Underground parking lot parking space identification and parking guidance method and system

Abstract

The invention discloses an underground parking lot parking space identification and parking guidance method and system, and the method comprises the steps: carrying out the dot-matrix processing of an underground parking lot region, and collecting the height change information of each matrix point at a preset sampling time # imgabs0 #; the parking spaces in the underground parking lot area are determined based on the same height change information of all the array points in the parking spaces, and the parking spaces in the underground parking lot are quickly and effectively identified without light interference. In addition, the congestion parameter of each parking space is calculated; and the optimal parking space with the minimum congestion is selected based on the channel congestion parameters, and the user is automatically guided to drive the vehicle into the parking space, so that the congestion of the underground parking lot can be effectively relieved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a method and system for identifying parking spaces in underground parking lots and providing parking guidance. Background Art

[0002] In the prior art, underground parking spaces are generally identified through image acquisition. This method is highly dependent on light and is easily blocked by objects, resulting in inaccurate identification. In addition, due to the proficiency of driving skills, drivers always fail to control parking properly. When they see a parking space, they always can't wait to try to park in the current position, but ignore the difficulty of parking in the parking space itself, resulting in occupying the public passage for too long when parking, causing congestion in the underground parking lot.

[0003] Although security guards and other on-duty personnel are arranged in some complex parking spaces to use their experience to guide vehicles to park in congested parking spaces, this method is relatively effective, but it requires staff to work for a long time in the harsh environment of underground parking lots, and the labor cost is high. Relying on manual labor cannot cover all parking spaces. Therefore, how to guide drivers to quickly enter parking spaces and reduce the occupation time of public passages to alleviate the congestion of underground parking lots has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] The present invention provides a parking space identification and parking guidance method and system for an underground parking lot, which are used to solve the technical problems that the existing technology cannot effectively identify parking spaces and causes congestion due to parking difficulties.

[0005] In order to solve the above technical problems, the technical solution proposed by the present invention is: A method for identifying parking spaces in an underground parking lot comprises the following steps: The underground parking lot area is processed into a dot matrix, and each matrix point is collected at the preset sampling time. Height change information; The parking spaces in the underground parking lot area are determined based on whether the height change information of all the array points in the parking spaces is the same.

[0006] Preferably, the height change information of the lattice point position includes the change duration of the last continuous height change of the lattice point. , determine the parking spaces in the underground parking area, specifically including: According to the change time of each array point Determine whether each array point is a parking point; In the parking spots being screened, the change duration The same and adjacent parking points are divided into the same point set; For any parking points in the same point set, find the height change time of the parking points in the same point set one or more times. If the parking points are adjacent and have the same height change time, the area formed by the adjacent parking points is the parking space.

[0007] Preferably, according to the change time of each array point Determine whether each array point is a parking point, specifically including: The change time after the last height change of the array point If the following formula is satisfied, the array point is judged to be a parking point, otherwise it is a passage point: / > ,in, is the preset threshold.

[0008] Preferably, the acquisition of each array point is performed at a preset sampling time. The height change information is obtained by a distance sensor, which includes a laser sensor and / or an ultrasonic sensor.

[0009] A parking guidance method for an underground parking lot comprises the following steps: Determine the location of the parking spaces in the underground parking lot by using the underground parking lot parking space identification method described in any one of claims 1 to 4; Calculate the congestion parameters for each parking space; And based on the channel congestion parameter, an optimal parking space with the least congestion is selected, and the user is guided to drive the vehicle into the parking space.

[0010] Preferably, the congestion parameters include average parking time and congestion degree; calculating the congestion parameters of each parking space includes: For any parking space, perform the following steps: Get the parking space Parking time per stop , and calculate its average parking time; where, Indicates the parking time of the first parking. Indicates the parking time for the second stop. Indicates The parking time of each stop; Obtain the height change information of the channel points within the preset range near the parking space within the preset tracing time before each parking, and construct the candidate channel set before each parking , ,in, For the The first access point before the second stop Height change information, For the The second access point before the second stop Height change information, For the The first stop before Channel Points Height change information; Obtain the intersection of the candidate channel sets corresponding to all parking times of the parking space, and use the channel points corresponding to the intersection as the congested channel points of each parking space to construct the congested channel point set Dpc of the parking space; Count the number of congested channel points in the congested channel set of each parking space respectively as the standard congestion degree of each parking space; Monitor the height change of the congested channel points in the congested channel set of each parking space in real time, and count the number of real-time congested channel points whose height change is not 0 as the real-time congestion degree, compare the real-time congestion degree with the standard congestion degree, and judge whether there is a vehicle near the parking space according to the comparison result; When there is a vehicle, the vacant parking space with the shortest average parking time is selected as the optimal parking space, and the vehicle is guided to park in the optimal parking space.

