CN117409611A - Intelligent parking guiding system based on large underground parking garage - Google Patents

Intelligent parking guiding system based on large underground parking garage Download PDF

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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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parking
module
parking space
parking lot
vehicle
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CN117409611B (en
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周一飞
赵宁
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Wuhan University of Technology WUT
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/142Traffic 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
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/029Location-based management or tracking services

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)

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

一种基于大型地下停车场的智慧泊车引导系统A smart parking guidance system based on large underground parking lots

技术领域Technical field

本发明涉及智慧泊车技术领域,具体涉及一种基于大型地下停车场的智慧泊车引导系统。The invention relates to the technical field of smart parking, and specifically relates to a smart parking guidance system based on a large underground parking lot.

背景技术Background technique

地下停车场是指建筑在地下用来停放各种大小机动车辆的建筑物,主要由停车间、通道、坡道或机械提升间、出入口、调车场地等组成。Underground parking lots refer to buildings built underground for parking motor vehicles of various sizes. They are mainly composed of parking rooms, passages, ramps or mechanical lifting rooms, entrances and exits, and shunting sites.

然而,目前地下停车场智能化往往体现在泊车设备方面,对于泊车引导而言,仍然大部分通过人工引导或驾车用户自身视觉读取指示牌信息进行泊车,其过程便利性欠佳,从而造车泊车过程较为缓慢,进而导致地下停车场内出现拥堵情况。However, the current intelligence of underground parking lots is often reflected in the parking equipment. As for parking guidance, parking is still mostly done through manual guidance or the driver’s own visual reading of sign information. The process is not very convenient. As a result, the car parking process is relatively slow, resulting in congestion in the underground parking lot.

发明内容Contents of the invention

针对现有技术所存在的上述缺点,本发明提供了一种基于大型地下停车场的智慧泊车引导系统,解决了上述背景技术中提出的技术问题。In view of the above-mentioned shortcomings of the existing technology, the present invention provides a smart parking guidance system based on a large-scale underground parking lot, which solves the technical problems raised in the above-mentioned background technology.

为实现以上目的,本发明通过以下技术方案予以实现:In order to achieve the above objectives, the present invention is achieved through the following technical solutions:

一种基于大型地下停车场的智慧泊车引导系统,包括:A smart parking guidance system based on a large underground parking lot, including:

控制终端,是系统的主控端,用于发出执行命令;The control terminal is the main control terminal of the system and is used to issue execution commands;

定位模块,用于实时定位驾车用户驾驶车辆的位置信息;The positioning module is used to locate the location information of the vehicle driven by the driving user in real time;

建模模块,用于上传停车场位置坐标,基于停车场位置坐标相互连接构建停车场立体模型;The modeling module is used to upload the parking lot location coordinates and build a three-dimensional parking lot model based on the interconnection of the parking lot location coordinates;

传感模块,用于感应停车场内车位上方是否存在泊车;The sensing module is used to sense whether there is parking above the parking space in the parking lot;

配对模块,用于获取存在泊车需求的驾车用户,基于停车场立体模型为驾车用户配对可泊车车位;The matching module is used to obtain driving users with parking needs and match parking spaces for driving users based on the three-dimensional model of the parking lot;

规划模块,用于接收配对模块中配对的可泊车车位,在可泊车车位中选择车位,为选择的车位进行行径路径规划。The planning module is used to receive the matched parking spaces in the matching module, select parking spaces among the parking spaces, and plan the walking path for the selected parking spaces.

更进一步地,所述定位模块下级设置有子模块,包括:Furthermore, the positioning module is provided with sub-modules at a lower level, including:

监测单元,用于获取停车场入口道闸采集到的车辆车牌图像数据,对驶入停车场的车辆进行实时监控;The monitoring unit is used to obtain the vehicle license plate image data collected by the entrance gate of the parking lot and conduct real-time monitoring of vehicles entering the parking lot;

验证单元,用于验证定位模块定位到的驾车用户是否存在泊车需求;Verification unit, used to verify whether the driving user located by the positioning module has parking needs;

其中,所述定位模块部署于每一驾车用户驾驶车辆上,所述定位模块下级还设置有控制面板,所述控制面板用于发出询问弹窗,供系统端用户确认是否泊车,及显示建模模块所构建的停车场模型。Among them, the positioning module is deployed on the vehicle driven by each driving user. The positioning module is also provided with a control panel at a lower level. The control panel is used to issue a query pop-up window for system users to confirm whether to park and display suggestions. Parking lot model constructed from modules.

