Parking space linkage system using indoor lighting fixtures to realize automatic and manual driving assistance

Abstract

The invention discloses a parking space linkage system for realizing automatic and manual driving assistance by utilizing indoor lighting fixtures, and relates to the technical field of indoor parking space detection and traffic guidance. The parking space linkage system for realizing automatic and manual driving assistance by utilizing indoor lighting fixtures comprises special parking lamps, an Internet of Things gateway, an Internet parking management system background, an intelligent vehicle-mounted machine App program, and a mobile phone App program. The special parking lamps comprise a control unit, a photoelectric ranging unit and a positioning unit with an enhanced self-learning algorithm, and the control unit comprises a control panel and a wireless communication module. By adopting the special parking lamps, the Internet of Things gateway, the Internet parking management system background, the intelligent vehicle-mounted machine App program, and the mobile phone App program, the data of the entire parking lot is connected to the Internet parking management system background through the wireless communication module via the Internet of Things gateway, so as to realize the overall regional parking situation data processing and perception, and thereby calculate a suitable driving path to a suitable parking space.

Description

Technical Field

[0001] The present invention relates to indoor parking space detection and traffic guidance technology, and in particular to a parking space linkage system that utilizes indoor lighting fixtures to realize automatic and manual driving assistance. Background Art

[0002] In the field of indoor parking, there are many mature and large-scale parking space detection and guidance methods, such as ultrasonic parking space detection, parking space video camera detection and other methods. However, since these methods have high requirements for on-site engineering and technical means, the price of the project implementation is relatively high. For example, although the equipment for ultrasonic parking space detection is relatively simple, it must be installed on the parking space using a bridge frame, and parking cannot be parked below during construction. As a result, the number of available parking spaces in many parking lots during the installation of old renovations is small, causing parking conflicts and disputes, which in turn increases the construction cost and promotion difficulty. For another example, the implementation of parking space camera detection requires not only the installation of bridge frames on both sides of the lane, but also comprehensive network wiring and switch equipment. In addition, on-site computing equipment for video recognition processing is required to realize video license plate capture and status judgment, and the construction process requires coordination of software and hardware technicians, network wiring engineers and other roles. This results in each project often requiring engineering and technical personnel with different skills to be on site, and after each project has passed the warranty period, the implementation of new projects will not be implemented due to high costs, and the maintenance of old projects will also involve coordination of multiple parties and uneven benefits.

[0003] In addition, due to the complexity of the engineering implementation and technical requirements of parking space detection solutions, many projects cannot be implemented in other places. For example, most parking space detection solution companies are located in coastal areas, and it is difficult for the sites to obtain technical manpower support to implement the projects. The cost of dispatching business trips is often not covered by the project budget. This makes it difficult to reasonably meet the needs of parking space detection and guidance.

[0004] In addition, since the lighting system and the parking system belong to two different industries, parking space detection and lighting indication cannot be applied uniformly. Although the idea and attempt to use parking lot lighting fixtures as a parking space detection carrier have always existed due to the convenience of installing and drawing electricity for lighting fixtures, at present, there are corresponding difficulties and problems in implanting traditional parking space sensors into lighting fixtures. Therefore, there is no other solution to implement the market except the solution of adding ultrasonic detection to lighting fixtures.

[0005] The camera solutions that can recognize license plates and parking spaces on the market must be installed on the other side of the lane to obtain a more suitable angle to see the car license plate. This installation method does not match the installation method of parking lighting fixtures on the same side of the parking space. Even if the license plate is not recognized and the parking space occupancy is simply recognized, the parking camera solution is seriously incompatible with the hanging method of the lighting fixture. The hanging lamps are easily disturbed by wind or jitter caused by the driving of the vehicle, which will cause the frame difference calculation between the camera-collected pictures to fail to meet the judgment, making it impossible for the parking camera to be integrated with the lighting fixture.

[0006] For the ultrasonic parking sensor solution, the working distance of its ultrasonic beam is generally 1-2 meters, so it can only work properly when it is emitted vertically downward above the parking area. If it is to be integrated into the lighting fixture, the ultrasonic sensor can only be simply added to the lighting fixture. There is no substantial breakthrough in the complexity of installation and functional innovation, and it is difficult to form convenience. For example, the existing strip lamps with integrated ultrasonic sensors need to install strip lamps for parking detection in the parking area during installation, and strip lamps for channel indication in the lane area. In this way, an area with 3 parking spaces often requires at least 2 parking lamps plus 1 lane lamp, resulting in a construction workload that is basically the same or higher than the previous ultrasonic detection bridge installation. In addition, due to the increase in the number of lamps, the overall energy consumption is higher, and the cost of the landing project and equipment exceeds the general ultrasonic parking detection solution. If a more powerful microwave directional ranging beam is used to detect parking spaces from the driving lane, the microwave beam will inevitably produce more beam dispersion when it bounces off the curved surface of the car during operation, thereby interfering with the detection work of microwave sensors in other surrounding parking spaces. This is not suitable for large-scale applications.

