Parking guidance method and system for multi-storey parking lots

Abstract

The present invention relates to the field of traffic control technology, and in particular to a parking guidance method and system for a multi-story parking lot. The present invention first obtains all paths between a vehicle and an empty parking space; analyzes the driving difficulty of the vehicle on each path according to the bending angles of all turns on each path and the length of the vehicle; analyzes the superimposed congestion effects of all turns on each path according to the bending angles of the turns, the time when the vehicle enters the parking lot, and the length of the vehicle, and obtains the overall congestion degree of the vehicle passing through each path; obtains the suitability of each path for the vehicle to travel in combination with the driving difficulty and the overall congestion; analyzes the distribution of empty parking spaces on each floor of the parking lot, and obtains the optimal matching number of layers for the vehicle in combination with the suitability, thereby determining the optimal path and the optimal empty parking space. The method and system of the present invention can improve the accuracy of path planning and the efficiency of vehicle guidance.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic control, and in particular to a parking space guidance method and system for a multi-storey parking lot. Background Art

[0002] While multi-storey parking lots have gradually become the mainstream form of urban parking lots, they have caused a series of problems, 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 is time-consuming and inefficient for car owners.

[0003] The main manifestation of "difficult parking" is the difficulty in finding parking spaces and the congestion of roads in parking lots. Therefore, the technical significance and role of parking guidance methods in multi-storey parking lots are extremely important, especially in the context of rapid urbanization and the increase in motor vehicles; it can not only improve parking efficiency, but also have a positive impact on the traffic flow, environmental protection and economic development of the entire city.

[0004] The existing parking guidance method can plan the path between the vehicle and the vacant parking space through the path planning algorithm, and select one of the nearest vacant parking spaces for guidance, so as to achieve parking guidance. However, when the vehicle is driving along the guidance path, the length of the vehicle and the degree of curvature at the turning point in the path will cause vehicle congestion, resulting in a lot of time required to park the vehicle, and thus failing to truly improve parking efficiency. Summary of the invention

[0005] In order to solve the above technical problems, an object of the present invention is to provide a parking guidance method and system for a multi-storey parking lot.

[0006] According to a first aspect of an embodiment of the present invention, a parking space guidance method for a multi-storey parking lot is provided, and the technical solution adopted is specifically as follows:

[0007] 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;

[0008] 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;

[0009] 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;

[0010] 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;

[0011] 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;

[0012] 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.

[0013] In some embodiments of the present invention, the driving difficulty of the current vehicle to be parked on each of the paths is obtained according to the bending angles of all turns on each of the paths and the length of the current vehicle to be parked, including:

[0014] 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;

[0015] 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;

[0016] 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.

[0017] In some embodiments of the present invention, the superimposed congestion impact of all turns on each path is analyzed according to the turning angle of the turn, the time when the vehicle enters the parking lot, and the length of the vehicle, to obtain the overall congestion level of the current vehicle to be parked passing through each path, including:

[0018] According to the time when different vehicles enter the parking lot, the time interval between any two adjacent vehicles on the path is obtained;

[0019] 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;

[0020] 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;

[0021] 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.

[0022] In some embodiments of the present invention, 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 includes:

[0023] Preset turning time intervals;

[0024] 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;

[0025] 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.

[0026] In some embodiments of the present invention, analyzing the single congestion degree of adjacent vehicles at any turn on the path according to the turning time and the time interval between adjacent vehicles includes:

[0027] 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;

[0028] 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.

[0029] In some embodiments of the present invention, 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 includes:

[0030] 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;

[0031] 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;

[0032] 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.

[0033] In some embodiments of the present invention, the distribution of the vacant parking spaces on each floor of the parking lot is analyzed, and the optimal matching floor number for the current vehicle to be parked is obtained in combination with the suitability, including:

[0034] 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;

[0035] 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;

[0036] 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.

[0037] In some embodiments of the present invention, determining the best path and the best vacant parking space includes: selecting the path corresponding to the maximum value of the suitability of all paths in the optimal matching layer number of the current vehicle to be parked as the best path, and the corresponding vacant parking space as the best vacant parking space.

[0038] According to a second aspect of an embodiment of the present invention, a parking space guidance system for a multi-storey parking lot is provided, comprising: a memory and a processor, wherein:

[0039] The memory is used to store program codes;

[0040] The processor is used to read the program code stored in the memory and execute the method described in the first aspect of the embodiment of the present invention.

