CN105741589B - A kind of parking space detection method and device based on truck traffic - Google Patents
A kind of parking space detection method and device based on truck traffic Download PDFInfo
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- CN105741589B CN105741589B CN201610178928.8A CN201610178928A CN105741589B CN 105741589 B CN105741589 B CN 105741589B CN 201610178928 A CN201610178928 A CN 201610178928A CN 105741589 B CN105741589 B CN 105741589B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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Abstract
The present invention relates to a kind of parking space detection method and device based on truck traffic, the device is made up of main control module, range finder module, communication module, display module, key-press module, parking stall detection mode is selected according to key-press input, distance measuring instruction is sent by communication module and obtains feedback information, judge whether the parking stall meets the length requirement that stops, and will determine that result feeds back to driver by display module；The present invention improves the accuracy of unloading lot detection, avoids the insecurity caused by estimation mistake is in reversing process compared to driver's naked-eye observation；Low speed warehouse compartment compared to automated parking system seeks mode, the present invention can allow driver to be able to know whether the parking stall meets to require in advance, such as be unsatisfactory for requiring, driver can cross the parking stall with higher speed, next parking stall is looked for, has been greatly saved the time cost of unloading lot detection.
Description
Technical field
The invention belongs to vehicle electric field, and in particular to a kind of parking space detection method and dress based on truck traffic
Put.
Background technology
As city automobile recoverable amount is continuously increased, available parking space is fewer and fewer, problem of parking increasingly by
Paid close attention to people.Increasingly narrow and small parking space, make people be difficult to judge whether parking stall meets to require, brought reversing
Technical difficulty.
Driver judges that the method for parking stall size has two kinds at present, first, depending on human eye observation, its shortcoming is to easily determine
Error, cause automobile finally do not enter or reversing process in other car occur grazing；Second, carried by automobile itself automatic
Parking system, automobile are scanned in the case of low speed by side radar sensor to warehouse compartment, are judged by controller
Whether parking stall, which meets, requires, its shortcoming is, if detection warehouse compartment result is unsatisfactory for requiring, it is next that automobile needs continuation low speed to seek
Individual parking stall, if or else meet warehouse compartment requirement, still need to continue detection at low speeds and go down, this probe vehicles with regard to significant wastage
The time cost of position, influence the direct feel of driver of knowing clearly.
In addition, with the development of the communication technology, research and the application of intelligent transport technology, intelligent automobile field come in obtain
Fast development, garage truck traffic technology-V2V are increasingly mature, it is believed that in future soon, the technology can obtain generally
Application, further improve garage interaction capabilities.
The content of the invention
Judge the problem of method of parking stall size is present for current driver, the present invention proposes that one kind is based on Che Chetong
The parking stall detection method and device of letter, by truck traffic technology, obtained using side vehicle come unloading lot detection size, driver
To know whether the parking stall meets to require in advance.
To achieve these goals, concrete technical scheme of the present invention is as follows：A kind of parking stall detection based on truck traffic
Method, comprise the following steps：
1) main car selection parking stall detection mode：Main car starts parking stall detecting function by key-press module, and main car vehicle commander is
LA, main car overall width is DA；
2) main car sends vehicles identifications and distance measuring instruction to reference to car：Main car owner's control module is by communication module, by master
Car vehicle identification code and distance measuring instruction are sent to the reference car for resting in side, wherein, vehicle identification code is used to identify vehicle body
Part, other non-extraneous command informations from automobile are filtered out, distance measuring instruction includes horizontal parking stall distance measuring instruction and vertical parking stall is surveyed
Away from instruction；
3) judge distance measuring instruction type with reference to car, start corresponding range finder module：Pass through with reference to the main control module of car
Believe that module obtains main car vehicle identification code and distance measuring instruction, and corresponding range finder module is started according to distance measuring instruction, if water
Flatcar position distance measuring instruction then starts with reference to 3, end of Chinese herbaceous peony range finder module, goes to step 4)；If vertical parking stall distance measuring instruction then opens
Dynamic 3 range finder modules on the right side of car, go to step 5)；
4) with reference to Chinese herbaceous peony 3, end range finder module ranging, the parking stall data measured are respectively LBf1、LBfm、LBfr, wherein, LBf1
Refer to the distance that range finder module measures on the left of front end, LBfmRefer to the distance that range finder module measures among front end, LBfrRefer to
It is the distance that range finder module measures on the right side of front end；Go to step 6)；
5) 3 range finder module rangings on the right side of car, the parking stall data measured are respectively DBrf、DBrm、DBrr, wherein, DBrf
Refer to the distance that right side measures close to the range finder module of headstock, DBrmThe distance that the range finder module among right side measures is referred to,
DBrrRefer to the distance that right side measures close to the range finder module of the tailstock；Go to step 6)；
6) main control module of reference car is sent to master by communication module by parking stall data and with reference to car vehicle identification code
Car；
7) main car judges whether parking stall meets Parking condition：Main car owner's control module is obtained with reference to car by communication module
The parking space information sent, judges whether the parking stall meets Parking condition, and will determine that result is fed back to by display module
Driver, if meeting 8) Parking condition is gone to step, otherwise go to step and 1) tested next time；
8) parking stall detection terminates.
