CN106781659B - A kind of parking space state a reference value scaling method and device - Google Patents
A kind of parking space state a reference value scaling method and device Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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Abstract
The present invention provides a kind of parking space state a reference value scaling method and devices, wherein this method comprises: determining the parking space state reference data under current parking space state when parking stall is in vehicles or car-free status；According to the parking space state reference data, the adjusted value that the parking space state under the current parking space state determines distance is calculated；Distance, which is demarcated, to be determined to the parking space state under current parking space state by the adjusted value.The accuracy rate of parking space state detection can be improved in the parking space state a reference value scaling method and device provided through the embodiment of the present invention.
Description
Technical field
The present invention relates to technical field of data processing, in particular to a kind of parking space state a reference value scaling method and
Device.
Background technique
Currently, popularizing with motor vehicle, parking lot is also more and more, and existing parking lot is managed to parking stall
When, it can be carried out using state of the stall testing apparatus with geomagnetism detecting device, distance measuring sensor or microstrip antenna to parking stall
Detection.
In the related technology, during stall testing apparatus detects parking space state, geomagnetism detecting device, ranging can be sensed
Device or the collected data of microstrip antenna are compared with judgement parking space state data preset in stall testing apparatus, are determined
The occupied state of parking stall.
In realizing process of the present invention, at least there are the following problems in the related technology for inventor's discovery:
The temperature and humidity variation of parking stall environment can make practical judgement parking space state data change, if using preset judgement
Parking space state data determine the occupied state of parking stall, will lead to stall testing apparatus and judge by accident to parking space state, reduce parking stall shape
The accuracy rate of state detection.
Summary of the invention
In view of this, the embodiment of the present invention is designed to provide a kind of parking space state a reference value scaling method and device,
To improve the accuracy rate of parking space state detection.
In a first aspect, the embodiment of the invention provides a kind of parking space state a reference value scaling methods, comprising:
When parking stall is in vehicles or car-free status, the parking space state reference data under current parking space state is determined；
According to the parking space state reference data, the tune that the parking space state under the current parking space state determines distance is calculated
Whole value；
Distance, which is demarcated, to be determined to the parking space state under current parking space state by the adjusted value.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, in which: really
Parking space state reference data under settled preceding parking space state, comprising:
When failing to get the parking space state reference data under current parking space state, multiple groups microstrip antenna number of echoes is obtained
According to；
Calculate the average value of each group microstrip antenna echo data in the multiple groups microstrip antenna echo data；
The average value of microstrip antenna echo data described in each group obtained by calculation determines the institute under current parking space state
State parking space state reference data.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, in which: logical
The average value for crossing microstrip antenna echo data described in each group being calculated determines the parking space state under current parking space state
Reference data, comprising:
Remove the most value in the average value of microstrip antenna echo data described in each group；
Calculate the mean data of the average value of microstrip antenna echo data described in each group after removing most value, and the institute that will be obtained
Mean data is stated as the parking space state reference data under current parking space state.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, in which: root
According to the parking space state reference data, the adjusted value that the parking space state under the current parking space state determines distance is calculated, comprising:
Obtain multiple microstrip antenna data；
Multiple microstrip antenna data mahalanobis distance with the parking space state reference data respectively is calculated, is obtained multiple
Mahalanobis distance calculated result；
According to multiple mahalanobis distance calculated results, the parking space state calculated under the current parking space state determines distance
Adjusted value.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, in which: root
According to multiple mahalanobis distance calculated results, the adjusted value that the parking space state under current parking space state determines distance is calculated, comprising:
Remove the most value in multiple mahalanobis distance calculated results；
It calculates and removes the mahalanobis distance mean values of multiple mahalanobis distance calculated results after most value, and will be calculated
The mahalanobis distance mean value determines the adjusted value of distance as the parking space state under current parking space state.