[0041] In some embodiments of the present invention, the processor comprises:

[0042] 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;

[0043] 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;

[0044] 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;

[0045] 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;

[0046] 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;

[0047] 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.

[0048] Compared with the prior art, the parking guidance method and system for a multi-storey parking lot provided by the present invention has the following beneficial effects:

[0049] The present invention first obtains the path from the vehicle to the vacant parking space. Then, the driving difficulty of each vehicle on each path is analyzed according to the degree of bending at the turning point on each path and the length of each vehicle; and the congestion degree of the front vehicle to the rear vehicle is determined by the time interval between adjacent vehicles and the turning time that the vehicle should be at the turning point. Since there are continuous vehicles, the congestion between adjacent vehicles will produce a superimposed effect, and the superimposed effect is analyzed to obtain the overall congestion degree on each path; the accuracy of the actual path planning is improved by analyzing the driving difficulty of the vehicle on the path and the overall congestion on the path. Then, the suitability of the vehicle to be parked on each layer is obtained according to the overall congestion degree and the corresponding driving difficulty on the path; then, according to the number of layers corresponding to each vehicle to be parked when the suitability of all vehicles to be parked on each layer is optimal, as the best matching layer number for each vehicle to be parked, it can be ensured that all vehicles to be parked can be parked in a vacant parking space with the best suitability, thereby improving the accuracy of the vacant parking space path planning in the multi-story parking lot. The vehicle is guided by the optimal matching layer number of the current vehicle to be parked, thereby improving the efficiency of guiding the vehicle to be parked. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 A schematic diagram of a basic flow chart of a parking guidance method for a multi-storey parking lot provided by an embodiment of the present invention;

[0052] Figure 2 A schematic diagram of the basic components of a parking guidance system for a multi-storey parking lot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the parking guidance method and system for multi-storey parking lots proposed by the present invention, its specific implementation, structure, features and effects, in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. Terms such as "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a circuit structure, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such article or device. In the absence of further restrictions, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the article or device including the element.

[0055] A specific solution of a parking space guidance method for a multi-storey parking lot provided by the present invention will be described in detail below with reference to the accompanying drawings.

[0056] See also Figure 1 , which shows the basic process of a parking space guidance method for a multi-storey parking lot provided by an embodiment of the present invention.

[0057] like Figure 1 As shown, a parking space guidance method for a multi-storey parking lot provided by an embodiment of the present invention specifically includes:

[0058] S100: Acquire spatial information of the parking lot, location information of vacant parking spaces, a turning angle at a turn, a time when a vehicle enters the parking lot, and a length of the vehicle.

[0059] Guiding vehicles to vacant parking spaces in multi-level parking lots is achieved through path planning based on the vacant parking spaces and lane information in the parking lot. However, in the process of guiding vehicles, the curvature at the turns and the length of the vehicle body will reduce the driving speed, resulting in the planned path not being the optimal path. Therefore, it is necessary to analyze the impact of the curvature at the turns and the length of the vehicle on the path planning, and it is necessary to collect the length of each vehicle and the curvature at the turns in each lane.

[0060] Specifically, the spatial information of a multi-storey parking lot can be obtained through building information modeling (BIM), or through a geographic information system (GIS). The spatial information includes the lane distribution of each floor in the multi-storey parking lot. Install multiple cameras in the multi-storey parking lot (to ensure that the image of each parking space can be collected), and obtain the location information of the vacant parking spaces through the images of the parking spaces. Install cameras at the entrance of the multi-storey parking lot to obtain the length data of each vehicle and the time when the vehicle enters the multi-storey parking lot. Then obtain the bending angle at the turn.

[0061] At this point, the spatial information of the multi-storey parking lot, the location information of all vacant parking spaces, the turning angles of all turns, the time when the vehicle enters the parking lot, and the length data of the vehicle are obtained.

[0062] S200: Acquire all paths between the current vehicle to be parked and the vacant parking spaces according to the space information of the parking lot and the position information of the vacant parking spaces.

[0063] According to the spatial information of the parking lot and the location information of the free parking spaces, the path planning is carried out through the depth-first search (DFS) or breadth-first search (BFS) at the location of each vehicle entrance and the location information of the free parking spaces in the multi-storey parking lot, and all the paths between the vehicle and the free parking spaces are obtained to facilitate subsequent analysis.

[0064] S300: Obtaining the driving difficulty of the current vehicle to be parked on each path according to the bending angles of all turns on each path and the length of the current vehicle to be parked.

