CN105825708A - Parking space state judgment method of geomagnetic vehicle detector - Google Patents
Parking space state judgment method of geomagnetic vehicle detector Download PDFInfo
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- 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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Abstract
The invention discloses a parking space state judgment method of a geomagnetic vehicle detector. The method includes the following steps that: a three-axis (XYZ) magnetoresistive sensor with a temperature compensation function is adopted; when the sensor is installed, the Z axis of the sensor is perpendicular to the ground, the Y axis and X axis of the sensor point to the adjacent edges of a parking space respectively; two axial directions (i.e. horizontal axial directions) of the Y axis and X axis are set as auxiliary reference axes and are used for monitoring the dynamic perturbation value of a magnetic field; the axial direction (i.e. vertical axial direction) of the Z axis is set as a main reference axis and is used for judging the static variation amount of the magnetic field; and a horizontal surface magnetic field dynamic perturbation value monitoring and vertical axial direction magnetic field strength variation amount determination method is used in combination to judge whether the parking space is unoccupied or unoccupied. According to the method, whether vertical axial direction magnetic field strength variation amount is larger than an uplink threshold value or is smaller than a downlink threshold value is judged, and a Mealy state machine model is used to judge the current status of the parking space. With the method adopted, interference on parking space judgment of the geomagnetic vehicle detector caused by adjacent parking spaces, surrounding passing vehicles and sensor temperature drift and background magnetic field drift can be effectively inhibited, and the problem of frequently jump of the state of a parking space can be solved.
Description
Technical field
The present invention relates to the parking space state decision method of a kind of earth magnetism vehicle checker, belong to geomagnetic parking stall detection technique field.
Background technology
Earth magnetism vehicle checker is a kind of decision maker being realized parking space state by monitoring GEOMAGNETIC CHANGE situation, owing to it has detection sensitivity height, low in energy consumption, use buried mounting means and communication, without wiring and be not easily susceptible to vehicle and roll destruction, be therefore presently the most popular a kind of be applied to open parking ground occasion parking space state-detection parking stall measure means.But during geomagnetic parking stall detection is actually used, the often following several problems affecting parking space state accuracy of detection of existence:
First it is the temperature drift problems of sensor, owing to the outdoor environment temperature difference is bigger, there is temperature drift phenomenon in semiconductor transducer, thus cause magnetic field baseline and magnetic field reading to drift about, parking space state may be caused to judge by accident when temperature drift is serious, those skilled in the art solve the conventional measure of this problem two kinds: one is to set up temperature sensor module in detector to carry out temperature-compensating (such as Chinese patent CN101807350A), but the method need to carry out sensor temperature curve matching in advance trip temperature experiment of dispatching from the factory, realize algorithm complicated, too increase cost and power consumption simultaneously.This patent scheme: select built-in temperature to compensate the magnetic field sensor module of function, cost-effective, simplify algorithm and process of dispatching from the factory.Ensure the magnetic field data of geomagnetic sensor output accurately and reliably.
Next to that the adjacent parking stall problem to terrestrial magnetic disturbance, owing to geomagnetism detecting device is the most sensitive to the disturbance in periphery magnetic field, therefore the magnetic field of adjacent parking stall can be produced certain disturbance during vehicle parking, sensor may be caused to judge by accident when this disturbance quantity exceedes certain threshold value, the means generally solving this technical problem are to use the benchmark under empty parking space state or threshold value self-correcting scheme (such as Chinese patent CN104867355A), the defect that these means exist is that algorithm complex is high, and self-correcting can only be carried out when for parking stall idle condition, the disturbance of magnetic field caused of then cannot parking periphery parking stall when parking stall is occupied is corrected；Another kind of method is to use adjacent parking stall Collaborative Decision Making Method, by the state of parking analyzing periphery parking stall, current parking space state carried out synthetic determination (Chinese patent CN103544848A), the method need to set the topological relation figure of all adjacent detection cars in parking lot, and the detection data combining the detector of adjacent parking stall judge, algorithm is relative complex, and practicality is the strongest.