Further, above-mentioned steps 7) in, whether determined level parking stall meets that the method for Parking condition is：Take Lmin=min
{LBf1, LBfm, LBfr, work as Lmin＞ LADuring+Δ L, it is believed that the parking stall is effective；Work as Lmin≤LADuring+Δ L, it is believed that the parking stall without
Effect, Δ L refer to side parking stall minimum reservation length.
Further, above-mentioned steps 7) in, judge whether vertical parking stall meets that the method for Parking condition is：Take Dmin=min
{DBrf, DBrm, DBrr, work as Dmin＞ DBDuring+Δ D, it is believed that the parking stall is effective；Work as Dmin≤DBDuring+Δ D, it is believed that the parking stall without
Effect, Δ D refer to vertical parking stall minimum reservation width.
Further, present invention also offers a kind of parking stall detection device based on truck traffic, including：Master control molding
Block, range finder module, communication module, display module, key-press module, wherein, range finder module be used for detect the parallel parking stall in side or
Vertical parking stall space length, is bi-directionally connected with main control module；Communication module is installed in the car, for truck traffic, is realized
Information exchange between each car main controller module；Display module is installed in the car, and input is connected with main control module, is used
Required in showing whether the parking stall meets to stop；Key-press module is installed in the car, and output end is connected with main control module, for selecting
Parking stall detection mode is selected, parking stall detection mode includes the detection of side parking stall and the detection of vertical parking stall；Main control module is installed
In the car, it is connected with range finder module, communication module, display module, key-press module, detection mould in parking stall is selected according to key-press input
Formula, distance measuring instruction is sent by communication module and obtains feedback information, judge whether the parking stall meets the length requirement that stops, and
It will determine that result feeds back to driver by display module.
The beneficial effects of the present invention are：Compared to driver's naked-eye observation, the accuracy of unloading lot detection is improved, is avoided
The insecurity caused by estimation mistake is in reversing process；Low speed warehouse compartment compared to automated parking system seeks mode, this
Invention can allow driver to be able to know whether the parking stall meets to require in advance, such as be unsatisfactory for requiring, driver can be with higher car
Speed crosses the parking stall, looks for next parking stall, has been greatly saved the time cost of unloading lot detection.
Brief description of the drawings
Fig. 1 is the structural representation of the parking space-detecting device based on truck traffic.
Fig. 2 is communication module schematic view of the mounting position.
Fig. 3 is the flow chart of the parking stall detection method based on truck traffic.
Fig. 4 is side parallel space schematic diagram of a scenario.
Fig. 5 is vertical parking stall schematic diagram of a scenario.
Embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 show the parking space-detecting device structural representation based on truck traffic, including：Main control module, ranging
Module, communication module, display module, key-press module, wherein, range finder module is used to detect the parallel parking stall in side or vertical parking
Bit space length, is bi-directionally connected with main control module, can use any distance measuring method in ultrasonic wave, laser, millimeter wave, this
In embodiment, the module uses LM-112-010-DAC model ultrasonic radars, and each car installs 6 range finder modules, respectively position
In the both sides of vehicle front and centre, the both sides and centre of right side bodies, as shown in Figure 2；Communication module is installed in the car, is used for
Truck traffic, the information exchange between each car main controller module is realized, the module uses wireless mode and main control module
It is bi-directionally connected, the communication modes such as GPRS, bluetooth, 3G, 4G, 5G, Zigbee can be used；In the present embodiment, communication module uses 4G
Signal communication；Display module is installed in the car, and input is connected with main control module, for showing whether the parking stall meets to stop
It is required that；Key-press module is installed in the car, and output end is connected with main control module, for selecting parking stall detection mode, wherein, parking stall
Detection mode includes the detection of side parking stall and the detection of vertical parking stall；Main control module is installed in the car, with range finder module, logical
Letter module, display module, key-press module are connected, and select parking stall detection mode according to key-press input, are sent and surveyed by communication module
Away from instructing and obtaining feedback information, judge whether the parking stall meets the length requirement that stops, and knot will determine that by display module
Fruit feeds back to driver；In the present embodiment, main control module uses Infineon's TC1782 chips.