[0007] For other parking space detection sensors, such as geomagnetic sensors, the magnetism is affected by a large amount of steel bars in underground garages, and even subways passing through urban buildings, which also interfere with geomagnetic sensors and make them unable to be used for parking, let alone integrated with lamps. Because the parking space sensors used in the parking industry before could not be reasonably integrated with the installation and functions of lighting fixtures, the market has not proposed a feasible method for using parking space detection sensors in lighting fixtures to effectively realize the linkage of lighting indication parking spaces. It has always remained in the realm of imagination and has not been truly applied on site.

[0008] In order to facilitate the urban parking environment, solve the problem of underground parking difficulties, and promote the integration of parking detection and lighting, the present invention proposes the use of photoelectric sensors combined with enhanced self-learning algorithms to construct special parking lamps and lanterns, and to implement the remote detection of corresponding parking spaces on both sides of the roadway after continuous verification based on the actual site and the requirements of the fusion function. The reason why the photoelectric sensor was finally chosen is that the working distance is far enough, and the maximum working range can reach 6-7 meters, which is completely suitable for the scene of different installation points of various lamps in the parking lot. Secondly, the photoelectric sensor uses the iToF detection and ranging principle, and uses the phase frequency to avoid interference between multiple photoelectric sensors. At the same time, it can also avoid certain spectral interference in natural light, which is conducive to large-scale installation on site. Finally, the photoelectric sensor has good directional performance and stable beam forming. The detection results of the parking space ground and the car surface can be regarded as direct targeting results, and the invisible and intangible fuzzy evaluation can be avoided during installation.

[0009] With the rapid development of automobile upgrading and urban construction, the networking capabilities of smart cars are advancing by leaps and bounds. Cars are also developing and promoting automatic parking functions, so that smart cars can use the previous fixed parking path parking operation records in the basement, and realize autonomous parking of smart cars in underground parking lots through laser radar and video recognition capabilities. So far, most mainstream smart cars have this function. However, this function is only suitable for parking scenes that have had manual operation memories. If it is for scenes that have not been seen before, it still needs to rely on manual operation and cannot be flexibly found and parked autonomously. Therefore, for unknown underground garage scenes, the real-time information of the real-time distribution of parking spaces in the field is combined with electronic maps or BIM. It is very important to help smart cars realize the priority calculation of the basement path in advance and quickly implement the complete functions of automatic driving parking. At the same time, for manual parking operations, more intelligent lighting guidance is also needed. The side streamers of the linear lamps on both sides of the lane line flash to realize the intelligent identification of the parking lines in the field, helping car owners to reach convenient parking areas faster and more clearly, and avoid wasting time caused by excessive search for parking spaces.

[0010] The parking space linkage system in the prior art does not use special parking lamps, Internet of Things gateways, Internet parking management system background, smart vehicle-mounted App programs and mobile phone App programs to help smart connected vehicles and manual driving to achieve parking space linkage in underground garages, and it is difficult to break the previous conventional ideas to achieve fast and efficient parking convenience; therefore, in view of this situation, it is urgent to develop a parking space linkage system that uses indoor lighting fixtures to achieve automatic and manual driving assistance to meet the needs of actual use. Summary of the invention

[0011] In view of this, the present invention aims to solve the deficiencies in the prior art, and its main purpose is to provide a parking space linkage system that utilizes indoor lighting fixtures to achieve automatic and manual driving assistance. It helps smart connected cars and manual driving to achieve parking space linkage in underground garages by adopting special parking lamps, Internet of Things gateways, Internet parking management system background, smart vehicle-mounted machine App programs and mobile phone App programs. It is an excellent product solution that breaks the previous conventional thinking; the overall system design is simple, the implementation project is simple, and it has practical value for the linkage between connected cars and indoor underground garage parking spaces; it is simple to implement, economical and reliable, and easy to deploy and install on a large scale.

[0012] To achieve the above purpose, the present invention adopts the following technical solutions:

[0013] A parking space linkage system that uses indoor lighting fixtures to achieve automatic and manual driving assistance, including special parking lamps installed on indoor driving lanes, an Internet of Things gateway with edge computing capabilities and 4G / 5G communication, an Internet parking management system background, an intelligent vehicle-mounted machine App program with BLE / UWB / 5G and a mobile phone App program. The special parking lamp includes a control unit for processing signals, a photoelectric ranging unit for parking space perception, and a positioning unit for positioning. The photoelectric ranging unit and the positioning unit are both electrically connected to the control unit; a wireless communication module is provided on the control unit; the photoelectric ranging unit emits ranging light to perform ranging sensing on the parking space, and through an enhanced The self-learning algorithm corrects the parking space detection results. The wireless communication module is connected to the photoelectric ranging unit and collects data in real time. The special parking lamp uses the wireless communication module to form a communication mode. The data of the entire parking lot is connected to the Internet parking management system backend in real time through the wireless communication module through the Internet of Things gateway to realize the overall regional parking situation distribution data processing and perception; the special parking lamp contains a positioning unit combined with an electronic map or BIM system to realize the positioning function for the smart vehicle-mounted machine App program and the mobile phone App program, and combined with the parking space situation distribution of the parking lot, it provides a topological path from the underground entrance to the appropriate parking area for the networked car to build an automatic parking service. For specific deployment forms, please refer to Figure 5 .

[0014] As a preferred solution: the special parking lamp also includes a guiding unit for guiding, a lighting unit for lighting, a signal indicating unit for signaling, and a human sensing unit for turning on the light when people come and turning off the light when people leave. The guiding unit, lighting unit, signal indicating unit, and human sensing unit are all electrically connected to the control unit.