Finally the frequent jump problem of parking space state result of determination, cause this problem because of have two: one be vehicle cross vehicle checker and do not berth cause parking space state occur once from the state transition of " without car " → " having car " → " without car "；Two is owing to a variety of causes causes magnetic field near vehicle checker to change, and makes magnetic field collection value oscillate about at decision threshold, and frequent continuous print parking space state " saltus step " phenomenon occurs.The means generally solving this technical problem are to use repeatedly to judge or window filtering algorithm, this algorithm can effectively solve the parking space state saltus step that the first phenomenon causes, but the parking space state saltus step that second case causes cannot be effected a radical cure, and judge when number of times or filter times arrange the least, the problems referred to above cannot be solved, the too big real-time reducing again parking space state judgement is set to obtain.
Summary of the invention
Purpose: in order to overcome the deficiencies in the prior art, the present invention provides the parking space state decision method of a kind of earth magnetism vehicle checker, this decision method can effectively suppress adjacent parking stall, periphery vehicular traffic and sensor temperature drift and background magnetic field drift that earth magnetism vehicle checker parking stall judges the interference caused, and effectively solves the frequent jump problem of parking space state.
Technical scheme: for solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of parking space state decision method of earth magnetism vehicle checker, it is characterised in that: described earth magnetism vehicle checker uses three axles (XYZ) magnetoresistive transducer with temperature compensation function；During installation, the Z axis of sensor is perpendicular to direction, ground, and Y-axis and X-axis are respectively directed to parking stall adjacent side；The magnetic field of Y-axis and X-axis two axially (i.e. horizontal axis) is the most sensitive to adjacent vehicle disturbance, is set as auxiliary reference axle, is used for monitoring magnetic field dynamic disturbances value；The magnetic field of Z axis axially (i.e. vertical axial) is minimum by adjacent vehicle disturbing influence, is set to main reference axis, is used for judging magnetic field static change amount；The method judged with vertical axial change of magnetic field strength amount in conjunction with the monitoring of horizontal plane magnetic field dynamic disturbances value, it is determined that parking stall is idle or parking stall takies.
The parking space state decision method of described earth magnetism vehicle checker, it is characterised in that comprise the following steps:
Step 1: demarcate the magnetic field reference of vertical axial under empty parking space state；
Step 2: the dynamic disturbances value in magnetic field, level monitoring face in real time；When the dynamic disturbances value in horizontal plane magnetic field is more than the threshold value set, performs step 3, otherwise continue executing with step 2；
Step 3: wait when horizontal plane disturbance of magnetic field value returns within stable threshold, the static change amount performing vertical axial magnetic field judges；
Step 4: according to the static change amount in vertical axial magnetic field whether more than up threshold value (up finger parking stall by the free time to taking) or be less than descending threshold value (descending finger parking stall is by taking the free time), determine current parking space state.
Step 1 demarcates the magnetic field reference of vertical axial under empty parking space state, specifically refers to: under the idle condition of parking stall, with sample frequency f0Acquisition length is the vertical axial magnetic field sample data of n, calculates variance S of sample magnetic field intensity0If, sample variance S0Less than setting threshold value Tr0, it was demonstrated that current background stable magnetic field, and calculate sample mean magnetic field intensity MXYZ, work as MXYZMeet MXYZ∈[MS-δ,MS+ δ] (wherein MSFor when geomagnetic field intensity standard value, δ is error allowed band), ask for the average of sampled notebook data as vertical axial magnetic field intensity basis reference M0, otherwise, repeat this step.
The dynamic disturbances value in step 2 in real time magnetic field, level monitoring face, specifically refers to: according to sample frequency f Real-time Collection horizontal plane magnetic field data and be updated to a length of N queue in, calculate sample variance S of queuing data as horizontal plane disturbance of magnetic field value.
The method that in step 3, the static change amount in vertical axial magnetic field judges as: wait horizontal plane disturbance of magnetic field value return to below threshold value time, gather vertical axial magnetic field data Mp, according to vertical axial reference magnetic field M0, calculate static magnetic field variation delta M=| Mp-M0|。
The method determining current parking space state in step 4 is: set up threshold value T respectivelyupWith descending threshold value Tdown
Tup=Toffset+β；
TDown=Toffset-β；
T in formulaoffsetFor standard determination threshold value, β is for judging interval adjustment amount, and β ＞ 0；
Wherein, up finger parking stall is by the free time to taking, and descending finger parking stall is by taking the free time；In up decision process, if Δ M ＞ Tup, then it is judged to that parking stall takies；In descending decision process: if Δ M ＜ Tdown, then judge that parking stall is idle；Otherwise, uphold decision and determine state.