更进一步地,驾车用户驾驶车辆在未配置定位模块时,由停车场入口道闸驶入停车场时,道闸设备采集车辆图像及车牌图像,并同步向停车场内所有已部署的监控设备发送车辆图像及车牌图像,基于车辆图像或车牌图像的相似性比对监测未配置定位模块的车辆的实时动向。Furthermore, when a driving user drives a vehicle without a positioning module and drives into the parking lot through the entrance gate of the parking lot, the gate equipment collects vehicle images and license plate images and sends them simultaneously to all deployed monitoring devices in the parking lot. Vehicle images and license plate images, based on similarity comparison of vehicle images or license plate images, monitor the real-time movement of vehicles without positioning modules.

更进一步地,所述验证单元验证驾车用户是否存在泊车需求的验证逻辑表示为:Furthermore, the verification logic for the verification unit to verify whether the driving user has a need for parking is expressed as:

式中:k1为第1次基于定位模块测得的驾车用户驾驶车辆距停车场的距离;k2为第2次基于定位模块测得的驾车用户驾驶车辆距停车场的距离;k3为第3次基于定位模块测得的驾车用户驾驶车辆距停车场的距离;ω1、ω2、ω3为权重;ε为验证单元基于同一驾车用户驾驶车辆的运行次数;In the formula: k 1 is the distance between the driving user's vehicle and the parking lot measured based on the positioning module for the first time; k 2 is the distance between the driving user's vehicle driving and the parking lot measured based on the positioning module for the second time; k 3 is The distance from the vehicle driven by the driving user to the parking lot measured for the third time based on the positioning module; ω 1 , ω 2 , and ω 3 are the weights; ε is the number of runs of the verification unit based on the vehicle driven by the same driving user;

其中,ω1、ω2、ω3的取值基于停车场内泊车数量与泊车车位的比值进行设定,停车场内泊车数量与泊车车位的比值为1时,ω1、ω2或ω3的取值为0,反之,停车场内泊车数量与泊车车位的比值为任意数时,ω1、ω2或ω3的取值为1,所述验证单元中成立时,触发控制面板运行。Among them, the values of ω 1 , ω 2 , and ω 3 are set based on the ratio of the number of parking vehicles in the parking lot to the parking spaces. When the ratio of the number of parking vehicles to the parking spaces in the parking lot is 1, ω 1 , ω The value of 2 or ω 3 is 0. On the contrary, when the ratio of the number of parking spaces to the number of parking spaces in the parking lot is any number, the value of ω 1 , ω 2 or ω 3 is 1. In the verification unit When established, trigger the control panel to run.

更进一步地,所述建模模块中上传的停车场位置坐标由系统端用户手动上传,且停车场位置坐标包括:停车场轮廓坐标及停车场内车位坐标;Furthermore, the parking lot location coordinates uploaded in the modeling module are manually uploaded by the system end user, and the parking lot location coordinates include: parking lot outline coordinates and parking space coordinates in the parking lot;

其中,所述建模模块下级设置有刷新单元,建模模块基于刷新单元控制,对构建的停车场立体模型中各车位进行渲染,进一步基于渲染结果,区分停车场中已泊车车位、待泊车车位及未泊车车位,停车场立体模型的渲染结果基于刷新模块刷新于控制面板中实时显示更迭。Among them, a refresh unit is provided at the lower level of the modeling module. Based on the control of the refresh unit, the modeling module renders each parking space in the constructed three-dimensional model of the parking lot. Based on the rendering results, it further distinguishes between parked parking spaces and waiting parking spaces in the parking lot. The rendering results of parking spaces, unparked spaces, and parking lot three-dimensional models are refreshed in the control panel based on the refresh module and displayed in the control panel in real time.

更进一步地,所述刷新单元用于设定刷新周期,控制建模模块根据刷新周期实时运行,对停车场立体模型进行连续的渲染;Furthermore, the refresh unit is used to set the refresh cycle, control the modeling module to run in real time according to the refresh cycle, and continuously render the parking lot three-dimensional model;

其中,定位模块及验证单元基于刷新单元设定的刷新周期实时运行。Among them, the positioning module and the verification unit run in real time based on the refresh cycle set by the refresh unit.