[0011] Preferably, obtaining the parking space The parking time of each stop is realized by the following rules: For a period of time in which any parking point in the parking space experiences continuous height changes, the duration from the start of the height change of the first parking point to the stop of the height change of the last parking point in the period is taken as the parking time.

[0012] Preferably, the passage points within the preset range near the parking space are specifically: During parking in the parking space, a dot matrix with varying heights appears within a preset range of the parking space.

[0013] Preferably, the real-time congestion degree is compared with the standard congestion degree, and whether there is a vehicle near the parking space is determined according to the comparison result, which is achieved by the following formula: When the real-time congestion degree / standard congestion degree>preset value, it is determined that there is a vehicle in the parking space.

[0014] A computer system comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the above method are implemented when the processor executes the computer program.

[0015] The present invention has the following beneficial effects: 1. In the present invention, the underground parking area is processed into a dot matrix, and each matrix point is collected at a preset sampling time. The height change information of the parking space is obtained; the parking space in the underground parking area is determined based on the same height change information of all the array points in the parking space, and the parking space in the underground parking lot is quickly and effectively identified without light interference. In addition, the present invention calculates the congestion parameter of each parking space; and selects the optimal parking space with the least congestion based on the channel congestion parameter, and automatically guides the user to drive the vehicle into the parking space, which can effectively alleviate the congestion of the underground parking lot.

[0016] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is an installation layout diagram of a distance sensor according to an embodiment of the present invention; Figure 2 is a schematic diagram of a parking point set according to an embodiment of the present invention; Figure 3 It is a flow chart of the underground parking lot parking space identification method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0019] Embodiment 1: In this embodiment, Figure 3 As shown, a method for identifying parking spaces in an underground parking lot is disclosed, comprising the following steps: S1. Perform dot matrix processing on the underground parking area and collect samples at each matrix point at the preset sampling time. Height change information; In this embodiment, the acquisition of each array point is performed at a preset sampling time. The height change information is realized by a distance sensor, and the distance sensor includes a laser sensor and / or an ultrasonic sensor. Figure 1 As shown, the distance sensor is a device that detects whether the point is occupied from top to bottom, and each device has its own device ID.

[0020] The height change information of the array point position includes the change duration of the last continuous height change of the array point : At a certain time Collect data from each grid point, no change is zero scale, when the height of the measured height changes, record the length of time it maintains the change If there is any further change, Return to 0 and restart the time.

[0021] S2. Determine the parking spaces in the underground parking lot area based on the same height change information of all array points in the parking spaces.

[0022] S21, according to the change duration of each array point Determine whether each array point is a parking point; The change time after the last height change of the array point If the following formula is satisfied, the array point is judged to be a parking point, otherwise it is a passage point: / > ,in, is the preset threshold and is a constant.

[0023] when / > (constant, set threshold), then the point is determined to be a parking point , otherwise it is a channel point The remaining points The area without change is a useless area of ​​the parking lot. During installation, an indicator light is installed on the distance detection device above the parking space, and the indicator light can change color under the control of the background system. The equipment with an indicator light can detect height changes and can also be controlled by the system to flash according to the ID number.

[0024] S22, in the parking spots being screened, the change time The same and adjacent parking points are divided into the same point set; For any parking points in the same point set, find the height change time of the parking points in the same point set one or more times. If the parking points are adjacent and have the same height change time, the area formed by the adjacent parking points is the parking space.

[0025] like Figure 2 , from the existing Click ),choose , traverse the rest , the same time (within a certain threshold range, it can be understood that after a car in a parking space is parked, the change stops at the same time) Points are extracted and fitted into a set of points that may be a parking area, and the rest are processed in the same way. The points form multiple point sets, and multiple parking point set areas can be obtained.

[0026] Since there are multiple parking spaces that may be parked at the same time, each point set may have multiple parking areas. Track the zeroing time, that is, the measured data returns to the original value. When all points return to zero at the same time, it can be understood that the vehicle in the parking space has left, then the The point set is a real parking space. Through the special device ID with indicator light function in the Pt point set, the point can be used for system function indication.

[0027] In addition, in this embodiment, a parking guidance method for an underground parking lot is also disclosed, comprising the following steps: Determine the parking space location of the underground parking lot using the above-mentioned underground parking lot parking space identification method; Calculate the congestion parameters for each parking space; The congestion parameters include average parking time and congestion degree; calculating the congestion parameters of each parking space includes: For any parking space, perform the following steps: Get the parking space Parking time per stop , and calculate its average parking time; where, Indicates the parking time of the first parking. Indicates the parking time for the second stop. Indicates The parking time of each stop; After calculating the point set of each parking space, the Ts state is triggered according to a certain point in the point set. When the parking is completed, that is, Ts of all points in the point set no longer changes, the single parking time Tp1 of the parking space can be calculated. Repeating this method multiple times can obtain the average parking time Tp2, Tp3...Tpn of the parking space. The average parking time Tpp of each parking space is obtained. The parking time can be dynamically updated according to the duration of each parking. For example, the average time of the last 10 parking times is selected as the calculation data.