Second aspect, the embodiment of the invention provides a kind of parking space state a reference value caliberating devices, comprising:
Determining module, for determining the parking stall under current parking space state when parking stall is in vehicles or car-free status
State reference data；
Adjustment calculation module, for calculating under the current parking space state according to the parking space state reference data
The adjusted value of parking space state judgement distance；
Demarcating module, for determining that distance carries out to the parking space state under current parking space state by the adjusted value
Calibration.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, in which: institute
State determining module, comprising:
Acquiring unit, for obtaining multiple groups when failing to get the parking space state reference data under current parking space state
Microstrip antenna echo data；
Average calculation unit, for calculating each group microstrip antenna echo data in the multiple groups microstrip antenna echo data
Average value；
Reference data determination unit, for the average value of microstrip antenna echo data described in each group obtained by calculation,
Determine the parking space state reference data under current parking space state.
In conjunction with second aspect, the embodiment of the invention provides second of possible embodiments of second aspect, in which: institute
State reference data determination unit, comprising:
Subelement is handled, for removing the most value in the average value of microstrip antenna echo data described in each group；
Computation subunit, for calculate remove most value after microstrip antenna echo data described in each group average value mean value number
According to, and using the obtained mean data as the parking space state reference data under current parking space state.
In conjunction with second aspect, the embodiment of the invention provides the third possible embodiments of second aspect, in which: institute
State adjustment calculation module, comprising:
Microstrip antenna data capture unit, for obtaining multiple microstrip antenna data；
Mahalanobis distance computing unit, for calculate multiple microstrip antenna data respectively with the parking space state base value
According to mahalanobis distance, obtain multiple mahalanobis distance calculated results；
Adjustment calculation unit, for calculating the current parking space state according to multiple mahalanobis distance calculated results
Under parking space state determine distance adjusted value.
In conjunction with second aspect, the embodiment of the invention provides the 4th kind of possible embodiments of second aspect, in which: institute
State adjustment calculation unit, comprising:
Most value processing subelement, for removing the most value in multiple mahalanobis distance calculated results；
Adjustment calculation subelement, for calculate the geneva of multiple mahalanobis distance calculated results after removing most value away from
From mean value, and using the mahalanobis distance mean value being calculated as the tune of the parking space state judgement distance under current parking space state
Whole value.
Parking space state a reference value scaling method and device provided in an embodiment of the present invention have vehicle shape by obtaining parking stall and being in
Parking space state reference data under state or car-free status obtains the adjustment that the parking space state under current parking space state determines distance
Value, and determine that distance is demarcated to parking space state according to adjusted value, and can only judge parking stall shape by default in the prior art
State data carry out judgement to parking space state and compare, even if parking stall environment causes practical judgement parking space state data to change,
It can determine that distance judges parking space state by the parking space state of real-time calibration, be avoided as much as possible since parking space state is sentenced
Parking space state caused by the error that set a distance occurs is judged by accident, and the accuracy rate of parking space state detection is improved；Meanwhile utilizing adjusted value
The influence as brought by the electric property difference of microstrip antenna in each detector is also avoided that, to further increase parking stall
The accuracy rate of state-detection.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow chart of parking space state a reference value scaling method provided by the embodiment of the present invention 1；
Fig. 2 shows in parking space state a reference value scaling method provided by the embodiment of the present invention 1, described parking stall shape
The specific method flow chart of state a reference value scaling method；
Fig. 3 shows a kind of structural schematic diagram of parking space state a reference value caliberating device provided by the embodiment of the present invention 2；
Fig. 4 is shown in parking space state a reference value caliberating device provided by the embodiment of the present invention 2, determining module it is specific
Structural schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Middle attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the range of claimed invention, but is merely representative of selected reality of the invention
Apply example.Based on the embodiment of the present invention, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall within the protection scope of the present invention.