[0065] When guiding vehicles to vacant parking spaces, the path planning is performed directly based on the location of each vehicle entrance and the location information of vacant parking spaces in the multi-storey parking lot. There are many turns in the lanes of different paths, and the number of turns and the degree of curvature of the turns make the driving difficulty of different paths different. However, when planning the path, the turns in the lanes of the path are not taken into account, which leads to deviations in the path planning.

[0066] Based on the above analysis, this embodiment obtains the driving difficulty of the current vehicle to be parked on each path according to the bending angles of all turns on each path and the length of the current vehicle to be parked.

[0067] Furthermore, the vehicle will slow down at a turn, and the turning angle at the turn affects the difficulty of turning. Therefore, the more turns there are on each path and the smaller the turning angle is, the more difficult it is for the vehicle to drive on the path, which in turn affects its driving speed. Therefore, firstly, the degree of tortuosity of each path is analyzed based on the turning angles of all turns on each path and the number of all turns. The degree of tortuosity of each path is specifically expressed by the formula:

[0068]

[0069] In the formula, Indicates the degree of tortuosity on the path; Indicates On the path The bending angle at each turn; Indicates The number of turns on a path.

[0070] When the bending angle The smaller the value, the greater the tortuosity of the path, the more difficult it is for the vehicle to turn, and the greater the driving difficulty. The number of turns on the path The more there are, the more tortuous the path is, the more times the vehicle is affected, and the greater the corresponding driving difficulty.

[0071] Then, because it is more difficult for vehicles with longer bodies to turn at turns, the same path will be more difficult for vehicles with longer bodies to drive. In addition, the degree of influence of different turns on the same long vehicle is also different, that is, when the bending angle of the turn is larger, the impact on the long vehicle may be smaller; and when the bending angle is smaller, the impact on the long vehicle is greater, that is, different bending angles have different effects on the same long vehicle. Therefore, according to the bending angles of all turns on each path and the length of the current vehicle to be parked, the degree of difficulty of the current vehicle to be parked when driving on each path is analyzed. The degree of difficulty of the current vehicle to be parked when driving on each path is specifically expressed by the formula:

[0072]

[0073] In the formula, Indicates the current The vehicles to be parked are in The degree of travel difficulty on the route; Indicates the current The length of the vehicle to be parked; Indicates On the path The bending angle at each turn; Indicates The number of turns on a path; Indicated by natural constant An exponential function with base .

[0074] Indicates the current The vehicles to be parked are in The driving difficulty of the turning point is shown here. As vehicle length The smaller the bending angle, the more difficult it is for a longer vehicle to drive on the turn. Indicates the current The vehicles to be parked are in The average of the driving difficulty of all turns on the path is used as the current The vehicles to be parked are in The difficulty of traveling on the route.

[0075] Finally, the driving difficulty of the current vehicle to be parked on each path is obtained by combining the degree of tortuosity and the degree of driving difficulty. Specifically, the product of the degree of driving difficulty of the current vehicle to be parked on each path and the degree of tortuosity of each path is used as the driving difficulty of the current vehicle to be parked on each path. The driving difficulty of the current vehicle to be parked on each path is specifically expressed by the formula:

[0076]

[0077] In the formula, Indicates the current The vehicles to be parked are in Difficulty of driving on each route; Indicates the tortuosity of the path; Indicates the current The vehicles to be parked are in The degree of difficulty of driving on a route.

[0078] The more tortuous a path is, the more difficult it is for a vehicle to drive on that path; the more tortuous a path is, the more difficult it is for a vehicle to drive on that path;

[0079] So far, the driving difficulty of each vehicle to be parked on each path is obtained.

[0080] S400: 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 level of the current vehicles to be parked passing through each path.

[0081] When the vehicle is turning, if the vehicle in front is longer, the vehicle behind may have to stop and wait for the longer vehicle in front to turn to a certain extent before turning, so this situation needs to be considered. And when there are more vehicles behind, all the consecutive vehicles will have an overlapping congestion effect.

[0082] Based on the above analysis, this embodiment analyzes 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 obtains the overall congestion level of the current vehicles to be parked passing through each path.

[0083] Furthermore, when analyzing the impact of the length of two adjacent vehicles on the following vehicle at a turn, there are two cases. One is that the two vehicles have a long time interval between entering the garage and there is no impact between them. The other is that the two vehicles have a short time interval between entering the garage and there is a congestion impact of the front vehicle on the following vehicle at the turn. Therefore, firstly, according to the time when different vehicles enter the parking lot, the time interval between any two adjacent vehicles on the path is obtained.

