A parking lot automatic charging system and method

Abstract

The application provides a parking lot automatic charging system and method, the method comprises the following steps: a vehicle enters a parking lot, a system records an initial time and an initial position, and generates a parking record; the acceleration of the vehicle is monitored, and the start-stop state of the vehicle is obtained; the start of the vehicle is detected, the acceleration, speed, position and angular velocity of the vehicle are calculated, the motion mode of the vehicle is judged twice, and the judgment result is alternately verified to generate a verification result; multiple sensor data are fused, the verification result of the vehicle is verified, and the final motion mode is confirmed; and the parking duration is adjusted according to the final motion mode. The accuracy of the charging duration is improved by the above method.

Description

Technical Field

[0001] This application relates to the field of parking fee collection, and in particular to an automatic parking fee collection system and method. Background Technology

[0002] In existing technologies, such as Chinese patent CN114038072B, a method and system for automatic parking fee collection without cameras is proposed. This method obtains accurate location and time information of vehicles through network-connected devices installed on the vehicles and a ground-based augmentation system installed in the parking lot. This enables automatic detection of parking location and automatic determination of parking duration without the need for additional equipment such as cameras, and then completes functions such as billing through a backend server.

[0003] However, current technologies obtain vehicle location information by starting and stopping the vehicle to determine parking duration and location. In particular, vehicles may move short distances within the parking lot (e.g., for parking adjustments, passenger pick-up or drop-off), leading the system to misjudge the vehicle's parking status and duration. This is especially common in large shopping mall parking lots, where drivers may repeatedly get in and out of their vehicles to move items, causing the system to misjudge parking duration and affecting billing accuracy. Therefore, an automated parking fee collection system and method are needed. Summary of the Invention

[0004] In view of this, it is necessary to provide an automatic parking fee collection system and method that can accurately distinguish between short-term vehicle movement and the end of parking during parking time, thereby accurately recording the parking duration and improving the accuracy of parking fee calculation, in order to solve the above problems.

[0005] An embodiment of this application provides an automatic parking fee collection method, including the following steps:

[0006] When a vehicle enters the parking lot, the system records the initial time and initial location, and generates a parking record slip;

[0007] Monitor the vehicle's acceleration and obtain the vehicle's start-stop status;

[0008] The vehicle is detected to start, and its acceleration, velocity, position and angular velocity are calculated. The vehicle's motion mode is determined a second time, and the determination results are verified alternately to generate a verification result.

[0009] By fusing data from multiple sensors, the verification results of the vehicle are examined and the final motion mode is confirmed.

[0010] Adjust the parking duration based on the final motion mode.

[0011] In at least one embodiment of this application, the process of "a vehicle entering a parking lot, the system recording the initial time and initial location, and generating a parking record sheet" includes the following steps:

[0012] When a vehicle enters the parking lot, the system receives an engine shutdown signal, and the system records the initial time and initial position through the GNSS module and generates a parking record sheet.

[0013] The vehicle's initial location, initial time, and basic vehicle information are uploaded to the parking record sheet.

[0014] In at least one embodiment of this application, "monitoring the acceleration of the vehicle and obtaining the start-stop status of the vehicle" includes the steps of:

[0015] The system receives the ignition signal and monitors the vehicle's acceleration;

[0016] When the acceleration is zero, the vehicle is in a stationary state;

[0017] When the acceleration is greater than 0, the vehicle is in the starting state;

[0018] Based on the vehicle's acceleration, it is determined whether the vehicle is in a parked or running state.

[0019] In at least one embodiment of this application, "detecting the vehicle's start-up, calculating the vehicle's acceleration, velocity, position, and angular velocity to obtain the vehicle's motion mode" includes the following steps:

[0020] Set time and distance thresholds;

[0021] The vehicle's acceleration, velocity, position, and angular velocity are calculated to obtain the vehicle's travel time and distance.

[0022] The movement time is compared with the time threshold for the first time to determine the movement mode of the vehicle. The movement mode includes: short-term movement of the vehicle and the vehicle coming to a stop.

[0023] When the travel time is greater than the time threshold, the vehicle is in the process of ending its parking phase.

[0024] When the movement time is less than the time threshold, the vehicle is in a brief movement.

[0025] In at least one embodiment of this application, the step of "detecting the vehicle's start-up, calculating the vehicle's acceleration, velocity, position, and angular velocity, and obtaining the vehicle's motion mode" further includes:

[0026] The movement distance and the distance threshold are compared a second time to determine the vehicle's movement mode;

[0027] When the travel distance exceeds the distance threshold, the vehicle is in the process of ending its parking phase.

