Parking space guiding method and system for multi-layer parking lot

Abstract

The invention relates to the technical field of traffic control, in particular to a parking space guiding method and system for a multi-layer parking lot, and the method comprises the steps: firstly obtaining all paths between a vehicle and an idle parking space; according to the bending angles of all the turning positions on each path and the length of the vehicle, the driving difficulty of the vehicle on each path is analyzed; according to the bending angle of the turning, the time when the vehicle enters the parking lot and the length of the vehicle, the superposed congestion influence of all the turning on each path is analyzed, and the overall congestion degree of the vehicle passing through each path is obtained; according to the driving difficulty and the overall congestion condition, the suitable degree of the vehicle driving each path is obtained; and analyzing the distribution condition of the idle parking spaces of each layer of the parking lot, obtaining the optimal matching layer number of the vehicle by combining the suitability degree, and further determining the optimal path and the optimal idle parking space. According to the method and the system, the accuracy of path planning and the efficiency of vehicle guiding can be improved.

Description

Technical Field

[0001] This invention relates to the field of traffic control technology, specifically to a parking guidance method and system for multi-story parking garages. Background Art

[0002] As multi-story parking garages gradually become the mainstream form of urban parking, a series of problems have arisen, the most prominent of which is the difficulty of parking. As a result, parking space resources are not fully utilized, the utilization rate and turnover rate of parking lots are low, and parking for car owners is time-consuming, stressful, and inefficient.

[0003] The "parking difficulty" is mainly manifested in the difficulty of finding parking spaces and traffic congestion within parking lots. Therefore, the technical significance and role of parking guidance methods in multi-story parking garages are extremely important, especially against the backdrop of rapid urbanization and an increase in motor vehicles; they can not only improve parking efficiency, but also have a positive impact on the city's traffic flow, environmental protection, and economic development.

[0004] Existing parking guidance methods use path planning algorithms to plan the path between a vehicle and an available parking space, selecting the closest available space for guidance. However, as vehicles travel along the guidance path, the length of the vehicle and the degree of curvature at turns can cause congestion, resulting in a significant amount of time required to park and thus failing to truly improve parking efficiency. Summary of the Invention

[0005] In order to solve the above technical problems, the purpose of this invention is to provide a parking space guidance method and system for multi-story parking lots.

[0006] According to a first aspect of the present invention, a parking space guidance method for multi-story parking lots is provided, and the specific technical solution adopted is as follows: Obtain spatial information of the parking lot, location information of available parking spaces, bending angle at turns, time of vehicle entry into the parking lot, and length of the vehicle; Based on the spatial information of the parking lot and the location information of the available parking spaces, obtain all paths between the currently waiting vehicle and the available parking spaces; The driving difficulty of the vehicle to be parked on each path is obtained based on the bending angle of all turns on each path and the length of the vehicle to be parked. Based on the turning angle, the time it takes for a vehicle to enter the parking lot, and the length of the vehicle, the superimposed congestion impact of all turns on each path is analyzed to obtain the overall congestion level of the vehicle waiting to be parked through each path. Based on the driving difficulty and the overall congestion level, the suitability of each of the aforementioned routes for the vehicle currently waiting to be parked is determined; By analyzing the distribution of available parking spaces on each parking level and considering the suitability, the optimal matching level for the current vehicle to be parked is determined, thereby identifying the optimal path and the optimal available parking space.

[0007] In some embodiments of the present invention, the driving difficulty of the vehicle to be parked on each path is obtained based on the bending angles at all turns on each path and the length of the vehicle to be parked, including: Analyze the tortuosity of each path based on the bending angles of all turns and the number of all turns on each path; Based on the bending angles at all turns on each path and the length of the vehicle currently waiting to be parked, analyze the difficulty of driving the vehicle on each path. By combining the degree of tortuosity and the degree of driving difficulty, the driving difficulty of the vehicle to be parked on each of the aforementioned paths is obtained.

[0008] In some embodiments of the present invention, based on the turning angle at the bend, the time it takes for a vehicle to enter the parking lot, and the length of the vehicle, the superimposed congestion impact at all turns on each path is analyzed to obtain the overall congestion level of the vehicle currently waiting to park through each path, including: Based on the time when different vehicles enter the parking lot, the time interval between any two adjacent vehicles on the path is obtained; Based on the turning angle, the time interval between adjacent vehicles, and the length of the vehicles, analyze the degree of single congestion at any turning point of adjacent vehicles on the path. The superimposed congestion level of the vehicle waiting to be parked at the turn is obtained by superimposing the individual congestion levels of all adjacent vehicles at the turn on the path between the vehicle at the turn and the vehicle waiting to be parked. The overall congestion level of the vehicle waiting to be parked is obtained by superimposing the congestion level at all turns on each of the said paths.