更进一步地,所述传感模块部署于每一停车场内的泊车车位上,传感模块由压力传感器、红外传感器或测距传感器中任意一种,以若干组数量所集成;Furthermore, the sensing module is deployed on the parking spaces in each parking lot, and the sensing module is integrated in several groups by any one of pressure sensors, infrared sensors or ranging sensors;

其中,传感模块感应到车位上方存在泊车时,建模模块对停车场立体模型中对应车位进行指定颜色的渲染。Among them, when the sensing module senses that there is parking above the parking space, the modeling module renders the corresponding parking space in the parking lot three-dimensional model in a specified color.

更进一步地,所述配对模块下级设置有子模块,包括:Furthermore, the pairing module is provided with sub-modules at a lower level, including:

接收单元,用于接收控制面板中系统端用户确认泊车的驾驶车辆的位置信息;The receiving unit is used to receive the location information of the parked driving vehicle confirmed by the system user in the control panel;

分析单元,用于遍历读取停车场立体模型,基于停车场立体模型识别停车场中各车位相对于停车场道闸入口的可行径路径;The analysis unit is used to traverse and read the three-dimensional model of the parking lot, and identify the feasible path of each parking space in the parking lot relative to the entrance of the parking lot barrier based on the three-dimensional model of the parking lot;

其中,所述分析单元还用于分析停车场立体模型中未执行已泊车车位渲染的车位,所述接收单元及分析单元的运行结果即配对模块中,对于获取存在泊车需求的驾车用户,基于停车场立体模型为驾车用户配对车位的操作逻辑。Among them, the analysis unit is also used to analyze the parking spaces in the parking lot three-dimensional model that have not performed parking space rendering. The operation results of the receiving unit and the analysis unit are in the pairing module. To obtain the driving users with parking needs, The operation logic of matching parking spaces for driving users based on the three-dimensional model of the parking lot.

更进一步地,所述规划模块中可泊车车位的选择逻辑表示为:Furthermore, the selection logic of parking spaces in the planning module is expressed as:

式中:χ为可泊车车位推荐度;n为可泊车车位集合;fi为第i个可泊车车位与当前驾车用户驾驶车辆的距离;ko为第i个可泊车车位的当前使用频率,δ为控制面板上确认泊车前,验证单元的运行次数;qi为第i个可泊车车位距离停车场出口距离;γ为验证单元运行过程中,验证逻辑不成立次数,所述规划模块中可泊车车位的选择结果为,χ值最高的可泊车车位;In the formula: χ is the recommendation degree of the parking space; n is the set of parking spaces; f i is the distance between the i-th parking space and the vehicle driven by the current driving user; ko is the current value of the i-th parking space. Frequency of use, δ is the number of runs of the verification unit before parking is confirmed on the control panel; qi is the distance from the i-th parking space to the exit of the parking lot; γ is the number of times the verification logic is not established during the operation of the verification unit, as described The parking space selection result in the planning module is the parking space with the highest χ value;

其中,通过可泊车车位选择逻辑选择泊车车位后,进一步于分析单元中获取选择的泊车车位所对应可行径路径,获取的可行径路径不唯一时,选择可行径路径中,相对于停车场道闸入口距离最短的一组可行径路径,且可泊车车位在选择后,构建模块同步对停车场立体模型中选择的泊车车位进行渲染,选择的泊车车位的渲染结果区别于未泊车车位及已泊车车位。Among them, after selecting a parking space through the parking space selection logic, the feasible path corresponding to the selected parking space is further obtained in the analysis unit. When the obtained feasible path is not unique, the feasible path is selected, relative to the parking space. After selecting a set of feasible paths with the shortest distance from the entrance to the gate, and the available parking spaces, the building module simultaneously renders the selected parking spaces in the parking lot three-dimensional model. The rendering results of the selected parking spaces are different from those of unselected parking spaces. Parking spaces and parked spaces.

更进一步地,所述定位模块下级通过下级介质电性连接有监测单元及验证单元,所述验证单元通过介质电性连接有控制面板,所述定位模块与控制面板通过无线网络与控制终端相连接,所述定位模块通过无线网络与建模模块相连接,所述建模模块通过无线网络与控制面板相连接,所述建模模块内部通过介质电性连接有刷新单元,所述建模模块通过介质电性连接有传感模块及配对模块,所述配对模块通过介质电性连接有接收单元及分析单元,所述配对模块通过介质电性连接有规划模块,所述规划模块通过介质电性与分析单元相连接。Furthermore, the lower level of the positioning module is electrically connected to a monitoring unit and a verification unit through a lower-level medium. The verification unit is electrically connected to a control panel through a medium. The positioning module and the control panel are connected to the control terminal through a wireless network. , the positioning module is connected to the modeling module through a wireless network, the modeling module is connected to the control panel through a wireless network, a refresh unit is electrically connected to the inside of the modeling module through a medium, and the modeling module is connected through The medium is electrically connected with a sensing module and a pairing module. The pairing module is electrically connected with a receiving unit and an analysis unit through the medium. The pairing module is electrically connected with a planning module through the medium. The planning module is electrically connected with the medium through the medium. Analysis units are connected.

