CN106601023A - Indoor parking lot vehicle guiding and positioning system and method - Google Patents
Indoor parking lot vehicle guiding and positioning system and method Download PDFInfo
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- CN106601023A CN106601023A CN201710095994.3A CN201710095994A CN106601023A CN 106601023 A CN106601023 A CN 106601023A CN 201710095994 A CN201710095994 A CN 201710095994A CN 106601023 A CN106601023 A CN 106601023A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of management of vehicles in a parking lot, and discloses an indoor parking lot vehicle guiding and positioning system and method. The system comprises a master control computer used for acquiring guiding information of a guiding module, analyzing the moving track of a certain vehicle, realizing real-time accurate positioning of the vehicle in the parking lot, and obtaining the driving path of the vehicle by employing a guiding algorithm; and the guiding module communicating with the master control computer in a wireless manner and used for acquiring movement information of the vehicle. According to the system and method, contact information of the vehicles and others is managed through the computer, paperless management is realized, statistics of various data is performed through query and analysis, the data is retrieved with high efficiency through powerful query and retrieval, and the work efficiency is improved; the effective management method is provided for business units, maintainability and extensibility are achieved, request for adding new functions and processing faults are employed, an instruction is sent to equipment, and information is processed; and the parking time is recorded, and the parking fees are calculated.
Description
Technical field
The invention belongs to parking lot technical field of vehicle management, more particularly to a kind of guiding of parking garage vehicle and positioning
System and method.
Background technology
Parking lot vehicle management system is typical information management system, and the function of its exploitation mainly includes：By calculating
Machine manages vehicle and other people contact details, realizes paperless management, by query analysis, each item data is counted, by strong
Big inquiry and rope examines efficient rope and detects data, increases work efficiency.Information as most active factor in productivity, very early
Just irreplaceable effect is played in human economy life, but information is included efficient process in enterprise business administration system
It it is the end of the fifties after invention on computer with application.The management information system that at present people are previously mentioned, typically refers in terms of
Calculation machine is instrument, management information is collected, stores, retrieves, processes and is transmitted so as to be applied to organization and enterprise's pipe
" person machine system " in reason field, the system is the beginning of the seventies " postindustrial economy " product of the time, in enterprise management information system
Unite the initial stage developed at it, be single people-machine system, systemic-function is simple, and efficiency is low, limited to managerial role.Into
Late 1980s, with greatly developing for computer network and the communication technology, management information system in enterprise enters networking
Developing period.World Developed Countries have established perfect advanced management information system system, send out in its social economy
Huge effect is played in exhibition field.
In sum, the problem of prior art presence is：Computer management vehicle and other people contact details can not be passed through,
Realize paperless management；Each item data can not be counted by query analysis；Can not be efficient by powerful inquiry and rope inspection
Rope detects data, increases work efficiency；In the vehicle guiding of prior art parking garage and alignment system, do not possess maintainability
And extensibility；It is existing guiding and localization method to information processing, to stop time record, to Parking Fee calculate it is loaded down with trivial details and
Efficiency is low；
Additionally, real-time tracking positioning cannot be carried out to vehicle in parking lot, parking stall quantity cannot be realized while guiding
Detection, cannot also realize traffic administration, there is traffic congestion phenomenon in the crossroad or T junction easily in parking lot；Draw
The detection means of guiding systems is only installed in parking lot in several stationary nodes, there is check frequency；Guiding system cannot be by car
Parking stall is guided directly into, car owner also needs to searching parking stall of controlling oneself, and the situation that two cars strive a parking stall easily occurs.
The content of the invention
To solve the problems, such as prior art, it is an object of the invention to provide a kind of parking garage vehicle guiding and
Alignment system and method.