Currently, stall testing apparatus detect parking space state during, can by geomagnetism detecting device, distance measuring sensor or
The collected data of microstrip antenna are compared with judgement parking space state data preset in stall testing apparatus, determine parking stall
Occupied state.And the temperature and humidity variation of parking stall environment can make practical judgement parking space state data change, if using preset
Judge that parking space state data determine the occupied state of parking stall, will lead to stall testing apparatus and parking space state is judged by accident, reduce vehicle
The accuracy rate of position state-detection.Based on this, a kind of parking space state a reference value scaling method and device provided by the present application.
Embodiment one
The present embodiment provides a kind of parking space state a reference value scaling method, the executing subject of this method is parking stall measure dress
It sets.The stall testing apparatus sentences the parking space state under current parking space state when parking stall is in vehicles or car-free status
Set a distance is demarcated.
Above-mentioned stall testing apparatus can be set using existing any calculating containing microcontroller or microprocessor
It is standby, distance, which is demarcated, to be determined to the parking space state under current parking space state.
A kind of parking space state a reference value scaling method flow chart provided in an embodiment of the present invention shown in Figure 1, the party
Method describes the process demarcated to the parking space state judgement distance under current parking space state.This method includes walking in detail below
It is rapid:
Step 100, when parking stall is in vehicles or car-free status, determine the parking space state base under current parking space state
Quasi- data.
It is above-mentioned with vehicles to refer to that current parking stall is in the state that is occupied by vehicle in above-mentioned steps 100；Above-mentioned no vehicle
State refers to that preceding parking stall is in the state not occupied by vehicle.
Before above-mentioned steps 100, the parking space state a reference value scaling method that the present embodiment proposes further includes at parking stall
In with vehicles or car-free status determination process, which includes step (1) to (2) in detail below:
(1) according to the echo data that the microstrip antenna of parking stall is got is mounted on, vehicle and micro-strip in current parking stall are calculated
The distance of antenna；
(2) meet the parking stall under current with vehicles or car-free status at a distance from vehicle in current parking stall and microstrip antenna
State determine apart from when, determine that above-mentioned parking stall is to be in car-free status in vehicles.
In above-mentioned steps (1), stall testing apparatus can use existing any echo data according to microstrip antenna
It calculates object and the method for microstrip antenna distance calculates vehicle in parking stall at a distance from microstrip antenna, here no longer one by one
It repeats.
Certainly, in the present embodiment, can also be determined using modes such as existing geomagnetic sensor or range sensors
Above-mentioned parking stall state in which, which is not described herein again.
Above-mentioned microstrip antenna may be mounted above parking stall, parking stall can also be embedded in below ground, for obtaining parking stall
The echo data of surrounding.
Above-mentioned parking space state reference data refers to that parking stall is in what microwave antenna under with vehicles or car-free status received
Echo data a reference value determines the adjusted value of distance for calculating the parking space state under current parking space state.
Above-mentioned parking space state reference data can be the preset data in stall testing apparatus, but in order to calculate parking stall shape
Default value error caused by calculated result is reduced during state reference data, can also be not provided in stall testing apparatus
Parking space state reference data, then the parking space state reference data under the current parking space state of above-mentioned determination, including following tool at this time
Body step (1) is to step (3):
(1) it when failing to get the parking space state reference data under current parking space state, obtains multiple groups microstrip antenna and returns
Wave number evidence；
(2) average value of each group microstrip antenna echo data in above-mentioned multiple groups microstrip antenna echo data is calculated；
(3) average value of the above-mentioned microstrip antenna echo data of each group obtained by calculation, determines under current parking space state
Above-mentioned parking space state reference data.
The description of (1) to step (3) through the above steps, by the average value pair for calculating each group microstrip antenna echo data
Above-mentioned parking space state reference data under current parking space state is calculated, can be in the process for calculating parking space state reference data
Middle reduction default value error caused by calculated result improves and determines distance calibration to current parking space state parking space state
Accuracy rate.