采用本发明提供的技术方案,与已知的公有技术相比,具有如下有益效果:The technical solution provided by the present invention has the following beneficial effects compared with the known public technology:

1、本发明提供一种基于大型地下停车场的智慧泊车引导系统,该系统在运行过程中,能够对停车场周边的车辆进行实时位置信息监测,进而基于车辆位置监测结果来判定车辆驾驶用户是否存在泊车需求,并进一步的通过弹窗验证确定车辆驾驶用户的泊车需求,再以构建停车场模型的方式,来向车辆驾驶用户提供可视化的泊车车位实时状态读取条件,为有泊车需求的用户带来较为便捷的泊车体验。1. The present invention provides a smart parking guidance system based on a large underground parking lot. During operation, the system can monitor the real-time location information of vehicles around the parking lot, and then determine the vehicle driving user based on the vehicle location monitoring results. Whether there is a parking demand, and further determine the parking demand of the vehicle driving user through pop-up window verification, and then build a parking lot model to provide the vehicle driving user with visual real-time status reading conditions of the parking space, so as to provide users with visual parking space real-time status reading conditions. Users with parking needs will enjoy a more convenient parking experience.

2、本发明中系统,相对于未配置该系统的泊车用户进行监控,为停车场管理端对于停车场管理带来便利,对于配置该系统用户而言,在用户泊车阶段,还能够进一步的提供已泊车车位及泊车路径,从而进一步提升泊车用户的泊车效率,降低地下停车场泊车用户的泊车行为导致地下停车场拥堵的情况。2. The system of the present invention monitors parking users who have not configured the system, bringing convenience to the parking lot management end. For users who configure the system, during the user parking stage, it can further Provide parked parking spaces and parking paths, thereby further improving parking efficiency for parking users and reducing congestion in underground parking lots caused by users' parking behavior in underground parking lots.

3、本发明中系统在运行时,还能够对地下停车场的中各泊车车位的实时状态,于已构建的停车场立体模型中显示,从而以此作为辅助参考,供有泊车需求的用户决策是否于停车场泊车,使得搭载有该系统的停车场,为有泊车需求的用户带来更加舒心的泊车体验。3. When the system of the present invention is running, it can also display the real-time status of each parking space in the underground parking lot in the constructed three-dimensional model of the parking lot, so as to use it as an auxiliary reference for people with parking needs. Users decide whether to park in a parking lot, so parking lots equipped with this system can bring a more comfortable parking experience to users with parking needs.

附图说明Description of the drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍。显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to describe the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

图1为一种基于大型地下停车场的智慧泊车引导系统的结构示意图;Figure 1 is a schematic structural diagram of a smart parking guidance system based on a large underground parking lot;

图中的标号分别代表:1、控制终端;2、定位模块;21、监测单元;22、验证单元;23、控制单元;3、建模模块;31、刷新单元;4、传感模块;5、配对模块;51、接收单元;52、分析单元;6、规划模块。The numbers in the figure respectively represent: 1. Control terminal; 2. Positioning module; 21. Monitoring unit; 22. Verification unit; 23. Control unit; 3. Modeling module; 31. Refresh unit; 4. Sensing module; 5 , pairing module; 51. receiving unit; 52. analysis unit; 6. planning module.

具体实施方式Detailed ways

为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述。显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

下面结合实施例对本发明作进一步的描述。The present invention will be further described below in conjunction with examples.