The present invention is achieved in that a kind of parking garage vehicle guiding and localization method, the parking garage car
Guiding and localization method include：
(1) vehicle is entered behind parking lot, and at least two to three guides can be detected simultaneously by car；Main control computer every
Primary information was gathered to all guides in 0.1 second；Main control computer by analyzing the motion track of certain car, so as to realize car
Being accurately positioned in real time in parking lot, can simultaneously complete vehicle tracking, positioning and parking stall measure function；
(2) guide guides vehicle to enter parking stall by the indicator lamp of itself, and main control computer is obtained after information of vehicles, profit
The driving path of the car is drawn with existing bootstrap algorithm；
(3) main control computer will guide signal to be sent to before vehicle on second guide, be indicated by indicator lamp
Come, car owner just follows the indicator lamp of guide to enter parking stall；Traffic in indicator lamp control parking lot.
Further, using ultrasonic sensor to vehicle location, and start indicator lamp guiding vehicle traveling, when vehicle is entered
Behind crossroad, if being prepared to enter into crossroad without other vehicles, the indicator lamp in vehicle forward direction can be in advance
Light, if in other vehicles at the parting of the ways certain limit and being prepared to enter into crossroad, then leave parking lot and distance
The nearlyer person in crossroad weighs highest, leave parking lot and weigh compared with farther apart from crossroad it is higher, into parking lot and distance ten
The nearlyer person's power in word crossing is relatively low, weighs compared with farther into parking lot and apart from crossroad relatively low；The indicator lamp on direction for passing through
It is green, other but red light take driving when other vehicles being met during travelling to parking stall into vehicle leaving parking stall
During road, if leaving vehicle is introduced into runway, runway is preferentially taken into vehicle, if leave vehicle has taken driving
Road, the then indicator lamp for leading into vehicle flashes the redlight, and leaves vehicle and preferentially takes track.
Further, the vehicle positioning method includes：
Inner part of parking lot each ultrasonic wave measuring point performs 0 or 1 Returning switch signal, has car under measuring point for 1, is without car
0；Approximately regard these measuring points the pixel of image as, and each point has an independent and continuous label (f (K))；
Main control computer gathered primary information, as a frame every 0.1 second to all guides；It is super under each guide
Sound wave measuring point is a pixel；Each point has an independent and continuous label (f (a))；Certain in correspondence parking lot
One fixed position；Each two neighbor pixel at a distance of 1.5 meters, therefore, each car in parking lot take two or two with
On pixel；And be spaced 0.1 second per frame information, vehicle of the speed within 54km/h is all properly detected；
If P (k) is the kth frame information of main control computer collection, P (k+1) is the frame of kth+1 of main control computer collection, then D
(k)=P (k+1)-P (k)；P (k)={ f (a0),......f(an)}；In D (k), there are three kinds of data；0 represents that background is measuring point
Lower without car, 1 expression vehicle enters measuring point, and -1 expression vehicle leaves measuring point；
In addition, A (k)=D (k)+D (k+1), i.e., laddering frame difference method；The value of A (k) arrays for being drawn only has 1 and 0 liang
Kind, i.e., have under measuring point under car and measuring point without car；Only two or more adjacent measuring points show ability in the case of car
Determine that the position of the car, i.e. these results are the label of 1 measuring point, and same car occupies k or k+1 point；No matter in car
Vehicle location T (b) is all drawn under static or motion conditions, b is vehicle number in current parking lot；
When vehicle is entered or leaves parking stall, one or two discontinuous pixel can be taken；When vehicle pixel by
Tail off to disappearance more, be defined as vehicle into parking stall or leave parking lot；
When pixel is more until fixation by few change, it is defined as vehicle and leaves parking stall or enter parking lot；
Certain pixel is occupied all the time after a few frame informations, is defined as obstacle.
Further, the wireless vehicle tracking includes：
Into parking field signal and to leave parking field signal occurred on the pixel of FX, both signals point
Not as the initial signal and termination signal of vehicle tracking；
When initial signal occur, that is, think that parking lot enters vehicle, using the license plate number of the car as the car numbering, together
When, empty vehicle parking position of parking lot number subtracts one；
When termination signal occurs in the car, as vehicle leaves parking lot, then vacant parking stall adds one, and discharges car number；
When vehicle is gradually reduced to disappear in No Exit region and entrance area pixel, it is defined as entering parking stall；
When vehicle progressively increases to fixed pixel points in No Exit region and entrance area pixel, it is defined as leaving car
Position；
System can record the last coordinate before pixel disappears before vehicle enters parking stall, and the coordinate is the parking of vehicle
Position, seeks car and provides foundation for car owner；
Vehicle tracking with into parking lot as starting point, with into parking stall as terminating point；To leave parking stall as starting
Point, is tracked with leaving parking lot as terminating point；Track using starting point as the origin of coordinates, with coordinate in next frame information
Centered on origin, in front and back new vehicle location T (b) is found in the range of three pixels, and T (b) is set to into the new origin of coordinates,
Until terminating point.