In order to further decrease the error of parking space state reference data, above-mentioned steps (3) can execute step in detail below
(31) to step (32):
(31) remove the most value in the average value of the above-mentioned microstrip antenna echo data of each group；
(32) mean data of the average value of the above-mentioned microstrip antenna echo data of each group after removing most value is calculated, and will be obtained
Above-mentioned mean data as the parking space state reference data under current parking space state.
In one embodiment, stall testing apparatus is in order to remove the average value of the above-mentioned microstrip antenna echo data of each group
In most value, above-mentioned steps (31) specifically include following steps (311) to step (313):
(311) according to the size of the average value of the above-mentioned microstrip antenna echo data of each group, the above-mentioned microstrip antenna of each group is returned
The average value of wave number evidence sorts, and obtains ranking results；
(312) according to obtained ranking results, the maximum in the average value of the above-mentioned microstrip antenna echo data of each group is determined
Value and minimum value；
(313) by above-mentioned average value maximum value and minimum value remove.
Above-mentioned steps (311) to step (313) is in a kind of average value for removing above-mentioned microstrip antenna echo data
The implementation being most worth, stall testing apparatus remove micro-strip day except through above-mentioned rapid (311) to the process that step (313) describes
Other than most value in the average value of line echo data, it can also determine that the method being most worth in multiple numerical value is gone by existing other
Fall the most value in the average value of microstrip antenna echo data, no longer repeats one by one here.
The description of (31) to step (32) through the above steps, by removing the above-mentioned each group microstrip antenna echo after most value
The average value of data calculates the above-mentioned parking space state reference data under current parking space state, can be further reduced calculating
As a result error improves the accuracy rate of parking space state judgement.
When through the above steps 100 determine the parking space state reference data under current parking space states after, can continue into
Row following steps 102 determine that the adjusted value of distance calculates to parking space state.
Step 102, according to above-mentioned parking space state reference data, the parking space state calculated under above-mentioned current parking space state determines
The adjusted value of distance.
Wherein, above-mentioned parking space state determines distance, is preset in stall testing apparatus, respectively include it is with vehicles determine away from
From with car-free status determine with a distance from；Judgement distance and car-free status with vehicles determine distance, are respectively used to be to be in parking stall
The car-free status with vehicles that is in is judged.
Above-mentioned parking space state determines the adjusted value of distance, can be positive value and is also possible to negative value.
Step 104 determines that distance is demarcated to the above-mentioned parking space state under current parking space state by above-mentioned adjusted value.
In above-mentioned steps 104, calculate the above-mentioned parking space state under adjusted value and current parking space state determine distance and,
Distance is determined using obtained calculated result as calibrated parking space state.
In conclusion parking space state a reference value scaling method provided in this embodiment, has vehicle shape by obtaining parking stall and being in
Parking space state reference data under state or car-free status obtains the adjustment that the parking space state under current parking space state determines distance
Value, and determine that distance is demarcated to parking space state according to adjusted value, and can only judge parking stall shape by default in the prior art
State data carry out judgement to parking space state and compare, even if parking stall environment causes practical judgement parking space state data to change,
It can determine that distance judges parking space state by the parking space state of real-time calibration, be avoided as much as possible since parking space state is sentenced
Parking space state caused by the error that set a distance occurs is judged by accident, and the accuracy rate of parking space state detection is improved；Meanwhile utilizing adjusted value
The influence as brought by the electric property difference of microstrip antenna in each detector is also avoided that, to further increase parking stall
The accuracy rate of state-detection.