[0028] When the moving distance is less than the distance threshold, the vehicle is in a brief movement.

[0029] The first comparison result and the second comparison result are verified alternately, and a verification result is generated.

[0030] In at least one embodiment of this application, "fusing multiple sensor data to verify the vehicle's motion pattern" further includes the step of:

[0031] Real-time data from the GNSS module, inertial navigation system, accelerometer, and CAN bus are acquired, and preliminary processing and storage are performed.

[0032] The multiple real-time data are fused using a Bayesian filter, and the verification results of the vehicle are examined to confirm the final motion mode.

[0033] In at least one embodiment of this application, "adjusting the parking duration according to the final motion mode" includes the steps of:

[0034] Determine the final motion pattern;

[0035] If the final movement pattern is a short-term movement, the system will continue to record the parking billing time;

[0036] If the final movement mode is to end parking, the system generates the vehicle's departure time and departure location;

[0037] The parking duration of the vehicle is calculated based on the departure time and the initial time.

[0038] This application provides an embodiment of an automatic parking fee collection system, which is applied to any of the automatic parking fee collection methods described above;

[0039] The system includes: a connected device installed in the vehicle, a ground-based augmentation system installed in the parking lot, and a back-end server. The connected device interacts with the ground-based augmentation system and the back-end server via a cellular network.

[0040] The connected device generates a parking record, judges and verifies the vehicle's movement mode, and stores the accurate location and time information when the vehicle is turned off and started, in order to calculate the parking duration and transmit the parking duration to the backend server and send the parking fee back to the car owner.

[0041] The ground-based augmentation system is used to acquire the vehicle's location and send it to connected devices;

[0042] The backend server is used to receive parking duration and calculate parking fees, and then transmit the parking fees to the connected devices.

[0043] In at least one embodiment of this application, the network-connected device includes: a processor, a microcontroller, a GNSS module, a storage module, and a CAN bus transceiver. The processor is connected to the microcontroller, the GNSS module, and the storage module, respectively, and the microcontroller is connected to the CAN bus transceiver.

[0044] In at least one embodiment of this application, an acceleration sensor module and an inertial navigation system are integrated in a connected device, wherein the acceleration sensor module and the inertial navigation system are respectively connected to the processor.

[0045] The above-mentioned automatic parking fee collection system and method accurately determine the start-stop status by receiving the vehicle's ignition signal or shutdown signal and changes in vehicle acceleration.

[0046] Then, by setting time and distance thresholds and comparing them one by one with the vehicle's movement time and distance after starting, the vehicle's movement mode is determined. The comparison results are then verified alternately to improve the accuracy of the movement mode determination.

[0047] Furthermore, by using a Bayesian filter to fuse real-time data from the NSS module, inertial navigation system, accelerometer, and CAN bus, the fused data is compared and verified to further improve the accuracy of the confirmed motion pattern, thereby accurately calculating the parking duration and, consequently, the parking fee. Attached Figure Description

[0048] Figure 1 This is a flowchart of the automatic parking fee collection method described in this application;

[0049] Figure 2 This is a block diagram of the automatic parking fee collection system described in this application;

[0050] Figure 3 This is a structural block diagram of the connected device described in this application;

[0051] Explanation of main component symbols

[0052] 100. Automatic parking fee collection method; 200. Automatic parking fee collection system; 210. Networked equipment; 220. Ground-based augmentation system; 230. Back-end server; 240. Cellular network; 211. Processor; 212. Microcontroller; 213. GNSS module; 214. Storage module; 215. CAN bus transceiver; 216. Accelerometer sensor module; 217. Inertial navigation system. Detailed Implementation

[0053] The embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0054] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or may also have an intervening component. When a component is considered to be "placed" on another component, it can be directly placed on the other component or may also have an intervening component. The terms "top," "bottom," "upper," "lower," "left," "right," "front," "back," and similar expressions used in this article are for illustrative purposes only.

[0055] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0056] Please see Figures 1-3 This application provides an embodiment of an automatic parking fee collection method 100, the method comprising the following steps:

[0057] S10: When a vehicle enters the parking lot, the system records the initial time and initial location and generates a parking record.

[0058] Specifically, in the initial stage of the automatic parking fee collection system 200, when a vehicle enters the parking lot, the system records the vehicle's entry time and location. This is achieved through a connection between the ground-based augmentation system 220 installed in the parking lot and the vehicle's network device 210. Recording the initial time and location prepares for subsequent parking fee calculation and generates a parking record sheet containing the vehicle's basic information, as well as the time and location of its entry into the parking lot.