Another object of the present invention is to the interior for providing a kind of parking garage vehicle guiding and localization method is stopped
Parking lot vehicle guiding and alignment system, the parking garage vehicle guiding and alignment system include：
Main control computer, for gathering the guidance information of guiding module, analyzes the motion track of certain car, realizes vehicle
Being accurately positioned in real time in parking lot；The driving path of vehicle is drawn using bootstrap algorithm；
Guiding module, and main control computer wireless telecommunications, for the mobile message of collection vehicle.
Further, the guiding module includes：
Indicating module, for indicating car owner's direct of travel；
Ultrasonic sensor, for detecting guiding module under whether have vehicle；
Wireless communication module, for the communication between each guiding module and main control computer；
Controller, for the control of guiding module.
Another object of the present invention is to provide a kind of parking garage vehicle guiding and localization method of being provided with
Parking lot.
The guiding of parking garage vehicle and alignment system and method that the present invention is provided, by computer management vehicle and he
The contact details of people, realize paperless management, by query analysis, count each item data, are examined by powerful inquiry and rope
Efficient rope detection data, increase work efficiency；Belong to automated management system, not only can to operating unit provide flexibly,
Effectively, reliable way to manage, and be also equipped with maintainability and extensibility, with using addition New function and handling failure
Request, sends to equipment and instructs, and information is processed；Time to stopping records, and Parking Fee is calculated；
The data such as parking lot free time parking stall, vehicle image are provided.
Can also realize carrying out real-time tracking positioning to vehicle in parking lot, the inspection of parking stall quantity is realized while guiding
Survey, it is also possible to realize traffic administration, solve the crossroad in parking lot or traffic congestion phenomenon occurs in T junction；Guiding
There is no check frequency in the detection means mounting means of system；Vehicle can be guided directly into parking stall, car owner by guiding system
Need not be controlled oneself searching parking stall, be not in the situation that two cars strive a parking stall.
Description of the drawings
Fig. 1 is vehicle guiding in parking garage provided in an embodiment of the present invention and positioning system structure schematic diagram；
In figure：1st, main control computer；2nd, guiding module.
Fig. 2 is vehicle guiding in parking garage provided in an embodiment of the present invention and localization method flow chart.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to only to explain the present invention
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in figure 1, vehicle guiding in parking garage provided in an embodiment of the present invention and alignment system include：Master control is calculated
Machine 1, guiding module 2.
Main control computer 1, for gathering the guidance information of guiding module 2, analyzes the motion track of certain car, realizes car
Being accurately positioned in real time in parking lot；The driving path of vehicle is drawn using bootstrap algorithm.
Guiding module 2, and wireless telecommunications of main control computer 1, for the mobile message of collection vehicle.
Guiding module 2 includes：Indicating module, infrared detection module, fingerprint identification module, wireless communication module and controller.
Indicating module, for indicating car owner's direct of travel.
Ultrasonic sensor, for detecting guiding module 2 under whether have vehicle.
Wireless communication module, for the communication between each guiding module 2 and main control computer 1.
Controller, for the control of guiding module 2；Using PLC；PLC by Profibus buses with
Indicating module, ultrasonic sensor communication.
Indicating module is made up of three green lights and a red light；Three green lights represent respectively left-hand rotation, straight trip and turn right；Wherein
Straight trip has two lamps, a green light and a red light.