[0084] Then, according to the bending 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. Furthermore, it includes: presetting the turning time interval; according to the bending angle at any turning point on the path and the length of the front vehicle among the adjacent vehicles, combined with the preset turning time interval, obtaining the corrected preset turning time interval of the front vehicle among the adjacent vehicles at any turning point on the path; according to the turning time, combined with the time interval between adjacent vehicles, the single congestion degree of adjacent vehicles at any turning point on the path is analyzed.

[0085] 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 front vehicle has no congestion impact on the rear vehicle, and when the time interval between adjacent vehicles entering the parking lot is less than the preset turning time, it is considered that the front vehicle has a congestion impact on the rear vehicle. In addition, because the length of the front vehicle at the turn and the degree of curvature at the turn will increase the time for the front vehicle to turn, the length of the front vehicle at the turn and the degree of curvature at the turn are used to analyze the single congestion level at the turn as a whole.

[0086] Based on this, the single congestion level of adjacent vehicles at any turn on the path is analyzed according to the turning time and the time interval between adjacent vehicles, including: judging whether the front vehicle has a single congestion impact on the rear vehicle at any turn on the path according to the relationship between the turning time and the time interval between adjacent vehicles; if a single congestion impact is generated, the single congestion level of adjacent vehicles at any turn on the path is calculated in combination with the turning time and the time interval between adjacent vehicles.

[0087] The calculation formula for constructing a single congestion degree at any turn on the path of adjacent vehicles is:

[0088]

[0089] In the formula, Indicates the vehicle ahead With the car behind In the On the path The single congestion level at each turn; Indicates the vehicle ahead With the car behind the time interval between Indicates the preset turning time interval; Indicates the vehicle ahead The length of the vehicle body; Indicates On the path The bending angle at each turn; represents the linear normalization function.

[0090] Indicates that the preset turning time interval is corrected, which means that if the current vehicle is longer and the turning angle is smaller, the preset turning time interval may need to be longer; It means that only when the time interval between two adjacent vehicles is greater than or equal to the corrected preset turning time interval can there be no congestion of the front vehicle on the rear vehicle; otherwise, it means that there is an impact of the front vehicle on the rear vehicle.

[0091] Then, since there will be multiple vehicles between the vehicle to be parked and the turning point of the path when the vehicle enters the parking lot, it is also necessary to analyze the superimposed congestion impact between the continuous vehicles at each turning point. Therefore, this embodiment obtains the superimposed congestion degree of the current vehicle to be parked passing through the turning point by superimposing the single congestion degree of all adjacent vehicles between the vehicle at the turning point on the path and the current vehicle to be parked. Further, it includes: obtaining the corrected time interval between the vehicle and the next vehicle 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; obtaining the superimposed congestion degree between the vehicle and the next vehicle 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 turning point; superimposing the single congestion degree of all adjacent vehicles between the vehicle at the turning point on the path and the current vehicle to be parked at the turning point to obtain the superimposed congestion degree of the current vehicle to be parked passing through the turning point.

[0092] Specifically, the superposition process is:

[0093]

[0094]

[0095]

[0096] In turn, we can get On the path The vehicle at the turning point is The distance between any two adjacent vehicles among the vehicles to be parked is The formula for the superimposed congestion level at each turn is:

[0097]

[0098] In the formula, Indicates the vehicle ahead With the car behind The correction time interval between Indicates the vehicle ahead With the car behind the time interval between Indicates the vehicle ahead With the car behind In the On the path The single congestion level at each turn; Indicates that through On the path The car ahead of you at a turning With the car behind The degree of congestion between them; Indicates the vehicle ahead The length of the vehicle body; Indicates that through On the path At the current turning point The degree of congestion between the vehicle to be parked and the vehicle ahead; Indicates the current The corrected time interval between the vehicle to be parked and the vehicle ahead; Indicates the preset turning time interval; Indicates the current The length of the vehicle in front of the vehicle to be parked; Indicates On the path The bending angle at each turn; represents the linear normalization function.

[0099] Similarly, we can get the current The superimposed congestion level of each turn on each path for each vehicle to be parked.