[0015] As a preferred solution: the wireless communication module has the function of an MCU single chip microcomputer, and the wireless communication module is connected to the photoelectric distance measuring unit via an IIC bus.

[0016] As a preferred solution: the wireless communication module adds an enhanced self-learning algorithm for improving the success rate of vehicle judgment, and memorizes the ranging distance value and illumination amplitude value of the photoelectric ranging unit as a pair of data. If the ranging distance value and the illumination amplitude value are consistent with the no-vehicle learning data, it is judged that there is no vehicle, otherwise it is judged that there is a vehicle.

[0017] As a preferred solution: there are several special parking lamps, and the several special parking lamps form a lamp group. The lamp group has a topological structure path algorithm for cooperating with the electronic map to schedule the partitioned vacant parking spaces and realize dynamic intelligent movement line path indication.

[0018] As a preferred solution: the topological structure path algorithm includes: under the same Internet of Things gateway, each special parking light has a single-byte short number. When a linkage path is to be formed in the light group area, that is, the topological points on the map path are selected to form a topological path for linkage flashing, it is only necessary to form a broadcast command within the Internet of Things gateway. One broadcast command can realize the flexible grouping and flashing of multiple special parking lights.

[0019] As a preferred solution: the background of the Internet parking management system divides the map of each lane area, calculates the weight of the number of vacant parking spaces in different areas, and forms a tree-like parking situation distribution map of the entire venue, thereby dynamically calculating the optimal path for the linkage of entering the parking spaces, and constructs dynamic scheduling commands based on the driving direction triggering conditions of each lane intersection point, and sends them to the special parking lights on each segmented path to form corresponding flashing guiding lines; the background of the Internet parking management system and the App program of the smart car navigation machine or the mobile phone App program publish the dynamic parking situation map of the entire venue in real time, guiding the smart car to perform autonomous path planning and implement automatic parking behavior.

[0020] As a preferred solution: the positioning unit is a positioning beacon with BLE / UWB / 5G functions, and the positioning beacon is electrically connected to the control unit.

[0021] As a preferred solution: the parking space linkage system that uses indoor lighting fixtures to achieve automatic and manual driving assistance also includes a regional information display screen for displaying an electronic map and the number of vacant parking spaces, and the regional information display screen is installed at the vehicle entrance in the parking lot.

[0022] As a preferred solution: the photoelectric distance measuring unit is a parking sensor, which adopts a photoelectric sensor, the lighting unit is a lighting LED, the guiding unit is a guiding LED, the signal indicating unit is a signal light, and the human sensing unit is a human sensing radar.

[0023] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Figure 5Specifically, it can be seen from the above technical solutions that the parking space linkage system provided by the present application that utilizes indoor lighting fixtures to achieve automatic and manual driving assistance can not only be simple, efficient and flexible to deploy to adapt to parking scenarios, but also help smart connected vehicles and manual driving to achieve parking space linkage in underground garages by adopting special parking lamps, IoT gateways, Internet parking management system background, smart vehicle-mounted machine App programs and mobile phone App programs; by adopting lighting units and guide units, it integrates conventional lighting and guide lighting solutions, and through the communication connection of wireless ad hoc networks, and the background of the Internet parking management system, through AI optimization calculation of electronic map paths and multiple positioning signals such as BLE / UWB / 5G, it is an excellent product solution that breaks the previous conventional thinking; the overall system design is simple, the implementation project is simple, and it has practical value for the linkage of connected vehicles with indoor underground garage parking spaces; it is simple to implement, economical and reliable, and easy to deploy and install on a large scale.

[0024] In order to more clearly illustrate the structural features and effects of the present invention, it is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of the special parking lamp of the present invention from a first-view perspective;

[0026] Figure 2 This is a schematic diagram of the three-dimensional structure of the special parking lamp of the present invention from a second viewing angle;

[0027] Figure 3 This is an exploded view of the special parking lamp of the present invention;

[0028] Figure 4 This is a flow chart of the working principle of the special parking lamp of the present invention;

[0029] Figure 5 It is a schematic diagram of the parking space linkage system of the present invention;

[0030] Figure 6 This is a schematic diagram of the working effect of the special parking lamp of the present invention installed in the parking area;

[0031] Figure 7 It is a topological diagram of the linkage relationship between parking areas and lane light guide lamps on the electronic map of the present invention.

[0032] Description of the accompanying drawings:

[0033] In the figure: 100, special parking lamp; 10, parking space sensor; 20, lighting LED; 30, signal light. DETAILED DESCRIPTION

[0034] The present invention Figure 1As shown in FIG. 7 , a parking space linkage system using indoor lighting fixtures to realize automatic and manual driving assistance includes a special parking lamp 100 installed on an indoor driving lane, an IoT gateway with edge computing capabilities and 4G / 5G communication, an Internet parking management system backend, an intelligent vehicle-mounted machine App program with BLE / UWB / 5G, and a mobile phone App program, wherein:

[0035] Figure 1 The special parking lamp 100 includes a control unit for processing signals, a photoelectric ranging unit for sensing parking spaces, and a positioning unit for positioning. The photoelectric ranging unit and the positioning unit are both electrically connected to the control unit; a wireless communication module is provided on the control unit; the photoelectric ranging unit emits ranging light to sense parking spaces, and corrects the parking space detection results through an enhanced self-learning algorithm, and the wireless communication module is connected to the photoelectric ranging unit and collects data in real time; the special parking lamp 100 uses a wireless communication module to form a communication mode, and the data of the entire parking lot is connected to the Internet parking management system backend in real time through the wireless communication module through the Internet of Things gateway, so as to realize the overall regional parking situation distribution data processing and perception. For the specific working principle flow chart, see Figure 4 The special parking lamp 100 contains a positioning unit combined with an electronic map or BIM system to realize the positioning function for the smart vehicle-mounted App program and the mobile phone App program, and provides a topological path from the basement entrance to the appropriate parking area for the connected car in combination with the parking space distribution in the parking lot, and builds an automatic parking service; and in combination with the vehicle type and target situation, provides various parking path options such as charging, freight, disabled, and elevator convenience.

[0036] The special parking lamp 100 also includes a guiding unit for guiding, a lighting unit for lighting, a signal indicating unit for signaling, and a human sensing unit for turning on the light when a person comes and off when a person leaves. The guiding unit, the lighting unit, the signal indicating unit, and the human sensing unit are all electrically connected to the control unit. Figure 3 .

[0037] The rapid development of new smart connected cars has put forward more specific and comprehensive demands on intelligent parking facilities.

[0038] First of all, parking space detection requires a detection device that is faster to deploy and more accurate and reliable, and is more suitable for on-site installation and replacement. Integrated with lighting is the most cost-effective solution.

[0039] Secondly, the parking space detection device needs to integrate a suitable wireless transmission method and wireless electronic positioning solution, such as BLE / UWB / 5G and other wireless positioning methods suitable for vehicle-mounted motion tracking. The corresponding positioning data needs to be integrated with electronic maps, and regional division and situational awareness calculations need to be constructed.

[0040] Thirdly, since it is easy for multiple vehicles to follow each other when entering a parking lot, a suitable detection solution is needed to quickly sense multiple vehicles following each other at the intersection of lanes and realize dynamic guidance paths for different vehicles.

[0041] Finally, the parking space linkage method should take into account both online and offline, so that the entire deployment system can achieve automatic assisted driving coordination through electronic map parking situation perception and driving path optimization, and can also assist manual driving through on-site intelligent traffic line lighting.

[0042] One thing that needs to be mentioned here is that since smart connected vehicles have self-perception capabilities and have their own license plate and owner information, on-site parking space detection perception does not necessarily require on-site parking space detection equipment to achieve goals such as license plate recognition. It is only necessary to detect the parking space occupancy situation.

[0043] The wireless communication module has the function of an MCU single chip computer and is connected to a photoelectric distance measuring unit via an IIC bus.

[0044] Figure 3 The bottom of the special parking lamp 100 is the lighting surface, and a photoelectric sensor is embedded on the side facing the parking space, and a streamer flashing light strip is embedded on the side facing the lane. When the special parking lamp 100 is installed in the lane of the parking area, a photoelectric sensor for long-distance detection of parking spaces is used to monitor up to three parking spaces. The parking spaces can be quickly detected without entering the parking area to install the equipment, and the signal lights 30 at both ends are more convenient for the driver to see and find on the lane. In this way, this lamp highly integrates the functions of parking space detection and signal light 30 indication, and is installed on the lane. It can replace the original lamp line and hoisting on the original parking lot lane, and the construction is convenient. For specific on-site deployment methods, please refer to Figure 6 .

[0045] The special parking lamp 100 can be installed on both sides of the lane intersection with its photoelectric sensor facing the lane. At this time, multiple photoelectric sensors can cover the entire lane vertically. When a vehicle is driving on the lane, the photoelectric sensors of the corresponding lamps are continuously triggered, so that the direction of the oncoming vehicle can be discovered and detected, and the perception of multiple vehicles entering and exiting the corresponding parking area on the lane can be realized. At this time, the lamp functions as a lane driving trigger, which can monitor the driving situation of multiple vehicles following and report it to the Internet parking management background.

[0046] The special parking lamp 100 contains a BLE / UWB / 5G positioning beacon, which can be combined with an electronic map or a BIM system to realize the positioning function for an intelligent networked car navigation device or a smart phone mobile terminal, and build an automatic parking service in combination with the parking space distribution in the parking lot.

[0047] The special parking lamp 100 uses a wireless communication module to form a hand-in-hand communication mode. The data of the entire parking lot can be connected to the Internet parking management background through the wireless ad hoc network through the edge Internet of Things gateway to realize the overall regional parking situation data processing and perception. For specific parking space linkage system, please refer to Figure 5 .

[0048] The wireless communication module adds an enhanced self-learning algorithm for improving the success rate of vehicle identification. The ranging distance value and illumination amplitude value of the photoelectric ranging unit are memorized as a pair of data. If the ranging distance value and illumination amplitude value are consistent with the no-vehicle learning data, it is judged that there is no vehicle, otherwise there is a vehicle.