As shown in Fig. 2 vehicle guiding in parking garage provided in an embodiment of the present invention and localization method include：
S101：Vehicle is entered behind parking lot, and at least two to three guides can be detected simultaneously by the car；Main control computer
Primary information is gathered to all guides every 0.1 second；Main control computer can analyze the motion track of certain car by more than,
So as to realize vehicle being accurately positioned in real time in parking lot, vehicle tracking, positioning and parking stall measure function can be simultaneously completed.
S102：Guide can also guide vehicle to enter parking stall by the indicator lamp of itself, and main control computer obtains vehicle
After information, it is possible to use existing bootstrap algorithm draws the driving path of the car.
S103：Main control computer will guide signal to be sent to before vehicle on second guide, be indicated by indicator lamp
Out, car owner can just follow the indicator lamp of guide to enter parking stall；Indicator lamp can also control the traffic in parking lot.
Vehicle positioning method provided in an embodiment of the present invention includes：
Inner part of parking lot ultrasonic wave measuring point is more, and each measuring point be return 0 or 1 switching signal, measuring point
Under have car for 1, be 0 without car.Therefore, these measuring points are approximately regarded as the pixel of image, and each point has one individually
And continuous label (f (K)).The present invention is using the vehicle in laddering frame difference method vehicle positioning stop field；Using goal-seeking approach with
The track vehicle.It, based on the object localization method of camera, is the previous frame signal and a later frame for gathering camera that frame difference method is
Signal makes the difference, so as to distinguish target and background.But the method is not suitable at a slow speed or static target, more cannot be used directly for stopping
The vehicle location of field.
Main control computer (PC) gathered primary information, as a frame every 0.1 second to all guides.Each guide
Under ultrasonic wave measuring point be a pixel.Each point has an independent and continuous label (f (a)).Correspondence parking lot
Interior a certain fixed position.Each two neighbor pixel at a distance of 1.5 meters, therefore, each car in parking lot take two or
Plural pixel.And be spaced 0.1 second per frame information, therefore, vehicle of the speed within 54km/h can be correct
Detect.
If P (k) is the kth frame information of main control computer (PC) collection, P (k+1) is main control computer (PC) collection
The frame of kth+1, then D (k)=P (k+1)-P (k).P (k)={ f (a0),......f(an), in D (k), there are three kinds of data.0
Represent that background is that, without car under measuring point, 1 expression vehicle enters measuring point, -1 expression vehicle leaves measuring point.In addition with traditional frame difference method
It is otherwise varied.In addition, A (k)=D (k)+D (k+1), i.e., laddering frame difference method.The value of A (k) arrays for being drawn only has 1 and 0 liang
Kind, i.e., have under measuring point under car and measuring point without car.Only two or more adjacent measuring points show ability in the case of car
Determine that the position of the car, i.e. these results are the label of 1 measuring point, and same car occupies k or k+1 point.Such as,
2.7 meters of Smart vehicle commander, typically constitutes from two or three pixels；6.3 meters of Ford F-350 vehicle commander, typically constitutes from three or four pixels
Point.Therefore, no matter can draw vehicle location T (b) under stationary vehicle or motion conditions, b is vehicle in current parking lot
Number.
In some cases, when vehicle is entered or leaves parking stall, one or two discontinuous pixel can be taken.Institute
So that by situation about tailing off more to disappearance, system is defined as vehicle into parking stall or leaves parking lot the pixel of vehicle；Pixel
Point is more until fixed situation by few change, and system is defined as vehicle and leaves parking stall or enter parking lot；After several frame informations certain
Pixel is occupied all the time, and system is defined as obstacle.The foundation that information above will be guided as vehicle.
Wireless vehicle tracking provided in an embodiment of the present invention includes：
Due to into parking field signal and leave parking field signal be occur on the pixel of FX, therefore, with
Initial signal and termination signal of the upper two kinds of signals respectively as vehicle tracking.
When initial signal occurs, that is, think that parking lot enters vehicle, system using the license plate number of the car as the car numbering,
Meanwhile, empty vehicle parking position of parking lot number subtracts one；When termination signal occurs in the car, as vehicle leaves parking lot, then vacant parking stall adds
One, and discharge car number.Vehicle No Exit region and entrance area pixel be gradually reduced to disappear, system be defined as into
Enter parking stall；Vehicle progressively increases to fixed pixel points in No Exit region and entrance area pixel, and system is defined as leaving
Parking stall.System can record the last coordinate before pixel disappears before vehicle enters parking stall, and the coordinate is the parking stall of vehicle
Put, seek car for car owner and foundation is provided.