[0009] In some embodiments of the present invention, the degree of single congestion at any turn on the path for adjacent vehicles is analyzed based on the turning angle, the time interval between adjacent vehicles, and the length of the vehicles, including: Preset turning time interval; Based on the bending angle at any turn on the path and the length of the preceding vehicle among adjacent vehicles, combined with the preset turning time interval, the corrected preset turning time interval of the preceding vehicle among adjacent vehicles at any turn on the path is obtained. Based on the turning time and the time interval between adjacent vehicles, the degree of single congestion at any turning point of adjacent vehicles on the path is analyzed.

[0010] In some embodiments of the present invention, based on the turning time and in conjunction with the time interval between adjacent vehicles, the degree of single congestion at any turning point on the path of adjacent vehicles is analyzed, including: Based on the relationship between the turning time and the time interval between adjacent vehicles, determine whether the vehicle in front at any turn on the path causes a single congestion effect on the vehicle behind. If a single congestion occurs, the degree of single congestion at any turn on the path is calculated by combining the turning time and the time interval between adjacent vehicles.

[0011] In some embodiments of the present invention, the superimposed congestion levels of all adjacent vehicles at the turning point on the path and the currently waiting-to-park vehicle are superimposed to obtain the superimposed congestion level of the currently waiting-to-park vehicle as it passes through the turning point, including: The corrected time interval between vehicles is obtained based on the single congestion level between the vehicle and the preceding adjacent vehicle at the turn and the time interval between the vehicle and the following adjacent vehicle. The degree of superimposed congestion between vehicles is obtained based on the correction time interval between the vehicle and the following vehicle, as well as the length of the vehicle and the bending angle at the turn. The congestion level at the turn is obtained by superimposing the individual congestion levels of all adjacent vehicles between the vehicle at the turn and the vehicle currently waiting to be parked on the path.

[0012] In some embodiments of the present invention, the distribution of vacant parking spaces on each parking level is analyzed, and the optimal matching level for the current vehicle to be parked is obtained based on the suitability level, including: Based on the location of the vacant parking spaces on each floor of the parking lot, a cluster analysis is performed on the vacant parking spaces on each floor to obtain the number of clusters corresponding to each vacant parking space. Based on the number of clusters corresponding to the available parking spaces and the number of available parking spaces, combined with the overall congestion level of the current vehicle waiting to be parked through each of the paths, the suitability of parking the current vehicle on each floor is obtained. By combining the suitability of all vehicles waiting to be parked on each floor, the optimal matching floor number for the current vehicle waiting to be parked is determined.

[0013] In some embodiments of the present invention, determining the optimal path and the optimal vacant parking space includes: selecting the path corresponding to the maximum suitability of all paths in the optimal matching layer of the current vehicle to be parked as the optimal path and the corresponding vacant parking space as the optimal vacant parking space.

[0014] According to a second aspect of the present invention, a parking guidance system for multi-story parking garages is provided, comprising: a memory and a processor, wherein: The memory is used to store program code; The processor is configured to read program code stored in the memory and execute the method described in the first aspect of the present invention.

[0015] In some embodiments of the present invention, the processor includes: The data acquisition module is used to obtain spatial information of the parking lot, location information of available parking spaces, bending angle at turns, time of vehicle entry into the parking lot, and length of the vehicle. The path acquisition module is used to obtain all paths between the currently waiting vehicle and the available parking space based on the parking lot's spatial information and the location information of the available parking space; The driving difficulty analysis module is used to determine the driving difficulty of the vehicle to be parked on each path based on the bending angle of all turns on each path and the length of the vehicle to be parked. The congestion analysis module is used to analyze the superimposed congestion impact of all turns on each path based on the turning angle, the time it takes for a vehicle to enter the parking lot, and the length of the vehicle, so as to obtain the overall congestion level of the vehicle waiting to be parked through each path. The route suitability analysis module is used to combine the driving difficulty and the overall congestion level to determine the suitability of each of the routes for the vehicle to be parked. The optimal vacant parking space determination module is used to analyze the distribution of vacant parking spaces on each floor of the parking lot, and in combination with the suitability level, to obtain the optimal matching floor for the current vehicle to be parked, and then determine the optimal path and the optimal vacant parking space.