[0049] The working principle of the parking space detection of the special parking lamp 100 is as follows:

[0050] The wireless communication module has the function of MCU microcontroller, and connects multiple photoelectric sensors that have positioned the parking space through the IIC bus, and collects data in real time. The invisible ranging light emitted by the photoelectric sensor falls near the wheel stopper at the rear of the parking space. The photoelectric sensor can perform ranging sensing on the parking space. If there is no car on the ground, the distance is far, such as 5.5-6 meters. Since the parking space is generally 5 meters long, the distance between the wheel stopper and the ground projection of the special parking lamp is also 5 meters. Therefore, when a car is parked in the parking space, the ranging light is blocked, so that when the measured distance is less than 5 meters, the microcontroller program will judge that there is a car, and when it is greater than 5 meters, it will be judged as no car.

[0051] In addition, the distance measurement is inaccurate due to the interference factors of the photoelectric sensor:

[0052] 1. The light penetrates the car glass. This is usually the distance measurement light penetrating the glass and hitting the car seat. Since the glass is semi-reflective and semi-transmissive, the distance measurement result is longer, and the illumination amplitude value is generally less than 100, with a typical value of around 70-80.

[0053] 2. The black metallic paint on the car body often has a strong specular reflection on the ranging light, so the ranging light is reflected to other angles and then reflected back through other surfaces. The light travel is longer and the illumination amplitude value is typically around 70-80.

[0054] 3. Epoxy resin floor paint with varnish on the ground. Generally speaking, parking lot floor paint has a diffuse reflection effect due to the wear-resistant corundum, but some parking lots simply use epoxy resin with varnish to paint the cement parking floor. In this way, when the ranging light hits the varnish, there is often low reflection, and the data shows that the ranging is long and the illumination amplitude value is small, about 70-80.

[0055] In order to improve the success rate of vehicle identification, the MCU microcontroller adds an enhanced self-learning algorithm to memorize the ranging distance value and the illumination amplitude value as a pair of data. Because the data pair when there is no car will be repeated, the absence of a car will be learned in multiple switching between the presence and absence of a car. That is, if the measurement data pair (ranging distance value and illumination amplitude value) is consistent with the no-car learning data, it can be judged as no car, otherwise there is a car. This enhanced self-learning algorithm provides a binary mixed criterion, which greatly improves the success rate of on-site vehicle identification and can also solve the interference factors to the photoelectric sensor.

[0056] Among them, the working principle of the specific enhanced self-learning algorithm is:

[0057] 1. After power-on, the MCU retrieves the parking space reading record in the flash storage area (including the data pair of no-car learning record value and the historical data stack), and starts the photoelectric sensor to obtain the current distance value and illumination value. After obtaining the current value, the distance value can be first judged. Generally, if it is greater than the distance judgment criterion of 5 meters, it can be predicted that there is no car, otherwise it is predicted that there is a car. If there is no car, go to step 2, and if there is a car, go to step 3.

[0058] 2. If the no-car learning record value is empty, then further read the historical data stored in the flash. This storage area can store up to 10 sets of photoelectric distance value and illumination value data pairs, and go to step 3. If the no-car learning record value exists, directly match and evaluate the current data value pair with the learning record value. If the two data values ​​match, it is directly judged that there is no car. If not, go to the next step 3.

[0059] 3. Compare the current distance value and illumination value with the historical data pair for binary judgment, where the matching tolerance of the distance value is plus or minus 30cm, and the matching tolerance of the illumination value is (plus or minus 30 when within 300AMP; plus or minus 50 when greater than 300AMP and less than 500AMP; plus or minus 100 when greater than 500AMP). As long as the current distance value and illumination value match the historical data pair twice or more, it is judged that the current parking space is empty. Otherwise, it is judged to be in a state of occupied parking space by a car; if the judgment of no car is realized, the judgment value of no car is stored in flash as the learning record value of no car.

[0060] 4. After the judgment is completed, the current distance value and illumination value are pushed into the corresponding historical data stack of the flash according to the first-in-first-out principle to refresh the history.

[0061] After determining the parking space status, the special parking lamp will display the result in the form of a traffic light, that is, if all sensors indicate a red light when there is a car, and a green light when there is an empty space. At the same time, the special parking lamp transmits the corresponding parking space status and its own number to the IoT gateway with edge computing capabilities through a wireless ad hoc network, and the gateway reliably sends it to the background. If data is lost, the gateway will resend it. When the gateway interrupts the network of the system background, once the network communication is restored, the IoT gateway will send a re-reporting instruction to all subordinate special parking lamps, and re-upload the status information and parking space judgment results of all special parking lamps to the system background. The background will correspond each lamp number to the corresponding parking space, and the parking space data of the system background can be refreshed.

[0062] The special parking lamps 100 are multiple, and the multiple special parking lamps 100 form a lamp group. The lamp group has a topological structure path algorithm for coordinating the partitioned vacant parking spaces of the electronic map to realize the dynamic intelligent moving line path indication. For specific association organization methods, see Figure 7 .

[0063] The topological structure path algorithm includes: under the same Internet of Things gateway, each special parking lamp 100 has a single-byte short number. When a linkage path is to be formed in the light group area, that is, a topological point on the map path is selected to form a topological path for linkage flashing, it is only necessary to form a broadcast command in the Internet of Things gateway. One broadcast command can realize the flexible grouping and flashing of multiple special parking lamps 100.