[0059] S20: The system monitors the acceleration of the vehicle and obtains the start-stop status of the vehicle.

[0060] Specifically, the vehicle's acceleration is monitored through sensors on the vehicle or connected devices 210. By monitoring acceleration, the system can determine whether the vehicle is currently moving, as well as its direction and speed. Monitoring acceleration also allows the system to understand the vehicle's start-stop status, i.e., whether the vehicle is moving or stopped.

[0061] S30: The system detects that the vehicle has started, and calculates the vehicle's acceleration, velocity, position, and angular velocity. The system then performs a secondary determination of the vehicle's motion mode, and alternately verifies the determination results to generate a verification result.

[0062] The system first detects whether the vehicle is running, and then calculates the vehicle's motion mode based on parameters such as acceleration, speed, position, and angular velocity. These parameters can be calculated using vehicle-related sensors or connected devices 210. The system performs a secondary assessment of the calculated motion mode and alternately verifies the results to improve accuracy. Finally, the system generates a verification result, determining the vehicle's final motion mode.

[0063] S40: Integrate data from multiple sensors, verify the vehicle's validation results, and confirm the final motion mode.

[0064] The system integrates data from multiple sensors, such as the GNSS module 213, the inertial navigation system 217, the accelerometer, and the CAN bus. By fusing this data, the system can gain a more comprehensive understanding of the vehicle's motion state and verify previously generated validation results. This helps ensure the accuracy of the system's judgment of the vehicle's motion mode and ultimately determines the vehicle's final motion mode.

[0065] S50: Adjust parking duration based on the final driving mode.

[0066] Specifically, after confirming the vehicle's final movement mode, the system will adjust the parking duration accordingly. This means the system will calculate the parking fee accordingly to ensure the accuracy and fairness of the parking fee. For example, if the vehicle is determined to be moving briefly, the system will continuously record the parking billing time; if the vehicle is confirmed to be ending its parking, the system will generate the vehicle's departure time and departure location, and calculate the parking duration based on this information.

[0067] S10: When a vehicle enters the parking lot, the system records the initial time and initial location and generates a parking record.

[0068] Specifically, step S10 includes:

[0069] S11: When the vehicle enters the parking lot, the system receives the engine shutdown signal, and the system records the initial time and initial position through the GNSS module 213 and generates a parking record.

[0070] First, the system receives a signal indicating that the vehicle has stopped and entered the parking lot. Then, the system uses the GNSS module 213 to obtain the vehicle's current location information and records the time and location of entry into the parking lot. This information is integrated into the parking log as the initial record of the vehicle's parking information.

[0071] S12: The vehicle's initial location, initial time, and basic vehicle information are uploaded to the parking record sheet.

[0072] The system will obtain the vehicle's initial location, initial time, and basic information and upload it to the parking record sheet. The basic vehicle information may include the vehicle's license plate number, model, etc. Once this information is uploaded to the parking record sheet, it constitutes a complete parking information record, ensuring the accuracy and completeness of the parking information and providing accurate data support for subsequent parking fee calculations.

[0073] This ensures real-time recording and updating of parking information, preventing inaccurate parking fee calculations due to missing or incorrect information. Simultaneously, by uploading basic vehicle information, the system can also manage and statistically analyze parking data, facilitating parking lot management.

[0074] S20: The system monitors the acceleration of the vehicle and obtains the start-stop status of the vehicle.

[0075] Specifically, S20 includes the following steps:

[0076] S21: The system receives the ignition signal and monitors the vehicle's acceleration. When the acceleration is 0, the vehicle is in a stationary state. When the acceleration is greater than 0, the vehicle is in a starting state.

[0077] After the vehicle is started, the system begins monitoring the vehicle's acceleration. Acceleration detection is added to avoid misjudging situations where the user starts the engine in a parking lot without actually moving the vehicle. Specifically, if the vehicle's acceleration is 0, it indicates that the vehicle is stationary or parked; while if the acceleration is greater than 0, it indicates that the vehicle is moving or starting.

[0078] S22: Based on the vehicle's acceleration, determine whether the vehicle is in a stopped or started state.

[0079] The system determines the vehicle's status based on monitored vehicle acceleration information. If the acceleration is 0, the vehicle is stationary; if the acceleration is greater than 0, the vehicle is moving. The system uses these determinations to ascertain the vehicle's current motion state, providing a basis for subsequent parking duration calculations and fee adjustments. This improves the system's accuracy in determining vehicle parking status and avoids inaccurate parking information due to misjudgments.