[0100] Finally, in order to avoid or alleviate vehicle congestion, vehicles with longer lengths should be parked in the vacant parking spaces corresponding to the first floor with less driving difficulty and less congestion. This can alleviate congestion in multi-story parking lots, so that all vehicles can park quickly in vacant parking spaces. In order to analyze and determine the number of floors suitable for each vehicle to be parked, first determine the path from the entrance to the vacant parking spaces on each floor, analyze the overall congestion level of each vehicle at all turns on the path, and obtain the suitability of each vehicle length for the path corresponding to the vacant parking spaces on each floor through the overall congestion level and the driving difficulty of each vehicle on each path. Therefore, according to the superimposed congestion level of all turns on each path, the overall congestion level of the current vehicles to be parked passing through each path is obtained. The overall congestion level of the current vehicles to be parked passing through each path is expressed by the formula:

[0101]

[0102] In the formula, Indicates the current The vehicles to be parked are in The overall congestion level when traveling on the route; Indicates that through On the path At the current turning point The degree of congestion between the vehicle to be parked and the vehicle ahead; Indicates The number of turns on the path; represents the linear normalization function.

[0103] Multiply the superimposed congestion levels of all turns to obtain the overall congestion level of the path.

[0104] S500: Combining the driving difficulty and the overall congestion situation, obtaining the suitability of each path for the current vehicle to be parked.

[0105] Combining the driving difficulty and the overall congestion situation, the suitability of each path for the current parking vehicle is obtained. The suitability of each path for the current parking vehicle is expressed by the formula:

[0106]

[0107] In the formula, Indicates the current The vehicle to be parked is driving The suitability of the path, that is, the Each vacant parking space on each floor corresponds to the number of vehicles to be parked. The suitability of each path; Indicates the current The vehicles to be parked are in The overall congestion level when traveling on the route, which means the current Each vacant parking space on each floor corresponds to the number of vehicles to be parked. The overall congestion level of each route; Indicates the current The vehicles to be parked are in Difficulty of driving on each route; Expressed as a natural constant An exponential function with base .

[0108] The greater the overall congestion level when the vehicles to be parked are traveling on the path, the greater the difficulty for the vehicles to travel on the path, and the lower the suitability of the corresponding vehicles for traveling on the path.

[0109] Since there may be multiple paths between the current vehicle to be parked and the vacant parking space, the path corresponding to the maximum suitability is selected as the planned driving path between the current vehicle to be parked and the vacant parking space, that is, the maximum suitability is the suitability corresponding to the current vehicle to be parked parking in the vacant parking space.

[0110] S600: Analyze the distribution of 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.

[0111] When a long car is parked, if the adjacent parking spaces to each vacant parking space are not vacant, the long car will cause congestion to the parking of subsequent vehicles. Therefore, when there are more vacant parking spaces and there are many vacant adjacent parking spaces, a long car can be parked quickly.

[0112] Based on the above analysis, this embodiment analyzes the distribution of free parking spaces on each floor of the parking lot and obtains the optimal matching floor number for the current vehicle to be parked, in combination with the suitability, and further determines the optimal path and the optimal free parking space.

[0113] Specifically, first, based on the positions of the vacant parking spaces on each parking lot floor, that is, obtaining the coordinates of all the vacant parking spaces on each parking lot floor (the center points of the parking spaces), the vacant parking spaces on each parking lot floor are clustered and analyzed by using the K-Means clustering algorithm to obtain the number of clusters corresponding to each vacant parking space, wherein the number of clusters is obtained by the elbow method. Both the K-Means clustering algorithm and the elbow method are well-known technologies and will not be described in detail here.

[0114] Then, according to the number of clusters corresponding to the free parking spaces and the number of free parking spaces, combined with the overall congestion level of the current vehicles to be parked through each path, the suitability of each layer of the current vehicles to be parked is obtained. The calculation formula for the suitability of each layer of the vehicles to be parked is:

[0115]

[0116] In the formula, Indicates the current The number of vehicles to be parked is The suitability of the layer; Indicates the current Vehicles parked Tier The suitability of the path corresponding to each free parking space, which is the suitability calculated in the above step, but specific to the path corresponding to each free parking space; Indicates Tier The number of clusters corresponding to the vacant parking spaces; Indicates The number of all available parking spaces on the floor; represents the linear normalization function.

[0117] Then, in order to ensure that all vehicles to be parked can be parked in an empty parking space with the best suitability, the optimal matching layer number of the current vehicle to be parked is determined based on the suitability of all vehicles to be parked on each layer, that is, the average of the optimal suitability of all vehicles to be parked on each layer is iteratively calculated in turn, and the optimal matching layer number corresponding to each vehicle to be parked when the average of the optimal suitability is the largest is selected.

[0118] At this point, the optimal matching number of layers for all vehicles currently to be parked is obtained.