[0064] The backend of the Internet parking management system divides the map of each lane area and calculates the weight of the number of vacant parking spaces in different areas to form a tree-like parking situation distribution map of the entire venue, thereby dynamically calculating the optimal path for the linkage of the entry parking spaces, and constructing a dynamic scheduling command based on the driving direction triggering situation of each lane intersection point, and issuing it to the special parking lamps 100 on each segmented path to form a corresponding flashing guiding line; the backend of the Internet parking management system and the App program of the smart car navigation machine or the mobile phone App program publish the dynamic parking situation map of the entire venue in real time to guide the smart car to perform autonomous path planning and implement automatic parking behavior.

[0065] The positioning unit is a positioning beacon with BLE / UWB / 5G functions, and the positioning beacon is electrically connected to the control unit.

[0066] In order to coordinate with the electronic map's zoning for free parking space scheduling and realize dynamic intelligent moving line path indication, the light cluster formed by the special parking lamp 100 also has a topological structure path algorithm:

[0067] In the same IoT gateway, each lamp has a single-byte short number, such as 1-100, so that each gateway domain can have 100 lamps, numbered from 1-100. When a linkage path is to be formed in the lamp group area, that is, a topological point on the map path is selected to form a topological path for linkage flashing, it is only necessary to form a broadcast command in the IoT gateway. The command format is, for example: single-byte operation code opt+16 bytes of address space, the 16 bytes are 128 bits, corresponding to the selection settings of lamps numbered 1-100, if selected, set to 1, otherwise set to 0. In this way, one command can realize the flexible grouping and flashing of multiple lamps, greatly improving the flexibility and guidance efficiency of real-time control of the flashing of moving line lamps on site.

[0068] The backend system calculates the weight of the number of vacant parking spaces in different areas according to the map of each lane area, and forms a tree-like parking situation distribution map of the entire venue, so as to dynamically calculate the optimal path for the linkage of the parking spaces, and construct a dynamic dispatch command according to the driving direction triggering situation of each lane intersection, and issue it to the special parking lamps 100 on each segmented path to form a corresponding streamer flashing guiding line. At the same time, the backend system also publishes the dynamic parking situation map of the entire venue in real time with the App program of the smart car navigation machine or the mobile phone App program, guiding the smart car to perform autonomous path planning and implement automatic parking behavior.

[0069] Specific working principle:

[0070] 1. According to the driving lines on the map of the parking lot, the main road driving line light group is constructed, which is divided into sequential series sub-light groups with a linked list structure according to different intersections (crossroads, T-junctions).

[0071] 2. For the parking area at each intersection, according to the driving direction, each parking lamp is regarded as a parking unit, and a linked list is constructed in series. The number of available parking spaces in each parking unit is used as its weight, and the nature of the parking space (such as charging, freight, disabled, etc.) and the convenience level to each elevator (from 1-5) are included.

[0072] 3. In real-time operation, all the parking unit linked lists of each parking area are weighted and summed up, and the number of remaining parking spaces in each area is calculated in real time. At the same time, the linked list level from the intersection to the nearest parking unit is calculated. In this way, a tree-like parking situation distribution map of the entire field with main lines, intersections and various parking areas is formed.

[0073] 4. When calculating the path from the parking lot entrance to the available parking unit, multiple topological paths are generally constructed based on the parking area from the entrance to the most and second most parking units, and the shortest path is selected based on the number of linked lists. If the vehicle has a special task, such as charging, freight, etc., the topological path of the corresponding function is selected, and the general parking path is ignored. If the owner needs to park near the elevator, the parking unit with a high convenience level can also be selected in the general parking path, and the topological path is selected.

[0074] 5. Special parking lights can be used at intersections, with their three photoelectric sensors facing the lane lines. The direction of the oncoming vehicle can be determined by the triggering order of the three photoelectric sensors when the car passes by, and the direction can be reported to solve the problem of direction determination of multiple vehicles following.

[0075] 6. During the parking path strategy and implementation process, after the car enters the parking lot, it can call the background dynamic parking situation map and use the wireless communication of the in-vehicle APP, such as Bluetooth or 4G, to send an entry signal and position determination to the parking lot background system. The parking lot system will then open the corresponding preferred path display navigation for it, and by issuing control commands for the corresponding light groups, it will realize the flow of light lines and the flashing of scheduled yellow lights to provide auxiliary parking guidance.

[0076] 7. For cars that do not have active entry communication and position determination, the parking background system will follow up the driving detection and trigger reporting at each intersection and guide them according to the general parking optimization route.

[0077] 8. For smart connected vehicles that have the ability to call up parking situation maps, their parking positions on the map can be determined by monitoring the RSSI broadcast of the parking unit and obtaining the wireless identification ID of the surrounding parking lamps. This allows the ability to reversely search for vehicles, which is easier to implement and more convenient than reverse searching by using traditional external parking cameras to recognize license plates.

[0078] The parking space linkage system that uses indoor lighting fixtures to achieve automatic and manual driving assistance also includes a regional information display screen for displaying an electronic map and the number of vacant parking spaces. The regional information display screen is installed at the vehicle entrance in the parking lot, making it easy for car owners to watch and improving the experience.