[0016] Compared with existing technologies, the parking guidance method and system for multi-story parking lots provided by this invention have the following beneficial effects: This invention first obtains the path from a vehicle to an available parking space. Then, it analyzes the driving difficulty of each vehicle on each path based on the degree of curvature at turns and the length of each vehicle. It also determines the congestion level of the preceding vehicle on the following vehicle by analyzing the time interval between adjacent vehicles and the turning time a vehicle should take at a turn. Since there are consecutive vehicles, the congestion between adjacent vehicles will have a cumulative effect; analyzing this cumulative effect yields the overall congestion level on each path. By analyzing the driving difficulty of vehicles on each path and the overall congestion situation, the accuracy of actual path planning is improved. Then, based on the overall congestion level and the corresponding driving difficulty on the path, the suitability of parking for vehicles on each level is obtained. Finally, the optimal level for each vehicle is determined by the level corresponding to the optimal suitability of parking for all vehicles on each level. This ensures that all vehicles can park in an optimally suitable available parking space, improving the accuracy of available parking space path planning in multi-level parking lots. Guiding vehicles based on the optimal matching level improves the efficiency of guiding vehicles to parking spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a basic flowchart illustrating a parking space guidance method for multi-story parking lots, provided as an embodiment of the present invention. Figure 2 This is a schematic diagram of the basic components of a parking guidance system for multi-story parking lots, provided as an embodiment of the present invention. Detailed Implementation

[0019] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of the parking guidance method and system for multi-story parking lots proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms such as “comprising,” “including,” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a circuit structure, article, or device comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such article or device. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of additional identical elements in the article or device that includes the element.

[0021] The following description, in conjunction with the accompanying drawings, details a specific scheme for a parking space guidance method for multi-story parking lots provided by the present invention.

[0022] Please see Figure 1 This illustrates the basic flow of a parking space guidance method for multi-story parking lots provided by an embodiment of the present invention.

[0023] like Figure 1 As shown, an embodiment of the present invention provides a parking space guidance method for multi-story parking lots, which specifically includes: S100: Obtain spatial information of the parking lot, location information of available parking spaces, bending angle at turns, time of vehicle entry into the parking lot, and length of the vehicle.

[0024] Guiding vehicles to available parking spaces in multi-level parking lots is achieved through path planning based on available parking spaces and lane information. However, during vehicle guidance, the curvature of turns and the length of the vehicle reduce driving speed, resulting in a non-optimal planned path. Therefore, it is necessary to analyze the impact of the curvature of turns and vehicle length on path planning, which requires collecting the vehicle length of each vehicle and the curvature of turns in each lane.

[0025] Specifically, spatial information for multi-story parking garages can be obtained through Building Information Modeling (BIM) or Geographic Information System (GIS), including the lane distribution on each level. Multiple cameras are installed within the multi-story parking garage (ensuring images of every parking space are captured) to determine the location of available spaces. Cameras are also installed at the entrance to acquire length data for each vehicle and the time it takes to enter the garage. Finally, the turning angles at corners are recorded.

[0026] At this point, we have obtained the spatial information of the multi-level parking garage, the location information of all available parking spaces, the bending angle of all turns, the time when vehicles enter the parking garage, and the length data of the vehicles.

[0027] S200: Based on the parking lot's spatial information and the location information of available parking spaces, obtain all paths between the currently waiting vehicle and the available parking spaces.

[0028] Based on the spatial information of the parking lot and the location information of vacant parking spaces, path planning is performed by using depth-first search (DFS) or breadth-first search (BFS) to determine the location of each vehicle at its entrance and the location of vacant parking spaces within the multi-level parking lot. This yields all paths between vehicles and vacant parking spaces, facilitating subsequent analysis.

[0029] S300: Based on the bending angles of all turns on each path and the length of the vehicle to be parked, the driving difficulty of the vehicle to be parked on each path is obtained.

[0030] When guiding vehicles to available parking spaces, route planning is performed directly based on the location of each vehicle at the entrance and the location of available parking spaces within the multi-level parking garage. Different routes have numerous turns, and the varying number and degree of these turns result in different driving difficulties. However, the route planning did not consider these turns, leading to deviations in the route planning process.

[0031] Based on the above analysis, this embodiment calculates the driving difficulty of the vehicle to be parked on each path by taking into account the bending angles at all turns on each path and the length of the vehicle to be parked.

[0032] Furthermore, vehicles slow down at turns, and the angle of the turn affects the difficulty of the turn. Therefore, the more turns a path has, and the smaller the angle of those turns, the more difficult it is to navigate that path, thus affecting the vehicle's speed. Therefore, we first analyze the tortuosity of each path based on the angle of all turns and the total number of turns. The tortuosity of each path is expressed by the formula: In the formula, Indicates the The degree of tortuousness along the path; Indicates the On the path, the first The bending angle at the turn; Indicates the The number of turns on the path.