[0080] S30: The system detects that the vehicle has started, and calculates the vehicle's acceleration, velocity, position, and angular velocity. The system then performs a secondary determination of the vehicle's motion mode, and alternately verifies the determination results to generate a verification result.

[0081] Specifically, S30 includes the following steps:

[0082] S31: Set time threshold and distance threshold.

[0083] The system sets time and distance thresholds to determine the vehicle's movement pattern. These thresholds can be adjusted based on actual conditions and needs to meet parking lot management requirements.

[0084] S32: Calculate the vehicle's acceleration, velocity, position, and angular velocity to obtain the vehicle's travel time and distance.

[0085] The system calculates the vehicle's acceleration, velocity, position, and angular velocity to determine the time and distance traveled. This data can be acquired using sensors mounted on the vehicle or through the vehicle's connected devices 210.

[0086] S33: The movement time is compared with the time threshold for the first time to determine the vehicle's movement mode. The movement mode includes: brief movement of the vehicle and the vehicle coming to a stop.

[0087] Wherein, if the movement time is greater than the time threshold, the vehicle is in the process of ending its parking phase. If the movement time is less than the time threshold, the vehicle is in the process of brief movement.

[0088] The system compares the calculated vehicle movement time with a previously set time threshold to determine the vehicle's movement mode. If the movement time is greater than the set time threshold, the system considers the vehicle to be in a state of cessation of parking; if the movement time is less than the time threshold, the vehicle is in a state of brief movement.

[0089] In one embodiment, a time threshold T1 and a movement time T2 are set. The judgment condition is: if T2 is greater than T1, the vehicle is in the process of ending its parking; if T2 is less than T1, the vehicle is in the process of short-term movement. Here, T2 is the time period from when the vehicle starts to when it stops again.

[0090] By setting time and distance thresholds, the system calculates the vehicle's movement time and distance to determine its movement pattern. These steps aim to accurately determine whether the vehicle is making a brief movement or ending its parking period, thereby adjusting the parking duration. This improves the system's ability to accurately judge the vehicle's parking status and avoids inaccurate parking information due to misjudgments. By setting appropriate time and distance thresholds and comparing them with actual vehicle movement, the system can more accurately determine the vehicle's movement pattern, thus improving the accuracy and reliability of parking fee calculation.

[0091] S30 also includes the following steps:

[0092] S34: The moving distance and the distance threshold are compared a second time to determine the vehicle's movement mode. Wherein, when the moving distance is greater than the distance threshold, the vehicle is in the process of ending a parking situation. When the moving distance is less than the distance threshold, the vehicle is in a brief movement.

[0093] The calculated vehicle travel distance is compared with a pre-set distance threshold. Similar to time comparison, this operation can further determine the vehicle's movement pattern.

[0094] In one embodiment, a distance threshold D1 is set and a movement distance D2 is calculated. The judgment condition is: if D2 is greater than D1, the vehicle is in the final parking state; if D2 is less than D1, the vehicle is in the short-term movement state. D2 is denoted as , where (x1, y1) and (x2, y2) are the initial and final positions of the vehicle, respectively.

[0095] S35: The first comparison result and the second comparison result are verified alternately, and a verification result is generated.

[0096] By alternately verifying the results of time and distance comparisons, the accuracy of vehicle motion pattern judgment is improved. Adding distance comparison can effectively avoid time errors caused by traffic congestion, while alternating verification aims to avoid misjudgments that may result from a single comparison.

[0097] In one embodiment, the verification process includes the following steps:

[0098] The first comparison result is based on the comparison between the moving time T2 and the time threshold T1.

[0099] The second comparison result is based on the comparison between the moving distance D2 and the distance threshold D1.

[0100] The final verification result requires that the two comparisons are consistent. The consistency conditions are as follows:

[0101] If T2 > T1 and D2 > D1, then the vehicle stops parking;

[0102] If T2≤T1 and D2≤D1, then the vehicle moves briefly.

[0103] If the verification results are inconsistent, reconfirm the movement distance, movement time, distance threshold, and time threshold, and then compare them again to determine the movement pattern.

[0104] By employing dual verification (time and distance), the possibility of misjudgment is significantly reduced, ensuring more accurate calculation of parking duration. Especially in large parking lots, alternating verification effectively distinguishes between brief movements (such as adjusting parking position) and genuine vehicle departures, improving the overall reliability of the system. Precise parking duration calculation and billing avoid financial losses for car owners due to misjudgments, enhancing the user experience and trustworthiness of the parking management system.

