CN110823210A - Navigation map presetting system for indoor parking lot and real-time updating method thereof - Google Patents
Navigation map presetting system for indoor parking lot and real-time updating method thereof Download PDFInfo
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- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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Abstract
The invention discloses a navigation map presetting system of an indoor parking lot, which comprises a main control system, a wireless directional AP unit, an image reading module and a vehicle-mounted navigation wireless device, wherein the main control system is composed of an upper computer terminal, a routing table storage database and a communication module, the routing table storage database, the communication module and the information data of the wireless directional AP unit are transmitted to the upper computer terminal for processing, the vehicle-mounted navigation wireless device is in signal connection with the wireless directional AP unit, the image reading module is electrically connected with the wireless directional AP unit, and the wireless directional AP unit is in signal connection with the upper computer terminal through the communication module. Compared with the conventional parking lot navigation technology, the intelligent parking lot navigation system has the advantages of low cost, high precision and high applicability, solves the problem of difficult navigation of an indoor parking lot due to GPS loss, can realize seamless navigation conversion from outdoor to indoor, realizes second-level response of map updating, can simplify excessive operation of users, and solves the problem of parking residents in intelligent cities.
Description
Technical Field
The invention belongs to the technical field of traffic control systems, and particularly relates to a navigation map presetting system of an indoor parking lot and a real-time updating method thereof.
Background
At present, most indoor parking lots in China are still in a manual management stage, map guidance of the land in the parking lot and indication of vacant parking spaces cause great troubles to users who park or property management. With the development of the internet of things technology, a real-time information interaction network formed by sensor induction, GPS signal positioning and a mobile terminal can be applied to the management of an indoor parking lot, and technologies related to parking lot navigation mainly include a geomagnetic fingerprint method, an LED visible light communication method, Bluetooth communication, a WIFI signal intensity method, a UWB method and the like, but the technologies have the problem of easy positioning failure when applied, wherein, for example, the geomagnetic fingerprint method can dynamically change under the change of large-sized metal objects (vehicles), and cannot be compared with old geomagnetic fingerprint data of a fingerprint database, so that the whole positioning navigation fails; the LED visible light communication method, the Bluetooth communication method and the UWB method belong to high-cost technical schemes based on a large number of sensors and large-area coverage grid sensing communication, and cannot be really implemented in commerce; the WIFI signal intensity method is also dynamic in fact, positioning and navigation are judged according to the signal intensity of a channel, and the problem that the WIFI signal intensity method is completely invalid along with the increase of the distance of a deviated signal source exists. The existing indoor parking lot navigation technology has the defects of large navigation deviation, poor signal, untimely interaction and poor precision, and therefore, a navigation technology capable of effectively navigating in time and quickly feeding back is needed to be developed.
Disclosure of Invention
The invention aims to provide a navigation map presetting system of an indoor parking lot and a real-time updating method thereof, so as to solve the problems in the background technology.
The technical scheme adopted by the invention to achieve the purpose is as follows:
the utility model provides a system is preset to navigation map in indoor parking area, includes main control system, wireless directional AP unit, image reading module, vehicle navigation wireless device, main control system comprises host computer terminal, routing table storage database, communication module, the information data transmission of routing table storage database, communication module, wireless directional AP unit handles to host computer terminal, vehicle navigation wireless device and wireless directional AP unit signal connection, image reading module and wireless directional AP unit electric connection, wireless directional AP unit passes through communication module and host computer terminal signal connection.
Further, the routing table storage database stores preset routing table data, and the preset routing table data includes a preset map coordinate routing table of the indoor garage and fixed point coordinates of each parking space in the preset map coordinate routing table.
Further, the preset map coordinate routing table of the indoor garage is a GPS numerical coordinate system of the indoor garage.
The system comprises an image reading module, a wireless directional AP unit and an upper computer terminal, wherein the image reading module monitors images of an entrance and an exit of an indoor garage in real time, identifies and reads license plate information of a vehicle, and transmits the license plate information to the upper computer terminal through the wireless directional AP unit, and the wireless directional AP unit simultaneously transmits vehicle-mounted navigation wireless equipment identification digital information of the corresponding vehicle to the upper computer terminal.
The upper computer terminal reads routing table data in a routing table storage database in real time to form a preset map coordinate data table of the indoor garage, forms mark information of a corresponding vehicle after receiving license plate information machine identification digital information of the wireless directional AP unit, fits the mark information with the preset routing table data to form indoor garage navigation map data, and sends the indoor garage navigation map data to the vehicle-mounted navigation wireless equipment through the wireless directional AP unit.
Further, the vehicle-mounted navigation wireless device is in signal connection with the wireless directional AP unit based on a WIFI communication technology, a 4G or 5G communication technology.
A real-time updating method of a navigation map preset system based on the indoor parking lot is implemented through the following steps:
the vehicle-mounted navigation wireless equipment receives indoor garage navigation map data sent by an upper computer terminal, the indoor garage navigation map data are fitted with a GPS coordinate point on an original navigation map and an original point of an inlet and an outlet of an indoor garage, other GPS numerical values relative to the original point are automatically accumulated, a missing indoor electronic preset map of the indoor garage is automatically generated, a GPS coordinate navigation mode is switched to a routing table with the indoor garage as the original point, and real-time updating of the navigation map is achieved.