[0079] The photoelectric distance measuring unit is a parking sensor 10, which adopts a photoelectric sensor, the lighting unit is a lighting LED 20, the guiding unit is a guiding LED, the signal indicating unit is a signal lamp 30, the human sensing unit is a human sensing radar, and the control unit includes an electrically connected control board and a power core board, see Figure 3 .

[0080] The method and principle of using the parking space linkage system that uses indoor lighting fixtures to realize automatic and manual driving assistance are as follows:

[0081] The photoelectric distance measuring unit emits distance measuring light to sense the parking space, and the wireless communication module is connected to the photoelectric distance measuring unit and collects data in real time. The positioning unit combines with the electronic map or BIM system to realize the positioning function for the smart vehicle-mounted machine App program and the mobile phone App program, and builds an automatic parking service in combination with the parking space situation distribution of the parking lot. The special parking lamp uses the wireless communication module to form a hand-in-hand communication mode. The data of the entire parking lot is connected to the Internet parking management system backend through the wireless communication module through the Internet of Things gateway to realize the overall regional parking situation data processing and perception. By utilizing the special parking installed in the underground garage The lamps are not only integrated to realize parking space detection and intelligent lighting control, but also build communication links for all special parking lamps through wireless ad hoc networks. Finally, they are connected to the background of the Internet parking management system through the edge computing Internet of Things. The background of the Internet parking management system is used to monitor the empty car area of ​​the entire parking area in real time and intelligently calculate the flexible path. After the vehicle enters the parking lot, the corresponding special parking lamps can guide the vehicle with intelligent lights. At the same time, electronic positioning such as BLE, UWB, or 5G is also provided to optimize the path map for the background of the intelligent navigation system of the connected car, perfectly realizing offline and online parking guidance. For the system diagram, please refer to Figure 5 ,Should Figure 5 The present invention fully describes all the components of the parking space linkage system, which consists of two major parts: the hardware system and the software system. The hardware system refers to the parking space equipment (the special parking lamps in the present invention), the Internet of Things gateway with wireless communication management and other field equipment, while the software part refers to the background of the Internet parking management system and the interactive interface with the external intelligent networked vehicle system. The backend of the Internet parking management system is a large system, and its main parts are: parking space cloud map (cloud platform software system, including Internet of Things management and information processing of parking space equipment, electronic map positioning and management, parking space lighting linkage management, intelligent driving path guidance management), Web-end management system (provides on-site management for property and engineering maintenance, such as configuration management, fault management, asset management, etc. of parking space equipment), electronic map client (provides information guidance and display to the mobile phone and car terminal of drivers or parking space owners and merchants), active location search and reverse search of Internet of Vehicles (this part is the data interface and on-site service, and the coordinated linkage is the external intelligent car system, which belongs to the intelligent networked car operator, because when the system is working, it only needs to extract data and obtain push from the parking space cloud map data interface or on-site parking space equipment service in real time, and can independently perform optimal path calculation and autonomous driving assistance intelligence); Figure 5 The dotted line of the special parking lamp is the schematic line for connecting the wireless communication module, that is, the schematic line for Bluetooth wireless ad hoc network communication.

[0082] The design focus of the present invention is that the parking space linkage system for automatic and manual driving assistance using indoor lighting fixtures provided by the present application can not only be simple, efficient and flexible to adapt to parking scenarios, but also help smart connected vehicles and manual driving to achieve parking space linkage in underground garages by adopting special parking lamps, Internet of Things gateways, Internet parking management system background, smart vehicle-mounted machine App programs and mobile phone App programs; by adopting lighting units and guidance units, it integrates conventional lighting and guidance lighting solutions, and through the communication connection of wireless ad hoc networks, and the background of the Internet parking management system, through AI optimization calculation of electronic map paths and multiple positioning signals such as BLE / UWB / 5G, it is an excellent product solution that breaks the previous conventional thinking; the overall system design is simple, the implementation project is simple, and it has practical value for the linkage of connected vehicles with indoor underground garage parking spaces; it is simple to implement, economical and reliable, and easy to deploy and install on a large scale.