[0105] S40: Integrate data from multiple sensors, verify the vehicle's validation results, and confirm the final motion mode.

[0106] Specifically, S40 includes the following steps:

[0107] S41: Acquire real-time data from GNSS module 213, inertial navigation system 217, accelerometer and CAN bus respectively, and perform preliminary processing and storage.

[0108] GNSS module 213 provides latitude and longitude data and timestamps. Inertial navigation system 217 provides vehicle attitude (such as tilt angle and steering angle). Accelerometer provides vehicle acceleration data (changes in three axes). CAN bus provides internal vehicle data, such as ignition status and speed.

[0109] Real-time data is acquired from multiple sensors. The GNSS module 213 provides the vehicle's position information, the inertial navigation system 217 and the accelerometer provide the vehicle's motion state data, and the CAN bus provides the vehicle's internal operating data. After acquiring this data, the system performs preliminary processing and storage for subsequent analysis and fusion.

[0110] S42: Use a Bayesian filter to fuse multiple sets of real-time data, verify the vehicle's validation results, and confirm the final motion mode.

[0111] Bayesian filtering is a statistical method used to fuse data from multiple sensors, reducing noise and errors to arrive at a more accurate vehicle motion state. By fusing data through Bayesian filtering, the system can more accurately verify previous validation results and confirm the final vehicle motion pattern.

[0112] In one embodiment, a prior probability and an observation model are defined. The posterior probability is then updated according to the Bayesian formula, and the data from each sensor are fused. Let the prior probability P(θ), the observed data X (sensor data), and the posterior probability P(θ|X) be defined. The Bayesian update formula is:

[0113] P(θ|X)∝P(X|θ)·P(θ)

[0114] The final motion pattern of the vehicle is derived based on the updated posterior probability.

[0115] Among them, GNSS module 213 data provides precise location information for the vehicle.

[0116] Inertial navigation system 217 data: provides vehicle attitude information, such as tilt angle and steering angle.

[0117] Accelerometer data: Provides information on changes in vehicle acceleration, helping to determine the vehicle's motion status.

[0118] CAN bus data: provides the vehicle's internal operating status, such as ignition, shutdown, speed, etc.

[0119] Preliminary processing and storage: The acquired data undergoes preliminary processing, such as filtering, noise reduction, and normalization, and is then stored in the system for subsequent processing.

[0120] Bayesian filter: By combining prior probabilities and observation models with data from multiple sensors, the posterior probability is updated to obtain a more accurate vehicle motion state.

[0121] In one embodiment, the input data includes GNSS data (position coordinates), inertial navigation system 217 data (tilt angle, steering angle), acceleration data (acceleration value), and CAN bus data (ignition status, speed).

[0122] The initial processing involves filtering and noise reduction. Then, a Bayesian update is performed: the prior probability is calculated, and the posterior probability is updated based on the observed data. Finally, confirmation is made: based on the posterior probability, it is determined whether the vehicle is in a brief movement or has ended its stationary state.

[0123] By fusing data from multiple sensors, the errors and noise of single-sensor data are reduced, improving the accuracy of vehicle motion status assessment. The fusion of multi-source data and the use of Bayesian filters effectively avoid misjudgments caused by anomalies in a single data point, enhancing system reliability. Real-time acquisition and processing of multi-source data ensures the system can accurately and promptly determine vehicle status, adapting to complex parking environments. Accurate vehicle status assessment and parking duration calculation avoid extra charges or missed charges due to misjudgments, increasing user trust and satisfaction with the system.

[0124] S50: Adjust parking duration based on the final driving mode.

[0125] Specifically, the S50 steps include:

[0126] S51: Determine the final movement mode. If the final movement mode is a short-term movement, the system continues to record the parking billing time. If the final movement mode is the end of parking, the system generates the vehicle's departure time and departure location.

[0127] After fusing data from multiple sensors and confirming the final motion mode, the system determines the vehicle's parking status based on the confirmed motion mode.

[0128] S52: Calculate the parking duration of the vehicle based on the departure time and the initial time.

[0129] Based on the judgment results, the system adopts different processing methods.

[0130] In Sport mode, the system continues to calculate parking time for short-term movement because the vehicle has not actually left the parking space. Billing continues for the existing parking time.

[0131] In the "End Parking" mode, the system records the vehicle's departure time and location to calculate the parking duration. The current time is recorded as the departure time, and the current location is recorded as the departure location.