Fig. 3 be the automotive parking detection method based on truck traffic flow chart, side parallel space scene such as Fig. 4 institutes
Show, vertical parking stall scene is as shown in figure 5, parking stall detection method comprises the following steps：
1) main car selection parking stall detection mode：Main car passes through key-press module and starts parking stall detecting function, it is assumed that main car is
A, A car vehicle commander are LA, A cars overall width is DA；
2) main car sends vehicles identifications and distance measuring instruction to reference to car：Main control module is by communication module, by A car vehicles
Identification code and distance measuring instruction are sent to the reference vapour B for resting in side, wherein, vehicle identification code is used to identify testing vehicle register, filters
Except other non-extraneous command informations from automobile, distance measuring instruction includes horizontal parking stall distance measuring instruction and vertical parking stall ranging refers to
Order；
3) judge distance measuring instruction type, start corresponding range finder module：Obtained with reference to B main control module by communication module
Winner's car vehicle identification code and distance measuring instruction information, and corresponding range finder module is started according to distance measuring instruction, in this way horizontal parking stall
Distance measuring instruction then starts the range finder module of automobile B front ends 3, goes to step 4), and vertical parking stall distance measuring instruction then starts the automobile B right sides in this way
5) 3 range finder modules of side, go to step；
4) with reference to the car B range finder module rangings of front end 3, the distance measured is respectively LBf1、LBfm、LBfr, wherein, LBf1Refer to
It is the distance that front end leftmost side range finder module measures, LBfmRefer to the distance that range finder module measures among front end, LBfrRefer to
The distance that front end rightmost side range finder module measures；Go to step 6)；
5) 3 range finder module rangings on the right side of car B, the distance measured is respectively DBrf、DBrm、DBrr, wherein, DBrfRefer to
The distance measured on the right side of being close to the range finder module of headstock, DBrmRefer to the distance that the range finder module among right side measures, DBrr
Refer to the distance that right side measures close to the range finder module of the tailstock；Go to step 6)；
6) range information and B cars vehicle identification code are finalized a text, sent by communication module by reference car B main control module
To main car A；
7) main car judges whether the parking stall meets Parking condition, and main car A main control modules are obtained anti-by communication module
Feedforward information, judges whether the parking stall meets Parking condition, and will determine that result feeds back to driver by display module, meets
8) Parking condition is gone to step, otherwise go to step and 1) tested next time；Wherein, horizontal parking stall determination methods are as follows：Take Lmin=
min{LBf1, LBfm, LBfr, work as Lmin＞ LADuring+Δ L, it is believed that the parking stall is effective；Work as Lmin≤LADuring+Δ L, it is believed that the parking stall
Invalid, Δ L refers to side parking stall minimum reservation length；Vertical parking stall determination methods are as follows：Take Dmin=min { DBrf, DBrm,
DBrr, work as Dmin＞ DBDuring+Δ D, it is believed that the parking stall is effective；Work as Dmin≤DBDuring+Δ D, it is believed that the parking stall is invalid, and Δ D refers to vertical
Straight parking stall minimum reservation width；
8) parking stall detection terminates.
Claims (4)
1. a kind of parking space detection method based on truck traffic, it is characterised in that comprise the following steps：
1) main car selection parking stall detection mode：Main car starts parking stall detecting function by key-press module, and main car vehicle commander is LA, it is main
Car overall width is DA；
2) main car sends vehicles identifications and distance measuring instruction to reference to car：Main car owner's control module is by communication module, by main car car
Identification code and distance measuring instruction are sent to the reference car for resting in side, wherein, vehicle identification code is used to identify testing vehicle register, filters
Except other non-extraneous command informations from automobile, distance measuring instruction includes horizontal parking stall distance measuring instruction and vertical parking stall ranging refers to
Order；
3) judge distance measuring instruction type with reference to car, start corresponding range finder module：Pass through the mould that communicates with reference to the main control module of car
Block obtains main car vehicle identification code and distance measuring instruction, and starts corresponding range finder module according to distance measuring instruction, if horizontal car
Position distance measuring instruction then starts with reference to 3, end of Chinese herbaceous peony range finder module, goes to step 4)；If vertical parking stall distance measuring instruction then starts ginseng
According to 3 range finder modules on the right side of car, go to step 5)；
4) with reference to Chinese herbaceous peony 3, end range finder module ranging, the parking stall data measured are respectively LBfl、LBfm、LBfr, wherein, LBflRefer to
It is the distance that range finder module measures on the left of front end, LBfmRefer to the distance that range finder module measures among front end, LBfrBefore referring to
The distance that end right side range finder module measures；Go to step 6)；
5) 3 range finder module rangings on the right side of car, the parking stall data measured are respectively DBrf、DBrm、DBrr, wherein, DBrfRefer to
The distance measured on the right side of being close to the range finder module of headstock, DBrmRefer to the distance that the range finder module among right side measures, DBrr
Refer to the distance that right side measures close to the range finder module of the tailstock；Go to step 6)；
6) main control module of reference car is sent to main car by communication module by parking stall data and with reference to car vehicle identification code；
7) main car judges whether parking stall meets Parking condition：Main car owner's control module is obtained by communication module and sent out with reference to car
The parking space information come, judges whether the parking stall meets Parking condition, and will determine that result feeds back to driving by display module
Member, if meeting 8) Parking condition is gone to step, otherwise goes to step and 1) is tested next time；
8) parking stall detection terminates.