[0119] Then, the best path and the best free parking space are determined according to the optimal matching layer number of the current vehicle to be parked. Specifically, the path corresponding to the maximum suitability of all paths in the optimal matching layer number of the current vehicle to be parked is selected as the best path, and the corresponding free parking space is selected as the best free parking space.

[0120] Based on the same inventive concept as the above method, this embodiment also provides a parking guidance system for a multi-storey parking lot.

[0121] See also Figure 2 , which shows the basic composition of a parking guidance system for a multi-storey parking lot provided by an embodiment of the present invention.

[0122] like Figure 2 As shown, a parking guidance system for a multi-storey parking lot includes: a memory 10 and a processor 20, wherein:

[0123] A memory 10, used for storing program codes;

[0124] The processor 20 is used to read the program code stored in the memory 10, and execute to obtain the spatial information of the parking lot, the position information of the vacant parking spaces, the bending angles at the turns, the time when the vehicle enters 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, obtain all the paths between the current vehicle to be parked and the vacant parking spaces; according to the bending angles at all the turns on each path and the length of the current vehicle to be parked, obtain the driving difficulty of the current vehicle to be parked on each path; according to the bending angles at the turns, the time when the vehicle enters the parking lot, and the length of the vehicle, analyze the superimposed congestion effects of all the turns on each path, and obtain the overall congestion level of the current vehicle to be parked through each path; in combination with the driving difficulty and the overall congestion situation, obtain the suitability of the current vehicle to be parked to travel each path; analyze the distribution of the vacant parking spaces on each floor of the parking lot, and in combination with the suitability, obtain the optimal matching floor number of the current vehicle to be parked, and then determine the optimal path and the optimal vacant parking space.

[0125] Furthermore, the processor 20 includes a data acquisition module 21, a path acquisition module 22, a driving difficulty analysis module 23, a congestion degree analysis module 24, a path suitability analysis module 25, and an optimal free parking space determination module 26. Among them:

[0126] The data acquisition module 21 is used to obtain the spatial information of the parking lot, the location information of the vacant parking spaces, the turning angle at the turning point, the time when the vehicle enters the parking lot, and the length of the vehicle;

[0127] A path acquisition module 22 is used to acquire all paths between the current vehicle to be parked and the free parking spaces according to the space information of the parking lot and the position information of the free parking spaces;

[0128] The driving difficulty analysis module 23 is used to obtain the driving difficulty of the current vehicle to be parked on each path according to the bending angles of all turns on each path and the length of the current vehicle to be parked;

[0129] The congestion degree analysis module 24 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;

[0130] The path suitability analysis module 25 is used to obtain the suitability of each path for the current vehicle to be parked based on the driving difficulty and the overall congestion situation;

[0131] The optimal free parking space determination module 26 is used to analyze the distribution of free parking spaces on each floor of the parking lot, and obtain the optimal matching floor number for the current vehicle to be parked based on the suitability, and then determine the optimal path and the optimal free parking space.

[0132] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0133] Various embodiments in this specification are described in a progressive manner, and the same or similar parts between various embodiments can be referenced to each other, and each embodiment focuses on 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; 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, and then determine the optimal path and the optimal vacant parking space; The method analyzes 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 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; Preset turning time interval; according to the bending angle at any turning point on the path and the length of the front vehicle among the adjacent vehicles, combined with the preset turning time interval, obtain a corrected preset turning time interval at any turning point of the front vehicle among the adjacent vehicles on the path; Analyzing the single congestion degree of adjacent vehicles at any turning point on the path according to the turning time and the time interval between adjacent 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 current vehicles to be parked passing through each of the paths is obtained, including: According to the relationship between the turning time and the time interval between adjacent vehicles, it is determined whether the front vehicle has a single congestion impact on the rear vehicle at any turning point on the path; if a single congestion impact is generated, the single congestion degree of the adjacent vehicles at any turning point on the path is calculated in combination with the turning time and the time interval between adjacent vehicles, and a single congestion degree calculation formula for the adjacent vehicles at any turning point on the path is constructed as follows: In the formula, Indicates the vehicle ahead With the car behind In the On the path The single congestion level at each turn; Indicates the vehicle ahead With the car behind the time interval between Indicates the preset turning time interval; Indicates the vehicle ahead The length of the vehicle body; Indicates On the path The bending angle at each turn; represents the linear normalization function; 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 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.

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: 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.

4. The parking space guidance method for a multi-storey parking lot according to claim 3, 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.

5. 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 4.

6. The parking guidance system for multi-storey parking lots according to claim 5, 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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