[0132] This application provides an automatic parking fee collection system 200, which is applied to any of the automatic parking fee collection methods 100 described above. The system includes: a network-connected device 210 installed in a vehicle, a ground-based augmentation system 220 installed in the parking lot, and a back-end server 230. The network-connected device 210 interacts with the ground-based augmentation system 220 and the back-end server 230 via a cellular network 240.

[0133] The connected device 210 generates a parking record and determines and verifies the vehicle's movement mode. It also stores the accurate location and time information when the vehicle is turned off and started. This information is used to calculate the parking duration, which is then transmitted to the backend server 230, and the parking fee is sent to the vehicle owner.

[0134] The ground-based augmentation system 220 is used to acquire the vehicle's location and send it to the connected device 210.

[0135] The backend server 230 is used to receive parking duration and calculate parking fees, and transmit the parking fees to the network device 210.

[0136] A connected device 210 is installed on each vehicle entering the parking lot to collect and process parking-related data. Specifically, the connected device 210 installed inside the vehicle monitors the vehicle's status, such as ignition and shutdown, and collects vehicle motion data via sensors. By installing the connected device 210 on each vehicle, real-time and accurate vehicle status and location information can be obtained, ensuring the timeliness and accuracy of the data.

[0137] A ground-based augmentation system 220 is installed in the parking lot to improve the accuracy of vehicle location information. The ground-based augmentation system 220 receives and processes GNSS signals to provide high-precision location information and transmits this information to the vehicle's network-connected devices 210. The ground-based augmentation system 220 improves the accuracy of vehicle location information, especially in parking lot environments with dense high-rise buildings or signal interference, ensuring accurate vehicle positioning.

[0138] The backend server 230 is responsible for receiving data transmitted from the connected device 210, calculating parking duration, and settling fees. The backend server 230 receives parking records and related data from the connected device 210, calculates parking duration and fees, and sends the fee information back to the vehicle owner. Centralized processing and storage of parking data improves data processing efficiency and reliability, and facilitates management and retrieval.

[0139] The generation of a parking record by the connected device 210 means that the device generates a parking record when a vehicle enters the parking lot, recording the initial time and location. When the vehicle enters the parking lot, the connected device 210 records the engine shutdown signal and, through the GNSS module 213, records the initial time and initial location to generate the parking record. Automatic generation of the parking record reduces errors from manual recording and improves data collection efficiency.

[0140] The vehicle movement mode judgment and verification system, expressed by the connected device 210, monitors the vehicle's movement status to determine whether the vehicle is moving briefly or has finished parking. By receiving ignition and shutdown signals and monitoring data from the acceleration sensor and other sensors, it determines the vehicle's movement mode. After confirming the vehicle's status, it updates the parking record. Accurately judging the vehicle's status avoids billing errors caused by brief movements and ensures accurate calculation of parking duration.

[0141] The connected device 210 stores the precise location and time information of the vehicle when it is turned off and started. It records and stores the GNSS location and time information at the time of vehicle shutdown and ignition. Detailed recording of each parking and starting event provides data support for accurate calculation of parking duration.

[0142] The connected device 210 exchanges data with the ground-based augmentation system 220 and the back-end server 230 via the cellular network 240. Using the cellular network 240, the connected device 210 transmits the collected parking data to the back-end server 230. Real-time data transmission improves data transmission efficiency and reliability, ensuring that the back-end server 230 can process and calculate parking fees in a timely manner. After receiving the parking duration, the back-end server 230 calculates the parking fee according to the preset charging standard and sends the fee information back to the vehicle owner.

[0143] The network-connected device 210 includes a processor 211, a microcontroller 212, a GNSS module 213, a storage module 214, and a CAN bus transceiver 215. The processor 211 is connected to the microcontroller 212, the GNSS module 213, and the storage module 214, respectively, and the microcontroller 212 is connected to the CAN bus transceiver 215.

[0144] The processor 211 is the core component of the connected device 210, responsible for processing all data and instructions. The processor 211 receives data from various sensors and modules, performs calculations and processing. The processor 211 performs vehicle status determination and motion pattern analysis. Through the efficient processor 211, the speed and accuracy of data processing are ensured, improving the system's responsiveness.

[0145] The microcontroller 212 is used to control and manage the various modules and sensors in the device. The microcontroller 212 receives and executes instructions from the processor 211 to control the GNSS module 213, the storage module 214, and the CAN bus transceiver 215. As an auxiliary unit to the processor 211, the microcontroller 212 improves the control efficiency and reliability of the device.

