces in the parking lot, the pairing module 5 acquires the driving user with the parking requirement, the pairing module is used for pairing the parking spaces of the driving user based on the three-dimensional model of the parking lot, and finally the planning module 6 is used for receiving the paired parking spaces in the pairing module 5, selecting the parking spaces in the parking spaces, and planning a path of the selected parking spaces;
the sub-module arranged at the lower level of the positioning module 2 monitors appointed logic of driving users with parking demands around the parking lot, ensures the system to run and can accurately capture service targets;
and through the submodule arranged at the lower level of the pairing module 5, necessary pairing logic can be provided for the operation of pairing the parking spaces of the driving users, so that the system can provide the parking spaces for the driving users with the parking requirements, and the provided parking spaces are more suitable for the driving users with the parking requirements.
Example 2
In the embodiment, on the basis of embodiment 1, this embodiment further specifically describes a smart parking guidance system based on a large-scale underground parking garage in embodiment 1 with reference to fig. 1:
when a driving user drives a vehicle and does not configure the positioning module 2, and when the vehicle enters the parking lot through a parking lot entrance barrier gate, the barrier gate equipment acquires a vehicle image and a license plate image, and synchronously sends the vehicle image and the license plate image to all deployed monitoring equipment in the parking lot, and the real-time movement direction of the vehicle which does not configure the positioning module 2 is compared and monitored based on the similarity of the vehicle image or the license plate image.
Through the arrangement, the system can further control the monitoring equipment in the underground parking garage, and the parking users who do not configure the system and enter the parking garage can be monitored and managed, so that the stable operation of the system is ensured.
As shown in fig. 1, the verification logic of the verification unit 22 to verify whether the driver user has a parking demand is expressed as:
wherein: k (k) 1 The distance between the driving user and the parking lot, which is measured by the positioning module 2 for the 1 st time, is measured; k (k) 2 The distance between the driving user and the parking lot, which is measured based on the positioning module 2 for the 2 nd time; k (k) 3 For the 3 rd timeBased on the distance between the driving user and the parking lot, which is measured by the positioning module 2; omega 1 、ω 2 、ω 3 Is the weight; epsilon is the number of times the verification unit 22 operates to drive the vehicle based on the same driving user;
wherein omega 1 、ω 2 、ω 3 The value of (2) is set based on the ratio of the number of parking holes in the parking lot to the parking space, and omega is when the ratio of the number of parking holes in the parking lot to the parking space is 1 1 、ω 2 Or omega 3 And if the value of (2) is 0, otherwise, when the ratio of the number of parking in the parking lot to the parking space is any number, omega 1 、ω 2 Or omega 3 Takes on a value of 1 in the verification unit 22When the operation is completed, the control panel 23 is triggered to operate.
Through the calculation of the formula, accurate verification judgment is brought to whether a driving user has a parking requirement.
Example 3
In the embodiment, on the basis of embodiment 1, this embodiment further specifically describes a smart parking guidance system based on a large-scale underground parking garage in embodiment 1 with reference to fig. 1:
the parking lot position coordinates uploaded by the modeling module 3 are manually uploaded by a system end user, and the parking lot position coordinates comprise: the outline coordinates of the parking lot and the parking space coordinates in the parking lot;
the lower level of the modeling module 3 is provided with a refreshing unit 31, the modeling module 3 renders each parking space in the constructed three-dimensional model of the parking lot based on the control of the refreshing unit 31, and further distinguishes the parked parking space, the parking space to be parked and the non-parked parking space in the parking lot based on the rendering result, and the rendering result of the three-dimensional model of the parking lot is refreshed in the control panel 23 based on the refreshing unit 31 to display and overlap in real time;
the refreshing unit 31 is used for setting a refreshing period, controlling the modeling module 3 to run in real time according to the refreshing period, and continuously rendering the parking lot three-dimensional model;
wherein, the positioning module 2 and the verification unit 22 operate in real time based on the refresh period set by the refresh unit 31;
the sensing module 4 is deployed on a parking space in each parking lot, and the sensing module 4 is integrated by any one of a pressure sensor, an infrared sensor or a ranging sensor in a plurality of groups;
when sensing that parking exists above the parking space, the sensing module 4 performs the rendering of the appointed color on the corresponding parking space in the parking space three-dimensional model by the modeling module 3.
