Parking Space Navigation Method Based on A-Star Algorithm

A navigation method and a technology of star algorithm, which are applied to navigation calculation tools and indicate the direction of each open space in the parking lot, can solve the problem that parking space navigation cannot quickly and effectively find the shortest path, and achieve effective and accurate results, high navigation calculation complexity, and navigation. The effect of low computational complexity

Active Publication Date: 2020-12-08
HARBIN INST OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the existing parking space navigation cannot quickly and effectively find the shortest path, the present invention provides a parking space navigation method based on the A-star algorithm

Method used

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  • Parking Space Navigation Method Based on A-Star Algorithm

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specific Embodiment approach 1

[0027] Specific implementation mode one: combine figure 1 The present embodiment is described, and the parking space navigation method based on the A-star algorithm provided by the present embodiment specifically includes the following steps:

[0028] Step 1. Divide the parking lot into grids, each grid is regarded as a vertex, and the obstacles and starting point V are respectively determined s , end point V g The grid where it is located; the number of vertices except obstacles is n; the starting point V s and terminal V g belong to a particular vertex;

[0029] Step 2. Set the starting point V s Put it into collection A, and leave collection B empty;

[0030] Step 3. Arrange the vertices in the set A according to the cost value from small to large, and arrange the first vertex V i into set B;

[0031] Step 4. Judging the vertex V put into set B in step 3 i Is it the end point V g , if yes, the path search is successful and the navigation ends; if not, expand V i c...

specific Embodiment approach 2

[0037] Specific embodiment two: the difference between this embodiment and specific embodiment one is that the parking space navigation method based on the A-star algorithm also includes the following starting point verification operations:

[0038] After step 2, it is judged whether the set A is an empty set. If the set A is empty, the storage of the starting point fails, the path search fails, and the navigation ends; if the set A is not empty, enter the operation of step 3. This can prevent misoperation or eliminate certain system failures, such as choosing an illegal starting point.

[0039] Other steps and parameters are the same as those in the first embodiment.

specific Embodiment approach 3

[0040] Specific implementation mode three: the difference between this implementation mode and specific implementation mode two is that V described in step four i The child vertex refers to the vertex V with i Adjacent vertices (point V i surrounding vertices), except for the mesh where the obstacle is located. Therefore, each vertex may have 1 to 8 child vertices, such as Figure 4 middle starting point V s There are 6 child vertices.

[0041] Other steps and parameters are the same as those in Embodiment 1 or 2.

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Abstract

The invention provides a parking space navigation method based on an A star algorithm, and belongs to the technical field of management of parking spaces. The parking space navigation method providedby the invention comprises the steps of: dividing a parking lot into grids, and regarding each grid as one vertex; placing an origin into a set A, and emptying a set B; then carrying out ascending sorting on each vertex in the set A according to cost values, and placing a first vertex Vi into the set B; judging whether the first vertex Vi is an end point, and if yes, ending navigation; if no, expanding a son vertex Vj of the first vertex Vi; if the son vertex Vj does not exist in both the sets A and B, placing the son vertex Vj into the set A and enabling a pointer to point to a parent vertexVi of the son vertex Vj; if the son vertex Vj exists in the set A, updating a cost value of the son vertex Vj in the set A, and enabling the pointer to point to the parent vertex Vi; if the son vertexVj exists in the set B, not considering the vertex; and repeating the operation until the navigation is ended. The invention solves a problem that by an existing parking space navigation method, theshortest path cannot be rapidly and effectively found. The parking space navigation method provided by the invention can be used for management of the parking spaces.

Description

technical field [0001] The invention relates to a parking space navigation method and belongs to the technical field of parking space management. Background technique [0002] Parking space navigation has been applied to the management of parking lots. There are many and large parking lots. When users drive into the parking lot and want to find a parking space, if there is no free parking space in the field of vision, the user can only roam. Searching aimlessly in the parking lot. If there are not many remaining positions in the parking lot, if there is no prompt for the user, it will be more difficult to find the remaining positions. If there are no more parking spaces in the parking lot, then this behavior is wasteful and redundant. With the increase of users owning vehicles and limited parking spaces, the problem of disorderly parking of vehicles has gradually become serious, and the traffic order has been greatly affected. The application function of parking space navi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/14G01C21/20
Inventor 郑文斌刘冰乔家庆石金龙孙媛媛冯收徐明珠吴瑞东叶俊涛
Owner HARBIN INST OF TECH
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