Vehicle tracking is exactly with into parking lot as starting point, with into parking stall as terminating point；It is to leave parking stall
Starting point, is tracked with leaving parking lot as terminating point.Tracking is using starting point as the origin of coordinates, in next frame information
Centered on the origin of coordinates, in front and back new vehicle location T (b) is found in the range of three pixels, and T (b) is set to into new seat
Mark origin, until terminating point.
The operation principle of the present invention：
Ultrasonic sensor is to vehicle location, and start indicator lamp guiding vehicle traveling, after vehicle enters crossroad,
If being prepared to enter into crossroad without other vehicles, the indicator lamp in vehicle forward direction can be lighted in advance, if
At the parting of the ways certain limit is interior and is prepared to enter into crossroad for other vehicles, then several cars pass through ten according to following priority
Word crossing, leaves parking lot and weighs highest apart from the nearlyer person in crossroad, leaves parking lot and weighs compared with farther apart from crossroad
It is higher, it is into parking lot and relatively low apart from the nearlyer person in crossroad power, into parking lot and apart from crossroad compared with farther weigh compared with
It is low；Now, only allow the indicator lamp on the direction for passing through to be green, other groups but red light, when into vehicle to parking stall
Meet during traveling other vehicles leave parking stall take runway when, if leaving vehicle is introduced into runway, into car
Preferential to take runway, if leave vehicle has taken runway, the indicator lamp for leading into vehicle flashes the redlight, and leaves
Vehicle preferentially takes track, develops efficient interior and puies forward vehicle commander's management system, and by management system, car owner can be very easily
Understand parking position occupancy situation, car owner is entered behind parking lot, using inducible system optimal parking stall and optimal is calculated
Car can be reached parking stall by traffic route, car owner by the guide of guiding instruction system, and management system can be pressed to the car automatically
When charging.
Before each parking stall in parking lot, cross (T words) crossing and go out (enter) mouth install guide.Vehicle is according to fixation
Interval time enter parking lot.Because guide is to install more intensive, therefore, vehicle is entered behind parking lot, and at least two
The car can be detected simultaneously by three guides.Main control computer gathered primary information every 0.1 second to all guides.And car
Displacement is limited within the time of 0.1 second, therefore, main control computer can analyze the moving rail of certain car by more than
Mark, so as to realize vehicle being accurately positioned in real time in parking lot, can simultaneously complete vehicle tracking, positioning and parking stall measure work(
Energy.And need two to three set discrete parts just to complete this several functions in current parking lot.Additionally, guide can also pass through
The indicator lamp guiding vehicle of itself enters parking stall.Main control computer is obtained after information of vehicles, it is possible to use existing bootstrap algorithm
Draw the driving path of the car.Due to detecting two or three guides of the car in the top of vehicle, car owner can't see guiding
Device.Therefore, main control computer will guide signal to be sent to before vehicle on second guide, be indicated by indicator lamp,
Car owner can just follow the indicator lamp of guide to enter parking stall.Indicator lamp can also control the traffic in parking lot.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (7)
1. a kind of parking garage vehicle is guided and localization method, it is characterised in that the parking garage vehicle is guided and fixed
Position method includes：
(1) vehicle is entered behind parking lot, and at least two to three guides can be detected simultaneously by car；Main control computer is every 0.1
Second gathers primary information to all guides；Main control computer by analyzing the motion track of certain car, so as to realize vehicle
Being accurately positioned in real time in parking lot, can simultaneously complete vehicle tracking, positioning and parking stall measure function；
(2) guide guides vehicle to enter parking stall by the indicator lamp of itself, and main control computer is obtained after information of vehicles, using
Some bootstrap algorithms draw the driving path of the car；
(3) main control computer will guide signal to be sent to before vehicle on second guide, be indicated by indicator lamp, car
It is main that just and then the indicator lamp of guide enters parking stall；Traffic in indicator lamp control parking lot.