实施例1Example 1

本实施例的一种基于大型地下停车场的智慧泊车引导系统,如图1所示,包括:A smart parking guidance system based on a large underground parking lot in this embodiment, as shown in Figure 1, includes:

控制终端1,是系统的主控端,用于发出执行命令;Control terminal 1 is the main control terminal of the system and is used to issue execution commands;

定位模块2,用于实时定位驾车用户驾驶车辆的位置信息;Positioning module 2 is used to locate the location information of the vehicle driven by the driving user in real time;

建模模块3,用于上传停车场位置坐标,基于停车场位置坐标相互连接构建停车场立体模型;Modeling module 3 is used to upload the parking lot location coordinates and build a three-dimensional parking lot model based on the interconnection of the parking lot location coordinates;

传感模块4,用于感应停车场内车位上方是否存在泊车;Sensing module 4 is used to sense whether there is parking above the parking space in the parking lot;

配对模块5,用于获取存在泊车需求的驾车用户,基于停车场立体模型为驾车用户配对可泊车车位;The matching module 5 is used to obtain driving users with parking needs and match parking spaces for driving users based on the three-dimensional model of the parking lot;

规划模块6,用于接收配对模块5中配对的可泊车车位,在可泊车车位中选择车位,为选择的车位进行行径路径规划;The planning module 6 is used to receive the paired parking spaces in the pairing module 5, select a parking space among the parking spaces, and plan the travel path for the selected parking space;

定位模块2下级设置有子模块,包括:There are sub-modules at the lower level of positioning module 2, including:

监测单元21,用于获取停车场入口道闸采集到的车辆车牌图像数据,对驶入停车场的车辆进行实时监控;The monitoring unit 21 is used to obtain the vehicle license plate image data collected by the parking lot entrance gate and conduct real-time monitoring of vehicles entering the parking lot;

验证单元22,用于验证定位模块2定位到的驾车用户是否存在泊车需求;The verification unit 22 is used to verify whether the driving user located by the positioning module 2 has parking needs;

其中,定位模块2部署于每一驾车用户驾驶车辆上,定位模块2下级还设置有控制面板23,控制面板23用于发出询问弹窗,供系统端用户确认是否泊车,及显示建模模块3所构建的停车场模型;Among them, the positioning module 2 is deployed on the vehicle driven by each driving user. The positioning module 2 is also provided with a control panel 23 at a lower level. The control panel 23 is used to issue a query pop-up window for the system user to confirm whether to park, and to display the modeling module. 3. The parking lot model constructed;

配对模块5下级设置有子模块,包括:There are sub-modules at the lower level of pairing module 5, including:

接收单元51,用于接收控制面板23中系统端用户确认泊车的驾驶车辆的位置信息;The receiving unit 51 is used to receive the location information of the driving vehicle confirmed to be parked by the system end user in the control panel 23;

分析单元52,用于遍历读取停车场立体模型,基于停车场立体模型识别停车场中各车位相对于停车场道闸入口的可行径路径;The analysis unit 52 is used to traverse and read the three-dimensional model of the parking lot, and identify the feasible path of each parking space in the parking lot relative to the entrance of the parking lot gate based on the three-dimensional model of the parking lot;

其中,分析单元52还用于分析停车场立体模型中未执行已泊车车位渲染的车位,接收单元51及分析单元52的运行结果即配对模块5中,对于获取存在泊车需求的驾车用户,基于停车场立体模型为驾车用户配对车位的操作逻辑;Among them, the analysis unit 52 is also used to analyze the parking spaces in the parking lot three-dimensional model that have not performed parking space rendering. The operation results of the receiving unit 51 and the analysis unit 52 are in the pairing module 5. To obtain the driving users with parking needs, The operation logic of matching parking spaces for driving users based on the three-dimensional model of the parking lot;

规划模块6中可泊车车位的选择逻辑表示为:The selection logic of parking spaces in planning module 6 is expressed as:

式中:χ为可泊车车位推荐度;n为可泊车车位集合;fi为第i个可泊车车位与当前驾车用户驾驶车辆的距离;ko为第i个可泊车车位的当前使用频率,δ为控制面板23上确认泊车前,验证单元22的运行次数;qi为第i个可泊车车位距离停车场出口距离;γ为验证单元22运行过程中,验证逻辑不成立次数,规划模块6中可泊车车位的选择结果为,χ值最高的可泊车车位;In the formula: χ is the recommendation degree of the parking space; n is the set of parking spaces; f i is the distance between the i-th parking space and the vehicle driven by the current driving user; ko is the current value of the i-th parking space. Frequency of use, δ is the number of times the verification unit 22 is run before parking is confirmed on the control panel 23; q i is the distance from the i-th parking space to the exit of the parking lot; γ is the number of times the verification logic is not established during the operation of the verification unit 22 , the parking space selection result in planning module 6 is, the parking space with the highest χ value;