[0033] When bending angle The smaller the value, the more tortuous the path, the more difficult it is for the vehicle to turn, and the greater the corresponding driving difficulty; the number of turns on the path The more [number] [items] there are, the more tortuous the path becomes, and the more times it affects vehicle driving, thus increasing the difficulty of driving.

[0034] Then, because longer vehicles find it more difficult to turn at bends, the same path becomes more difficult for longer vehicles. Furthermore, the impact of different bends on the same longer vehicle varies; a larger bend angle may have less impact on a longer vehicle, while a smaller bend angle has a greater impact. Therefore, based on the bend angles at all bends on each path and the length of the vehicle currently waiting to be parked, the difficulty of driving the vehicle on each path is analyzed. The difficulty of driving the vehicle on each path is expressed by the following formula: Where, Indicates the current number The number of vehicles waiting to be parked is in The degree of difficulty in driving along the route; Indicates the current number The length of each vehicle waiting to be parked; Indicates the On the path, the first The bending angle at the turn; Indicates the The number of turns on the path; Represented by natural constant An exponential function with base 0.

[0035] Indicates the current number The number of vehicles waiting to be parked is in The difficulty of driving at each turn will be... As vehicle length The weight of the curve is such that the smaller the bend angle, the more difficult it is for a longer vehicle to navigate the bend. Indicates the current number The number of vehicles waiting to be parked is in The average difficulty of driving at all turns on the path is used as the current driving difficulty. The number of vehicles waiting to be parked is in The degree of difficulty of driving on this route.

[0036] Finally, combining the degree of tortuosity and the degree of driving difficulty, the driving difficulty of the vehicle to be parked on each path is obtained. Specifically, the driving difficulty of the vehicle to be parked on each path is the product of the driving difficulty of the vehicle to be parked on each path and the degree of tortuosity of each path. The driving difficulty of the vehicle to be parked on each path is expressed by the formula: Where, Indicates the current number The number of vehicles waiting to be parked is in The difficulty of driving on each route; Indicates the The degree of tortuosity of the path; Indicates the current number The number of vehicles waiting to be parked is in The difficulty of driving on each route.

[0037] The more tortuous the path, the more difficult it is for a vehicle to travel on that path; the more difficult it is for a vehicle to travel on that path, the greater the difficulty of driving on that path.

[0038] This gives us the driving difficulty of each vehicle waiting to be parked on each path.

[0039] S400: Based on the turning angle at the bend, the time it takes for a vehicle to enter the parking lot, and the length of the vehicle, analyze the cumulative congestion impact at all turns on each path to obtain the overall congestion level of the vehicle waiting to be parked through each path.

[0040] When vehicles are turning, if the vehicle in front is longer, vehicles behind may have to stop and wait for the longer vehicle to turn before they can turn themselves. Therefore, this situation needs to be considered. Furthermore, as the number of vehicles following increases, all the consecutive vehicles will create a cumulative congestion effect.

[0041] Based on the above analysis, this embodiment analyzes the superimposed congestion impact of all turns on each path according to the turning angle, the time of vehicle entry into the parking lot, and the length of the vehicle, to obtain the overall congestion level of the vehicle waiting to be parked through each path.

[0042] Furthermore, when analyzing the impact of one vehicle on the other at a turn due to length differences, there are two scenarios: one where the time interval between the two vehicles entering the parking garage is relatively long, resulting in no impact; and another where the time interval between the two vehicles entering the parking garage is relatively short, leading to congestion on the following vehicle at the turn. Therefore, the time interval between any two adjacent vehicles on the path is first determined based on the entry times of different vehicles into the parking lot.

[0043] Then, based on the turning angle, the time interval between adjacent vehicles, and the vehicle length, the individual congestion level of adjacent vehicles at any turn on the path is analyzed. Furthermore, this includes: pre-setting the turning time interval; obtaining a corrected pre-set turning time interval for the preceding vehicle at any turn on the path based on the turning angle at any turn on the path and the length of the preceding vehicle among adjacent vehicles, combined with the pre-set turning time interval; and analyzing the individual congestion level of adjacent vehicles at any turn on the path based on the turning time and the time interval between adjacent vehicles.

[0044] Specifically, when the time interval between adjacent vehicles entering the parking lot is greater than or equal to the preset turning time interval, it is considered that the vehicle in front has no congestion impact on the vehicle behind. When the time interval between adjacent vehicles entering the parking lot is less than the preset turning time, it is considered that the vehicle in front has a congestion impact on the vehicle behind. Furthermore, since the length of the vehicle in front at the turn and the curvature of the turn increase the turning time of the vehicle in front, the overall congestion level at the turn is analyzed by considering the length of the vehicle in front at the turn and the curvature of the turn.