2. the parking space detection method based on truck traffic as claimed in claim 1, it is characterised in that in the step 7), sentence
Whether flatcar position of cutting off the water supply meets that the method for Parking condition is：Take Lmin=min { LBfl, LBfm, LBfr, work as Lmin＞ LADuring+Δ L, recognize
It is effective for the parking stall；Work as Lmin≤LADuring+Δ L, it is believed that the parking stall is invalid, and Δ L refers to side parking stall minimum reservation length.
3. the parking space detection method based on truck traffic as claimed in claim 1, it is characterised in that in the step 7), sentence
Whether disconnected vertical parking stall meets that the method for Parking condition is：Take Dmin=min { DBrf, DBrm, DBrr, work as Dmin＞ DBDuring+Δ D, recognize
It is effective for the parking stall；Work as Dmin≤DBDuring+Δ D, it is believed that the parking stall is invalid, and Δ D refers to vertical parking stall minimum reservation width.
4. the parking space detection method based on truck traffic as claimed in claim 1, it is characterised in that the parking stall detection
Method is based on following parking detection means and realized：Main control module, range finder module, communication module, display module, key-press module,
Wherein, the range finder module is used to detect the parallel parking stall in side or vertical parking stall space length, two-way with main control module
Connection；The communication module installation in the car, for truck traffic, realizes that the information between each car main controller module is handed over
Mutually；In the car, input is connected with main control module for the display module installation, for showing whether the parking stall meets that parking will
Ask；In the car, output end is connected with main control module for the key-press module installation, and for selecting parking stall detection mode, parking stall is visited
Survey pattern includes the detection of side parking stall and the detection of vertical parking stall；Main control module installation in the car, with range finder module,
Communication module, display module, key-press module are connected, and select parking stall detection mode according to key-press input, are sent by communication module
Distance measuring instruction simultaneously obtains feedback information, judges whether the parking stall meets the length requirement that stops, and will determine that by display module
As a result driver is fed back to.
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| CN201610178928.8A CN105741589B (en) | 2016-03-25 | 2016-03-25 | A kind of parking space detection method and device based on truck traffic |
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| CN201610178928.8A CN105741589B (en) | 2016-03-25 | 2016-03-25 | A kind of parking space detection method and device based on truck traffic |
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| CN105741589B true CN105741589B (en) | 2018-03-16 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10308243B2 (en) * | 2016-07-26 | 2019-06-04 | Ford Global Technologies, Llc | Vehicle remote park assist with occupant detection |
| CN108091172B (en) * | 2018-01-23 | 2023-05-09 | 上海驿光科技有限公司 | Big data-based parking navigation system |
| CN108560969A (en) * | 2018-04-26 | 2018-09-21 | 浙江科技学院 | Automobile side parking assistance system and its method |
| CN108533041A (en) * | 2018-04-26 | 2018-09-14 | 浙江科技学院 | Intelligent parking system based on automobile vehicle commander and its method |
| CN113257031A (en) * | 2021-05-17 | 2021-08-13 | 浙江工业大学 | Method and system for prompting parking in suitable distance |
| DE102023203479A1 (en) | 2023-04-18 | 2024-02-29 | Zf Friedrichshafen Ag | System and method for finding a free parking space |
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| CN101510362A (en) * | 2008-02-14 | 2009-08-19 | 爱信艾达株式会社 | Device, method and computer program for determination of the occupation state of a parking lot |
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| DE102010042843A1 (en) * | 2010-10-25 | 2012-04-26 | Robert Bosch Gmbh | Parking assistance system has control unit that automatically recognizes parking state of parked vehicle based on location data of parked vehicle and parking time displayed in display unit |
| CN103481820A (en) * | 2013-09-25 | 2014-01-01 | 江苏大学 | Auxiliary parking system having safety monitoring function and method thereof |
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| CN101878494A (en) * | 2007-12-18 | 2010-11-03 | 本田技研工业株式会社 | Parking availability judging device for vehicle, parking space detector for vehicle and movable range detector for vehicle |
| CN101510362A (en) * | 2008-02-14 | 2009-08-19 | 爱信艾达株式会社 | Device, method and computer program for determination of the occupation state of a parking lot |
| DE102010042843A1 (en) * | 2010-10-25 | 2012-04-26 | Robert Bosch Gmbh | Parking assistance system has control unit that automatically recognizes parking state of parked vehicle based on location data of parked vehicle and parking time displayed in display unit |
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