2. parking garage vehicle as claimed in claim 1 is guided and localization method, it is characterised in that adopt supersonic sensing
Device is to vehicle location, and start indicator lamp guiding vehicle traveling, after vehicle enters crossroad, if accurate without other vehicles
Standby to enter crossroad, then the indicator lamp in vehicle forward direction can be lighted in advance, if other vehicles at the parting of the ways
Certain limit is interior and is prepared to enter into crossroad, then leave parking lot and weigh highest apart from the nearlyer person in crossroad, leaves parking
And weigh compared with farther apart from crossroad it is higher, it is into parking lot and relatively low apart from the nearlyer person in crossroad power, into parking lot
And weigh compared with farther apart from crossroad relatively low；The indicator lamp on direction for passing through is green, other but red light, when entering vehicle
Meet during travelling to parking stall other vehicles leave parking stall take runway when, if leaving vehicle is introduced into runway,
Then runway is preferentially taken into vehicle, if leave vehicle has taken runway, the indicator lamp for leading into vehicle is lighted
Red light, leaves vehicle and preferentially takes track.
3. parking garage vehicle as claimed in claim 1 is guided and localization method, it is characterised in that the vehicle location side
Method includes：
Inner part of parking lot each ultrasonic wave measuring point performs 0 or 1 Returning switch signal, has car under measuring point for 1, is 0 without car；Will
These measuring points approximately regard the pixel of image as, and each point has an independent and continuous label (f (K))；
Main control computer gathered primary information, as a frame every 0.1 second to all guides；Ultrasonic wave under each guide
Measuring point is a pixel；Each point has an independent and continuous label (f (a))；It is a certain solid in correspondence parking lot
Positioning is put；Apart 1.5 meters of each two neighbor pixel, therefore, each car in parking lot takes two or more
Pixel；And be spaced 0.1 second per frame information, vehicle of the speed within 54km/h is all properly detected；
If P (k) is the kth frame information of main control computer collection, P (k+1) is the frame of kth+1 of main control computer collection, then D (k)
=P (k+1)-P (k)；P (k)={ f (a0),......f(an)}；In D (k), there are three kinds of data；0 represents that background is under measuring point
Without car, 1 expression vehicle enters measuring point, and -1 expression vehicle leaves measuring point；
In addition, A (k)=D (k)+D (k+1), i.e., laddering frame difference method；The value of A (k) arrays for being drawn only has 1 and 0 two kind, i.e.,
Have under measuring point under car and measuring point without car；Only two or more adjacent measuring points just can determine that this in the case of showing car
The position of car, i.e. these results are the label of 1 measuring point, and same car occupies k or k+1 point；No matter in stationary vehicle
Or vehicle location T (b) is all drawn under motion conditions, b is vehicle number in current parking lot；
When vehicle is entered or leaves parking stall, one or two discontinuous pixel can be taken；When the pixel of vehicle is by changeable
Few arriving disappears, and is defined as vehicle into parking stall or leaves parking lot；
When pixel is more until fixation by few change, it is defined as vehicle and leaves parking stall or enter parking lot；
Certain pixel is occupied all the time after a few frame informations, is defined as obstacle.
4. parking garage vehicle as claimed in claim 1 is guided and localization method, it is characterised in that the vehicle tracking side
Method includes：
Into parking field signal and leave parking field signal be occur on the pixel of FX, both signals are made respectively
For the initial signal and termination signal of vehicle tracking；
When initial signal occur, that is, think that parking lot enters vehicle, using the license plate number of the car as the car numbering, meanwhile, stop
Parking lot vacant parking stall number subtracts one；
When termination signal occurs in the car, as vehicle leaves parking lot, then vacant parking stall adds one, and discharges car number；
When vehicle is gradually reduced to disappear in No Exit region and entrance area pixel, it is defined as entering parking stall；
When vehicle progressively increases to fixed pixel points in No Exit region and entrance area pixel, it is defined as leaving parking stall；
System can record the last coordinate before pixel disappears before vehicle enters parking stall, and the coordinate is the parking stall of vehicle
Put, seek car for car owner and foundation is provided；
Vehicle tracking with into parking lot as starting point, with into parking stall as terminating point；To leave parking stall as starting point, with
Leave parking lot to be tracked for terminating point；Track using starting point as the origin of coordinates, with the origin of coordinates in next frame information
Centered on, in front and back new vehicle location T (b) is found in the range of three pixels, and T (b) is set to into the new origin of coordinates, until
Terminating point.