其中,通过可泊车车位选择逻辑选择泊车车位后,进一步于分析单元52中获取选择的泊车车位所对应可行径路径,获取的可行径路径不唯一时,选择可行径路径中,相对于停车场道闸入口距离最短的一组可行径路径,且可泊车车位在选择后,构建模块3同步对停车场立体模型中选择的泊车车位进行渲染,选择的泊车车位的渲染结果区别于未泊车车位及已泊车车位;Among them, after selecting a parking space through the parking space selection logic, the feasible path corresponding to the selected parking space is further obtained in the analysis unit 52. When the obtained feasible path is not unique, among the feasible paths, relative to A set of feasible paths with the shortest distance from the entrance to the parking lot gate, and after the parking spaces are selected, the building module 3 simultaneously renders the selected parking spaces in the parking lot three-dimensional model, and the rendering results of the selected parking spaces are different. In unparked parking spaces and parked parking spaces;

定位模块2下级通过下级介质电性连接有监测单元21及验证单元22,验证单元22通过介质电性连接有控制面板,定位模块2与控制面板23通过无线网络与控制终端1相连接,定位模块2通过无线网络与建模模块3相连接,建模模块3通过无线网络与控制面板23相连接,建模模块3内部通过介质电性连接有刷新单元31,建模模块3通过介质电性连接有传感模块4及配对模块5,配对模块5通过介质电性连接有接收单元51及分析单元52,配对模块5通过介质电性连接有规划模块6,规划模块6通过介质电性与分析单元52相连接。The lower level of the positioning module 2 is electrically connected to the monitoring unit 21 and the verification unit 22 through the lower medium. The verification unit 22 is electrically connected to the control panel through the medium. The positioning module 2 and the control panel 23 are connected to the control terminal 1 through the wireless network. The positioning module 2 is connected to the modeling module 3 through a wireless network, and the modeling module 3 is connected to the control panel 23 through a wireless network. There is a refresh unit 31 inside the modeling module 3 that is electrically connected through a medium, and the modeling module 3 is electrically connected through a medium. There is a sensing module 4 and a pairing module 5. The pairing module 5 is electrically connected to the receiving unit 51 and the analysis unit 52 through the medium. The pairing module 5 is electrically connected to the planning module 6 through the medium. The planning module 6 is electrically connected to the analysis unit through the medium. 52 phases connected.

在本实施例中,控制终端1控制定位模块2实时定位驾车用户驾驶车辆的位置信息,建模模块3同步上传停车场位置坐标,基于停车场位置坐标相互连接构建停车场立体模型,传感模块4后置运行感应停车场内车位上方是否存在泊车,再由配对模块5获取存在泊车需求的驾车用户,基于停车场立体模型为驾车用户配对可泊车车位,最后通过规划模块6接收配对模块5中配对的可泊车车位,在可泊车车位中选择车位,为选择的车位进行行径路径规划;In this embodiment, the control terminal 1 controls the positioning module 2 to locate the location information of the vehicle driven by the driving user in real time. The modeling module 3 synchronously uploads the location coordinates of the parking lot, and builds a three-dimensional model of the parking lot based on the interconnection of the location coordinates of the parking lot. The sensing module 4 The rear operation senses whether there is parking above the parking space in the parking lot, and then the matching module 5 obtains the driving users who have parking needs, and matches the parking spaces for driving users based on the three-dimensional model of the parking lot, and finally receives the matching through the planning module 6 For the paired parking spaces in module 5, select a parking space among the parking spaces and plan the route for the selected parking space;

且由定位模块2下级设置的子模块,对停车场周边有泊车需求的驾车用户进行了指定逻辑的监测,确保该系统运行,能够对服务目标进行精准捕捉;And the sub-module set up by the lower level of positioning module 2 carries out specified logic monitoring for driving users who have parking needs around the parking lot, ensuring that the system operates and can accurately capture service targets;

并且通过配对模块5下级设置的子模块,能够为驾车用户配对可泊车车位的操作提供必要的配对逻辑,确保该系统能够为有泊车需求的驾车用户提供泊车车位的同时,提供的泊车车位更加适宜有泊车需求的驾车用户。And through the sub-modules set up at the lower level of the pairing module 5, the necessary pairing logic can be provided for the operation of matching parking spaces for driving users, ensuring that the system can provide parking spaces for driving users with parking needs while providing parking spaces. Car parking spaces are more suitable for driving users who need parking.