[0045] Based on this, the degree of single congestion of adjacent vehicles at any turn on the path is analyzed according to the turning time and the time interval between adjacent vehicles. This includes: determining whether the vehicle in front has a single congestion impact on the vehicle behind at any turn on the path based on the relationship between the turning time and the time interval between adjacent vehicles; if a single congestion impact occurs, the degree of single congestion of adjacent vehicles at any turn on the path is calculated based on the turning time and the time interval between adjacent vehicles.

[0046] The formula for calculating the congestion level at any turn on the path for adjacent vehicles is as follows: In the formula, Indicates the vehicle in front With the car behind In the The first path The level of congestion at a single bend; Indicates the vehicle in front With the car behind The time interval between; Indicates the preset turning time interval; Indicates the vehicle in front The length of the vehicle body; Indicates the The first path The bending angle at the turn; This represents the linear normalization function.

[0047] This indicates that the preset turning time interval needs to be adjusted. This means that if the current vehicle is long and the turning angle is small, the preset turning time interval may need to be longer. This means that only when the time interval between two adjacent vehicles is greater than or equal to the preset turning time interval can the vehicle in front not cause congestion to the vehicle behind; otherwise, it indicates that there is an impact of the vehicle in front on the vehicle behind.

[0048] Furthermore, since there are multiple vehicles consecutively between the vehicle waiting to be parked and the turning point of the path when the vehicle enters the parking lot, it is also necessary to analyze the cumulative congestion impact between these consecutive vehicles at each turning point. Therefore, this embodiment obtains the cumulative congestion level of the vehicle waiting to be parked at the turning point by superimposing the individual congestion levels of all adjacent vehicles between the vehicle at the turning point and the vehicle waiting to be parked at the turning point. Further, this includes: obtaining a corrected time interval between the vehicle and the next adjacent vehicle based on the individual congestion level between the vehicle and the previous adjacent vehicle at the turning point and the time interval between the vehicle and the next adjacent vehicle; obtaining the cumulative congestion level between the vehicle and the next adjacent vehicle based on the corrected time interval between the vehicle and the next adjacent vehicle, as well as the vehicle length and the turning angle; and then superimposing the individual congestion levels of all adjacent vehicles between the vehicle at the turning point and the vehicle waiting to be parked at the turning point to obtain the cumulative congestion level of the vehicle waiting to be parked at the turning point.

[0049] Specifically, the superposition process is as follows: We can obtain the number in sequence. The first path At the turn, the vehicle is currently... Between any two adjacent vehicles among the vehicles waiting to be parked, on the 1st... The formula for the cumulative congestion level at each bend is: Where, Indicates the vehicle in front With the car behind The correction time interval between them; Indicates the vehicle in front With the car behind The time interval between; Indicates the vehicle in front With the car behind In the The first path The level of congestion at a single bend; Indicates that in passing the first The first path At the bend, the car in front With the car behind The degree of congestion between them; Indicates the vehicle in front The length of the vehicle body; Indicates passing the first The first path At the current turning point The degree of congestion between a vehicle waiting to park and the vehicle in front; Indicates the current number The correction time interval between the vehicle waiting to be parked and the vehicle in front; Indicates the preset turning time interval; Indicates the current number The length of the vehicle in front of the vehicle waiting to be parked; Indicates the The first path The bending angle at the turn; This represents the linear normalization function.

[0050] Similarly, we can obtain the current number. The cumulative congestion level of each waiting vehicle at each turn on each path.

[0051] Finally, to avoid or alleviate traffic congestion, longer vehicles should be parked in available spaces on floors with lower driving difficulty and congestion levels. This reduces congestion in multi-level parking garages, allowing all vehicles to quickly find available spaces. To analyze and determine the suitable floor for each vehicle, we first determine the path from the entrance to each available space on each floor. We then analyze the overall congestion level at all turns along this path. By combining the overall congestion level with the driving difficulty of each vehicle on each path, we determine the suitability of each path for each vehicle length to be parked in each available space. Therefore, based on the cumulative congestion level at all turns along each path, we obtain the overall congestion level of the vehicle waiting to be parked along each path. The overall congestion level of the vehicle waiting to be parked along each path is expressed by the formula: In the formula, Indicates the current number The number of vehicles waiting to be parked is in The overall level of congestion while traveling on this route; Indicates that in passing the first The first path At the current turning point The degree of congestion between a vehicle waiting to park and the vehicle in front; Indicates the The number of all turns on the path; represents the linear normalization function.

[0052] The overall congestion level of the route is obtained by multiplying the congestion levels at all turns.

[0053] S500: Based on the driving difficulty and overall congestion, determine the suitability of each route for the vehicle currently waiting to be parked.