Beneficial effect: the parking space state decision method of the earth magnetism vehicle checker that the present invention provides, by the three-axis sensor unit using built-in temperature to compensate, easily and effectively inhibits the interference that geomagnetic sensor reading accuracy is caused by temperature drift.Vertical axial magnetic field intensity decision method is combined by the monitoring of horizontal plane magnetic field dynamic disturbances value, can be prevented effectively from adjacent parking stall and disturbance of magnetic field that vehicular traffic brings judges the impact that causes to parking space state, simultaneously, by threshold determination method up, descending, use the Mealy current parking space state of state machine mode decision, be prevented effectively from the phenomenon of the frequent saltus step of parking stall decision state.The decision method that the present invention proposes can be effectively improved the parking space state of geomagnetic parking stall detector and judge precision and lasting accuracy, has higher robustness.Method disclosed by the invention realizes simply technically, can be effectively improved parking space state and judge reliability and real-time.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is further described.
Described earth magnetism vehicle checker uses three axles (XYZ) magnetoresistive transducer with temperature compensation function；During installation, the Z axis of sensor is perpendicular to direction, ground, and Y-axis and X-axis are respectively directed to parking stall adjacent side；The magnetic field of Y-axis and X-axis two axially (i.e. horizontal axis) is the most sensitive to adjacent vehicle disturbance, is set as auxiliary reference axle, is used for monitoring magnetic field dynamic disturbances value；The magnetic field of Z axis axially (i.e. vertical axial) is minimum by adjacent vehicle disturbing influence, is set to main reference axis, is used for judging magnetic field static change amount；The method judged with vertical axial change of magnetic field strength amount in conjunction with the monitoring of horizontal plane magnetic field dynamic disturbances value, it is determined that parking stall is idle or parking stall takies.
Comprising the following steps of described parking space detector:
Step 1: demarcate the magnetic field reference of vertical axial under empty parking space state: under the idle condition of parking stall, with sample frequency f0(recommendation is 1Hz) acquisition length is (recommendation is 8) vertical axial magnetic field sample data of n, such as following table:
| X-axis magnetic field (mGa) | Y-axis magnetic field (mGa) | Z axis magnetic field (mGa) | Magnetic field intensity (mGa) | |
| 1st group | -44 | -339 | 374 | 506 |
| 2nd group | -44 | -340 | 373 | 506 |
| 3rd group | -44 | -340 | 372 | 505 |
| 4th group | -45 | -338 | 374 | 506 |
| 5th group | -43 | -339 | 375 | 507 |
| 6th group | -43 | -337 | 375 | 506 |
| 7th group | -43 | -339 | 374 | 506 |
| 8th group | -41 | -338 | 374 | 505 |
Calculate variance S of sample magnetic field intensity0=0.36, sample variance S0Less than setting threshold value Tr0(recommendation 2.0), it was demonstrated that current background stable magnetic field, and calculate sample mean magnetic field intensity MXYZ=505.9mGa, full MXYZ∈[MS-δ,MS+ δ] (wherein MSFor when geomagnetic field intensity standard value, value 520mGa, δ is error allowed band, value 50mGa), ask for the vertical axial magnetic field intensity average of sampled notebook data as basis reference M0=374mGa, otherwise, repeats this step；
Step 2: the dynamic disturbances value in magnetic field, level monitoring face in real time, according to sample frequency f (recommendation 1Hz) Real-time Collection horizontal plane magnetic field data and be updated to a length of N (recommendation is 8) queue in, when vehicle sails into, magnetic field data variance S (being assumed to be 120) that in three axles calculating queues, horizontal plane is axial is as horizontal plane disturbance of magnetic field value.When the dynamic disturbances value in horizontal plane magnetic field is more than threshold value (being assumed to be 100) set, performs step 3, otherwise continue executing with step 2；
Step 3: wait horizontal plane disturbance of magnetic field value return to threshold value (assuming 100) below time, collection vertical axial magnetic field data Mp(being assumed to be 700mGa), according to vertical axial reference magnetic field M0(374mGa), static magnetic field variation delta M=is calculated | Mp-M0|=326mGa；
Step 4: according to the static change amount in vertical axial magnetic field whether more than up threshold value (up finger parking stall by the free time to taking) or less than descending threshold value (descending finger parking stall is by taking the free time), it is determined that currently parking space state.