In the related technology, although stall testing apparatus can be by the microstrip antenna echo data or geomagnetic data that get
Determine parking space state, but can not by with apart from unrelated microstrip antenna echo data to parking space state determine distance into
Rower is fixed, can only acquire range data by the device of other additionally mounted measurement distances and determine that distance is marked to parking space state
It is fixed, it operates more troublesome and increases use cost.In order to simplify the proving operation for determining parking space state distance, above-mentioned basis
Above-mentioned parking space state reference data, calculates the adjusted value that the parking space state under above-mentioned current parking space state determines distance, including with
Lower specific steps (1) are to step (3):
(1) multiple microstrip antenna data are obtained；
(2) multiple above-mentioned microstrip antenna data mahalanobis distance with above-mentioned parking space state reference data respectively is calculated, is obtained
Multiple mahalanobis distance calculated results；
(3) according to multiple above-mentioned mahalanobis distance calculated results, the parking space state calculated under above-mentioned current parking space state determines
The adjusted value of distance.
In above-mentioned steps (1), above-mentioned microstrip antenna data are exactly the echo data of above-mentioned microstrip antenna.
In above-mentioned steps (2), be calculated by the following formula multiple above-mentioned microstrip antenna data respectively with above-mentioned parking stall shape
The mahalanobis distance d of state reference datam(x, y):
Wherein, x indicates parking space state reference data, and y indicates microstrip antenna data, Σ-1Indicate covariance matrix.
In one embodiment, in order to further ensure the accuracy of parking space state judgement distance after calibration, vehicle is improved
The accuracy rate of position state judgement, above-mentioned steps (3) may include in detail below step (31) to step (32):
(31) remove the most value in multiple above-mentioned mahalanobis distance calculated results；
(32) the mahalanobis distance mean value for removing multiple above-mentioned mahalanobis distance calculated results after most value is calculated, and will be calculated
The above-mentioned mahalanobis distance mean value arrived determines the adjusted value of distance as the parking space state under current parking space state.
Wherein, the process being most worth that above-mentioned steps (31) are removed in multiple above-mentioned mahalanobis distance calculated results is removed with above-mentioned
The process being most worth in the average value of the above-mentioned microstrip antenna echo data of each group is similar, and which is not described herein again.
By above step (31) to step (32) as can be seen that the parking space state in the case where calculating current parking space state is sentenced
During the adjusted value of set a distance, first remove the most value in mahalanobis distance calculated result, and calculates multiple mahalanobis distances and calculate
As a result mean value is as adjusted value, to determine that distance is demarcated to the parking space state under current parking space state by adjusting value
Later, parking space state determines the accuracy that distance determines parking space state after guaranteeing calibration, further improves parking space state and sentences
Disconnected accuracy rate.
In conclusion calculated by the mahalanobis distance to multiple microstrip antenna data and parking space state reference data,
Obtain the adjusted value that parking space state under current parking space state determines distance, thus by with apart from unrelated microstrip antenna number
According to progress simple computation, so that it may the adjusted value that parking space state determines distance is obtained, without other additionally mounted measurement distances
Device acquires range data to determine that distance is demarcated to parking space state, easy to operate and reduce use cost.
Referring to fig. 2, the parking space state a reference value scaling method proposed in the present embodiment is made by following example further
Description.
Step 200 judges whether the parking space state reference data for having under current parking space state, if it is thening follow the steps
212,202 are thened follow the steps if not；
Step 202 acquires multiple groups echo data by microstrip antenna；
Step 204 judges whether to acquire the echo data of preset quantity group, if it is thening follow the steps 206, if not
Then return step 202；
Step 206, the echo data mean value for calculating collected preset quantity group are simultaneously stored；
Step 208 judges whether to seek each group echo data mean value in the echo data of preset quantity group, if it is
It executes step 210, then follow the steps 202 if not；
Step 210, the most value for removing each group echo data mean value, and calculate and remove equal of each group echo data after most value
Value Data is as the parking space state reference data under current parking space state；
Multiple echo datas under step 212, acquisition current state, with the parking space state base value under current parking space state
According to mahalanobis distance calculating is carried out, multiple mahalanobis distance calculated results are obtained；
Step 214 judges whether to obtain the mahalanobis distance calculated result of preset quantity, if it is thening follow the steps 216, such as
Fruit is no to then follow the steps 212；
Step 216 removes most value in multiple mahalanobis distance calculated results, and multiple mahalanobis distances after most value are removed in calculating
The mean value of calculated result, and using the mean value being calculated as adjusted value corresponding with each microwave detector.