[0054] Taking into account driving difficulty and overall congestion, the suitability of each route for the vehicle currently waiting to park is determined. The suitability of each route for the vehicle currently waiting to park is expressed by the formula: Where, Indicates the current number The first vehicle waiting to be parked drove The suitability of the current path, i.e., the suitability of the current path. Each available parking space on each floor corresponds to a vehicle waiting to be parked. The suitability of each path; Indicates the current number The number of vehicles waiting to be parked is in The overall congestion level when traveling on a given route indicates the current congestion level. Each available parking space on each floor corresponds to a vehicle waiting to be parked. The overall congestion level of each route; Indicates the current number The number of vehicles waiting to be parked is in The difficulty of driving on each route; Represented by natural constant An exponential function with base 0.

[0055] The greater the overall congestion when vehicles waiting to be parked travel along the route, the more difficult it is for vehicles to travel along the route, and the less suitable the route is for vehicles to travel.

[0056] Since there may be multiple paths between the vehicle waiting to be parked and the available parking space, the path with the highest suitability is selected as the planned driving path between the vehicle waiting to be parked and the available parking space. That is, the highest suitability is the suitability of the vehicle waiting to be parked in the available parking space.

[0057] S600: Analyze the distribution of vacant parking spaces on each parking level, and combine the suitability to obtain the optimal matching level for the current vehicle waiting to be parked, thereby determining the best path and the best vacant parking space.

[0058] When a long car is parked, if the adjacent parking spaces are not empty, the long car will cause congestion for the following cars. Therefore, if there are many empty parking spaces and many adjacent parking spaces, the long car can be parked quickly.

[0059] Based on the above analysis, this embodiment analyzes the distribution of vacant parking spaces on each floor of the parking lot and combines the suitability to obtain the optimal matching floor for the current vehicle to be parked, thereby determining the best path and the best vacant parking space.

[0060] Specifically, firstly, based on the location of the vacant parking spaces on each floor, i.e., obtaining the coordinates (center point of the parking space) of all vacant parking spaces on each floor, the vacant parking spaces on each floor are clustered using the K-Means clustering algorithm to obtain the number of clusters corresponding to each vacant parking space. The number of clusters is obtained by the elbow method. Both the K-Means clustering algorithm and the elbow method are well-known techniques and will not be elaborated here.

[0061] Then, based on the number of clusters corresponding to available parking spaces and the total number of available parking spaces, combined with the overall congestion level of the vehicle waiting to be parked along each path, the suitability of parking the vehicle on each floor is determined. Specifically, the current level is constructed... The formula for calculating the suitability of parking spaces for each vehicle on each floor is as follows: Where, Indicates the current number The first parking space for vehicles. The suitability of the layer; Indicates the current number The first vehicle is parked Layer The suitability of the path corresponding to each available parking space is the same as the suitability calculated in the above steps, but specifically for the path corresponding to each available parking space. Indicates the Layer The number of clusters corresponding to each available parking space; Indicates the The total number of available parking spaces on each floor; represents the linear normalization function.

[0062] Then, in order to ensure that all vehicles waiting to be parked can be parked in an available parking space with the best suitability, the optimal matching layer for the current vehicle is determined by combining the suitability of all vehicles waiting to be parked on each layer. That is, the mean of the optimal suitability of all vehicles waiting to be parked on each layer is calculated iteratively, and the optimal matching layer for each vehicle waiting to be parked is selected when the mean of optimal suitability is the largest.

[0063] At this point, the optimal matching layer for all currently waiting vehicles to be parked is obtained.

[0064] Then, based on the optimal matching level for the current vehicle to be parked, the optimal route and the optimal available parking space are determined. Specifically, the route corresponding to the maximum suitability of all routes within the optimal matching level for the current vehicle to be parked is selected as the optimal route, and the corresponding available parking space is selected as the optimal available parking space.

[0065] Based on the same inventive concept as the above method, this embodiment also provides a parking guidance system for multi-story parking lots.

[0066] See also Figure 2 This illustrates the basic components of a parking guidance system for multi-story parking lots provided by an embodiment of the present invention.