实施例2Example 2

在具体实施层面,在实施例1的基础上,本实施例参照图1对实施例1中一种基于大型地下停车场的智慧泊车引导系统做进一步具体说明:At the specific implementation level, based on Embodiment 1, this embodiment further explains in detail a smart parking guidance system based on a large underground parking lot in Embodiment 1 with reference to Figure 1:

驾车用户驾驶车辆在未配置定位模块2时,由停车场入口道闸驶入停车场时,道闸设备采集车辆图像及车牌图像,并同步向停车场内所有已部署的监控设备发送车辆图像及车牌图像,基于车辆图像或车牌图像的相似性比对监测未配置定位模块2的车辆的实时动向。When a driving user drives a vehicle without positioning module 2 and drives into the parking lot through the entrance gate of the parking lot, the gate equipment collects the vehicle image and license plate image, and simultaneously sends the vehicle image and license plate image to all deployed monitoring devices in the parking lot. The license plate image is used to monitor the real-time movement of the vehicle that is not configured with the positioning module 2 based on the similarity comparison of the vehicle image or the license plate image.

通过上述设置,使得该系统能够进一步控制地下停车场中监控设备,对未配置该系统,且驶入停车场的泊车用户进行监控管理,确保该系统的稳定运行。Through the above settings, the system can further control the monitoring equipment in the underground parking lot, monitor and manage parking users who have not configured the system and enter the parking lot, and ensure the stable operation of the system.

如图1所示,验证单元22验证驾车用户是否存在泊车需求的验证逻辑表示为:As shown in Figure 1, the verification logic used by the verification unit 22 to verify whether the driving user has a need for parking is expressed as:

式中:k1为第1次基于定位模块2测得的驾车用户驾驶车辆距停车场的距离;k2为第2次基于定位模块2测得的驾车用户驾驶车辆距停车场的距离;k3为第3次基于定位模块2测得的驾车用户驾驶车辆距停车场的距离;ω1、ω2、ω3为权重;ε为验证单元22基于同一驾车用户驾驶车辆的运行次数;In the formula: k 1 is the distance between the driving user's vehicle and the parking lot measured based on the positioning module 2 for the first time; k 2 is the distance between the driving user's vehicle driving and the parking lot measured based on the positioning module 2 for the second time; k 3 is the distance from the vehicle driven by the driving user to the parking lot measured for the third time based on the positioning module 2; ω 1 , ω 2 , and ω 3 are weights; ε is the number of runs of the verification unit 22 based on the vehicle driven by the same driving user;

其中,ω1、ω2、ω3的取值基于停车场内泊车数量与泊车车位的比值进行设定,停车场内泊车数量与泊车车位的比值为1时,ω1、ω2或ω3的取值为0,反之,停车场内泊车数量与泊车车位的比值为任意数时,ω1、ω2或ω3的取值为1,验证单元22中成立时,触发控制面板23运行。Among them, the values of ω 1 , ω 2 , and ω 3 are set based on the ratio of the number of parking vehicles in the parking lot to the parking spaces. When the ratio of the number of parking vehicles to the parking spaces in the parking lot is 1, ω 1 , ω The value of 2 or ω 3 is 0. On the contrary, when the ratio of the number of parking spaces to the number of parking spaces in the parking lot is any number, the value of ω 1 , ω 2 or ω 3 is 1. In the verification unit 22 When established, the control panel 23 is triggered to run.

通过上述公式计算,对驾车用户是否存在泊车需求,带来了精准的验证判定。Calculation through the above formula brings accurate verification and determination of whether driving users have parking needs.

实施例3Example 3

在具体实施层面,在实施例1的基础上,本实施例参照图1对实施例1中一种基于大型地下停车场的智慧泊车引导系统做进一步具体说明:At the specific implementation level, based on Embodiment 1, this embodiment further explains in detail a smart parking guidance system based on a large underground parking lot in Embodiment 1 with reference to Figure 1:

建模模块3中上传的停车场位置坐标由系统端用户手动上传,且停车场位置坐标包括:停车场轮廓坐标及停车场内车位坐标;The parking lot location coordinates uploaded in modeling module 3 are manually uploaded by system users, and the parking lot location coordinates include: parking lot outline coordinates and parking space coordinates in the parking lot;