[0146] The GNSS module 213 is used to acquire the vehicle's location information. The GNSS module 213 receives signals from the Global Navigation Satellite System and calculates the vehicle's geographical location. The location data is transmitted via the microcontroller 212 to the processor 211 for further processing. This provides high-precision location information, ensuring accurate recording of the vehicle's location, which is especially crucial in parking lot environments.

[0147] Storage module 214 is used to store vehicle status information and motion data. Storage module 214 stores data such as the vehicle's initial time, initial position, and motion mode. This data can be retrieved and processed by processor 211 when needed. This ensures data security and integrity, providing reliable data support for parking duration and fee calculations.

[0148] The CAN bus transceiver 215 is used to communicate with the vehicle's internal control system. The CAN bus transceiver 215 receives the vehicle's ignition and shutdown signals, as well as other important vehicle status information. This information is transmitted to the processor 211 via the microcontroller 212 for analysis and processing. Through communication with the vehicle's internal systems, the vehicle status is acquired in real time, ensuring accurate identification of parking and starting states.

[0149] The processor 211 is connected to the microcontroller 212 to transmit data and instructions. The processor 211 sends data processing and control instructions to the microcontroller 212. The microcontroller 212 executes these instructions to control the operation of each module. Through the collaborative work of the processor 211 and the microcontroller 212, the overall performance and reliability of the device are improved.

[0150] The processor 211 is connected to the GNSS module 213 to acquire and process location information. The GNSS module 213 calculates and sends the vehicle's location information to the processor 211. The processor 211 uses this location information to analyze and determine motion patterns. This ensures real-time acquisition and processing of location information, improving the accuracy of vehicle motion state determination.

[0151] The processor 211 is connected to the storage module 214 to save and retrieve necessary data. The processor 211 stores initial time, location, and vehicle motion data in the storage module 214. When data is needed, the processor 211 reads the data from the storage module 214 for analysis and processing. Secure data storage and efficient data retrieval ensure stable system operation and data accuracy.

[0152] The microcontroller 212 connects to the CAN bus transceiver 215 to enable communication with the vehicle's internal systems. The CAN bus transceiver 215 receives ignition and shutdown signals, as well as other status information, from the vehicle's internal systems. The microcontroller 212 transmits this information to the processor 211 for processing. Through real-time communication, the vehicle's start-stop status is accurately obtained, improving the accuracy of system judgments.

[0153] The acceleration sensor module 216 and the inertial navigation system 217 are integrated in the network device 210, and the acceleration sensor module 216 and the inertial navigation system 217 are respectively connected to the processor 211.

[0154] An accelerometer sensor is used to detect changes in vehicle acceleration, providing crucial data on the vehicle's motion status. The accelerometer sensor monitors the vehicle's acceleration in real time. Sensor data is transmitted to the processor 211 via the microcontroller 212. By monitoring acceleration in real time, the vehicle's motion status can be quickly determined, improving the accuracy of start-stop status detection.

[0155] The inertial navigation system 217 uses sensors such as accelerometers and gyroscopes to calculate information such as the vehicle's speed, position, and attitude. The INS comprehensively processes the data from the accelerometers and gyroscopes to calculate the vehicle's trajectory and attitude. The INS data is transmitted to the processor 211 via the microcontroller 212. This provides high-precision motion data and attitude information, further improving the accuracy of vehicle motion pattern determination.

[0156] Accelerometer module 216 and inertial navigation system 217 are connected to processor 211 to ensure timely data transmission and processing. Data from the accelerometer and inertial navigation system 217 is transmitted to processor 211 via microcontroller 212. Processor 211 comprehensively analyzes this data to determine the vehicle's motion state and mode. The connection to processor 211 ensures real-time data processing and accuracy, improving the overall system performance.

[0157] The acceleration sensor module 216 detects changes in vehicle acceleration in real time to determine the vehicle's start-stop status and motion mode. The acceleration sensor detects changes in acceleration when the vehicle accelerates or decelerates.

[0158] Data is transmitted from the microcontroller 212 to the processor 211, which determines the vehicle's motion status. This accurately identifies the vehicle's start-up and stop states, avoiding misjudgments caused by brief movements.

[0159] The inertial navigation system 217 utilizes multi-sensor fusion technology to provide high-precision vehicle motion trajectory and attitude information. It collects data from accelerometers and gyroscopes to calculate the vehicle's speed, position, and attitude. The data is transmitted to the processor 211 via the microcontroller 212, where the processor 211 integrates and analyzes the data. This high-precision motion data and attitude information improves the accuracy of vehicle motion pattern determination.