[0067] like Figure 2 As shown, a parking guidance system for multi-story parking garages includes: a memory 10 and a processor 20, wherein: Memory 10 is used to store program code; The processor 20 is used to read the program code stored in the memory 10 and execute it to obtain the spatial information of the parking lot, the location information of the vacant parking spaces, the turning angle of the turns, the time it takes for the vehicle to enter the parking lot, and the length of the vehicle; based on the spatial information of the parking lot and the location information of the vacant parking spaces, it obtains all paths between the vehicle to be parked and the vacant parking spaces; based on the turning angle of all turns on each path and the length of the vehicle to be parked, it obtains the driving difficulty of the vehicle to be parked on each path; based on the turning angle of the turns, the time it takes for the vehicle to enter the parking lot, and the length of the vehicle, it analyzes the superimposed congestion effect of all turns on each path to obtain the overall congestion level of the vehicle to be parked on each path; combining the driving difficulty and the overall congestion situation, it obtains the suitability of the vehicle to be parked on each path; it analyzes the distribution of vacant parking spaces on each floor of the parking lot, and combined with the suitability level, it obtains the optimal matching floor for the vehicle to be parked, and then determines the optimal path and the optimal vacant parking space.

[0068] Furthermore, the processor 20 includes a data acquisition module 21, a route acquisition module 22, a driving difficulty analysis module 23, a congestion analysis module 24, a route suitability analysis module 25, and an optimal available parking space determination module 26. Wherein: Data acquisition module 21 is used to acquire spatial information of the parking lot, location information of vacant parking spaces, bending angle at turning points, time of vehicle entry into the parking lot, and length of the vehicle. The path acquisition module 22 is used to obtain all paths between the currently waiting vehicle and the available parking space based on the spatial information of the parking lot and the location information of the available parking space; The driving difficulty analysis module 23 is used to obtain the driving difficulty of the vehicle to be parked on each path based on the bending angle of all turns on each path and the length of the vehicle to be parked. The congestion analysis module 24 is used to analyze the superimposed congestion impact of all turns on each path based on the turning angle, the time the vehicle enters the parking lot and the length of the vehicle, so as to obtain the overall congestion level of the current vehicle waiting to be parked through each path. The route suitability analysis module 25 is used to combine driving difficulty and overall congestion to determine the suitability of each route for the vehicle to be parked. The optimal vacant parking space determination module 26 is used to analyze the distribution of vacant parking spaces on each floor of the parking lot, and combine the suitability to obtain the optimal matching floor for the current vehicle to be parked, thereby determining the optimal path and the optimal vacant parking space.

[0069] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0070] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A parking space guidance method for a multi-storey parking lot, characterized in that: The method comprises: Obtaining the spatial information of the parking lot, the location information of the vacant parking spaces, the turning angle at the turn, the time when the vehicle entered the parking lot, and the length of the vehicle; According to the spatial information of the parking lot and the position information of the vacant parking spaces, all paths between the current vehicle to be parked and the vacant parking spaces are obtained; Obtaining the driving difficulty of the current vehicle to be parked on each of the paths according to the bending angles of all the turns on each of the paths and the length of the current vehicle to be parked; According to the turning angle of the turning point, the time when the vehicle enters the parking lot, and the length of the vehicle, the superimposed congestion impact of all the turning points on each path is analyzed to obtain the overall congestion level of the current vehicles to be parked passing through each path; Combining the driving difficulty and the overall congestion level, obtaining the suitability of the current vehicle to be parked for driving each of the paths; The distribution of the vacant parking spaces on each floor of the parking lot is analyzed, and combined with the suitability, the optimal matching floor number for the current vehicle to be parked is obtained, and then the optimal path and the optimal vacant parking space are determined.

2. The parking guidance method for a multi-storey parking lot according to claim 1, characterized in that: According to the bending angles of all the turns on each of the paths and the length of the vehicle to be parked, the driving difficulty of the vehicle to be parked on each of the paths is obtained, including: Analyzing the tortuosity of each of the paths according to the bending angles of all the turns on each of the paths and the number of all the turns; Analyzing the driving difficulty of the current vehicle to be parked when driving on each path according to the bending angles of all turns on each path and the length of the current vehicle to be parked; The driving difficulty of the current vehicle to be parked on each of the paths is obtained by combining the degree of tortuosity and the degree of driving difficulty.

3. The parking space guidance method for a multi-storey parking lot according to claim 1, characterized in that: According to the turning angle of the turning point, the time when the vehicle enters the parking lot, and the length of the vehicle, the superimposed congestion impact of all the turning points on each path is analyzed to obtain the overall congestion level of the current vehicles to be parked passing through each path, including: According to the time when different vehicles enter the parking lot, the time interval between any two adjacent vehicles on the path is obtained; Analyzing the single congestion degree of adjacent vehicles at any turn on the path according to the turning angle at the turn, the time interval between adjacent vehicles and the length of the vehicles; Superimposing the single congestion degree of all adjacent vehicles between the vehicle at the turning point and the vehicle currently to be parked on the path at the turning point, to obtain the superimposed congestion degree of the vehicle currently to be parked passing through the turning point; According to the superimposed congestion levels of all turns on each of the paths, the overall congestion level of the vehicles currently to be parked passing through each of the paths is obtained.