Compared with the prior art, the invention has the beneficial effects that:
compared with the conventional parking lot navigation technology, the intelligent parking lot navigation system has the advantages of low cost, high precision and high applicability, solves the problem of difficult navigation of an indoor parking lot due to GPS loss, can realize seamless navigation conversion from outdoor to indoor, realizes second-level response of map updating, can simplify excessive operation of users, and solves the problem of parking residents in intelligent cities.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic workflow diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 2, the present invention provides the following technical solutions:
a navigation map presetting system for an indoor parking lot comprises a main control system, a wireless directional AP unit, an image reading module and vehicle-mounted navigation wireless equipment, wherein the main control system is composed of an upper computer terminal, a routing table storage database and a communication module; the routing table storage database stores preset routing table data, and the preset routing table data comprise a preset map coordinate routing table of the indoor garage and fixed point coordinates of each parking place in the preset map coordinate routing table; a preset map coordinate routing table of the indoor garage is a GPS numerical coordinate system of the indoor garage; the vehicle-mounted navigation wireless equipment is in signal connection with the wireless directional AP unit based on 4G or 5G communication technology.
The image reading module monitors the entrance and exit images of the indoor garage in real time, license plate information of the read vehicle is recognized and transmitted to the upper computer terminal through the wireless directional AP unit, and the wireless directional AP unit simultaneously sends vehicle-mounted navigation wireless equipment recognition digital information of the corresponding vehicle to the upper computer terminal.
The upper computer terminal reads routing table data in a routing table storage database in real time to form a preset map coordinate data table of the indoor garage, forms mark information of a corresponding vehicle after receiving license plate information machine identification digital information of the wireless directional AP unit, fits the mark information with the preset routing table data to form indoor garage navigation map data, and sends the indoor garage navigation map data to the vehicle-mounted navigation wireless equipment through the wireless directional AP unit.
The vehicle-mounted navigation wireless equipment receives indoor garage navigation map data sent by an upper computer terminal, the indoor garage navigation map data are fitted with GPS coordinate points on an original navigation map and the original points of the inlet and the outlet of the indoor garage, other GPS numerical values relative to the original points are automatically accumulated, a missing indoor electronic preset map of the indoor garage is automatically generated, the GPS coordinate navigation mode is switched to a routing table with the indoor garage as the original point, and real-time updating of the navigation map is achieved.
The navigation map presetting system for the indoor parking lot is mainly implemented by the following steps:
A. the wireless directional AP unit and the image reading module are respectively arranged at the entrance and the exit of the parking lot, the vehicle-mounted navigation wireless equipment is firstly in wireless connection at the entrance and is connected with the parking lot system, the current approach of the parking lot is a single vehicle and a single channel, the number of nodes connected by the wireless network equipment is small, and the nodes are basically one-to-one, so that the wireless network communication connection can be ensured to be stable, see figure 1, and the wireless directional AP equipment is installed at the entrance of the parking lot, namely the place of the parking lot gate. When a vehicle enters a parking lot, the vehicle-mounted navigation wireless equipment is actively connected with the wireless directional AP equipment of the parking lot through the wireless function of the vehicle-mounted navigation wireless equipment (based on a WIFI module or a 4G \5G base station chip);
B. before the indoor preset map is updated in real time, authorization safety management is carried out, as shown in fig. 2, the wireless directional AP equipment and the vehicle-mounted navigation wireless equipment in the parking lot are successfully connected, meanwhile, the image reading module sends the obtained license plate information of the vehicle to the wireless directional AP equipment, and then the wireless directional AP equipment sends authorization verification information to the vehicle-mounted navigation wireless equipment for verifying the approaching vehicle, so that the next step of updating authorization of the indoor preset map is facilitated;
C. after the updating authorization is completed, as shown in fig. 2, the wireless directional AP device establishes stable wireless network connection with the vehicle-mounted navigation wireless device, and after obtaining a preset map updating permission, the wireless directional AP device transmits the indoor garage navigation map data to the vehicle-mounted navigation wireless device at one time, and updates the indoor map information and the navigation information of the electronic map of the vehicle-mounted navigation wireless device; the indoor garage navigation map data guide comprises a landform feature, a direction, a distance, a set of midway road signs, GPS data of relative coordinates and direction data, wherein the direction data comprises four types of direction data, such as 'left turn, right turn, straight going and turning around', the distance is meters, and the midway road signs are feature markers of a parking lot;
D. the vehicle-mounted navigation wireless equipment directly reads preset routing table data transmitted by the wireless AP, a GPS coordinate point of a parking lot on an original navigation map is fitted with an original point of an inlet and an outlet, a missing indoor electronic preset map is automatically generated, then a GPS coordinate navigation mode is switched to a routing table with an entrance and an exit of the parking lot as the original point, a local coordinate system is used for navigation pointing, map updating and seamless navigation are carried out in real time, navigation is carried out by using a dead reckoning algorithm of the vehicle-mounted navigation wireless equipment according to preset map information, and accumulated errors of correction precision are carried out by using road sign data after updating of the preset map.