其中,建模模块3下级设置有刷新单元31,建模模块3基于刷新单元31控制,对构建的停车场立体模型中各车位进行渲染,进一步基于渲染结果,区分停车场中已泊车车位、待泊车车位及未泊车车位,停车场立体模型的渲染结果基于刷新模块31刷新于控制面板23中实时显示更迭;Among them, a refresh unit 31 is provided at the lower level of the modeling module 3. Based on the control of the refresh unit 31, the modeling module 3 renders each parking space in the constructed parking lot three-dimensional model, and further based on the rendering results, distinguishes the parking spaces in the parking lot, The rendering results of parking spaces to be parked, unparked parking spaces, and the parking lot three-dimensional model are refreshed in the control panel 23 based on the refresh module 31 and displayed in the control panel 23 in real time;

刷新单元31用于设定刷新周期,控制建模模块3根据刷新周期实时运行,对停车场立体模型进行连续的渲染;The refresh unit 31 is used to set the refresh cycle, control the modeling module 3 to run in real time according to the refresh cycle, and continuously render the parking lot three-dimensional model;

其中,定位模块2及验证单元22基于刷新单元31设定的刷新周期实时运行;Among them, the positioning module 2 and the verification unit 22 run in real time based on the refresh cycle set by the refresh unit 31;

传感模块4部署于每一停车场内的泊车车位上,传感模块4由压力传感器、红外传感器或测距传感器中任意一种,以若干组数量所集成;The sensing module 4 is deployed on the parking spaces in each parking lot. The sensing module 4 is composed of any one of a pressure sensor, an infrared sensor or a ranging sensor, and is integrated in several groups;

其中,传感模块4感应到车位上方存在泊车时,建模模块3对停车场立体模型中对应车位进行指定颜色的渲染。Among them, when the sensing module 4 senses that there is parking above the parking space, the modeling module 3 renders the corresponding parking space in the parking lot three-dimensional model in a specified color.

通过上述设置,为构建模块3中构建的停车场立体模型带来了更进一步的状态更迭逻辑,以确保停车场立体模型能够稳定的展现停车场中各车位的使用状态。Through the above settings, further state change logic is brought to the parking lot three-dimensional model constructed in building module 3 to ensure that the parking lot three-dimensional model can stably display the usage status of each parking space in the parking lot.

综上而言,上述实施例中系统在运行过程中,能够对停车场周边的车辆进行实时位置信息监测,进而基于车辆位置监测结果来判定车辆驾驶用户是否存在泊车需求,并进一步的通过弹窗验证确定车辆驾驶用户的泊车需求,再以构建停车场模型的方式,来向车辆驾驶用户提供可视化的泊车车位实时状态读取条件,为有泊车需求的用户带来较为便捷的泊车体验;且该系统相对于未配置该系统的泊车用户进行监控,为停车场管理端对于停车场管理带来便利,对于配置该系统用户而言,在用户泊车阶段,还能够进一步的提供已泊车车位及泊车路径,从而进一步提升泊车用户的泊车效率,降低地下停车场泊车用户的泊车行为导致地下停车场拥堵的情况;同时,本系统在运行时,还能够对地下停车场的中各泊车车位的实时状态,于已构建的停车场立体模型中显示,从而以此作为辅助参考,供有泊车需求的用户决策是否于停车场泊车,使得搭载有该系统的停车场,为有泊车需求的用户带来更加舒心的泊车体验。To sum up, during the operation of the system in the above embodiment, the system can monitor the real-time location information of the vehicles around the parking lot, and then determine whether the vehicle driver has parking needs based on the vehicle location monitoring results, and further determine whether the vehicle driver has parking needs through elasticity. Window verification determines the parking needs of vehicle driving users, and then builds a parking lot model to provide vehicle driving users with visual real-time status reading conditions of parking spaces, bringing more convenient parking services to users with parking needs. car experience; and the system monitors parking users who have not configured the system, bringing convenience to the parking lot management end. For users who configure the system, during the user parking stage, they can further Provide parked parking spaces and parking paths, thereby further improving the parking efficiency of parking users and reducing the congestion of underground parking lots caused by the parking behavior of parking users in underground parking lots; at the same time, when this system is running, it can also The real-time status of each parking space in the underground parking lot is displayed in the constructed three-dimensional model of the parking lot, so as to serve as an auxiliary reference for users with parking needs to decide whether to park in the parking lot, so that the equipment can be The parking lot of this system brings a more comfortable parking experience to users with parking needs.

以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不会使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments. Modifications may be made to the recorded technical solutions, or equivalent substitutions may be made to some of the technical features; however, these modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment 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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