Set up threshold value T respectivelyupWith descending threshold value Tdown
Tup=Toffset+β；
Tdown=Toffset-β；
T in formulaoffseFor standard determination threshold value (being assumed to be 150), β is for judging interval adjustment amount (being assumed to be 50)；
In up decision process, if, then Δ M ＞ TupIt is judged to that parking stall takies；In descending decision process: if Δ M ＜ Tdown, then judge that parking stall is idle；Otherwise, uphold decision and determine state.
The above is only the preferred embodiment of the present invention; it is noted that, for those skilled in the art; under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (6)
1. the parking space state decision method of an earth magnetism vehicle checker, it is characterised in that: described earth magnetism vehicle checker uses three axles (XYZ) magnetoresistive transducer with temperature compensation function；During installation, the Z axis of sensor is perpendicular to direction, ground, and Y-axis and X-axis are respectively directed to parking stall adjacent side；Y-axis and X-axis two axially (i.e. horizontal axis) are set as auxiliary reference axle, are used for monitoring magnetic field dynamic disturbances value；Z axis axially (i.e. vertical axial) is set to main reference axis, is used for judging magnetic field static change amount；The method judged with vertical axial change of magnetic field strength amount in conjunction with the monitoring of horizontal plane magnetic field dynamic disturbances value, it is determined that parking stall is idle or parking stall takies.
The parking space state decision method of earth magnetism vehicle checker the most according to claim 1, it is characterised in that comprise the following steps:
Step 1: demarcate the magnetic field reference of vertical axial under empty parking space state；
Step 2: the dynamic disturbances value in magnetic field, level monitoring face in real time；When the dynamic disturbances value in horizontal plane magnetic field is more than the threshold value set, performs step 3, otherwise continue executing with step 2；
Step 3: wait when horizontal plane disturbance of magnetic field value returns within stable threshold, the static change amount performing vertical axial magnetic field judges；
Step 4: whether be more than up threshold value or less than descending threshold value according to the static change amount in vertical axial magnetic field, determine current parking space state.
The parking space state decision method of earth magnetism vehicle checker the most according to claim 2, it is characterised in that step 1 demarcates the magnetic field reference of vertical axial under empty parking space state, specifically refers to: under the idle condition of parking stall, with sample frequency f0Acquisition length is the vertical axial magnetic field sample data of n, calculates variance S of sample magnetic field intensity0If, sample variance S0Less than setting threshold value Tr0, it was demonstrated that current background stable magnetic field, and calculate sample mean magnetic field intensity MXYZ, work as MXYZMeet MXYZ∈[MS-δ,MS+ δ], wherein MSFor when geomagnetic field intensity standard value, δ is error allowed band, asks for the average of sampled notebook data as vertical axial magnetic field intensity basis reference M0, otherwise, repeat this step.
The parking space state decision method of earth magnetism vehicle checker the most according to claim 2, it is characterized in that: the dynamic disturbances value in step 2 magnetic field, level monitoring face in real time, specifically refer to: according to sample frequency f Real-time Collection horizontal plane magnetic field data and be updated to a length of N queue in, calculate queuing data sample variance S as horizontal plane disturbance of magnetic field value.
The parking space state decision method of earth magnetism vehicle checker the most according to claim 2, it is characterized in that: the method that in step 3, the static change amount in vertical axial magnetic field judges as: wait horizontal plane disturbance of magnetic field value return to below threshold value time, gather vertical axial magnetic field data Mp, according to vertical axial reference magnetic field M0, calculate static magnetic field variation delta M=| Mp-M0|。
The parking space state decision method of earth magnetism vehicle checker the most according to claim 2, it is characterised in that: the method determining current parking space state in step 4 is: set up threshold value T respectivelyupWith descending threshold value Tdown
Tup=Toffset+β；
Tdown=Toffset-β；
T in formulaoffsetFor standard determination threshold value, β is for judging interval adjustment amount, and β ＞ 0；
Wherein, up finger parking stall is by the free time to taking, and descending finger parking stall is by taking the free time；In up decision process, if Δ M ＞ Tup, then it is judged to that parking stall takies；In descending decision process: if Δ M ＜ Tdown, then judge that parking stall is idle；Otherwise, uphold decision and determine state.
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