Outside the indoor parking lot, the GPS navigation system of the vehicle-mounted navigation wireless device loads original GPS routing table data of an external map, the upper computer terminal reads preset routing table data in a routing table storage database in real time, and establishes a routing table of an entrance, a position of a local coordinate system and an exit, wherein the original point of the local coordinate system is the railing position of the parking lot, and a local coordinate system path table from the entrance to the parking space and from the parking space to the exit is established.
Each positioning point in the preset routing table data contains a set of 'coordinate values of the positioning point and the origin relative to the GPS', and on the basis of the local coordinate origin, the 'distance between each positioning point and the origin' is converted into a relative longitude and latitude increment and decrement by data conversion and accumulation of local length and direction, for example, the latitude 1 second is equal to about 30.9 meters, the longitude 1 second is equal to the length of a place (the length of a latitude unit) multiplied by the cosine value of the latitude of the area, and data required by a local coordinate system, such as information of direction, distance and the like, also contains data of a specific landmark. And then fitting coordinate points of GPS points on the original map with the original points of the inlet and the outlet, automatically accumulating other GPS values relative to the original points, automatically generating a missing indoor electronic preset map, switching a GPS coordinate navigation mode into a routing table taking the parking lot as the original point, performing navigation pointing by using a local coordinate system, and performing map updating and seamless navigation in real time.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a navigation map preset system in indoor parking area which characterized in that: including master control system, wireless directional AP unit, image reading module, vehicle navigation wireless device, master control system comprises host computer terminal, route table storage database, communication module, the information data transmission of route table storage database, communication module, wireless directional AP unit handles to the host computer terminal, vehicle navigation wireless device and wireless directional AP unit signal connection, image reading module and wireless directional AP unit electric connection, wireless directional AP unit passes through communication module and host computer terminal signal connection.
2. The navigation map presetting system for an indoor parking lot as claimed in claim 1, characterized in that: the routing table storage database stores preset routing table data, and the preset routing table data comprise a preset map coordinate routing table of an indoor garage and fixed point coordinates of each parking space in the preset map coordinate routing table.
3. The navigation map presetting system for an indoor parking lot as claimed in claim 2, characterized in that: and the preset map coordinate routing table of the indoor garage is a GPS numerical coordinate system of the indoor garage.
4. The navigation map presetting system for an indoor parking lot as claimed in claim 1, characterized in that: the image reading module monitors the entrance and exit images of the indoor garage in real time, identifies and reads license plate information of the vehicle, and transmits the license plate information to the upper computer terminal through the wireless directional AP unit, and the wireless directional AP unit simultaneously sends vehicle navigation wireless equipment identification digital information corresponding to the vehicle to the upper computer terminal.
5. The navigation map presetting system for an indoor parking lot as claimed in claim 1, characterized in that: the upper computer terminal reads routing table data in a routing table storage database in real time to form a preset map coordinate data table of the indoor garage, and after receiving license plate information machine identification digital information of the wireless directional AP unit, the upper computer terminal forms mark information of a corresponding vehicle, fits the mark information with the preset routing table data to form indoor garage navigation map data, and sends the indoor garage navigation map data to the vehicle-mounted navigation wireless equipment through the wireless directional AP unit.
6. The navigation map presetting system for an indoor parking lot as claimed in claim 1, characterized in that: the vehicle-mounted navigation wireless equipment is in signal connection with the wireless directional AP unit based on a 4G or 5G communication technology.
7. A real-time updating method of a navigation map preset system based on the indoor parking lot is characterized by comprising the following steps: the vehicle-mounted navigation wireless equipment receives indoor garage navigation map data sent by an upper computer terminal, the indoor garage navigation map data are fitted with coordinate points of GPS points on an original electronic navigation map and original points of an inlet and an outlet of an indoor garage, other GPS numerical values relative to the original points are automatically accumulated, a missing indoor electronic preset map of the indoor garage is automatically generated, a GPS coordinate navigation mode is switched to a routing table with the indoor garage as the original point, and real-time updating of the navigation map is achieved.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114333410A (en) * | 2021-12-30 | 2022-04-12 | 中国联合网络通信集团有限公司 | Vehicle searching method, device, terminal, server and storage medium |
| CN114333410B (en) * | 2021-12-30 | 2023-03-28 | 中国联合网络通信集团有限公司 | Vehicle searching method, device, terminal, server and storage medium |
| CN114937369A (en) * | 2022-04-06 | 2022-08-23 | 福思(杭州)智能科技有限公司 | Autonomous valet parking method, system, vehicle, parking lot terminal, device and medium |
| CN114937369B (en) * | 2022-04-06 | 2023-04-04 | 福思(杭州)智能科技有限公司 | Autonomous agent parking method, system, vehicle, parking lot end, device and medium |
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Application publication date: 20200221 |