It can be seen that parking space state a reference value scaling method provided in this embodiment by above description, pass through acquisition
Parking stall is in the parking space state reference data under with vehicles or car-free status, and the parking space state obtained under current parking space state is sentenced
The adjusted value of set a distance, and distance, which is demarcated, to be determined to parking space state according to adjusted value, and it in the prior art can only be by pre-
If judging that parking space state data carry out judgement to parking space state and compare, even if parking stall environment leads to practical judgement parking space state data
Change, can also by the parking space state of real-time calibration determine distance parking space state is judged, be avoided as much as possible by
Determine that parking space state caused by the error that distance occurs is judged by accident in parking space state, improves the accuracy rate of parking space state detection；Together
When, the influence as brought by the electric property difference of microstrip antenna in each detector is also avoided that using adjusted value, thus
Further increase the accuracy rate of parking space state detection.
Embodiment two
It is a kind of parking space state a reference value caliberating device provided in this embodiment referring to Fig. 3, for executing above-mentioned parking stall
State a reference value scaling method, comprising:
Determining module 300, for determining the vehicle under current parking space state when parking stall is in vehicles or car-free status
Position state reference data；
Adjustment calculation module 302, for calculating under above-mentioned current parking space state according to above-mentioned parking space state reference data
Parking space state determine distance adjusted value；
Demarcating module 304, for determining distance to the above-mentioned parking space state under current parking space state by above-mentioned adjusted value
It is demarcated.
In conclusion parking space state a reference value caliberating device provided in this embodiment, has vehicle shape by obtaining parking stall and being in
Parking space state reference data under state or car-free status obtains the adjustment that the parking space state under current parking space state determines distance
Value, and determine that distance is demarcated to parking space state according to adjusted value, and can only judge parking stall shape by default in the prior art
State data carry out judgement to parking space state and compare, even if parking stall environment causes practical judgement parking space state data to change,
It can determine that distance judges parking space state by the parking space state of real-time calibration, be avoided as much as possible since parking space state is sentenced
Parking space state caused by the error that set a distance occurs is judged by accident, and the accuracy rate of parking space state detection is improved；Meanwhile utilizing adjusted value
The influence as brought by the electric property difference of microstrip antenna in each detector is also avoided that, to further increase parking stall
The accuracy rate of state-detection.
Above-mentioned parking space state reference data can be the preset data in stall testing apparatus, but in order to calculate parking stall shape
Default value error caused by calculated result is reduced during state reference data, can also be not provided in stall testing apparatus
Parking space state reference data, then referring to fig. 4, above-mentioned determining module 300 at this time, comprising:
Acquiring unit 3000, for obtaining when failing to get the parking space state reference data under current parking space state
Multiple groups microstrip antenna echo data；
Average calculation unit 3002, for calculating each group microstrip antenna echo in above-mentioned multiple groups microstrip antenna echo data
The average value of data；
Reference data determination unit 3004, for being averaged for the above-mentioned microstrip antenna echo data of each group obtained by calculation
Value, determines the above-mentioned parking space state reference data under current parking space state.
In conclusion by the average value of calculating each group microstrip antenna echo data to the above-mentioned vehicle under current parking space state
Position state reference data is calculated, and default value can be reduced during calculating parking space state reference data and is tied to calculating
Error caused by fruit improves the accuracy rate for determining current parking space state parking space state distance calibration.
In order to further decrease the error of parking space state reference data, said reference data determination unit 3004, comprising:
Handle subelement, the most value in average value for removing the above-mentioned microstrip antenna echo data of each group；
Computation subunit, for calculate remove most value after the above-mentioned microstrip antenna echo data of each group average value mean value number
According to, and using obtained above-mentioned mean data as the parking space state reference data under current parking space state.