Through the arrangement, further state changing logic is brought to the parking lot three-dimensional model constructed in the construction module 3, so that the parking lot three-dimensional model can stably display the use state of each parking space in the parking lot.
In summary, in the running process of the system in the embodiment, real-time position information monitoring can be performed on vehicles around a parking lot, whether a vehicle driving user has a parking requirement or not is further determined based on a vehicle position monitoring result, the parking requirement of the vehicle driving user is further determined through popup verification, and a visual parking space real-time state reading condition is provided for the vehicle driving user in a manner of constructing a parking lot model, so that more convenient parking experience is provided for users with parking requirements. The system monitors a parking user without the system, brings convenience to the management of the parking lot for the management end of the parking lot, and can further provide the parked parking spaces and the parking paths in the parking stage of the user with the system, so that the parking efficiency of the parking user is further improved, and the situation that the underground parking lot is jammed due to the parking behavior of the underground parking lot is reduced; meanwhile, when the system is operated, the real-time state of each parking space in the underground parking lot can be displayed in the constructed three-dimensional model of the parking lot, so that the system is used as an auxiliary reference for a user with a parking requirement to decide whether to park in the parking lot, and the parking lot carrying the system brings more comfortable parking experience for the user with the parking requirement.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. Intelligent parking guiding system based on large-scale underground parking garage, characterized by comprising:
the control terminal (1) is a main control end of the system and is used for sending out an execution command;
the positioning module (2) is used for positioning the position information of the driving user driving the vehicle in real time;
the modeling module (3) is used for uploading parking lot position coordinates and constructing a parking lot three-dimensional model based on the interconnection of the parking lot position coordinates;
the sensing module (4) is used for sensing whether parking exists above a parking space in the parking lot or not;
the pairing module (5) is used for acquiring driving users with parking requirements and pairing parking spaces for the driving users based on a three-dimensional parking space model;
the planning module (6) is used for receiving the paired parking spaces in the pairing module (5), selecting the parking spaces among the parking spaces, and planning the path of the selected parking spaces.
2. The smart parking guidance system based on a large underground parking garage according to claim 1, wherein the positioning module (2) is provided with a sub-module at a lower stage, comprising:
the monitoring unit (21) is used for acquiring vehicle license plate image data acquired by the entrance barrier gate of the parking lot and monitoring the vehicle entering the parking lot in real time;
the verification unit (22) is used for verifying whether the driving user positioned by the positioning module (2) has a parking requirement or not;
the positioning module (2) is deployed on each driving user to drive the vehicle, a control panel (23) is further arranged at the lower stage of the positioning module (2), the control panel (23) is used for sending out an inquiry popup window for a system end user to confirm whether parking is performed or not, and a parking lot model constructed by the modeling module (3) is displayed.
3. The intelligent parking guiding system based on the large-scale underground parking garage according to claim 2, wherein when a driving user drives a vehicle and does not configure the positioning module (2), when the vehicle enters the parking garage through a parking garage entrance barrier gate, the barrier gate equipment collects vehicle images and license plate images, and synchronously sends the vehicle images and the license plate images to all deployed monitoring equipment in the parking garage, and the real-time movement direction of the vehicle not configured with the positioning module (2) is monitored based on similarity comparison of the vehicle images or the license plate images.
4. The smart parking guidance system based on a large underground parking garage of claim 2, wherein the verification logic of the verification unit (22) to verify whether a driver user has a parking demand is expressed as:
wherein: k (k) 1 The distance between the driving user and the parking lot, which is measured by the positioning module (2) for the 1 st time, is measured; k2 is the distance between the driving user and the parking lot, which is measured by the positioning module (2) for the 2 nd time and used for driving the vehicle; k (k) 3 The distance between the driving user and the parking lot, which is measured based on the positioning module (2) for the 3 rd time; omega 1 、ω 2 、ω 3 Is the weight; epsilon is the running times of the verification unit (22) for driving the vehicle based on the same driving user;
wherein omega 1 、ω 2 、ω 3 The value of (2) is set based on the ratio of the number of parking holes in the parking lot to the parking space, and omega is when the ratio of the number of parking holes in the parking lot to the parking space is 1 1 、ω 2 Or omega 3 The value of (2) is 0, otherwise, the parking lot is parkedOmega when the ratio of the number of vehicles to the parking space is any number 1 、ω 2 Or omega 3 Takes a value of 1 in the verification unit (22)When the control panel (23) is triggered to operate when the control panel is established.