[0083] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A parking space linkage system that uses indoor lighting fixtures to achieve automatic and manual driving assistance, characterized in that: It includes special parking lamps installed on indoor lanes, an IoT gateway with edge computing capabilities and 4G / 5G communications, an Internet parking management system background, an intelligent vehicle-mounted machine App program with BLE / UWB / 5G and a mobile phone App program. The special parking lamps include a control unit for processing signals, a photoelectric ranging unit for parking space perception, and a positioning unit for positioning. The photoelectric ranging unit and the positioning unit are both electrically connected to the control unit; a wireless communication module is provided on the control unit; the photoelectric ranging unit emits ranging light to perform ranging sensing on the parking space, and detects the parking space through an enhanced self-learning algorithm. The results are corrected, the wireless communication module is connected to the photoelectric ranging unit, and real-time data is collected; the special parking lamp uses the wireless communication module to form a communication mode, and the data of the entire parking lot is connected to the Internet parking management system backend in real time through the wireless communication module through the Internet of Things gateway, realizing the overall regional parking situation distribution data processing and perception; the special parking lamp contains a positioning unit combined with an electronic map or BIM system to realize the positioning function for the smart vehicle-mounted machine App program and the mobile phone App program, and combined with the parking space situation distribution of the parking lot, it provides a topological path from the underground garage entrance to the appropriate parking area for the networked car, and builds an automatic parking service; The working principle steps of the enhanced self-learning algorithm are as follows: First, after power-on, the MCU retrieves the parking space reading records in the flash storage area, which contain the data pairs of the vehicle-free learning record values ​​and the historical data stack, and starts the photoelectric sensor to obtain the current distance value and illumination value; After obtaining the current value, the distance value is first judged. If it is greater than the distance criterion of 5 meters, it is predicted that there is no car, otherwise it is predicted that there is a car. If it is predicted that there is no car, go to the second step, and if it is predicted that there is a car, go to the third step; Second, if the no-car learning record value is empty, then further read the historical data stored in the flash, which stores a maximum of 10 sets of photoelectric distance value and illumination value data pairs, and enter the third step; if the no-car learning record value exists, then directly match and evaluate the current data value pair with the learning record value. If the two data values ​​match consistently, then it is directly judged that there is no car. If not, then enter the third step; Third, the current distance value and illumination value are compared with the historical data for binary judgment, where the matching tolerance of the distance value is plus or minus 30cm, and the matching tolerance of the illumination value is: plus or minus 30 when it is within 300AMP; plus or minus 50 when it is greater than 300AMP and less than 500AMP; plus or minus 100 when it is greater than 500AMP; as long as the current distance value and illumination value match the historical data twice or more, it is judged that the current parking space is empty; otherwise, it is judged that there is a car occupying the space; if the determination of no car is achieved, the judgment value of no car is stored in the flash as the learning record value of no car; Fourth, after the judgment is completed, the current distance value and illumination value are pushed into the corresponding historical data stack of the flash according to the first-in-first-out principle to refresh the history.

2. The parking space linkage system for realizing automatic and manual driving assistance using indoor lighting fixtures according to claim 1, characterized in that: The special parking lamp also includes a guiding unit for guiding, a lighting unit for lighting, a signal indicating unit for signaling, and a human sensing unit for turning on the light when people come and turning off the light when people leave. The guiding unit, lighting unit, signal indicating unit, and human sensing unit are all electrically connected to the control unit.

3. The parking space linkage system for realizing automatic and manual driving assistance using indoor lighting fixtures according to claim 1, characterized in that: The wireless communication module has the function of an MCU single chip computer, and the wireless communication module is connected to the photoelectric distance measuring unit via an IIC bus.

4. The parking space linkage system for realizing automatic and manual driving assistance using indoor lighting fixtures according to claim 1, characterized in that: The wireless communication module adds an enhanced self-learning algorithm for improving the success rate of vehicle identification, and memorizes the ranging distance value and illumination amplitude value of the photoelectric ranging unit as a pair of data. If the ranging distance value and the illumination amplitude value are consistent with the no-vehicle learning data, it is judged that there is no vehicle, otherwise it is judged that there is a vehicle.

5. The parking space linkage system for realizing automatic and manual driving assistance using indoor lighting fixtures according to claim 1, characterized in that: There are a plurality of special parking lamps, which form a lamp group. The lamp group has a topological structure path algorithm for cooperating with the electronic map to schedule the partitioned vacant parking spaces and realize dynamic intelligent moving line path indication.

6. The parking space linkage system for realizing automatic and manual driving assistance using indoor lighting fixtures according to claim 5 is characterized in that: The topological structure path algorithm includes: under the same Internet of Things gateway, each special parking lamp has a single-byte short number. When a linkage path is to be formed in the light group area, that is, a topological point on the map path is selected to form a topological path for linkage flashing, it is only necessary to form a broadcast command in the Internet of Things gateway. One broadcast command can realize the flexible grouping and flashing of multiple special parking lamps.

7. The parking space linkage system for realizing automatic and manual driving assistance using indoor lighting fixtures according to claim 6, characterized in that: The backend of the Internet parking management system calculates the weight of the number of vacant parking spaces in different areas according to the map of each lane area, and forms a tree-like parking situation distribution map of the entire site, so as to dynamically calculate the optimal path for the linkage of the parking spaces, and construct a dynamic dispatching command according to the driving direction triggering situation of each lane intersection point, and issue it to the special parking lamps on each segmented path to form a corresponding streamer flashing guiding line; The backend of the Internet parking management system and the App program of the smart car navigation device or the mobile phone App program can publish a real-time dynamic parking situation map of the entire venue to guide smart cars to perform autonomous route planning and implement automatic parking.

8. The parking space linkage system for realizing automatic and manual driving assistance using indoor lighting fixtures according to claim 1, characterized in that: The positioning unit is a positioning beacon with BLE / UWB / 5G functions, and the positioning beacon is electrically connected to the control unit.

9. The parking space linkage system for realizing automatic and manual driving assistance using indoor lighting fixtures according to claim 1, characterized in that: It also includes a regional information display screen for displaying an electronic map and the number of vacant parking spaces, and the regional information display screen is installed at the vehicle entrance in the parking lot.

10. The parking space linkage system for realizing automatic and manual driving assistance by using indoor lighting fixtures according to claim 2, characterized in that: The photoelectric distance measuring unit is a parking space sensor, which adopts a photoelectric sensor. The lighting unit is a lighting LED, the guiding unit is a guiding LED, the signal indicating unit is a signal light, and the human sensing unit is a human sensing radar.

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