In conclusion passing through the average value for removing the above-mentioned each group microstrip antenna echo data after most value to current parking stall shape
Above-mentioned parking space state reference data under state is calculated, and the error of calculated result can be further reduced, and improves parking space state
The accuracy rate of judgement.
In the related technology, although stall testing apparatus can be by the microstrip antenna echo data or geomagnetic data that get
Determine parking space state, but can not by with apart from unrelated microstrip antenna echo data to parking space state determine distance into
Rower is fixed, can only acquire range data by the device of other additionally mounted measurement distances and determine that distance is marked to parking space state
It is fixed, it operates more troublesome and increases use cost.In order to simplify the proving operation for determining parking space state distance, above-mentioned adjustment
It is worth computing module 302, comprising:
Microstrip antenna data capture unit, for obtaining multiple microstrip antenna data；
Mahalanobis distance computing unit, for calculate multiple above-mentioned microstrip antenna data respectively with above-mentioned parking space state base value
According to mahalanobis distance, obtain multiple mahalanobis distance calculated results；
Adjustment calculation unit, for calculating above-mentioned current parking space state according to multiple above-mentioned mahalanobis distance calculated results
Under parking space state determine distance adjusted value.
In one embodiment, in order to further ensure the accuracy of parking space state judgement distance after calibration, vehicle is improved
The accuracy rate of position state judgement, above-mentioned adjustment calculation unit, comprising:
Most value processing subelement, for removing the most value in multiple above-mentioned mahalanobis distance calculated results；
Adjustment calculation subelement, for calculate the geneva of multiple above-mentioned mahalanobis distance calculated results after removing most value away from
From mean value, and using the above-mentioned mahalanobis distance mean value being calculated as the tune of the parking space state judgement distance under current parking space state
Whole value.
By the above function description to adjusted value computing unit as can be seen that the vehicle in the case where calculating current parking space state
During position state determines the adjusted value of distance, first remove the most value in mahalanobis distance calculated result, and calculate multiple geneva
Mean value apart from calculated result is as adjusted value, to determine distance to the parking space state under current parking space state by adjusting value
After being demarcated, parking space state determines the accuracy that distance determines parking space state after guaranteeing calibration, further improves vehicle
The accuracy rate of position state judgement.
In conclusion calculated by the mahalanobis distance to multiple microstrip antenna data and parking space state reference data,
Obtain the adjusted value that parking space state under current parking space state determines distance, thus by with apart from unrelated microstrip antenna number
According to progress simple computation, so that it may the adjusted value that parking space state determines distance is obtained, without other additionally mounted measurement distances
Device acquires range data to determine that distance is demarcated to parking space state, easy to operate and reduce use cost.
The computer program product of parking space state a reference value calibration is carried out provided by the embodiment of the present invention, including is stored
The computer readable storage medium of program code, the instruction that above procedure code includes can be used for executing in previous methods embodiment
Above-mentioned method, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of said units,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if above-mentioned function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute all or part of the steps of each embodiment above method of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It is above above-mentioned, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, and it is any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention answers above-mentioned be subject to the protection scope in claims.
Claims (8)
1. a kind of parking space state a reference value scaling method characterized by comprising
When parking stall is in vehicles or car-free status, the parking space state reference data under current parking space state is determined；
According to the parking space state reference data, the adjustment that the parking space state under the current parking space state determines distance is calculated
Value；
Distance, which is demarcated, to be determined to the parking space state under current parking space state by the adjusted value；
Wherein, described according to the parking space state reference data, calculate the parking space state under the current parking space state determine away from
From adjusted value, comprising:
Obtain multiple microstrip antenna data；
Multiple microstrip antenna data mahalanobis distance with the parking space state reference data respectively is calculated, multiple geneva are obtained
Apart from calculated result；
According to multiple mahalanobis distance calculated results, the tune that the parking space state under the current parking space state determines distance is calculated
Whole value.