5. The smart parking guidance system based on a large underground parking garage of claim 1, wherein the parking garage location coordinates uploaded by the modeling module (3) are manually uploaded by a system end user, and the parking garage location coordinates include: the outline coordinates of the parking lot and the parking space coordinates in the parking lot;
the lower level of the modeling module (3) is provided with a refreshing unit (31), the modeling module (3) is controlled based on the refreshing unit (31) to render each parking space in the constructed parking space three-dimensional model, the parked parking space, the parking space to be parked and the non-parked parking space in the parking space are distinguished based on rendering results, and the rendering results of the parking space three-dimensional model are refreshed in the control panel (23) based on the refreshing unit (31) to display and overlap in real time.
6. The smart parking guidance system based on the large-scale underground parking garage according to claim 5, wherein the refreshing unit (31) is configured to set a refreshing period, and control the modeling module (3) to run in real time according to the refreshing period, so as to continuously render the three-dimensional model of the parking garage;
wherein, the positioning module (2) and the verification unit (22) run in real time based on the refresh period set by the refresh unit (31).
7. The intelligent parking guiding system based on the large-scale underground parking garage according to claim 1, wherein the sensing module (4) is deployed on a parking space in each parking garage, and the sensing module (4) is integrated by any one of a pressure sensor, an infrared sensor or a ranging sensor in a plurality of groups;
when the sensing module (4) senses that parking exists above the parking space, the modeling module (3) renders the specified color of the corresponding parking space in the parking space three-dimensional model.
8. The smart parking guidance system based on a large underground parking garage according to claim 1, wherein the pairing module (5) is provided with a sub-module at a lower stage, comprising:
a receiving unit (51) for receiving the position information of the driving vehicle confirmed to park by the system end user in the control panel (23);
the analysis unit (52) is used for traversing and reading the parking lot three-dimensional model, and identifying a feasible path of each parking space in the parking lot relative to the entrance of the parking lot barrier gate based on the parking lot three-dimensional model;
the analysis unit (52) is further configured to analyze a parking space in the parking space three-dimensional model, where the rendering of the parked parking space is not performed, and in the pairing module (5) which is an operation result of the receiving unit (51) and the analysis unit (52), for obtaining a driving user with a parking requirement, the operation logic of pairing the parking space for the driving user is based on the parking space three-dimensional model.
9. The smart parking guidance system based on a large underground parking garage of claim 1, wherein the selection logic of the parkable parking spaces in the planning module (6) is represented as:
wherein: chi is the recommended degree of the parking space for parking; n is a parking space set; f (f) i The distance between the ith parking space and the current driving user for driving the vehicle is the i parking space; ko is the current use frequency of the ith parking space, delta is the number of times of operation of the verification unit (22) for confirming the parking space on the control panel (23); q i The i-th parking space is the exit distance of the parking lot; gamma is the number of times that verification logic is not established in the running process of the verification unit (22), and the selected parking space in the planning module (6) has the highest χ valueParking spaces;
after the parking space is selected through the parking space selection logic, a feasible path corresponding to the selected parking space is further acquired in the analysis unit (52), when the acquired feasible path is not unique, a group of feasible paths with the shortest distance relative to the entrance of the parking space gate in the feasible path is selected, and after the parking space is selected, the construction module (3) synchronously renders the parking space selected in the parking space three-dimensional model, and the rendering result of the selected parking space is different from the non-parking space and the parked parking space.
10. The intelligent parking guiding system based on the large-scale underground parking garage according to claim 1, wherein the lower level of the positioning module (2) is electrically connected with a monitoring unit (21) and a verification unit (22) through a lower level medium, the verification unit (22) is electrically connected with a control panel through a medium, the positioning module (2) is connected with the control terminal (1) through a wireless network with the control panel (23), the positioning module (2) is connected with a modeling module (3) through the wireless network, the modeling module (3) is connected with the control panel (23) through the wireless network, the modeling module (3) is internally electrically connected with a refreshing unit (31) through the medium, the modeling module (3) is electrically connected with a sensing module (4) and a pairing module (5), the pairing module (5) is electrically connected with a receiving unit (51) and an analyzing unit (52) through the medium, the pairing module (5) is electrically connected with a planning module (6) through the medium, and the planning module (6) is electrically connected with the analyzing unit (52) through the medium.
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