5. the parking garage vehicle of a kind of vehicle guiding in parking garage as claimed in claim 1 and localization method is guided and fixed
Position system, it is characterised in that the parking garage vehicle guiding and alignment system include：
Main control computer, for gathering the guidance information of guiding module, analyzes the motion track of certain car, realizes that vehicle is stopping
Being accurately positioned in real time in parking lot；The driving path of vehicle is drawn using bootstrap algorithm；
Guiding module, and main control computer wireless telecommunications, for the mobile message of collection vehicle.
6. parking garage vehicle as claimed in claim 5 is guided and alignment system, it is characterised in that the guiding module bag
Include：
Indicating module, for indicating car owner's direct of travel；
Ultrasonic sensor, for detecting guiding module under whether have vehicle；
Wireless communication module, for the communication between each guiding module and main control computer；
Controller, for the control of guiding module.
7. a kind of parking lot for being provided with the guiding of parking garage vehicle described in Claims 1 to 4 any one and localization method.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710095994.3A CN106601023B (en) | 2017-02-22 | 2017-02-22 | Indoor parking lot vehicle guiding and positioning system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710095994.3A CN106601023B (en) | 2017-02-22 | 2017-02-22 | Indoor parking lot vehicle guiding and positioning system and method |
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| CN106601023A true CN106601023A (en) | 2017-04-26 |
| CN106601023B CN106601023B (en) | 2019-12-06 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN107146461A (en) * | 2017-06-23 | 2017-09-08 | 安徽卓上光电科技有限责任公司 | A kind of light fixture navigation system in parking lot |
| CN107369335A (en) * | 2017-09-15 | 2017-11-21 | 山东建筑大学 | A kind of reverse vehicle searching system and method based on ultrasonic listening technology |
| CN107369335B (en) * | 2017-09-15 | 2019-09-03 | 山东建筑大学 | A kind of reverse vehicle searching system and method based on ultrasonic listening technology |
| CN108320569A (en) * | 2018-01-15 | 2018-07-24 | 京东方光科技有限公司 | A kind of parking navigation method, apparatus and system |
| US10650679B2 (en) | 2018-01-15 | 2020-05-12 | Boe Technology Group Co., Ltd. | Parking navigation method, device and system |
| CN108366226A (en) * | 2018-01-30 | 2018-08-03 | 深圳市盛路物联通讯技术有限公司 | Prison administration control method, device, system and readable storage medium storing program for executing |
| CN108366226B (en) * | 2018-01-30 | 2020-12-01 | 深圳市盛路物联通讯技术有限公司 | Prison management control method, device and system and readable storage medium |
| CN108305504A (en) * | 2018-03-13 | 2018-07-20 | 京东方科技集团股份有限公司 | A kind of parking stall air navigation aid and system |
| CN108765976A (en) * | 2018-06-21 | 2018-11-06 | 智慧互通科技有限公司 | The parallel parking information of trackside manages system and method |
| CN108986526A (en) * | 2018-07-04 | 2018-12-11 | 深圳技术大学（筹） | A kind of intelligent parking method and system of view-based access control model sensing tracking vehicle |
| CN109637152A (en) * | 2019-01-04 | 2019-04-16 | 浙江工业大学 | A kind of planning system and method for the old residential area traffic route based on scheduling theory |
| CN109598980A (en) * | 2019-01-30 | 2019-04-09 | 温州大学 | A kind of garage intelligence instruction shutdown system |
| CN115457762A (en) * | 2022-08-04 | 2022-12-09 | 浙江大华技术股份有限公司 | Parking space management method, system, electronic equipment and computer readable storage medium |
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