2. the method according to claim 1, wherein determining the parking space state base value under current parking space state
According to, comprising:
When failing to get the parking space state reference data under current parking space state, multiple groups microstrip antenna echo data is obtained；
Calculate the average value of each group microstrip antenna echo data in the multiple groups microstrip antenna echo data；
The average value of microstrip antenna echo data described in each group obtained by calculation determines the vehicle under current parking space state
Position state reference data.
3. according to the method described in claim 2, it is characterized in that, microstrip antenna number of echoes described in each group obtained by calculation
According to average value determine the parking space state reference data under current parking space state, comprising:
Remove the most value in the average value of microstrip antenna echo data described in each group；
The mean data of the average value of microstrip antenna echo data described in each group after removing most value is calculated, and described equal by what is obtained
Value Data is as the parking space state reference data under current parking space state.
4. the method according to claim 1, wherein according to multiple mahalanobis distance calculated results, calculating is worked as
Parking space state under preceding parking space state determines the adjusted value of distance, comprising:
Remove the most value in multiple mahalanobis distance calculated results；
It calculates and removes the mahalanobis distance mean values of multiple mahalanobis distance calculated results after most value, and described in being calculated
Mahalanobis distance mean value determines the adjusted value of distance as the parking space state under current parking space state.
5. a kind of parking space state a reference value caliberating device characterized by comprising
Determining module, for determining the parking space state under current parking space state when parking stall is in vehicles or car-free status
Reference data；
Adjustment calculation module, for calculating the parking stall under the current parking space state according to the parking space state reference data
The adjusted value of state judgement distance；
Demarcating module, for determining that distance is marked to the parking space state under current parking space state by the adjusted value
It is fixed；
The adjustment calculation module, comprising:
Microstrip antenna data capture unit, for obtaining multiple microstrip antenna data；
Mahalanobis distance computing unit, for calculate multiple microstrip antenna data respectively with the parking space state reference data
Mahalanobis distance obtains multiple mahalanobis distance calculated results；
Adjustment calculation unit, for calculating under the current parking space state according to multiple mahalanobis distance calculated results
The adjusted value of parking space state judgement distance.
6. device according to claim 5, which is characterized in that the determining module, comprising:
Acquiring unit, for obtaining multiple groups micro-strip when failing to get the parking space state reference data under current parking space state
Antenna echo data；
Average calculation unit, for calculating the flat of each group microstrip antenna echo data in the multiple groups microstrip antenna echo data
Mean value；
Reference data determination unit is determined for the average value of microstrip antenna echo data described in each group obtained by calculation
The parking space state reference data under current parking space state.
7. device according to claim 6, which is characterized in that the reference data determination unit, comprising:
Subelement is handled, for removing the most value in the average value of microstrip antenna echo data described in each group；
Computation subunit, for calculate remove most value after microstrip antenna echo data described in each group average value mean data,
And using the obtained mean data as the parking space state reference data under current parking space state.
8. device according to claim 5, which is characterized in that the adjustment calculation unit, comprising:
Most value processing subelement, for removing the most value in multiple mahalanobis distance calculated results；
Adjustment calculation subelement, the mahalanobis distance for calculating multiple mahalanobis distance calculated results after removing most value are equal
Value, and using the mahalanobis distance mean value being calculated as the adjustment of the parking space state judgement distance under current parking space state
Value.
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| CN110095769B (en) * | 2018-01-29 | 2020-07-31 | 杭州海康汽车技术有限公司 | Parking space detection method and device and electronic equipment |
| CN109191867B (en) * | 2018-07-31 | 2021-01-05 | 四川西牛智泊科技有限公司 | Parking space state detection method based on geomagnetic sensor |
| CN112053584B (en) * | 2020-08-21 | 2021-07-27 | 杭州目博科技有限公司 | Road tooth parking space state prediction management system based on geomagnetism, radar and camera shooting and management method thereof |
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