4. The parking space guidance method for a multi-storey parking lot according to claim 3, characterized in that: According to the turning angle at the turning point, the time interval between adjacent vehicles and the length of the vehicles, the single congestion degree of adjacent vehicles at any turning point on the path is analyzed, including: Preset turning time intervals; According to the bending angle at any turn on the path and the length of the front vehicle among the adjacent vehicles, combined with the preset turning time interval, a corrected preset turning time interval at any turn of the front vehicle among the adjacent vehicles on the path is obtained; According to the turning time and the time interval between adjacent vehicles, the single congestion degree of adjacent vehicles at any turning point on the path is analyzed.

5. The parking guidance method for a multi-storey parking lot according to claim 4, characterized in that: According to the turning time and the time interval between adjacent vehicles, the single congestion degree of adjacent vehicles at any turning point on the path is analyzed, including: According to the relationship between the turning time and the time interval between adjacent vehicles, it is determined whether the front vehicle at any turning point on the path has a single congestion impact on the rear vehicle; If a single congestion impact occurs, the single congestion degree of adjacent vehicles at any turn on the path is calculated by combining the turning time and the time interval between adjacent vehicles.

6. The parking guidance method for a multi-storey parking lot according to claim 3, characterized in that: The single congestion degree of all adjacent vehicles between the vehicle at the turning point and the vehicle currently to be parked on the path is superimposed at the turning point to obtain the superimposed congestion degree of the vehicle currently to be parked passing through the turning point, including: According to the single congestion degree between the vehicle and the previous adjacent vehicle at the turning point and the time interval between the vehicle and the next adjacent vehicle, a corrected time interval between the vehicle and the next adjacent vehicle is obtained; According to the corrected time interval between the vehicle and the next vehicle, as well as the length of the vehicle and the bending angle at the turn, the superimposed congestion degree between the vehicle and the next vehicle is obtained; In this way, the single congestion degree of all adjacent vehicles between the vehicle at the turning point and the vehicle currently to be parked on the path at the turning point is superimposed to obtain the superimposed congestion degree of the vehicle currently to be parked passing through the turning point.

7. The parking guidance method for a multi-storey parking lot according to claim 1, characterized in that: Analyze the distribution of the vacant parking spaces on each floor of the parking lot, and combine the suitability to obtain the optimal matching floor number for the current vehicle to be parked, including: Based on the positions of the vacant parking spaces on each floor of the parking lot, cluster analysis is performed on the vacant parking spaces on each floor of the parking lot to obtain the number of clusters corresponding to each vacant parking space; According to the number of clusters corresponding to the free parking spaces and the number of the free parking spaces, combined with the overall congestion level of the current vehicles to be parked passing through each of the paths, the suitability of the current vehicles to be parked for each layer is obtained; The optimal matching number of floors for the current vehicle to be parked is determined by combining the suitability of each floor for all vehicles to be parked.

8. The parking guidance method for a multi-storey parking lot according to claim 7, characterized in that: Determining the best path and the best free parking space includes: selecting a path corresponding to the maximum value of the suitability of all paths in the best matching layer number of the current vehicle to be parked as the best path, and selecting the corresponding free parking space as the best free parking space.

9. A parking guidance system for a multi-storey parking lot, characterized in that: The system comprises: a memory and a processor, wherein: The memory is used to store program codes; The processor is configured to read the program code stored in the memory and execute the method according to any one of claims 1 to 8.

10. The parking guidance system for a multi-storey parking lot according to claim 9, characterized in that: The processor comprises: A data acquisition module is used to obtain the spatial information of the parking lot, the location information of the vacant parking spaces, the turning angle at the turn, the time when the vehicle enters the parking lot, and the length of the vehicle; A path acquisition module is used to acquire all paths between the current vehicle to be parked and the vacant parking space according to the spatial information of the parking lot and the position information of the vacant parking space; A driving difficulty analysis module, used to obtain the driving difficulty of the current vehicle to be parked on each of the paths according to the bending angles of all turns on each of the paths and the length of the current vehicle to be parked; The congestion degree analysis module is used to analyze the superimposed congestion impact of all turns on each path according to the turning angle of the turn, the time when the vehicle enters the parking lot, and the length of the vehicle, and obtain the overall congestion degree of the current vehicles to be parked passing through each path; A path suitability analysis module, used to obtain the suitability of each path for the current vehicle to be parked by combining the driving difficulty and the overall congestion level; The optimal free parking space determination module is used to analyze the distribution of the free parking spaces on each floor of the parking lot, and combine the suitability to obtain the optimal matching floor number for the current vehicle to be parked, and then determine the optimal path and the optimal free parking space.

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