[0160] Accelerometer module 216 and inertial navigation system 217 are connected to processor 211 to ensure that data from the accelerometer and inertial navigation system (INS) can be transmitted to processor 211 for processing in a timely manner. Microcontroller 212 transmits data from the accelerometer and INS to processor 211. Processor 211 comprehensively analyzes this data to determine the vehicle's motion mode and state, improving the efficiency and accuracy of data processing and ensuring that the system can respond and adjust in real time.

[0161] The above description is merely an embodiment of this application. It should be noted that those skilled in the art can make improvements without departing from the inventive concept of this application, but these improvements all fall within the protection scope of this application.

Claims

1. A method for automatic parking fee collection, characterized in that, Including steps: When a vehicle enters the parking lot, the system records the initial time and initial location, and generates a parking record slip; The specific steps for monitoring the vehicle's acceleration and obtaining its start-stop status are as follows: The system receives the ignition signal and monitors the vehicle's acceleration; When the acceleration is zero, the vehicle is in a stationary state; When the acceleration is greater than 0, the vehicle is in the starting state; Based on the vehicle's acceleration, determine whether the vehicle is in a parked or running state; The vehicle's startup is detected, and its acceleration, velocity, position, and angular velocity are calculated. The vehicle's motion mode is then determined a second time, and the determination results are alternately verified to generate a verification result. The specific steps are as follows: Set time and distance thresholds; The vehicle's acceleration, velocity, position, and angular velocity are calculated to obtain the vehicle's travel time and distance. The movement time is compared with the time threshold for the first time to determine the movement mode of the vehicle. The movement mode includes: short-term movement of the vehicle and the vehicle coming to a stop. When the travel time is greater than the time threshold, the vehicle is in the process of ending its parking phase. When the movement time is less than the time threshold, the vehicle is in a brief movement. The movement distance and the distance threshold are compared a second time to determine the vehicle's movement mode; When the travel distance exceeds the distance threshold, the vehicle is in the process of ending its parking phase. When the moving distance is less than the distance threshold, the vehicle is in a brief movement. The first comparison result and the second comparison result are verified alternately, and a verification result is generated; By fusing data from multiple sensors, the verification results of the vehicle are examined and the final motion mode is confirmed. The specific steps are as follows: Real-time data from the GNSS module, inertial navigation system, accelerometer, and CAN bus are acquired, and preliminary processing and storage are performed. The Bayesian filter is used to fuse multiple sets of real-time data, and the verification results of the vehicle are examined to confirm the final motion mode. Based on the final driving mode, adjust the parking duration and calculate the parking fee; Determine the final motion pattern; If the final movement pattern is a short-term movement, the system will continue to record the parking billing time; If the final movement mode is to end parking, the system generates the vehicle's departure time and departure location; Calculate the parking duration of the vehicle based on the departure time and the initial time; Parking fees are calculated based on the duration of parking.

2. The automatic parking fee collection method according to claim 1, characterized in that, "When a vehicle enters the parking lot, the system records the initial time and initial location, and generates a parking record sheet" includes the following steps: When a vehicle enters the parking lot, the system receives an engine shutdown signal, and the system records the initial time and initial position through the GNSS module and generates a parking record sheet. The vehicle's initial location, initial time, and basic vehicle information are uploaded to the parking record sheet.

3. An automatic parking fee collection system, characterized in that, Applied to the automatic parking fee collection method according to any one of claims 1-2; The system includes: a connected device installed in the vehicle, a ground-based augmentation system installed in the parking lot, and a back-end server. The connected device interacts with the ground-based augmentation system and the back-end server via a cellular network. The connected device generates a parking record, judges and verifies the vehicle's movement mode, and stores the accurate location and time information when the vehicle is turned off and started, in order to calculate the parking duration and transmit the parking duration to the backend server and send the parking fee back to the car owner. The ground-based augmentation system is used to acquire the vehicle's location and send it to connected devices; The backend server is used to receive parking duration and calculate parking fees, and then transmit the parking fees to the connected devices.

4. The automatic parking fee collection system according to claim 3, characterized in that, The network-connected device includes a processor, a microcontroller, a GNSS module, a storage module, and a CAN bus transceiver. The processor is connected to the microcontroller, the GNSS module, and the storage module, respectively. The microcontroller is connected to the CAN bus transceiver.

5. The automatic parking fee collection system according to claim 4, characterized in that, An acceleration sensor module and an inertial navigation system are integrated into a networked device, and the acceleration sensor module and the inertial navigation system are respectively connected to the processor.

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