[0028] Wherein, obtaining the parking space The parking time of each parking space is determined by identifying the Pt array of each parking space, because each parking space is composed of multiple Pt points. The Tp time is calculated from the time when a certain point in the Pt array starts to change until each point in the array stops changing (the vehicle stops). This can be achieved through the following rules: For a period of time in which any parking point in the parking space experiences continuous height changes, the duration from the start of the height change of the first parking point to the stop of the height change of the last parking point in the period is taken as the parking time.

[0029] Obtain the height change information of the channel points within the preset range near the parking space within the preset tracing time before each parking, and construct the candidate channel set before each parking , ,in, For the The first access point before the second stop Height change information, For the The second access point before the second stop Height change information, For the The first stop before Channel Points Height change information; The passage points within the preset range near the parking space are specifically: a dot matrix with height changes within the preset range of the parking space during parking in the parking space.

[0030] Assuming that during the parking process of parking space 1 (Pt), other channel points Pd have occupancy changes, it can be determined that parking space 1 has affected other channel points during the parking process. However, it is also possible that these points are triggered by other parking spaces, so we take the method of ANDing the blocking array of Pd triggered by parking in parking space 1 each time, and we can determine the channel area point set Dpc that this parking space will always block.

[0031] Obtain the intersection of the candidate channel sets corresponding to all parking times of the parking space, and use the channel points corresponding to the intersection as the congested channel points of each parking space to construct the congested channel point set Dpc of the parking space; The number of congested channel points in the congested channel set of each parking space is counted respectively as the standard congestion degree Dpp of each parking space; During the Tp1, Tp2...Tpn duration of each parking space, the nearby Pd points will be affected by the parking of the preceding car, resulting in Pd being in a non-zero state (occupied by a car). In the Tp1 time period + forward TpQ = 10 seconds (constant, time adjustable), all points in the non-zero state of Pd are counted, and then the point sets of Tp2~Tpn are counted. By ANDing multiple point sets in the recent period, the Pd congestion point set Dpc that is inevitably caused by parking in the parking space can be obtained. The sum of the number of point sets Dpp is calculated. The larger the value, the greater the impact on the overall traffic. Each parking space has a congestion point set Dpc when parking, and a point set Dpp.

[0032] The height changes of the congested channel points in the congested channel set of each parking space are monitored in real time, and the number of real-time congested channel points whose height changes are not 0 is counted as the real-time congestion degree.

[0033] And based on the channel congestion parameter, an optimal parking space with the least congestion is selected, and the user is guided to drive the vehicle into the parking space.

[0034] The real-time congestion degree is compared with the standard congestion degree, and whether there is a vehicle near the parking space is determined based on the comparison result; when the real-time congestion degree / standard congestion degree>preset value, it is determined that there is a vehicle in the parking space.

[0035] When there is a vehicle, the vacant parking space with the shortest average parking time is selected as the optimal parking space, and the vehicle is guided to park in the optimal parking space.

[0036] In actual operation, the background system traverses all Pd points and detects their non-zero changes. When a non-zero change occurs, it retrieves which point sets Dpc the Pd point belongs to. When the ratio of non-zero points / Dpp of Pd points in the Dpc point set is greater than a certain threshold Dy, it can be determined that a car has entered the parking area of ​​a certain parking space. Due to the backtracking characteristics of the TpQ value, there may be multiple parking spaces that can be parked in this area. Among the above parking spaces, the area with no parking and the smallest Tpp is selected, and the vehicle is prompted to park by slowly flashing the indicator light.

[0037] In addition, a computer system is also disclosed, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0038] In summary, the present invention does not require exploration and calibration of the parking lot. For example, the parking space calculation and the nearby road calculation method can be completed by self-modeling, and the construction is convenient.

[0039] In addition, the present invention automatically calculates the parking spaces available around a certain area when the vehicle passes through it, and guides the vehicle into the parking space that is easiest to park.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for identifying parking spaces in an underground parking lot, characterized in that: The following steps are involved: The underground parking lot area is processed into a dot matrix, and each matrix point is collected at the preset sampling time. Height change information; The parking spaces in the underground parking lot area are determined based on whether the height change information of all the array points in the parking spaces is the same.

2. The underground parking lot parking space identification method according to claim 1, characterized in that: The height change information of the array point position includes the change duration of the last continuous height change of the array point , determine the parking spaces in the underground parking area, specifically including: According to the change time of each array point Determine whether each array point is a parking point; In the parking spots being screened, the change duration The same and adjacent parking points are divided into the same point set; For any parking points in the same point set, find the height change time of the parking points in the same point set one or more times. If the parking points are adjacent and have the same height change time, the area formed by the adjacent parking points is the parking space.

3. The underground parking lot parking space identification method according to claim 2, characterized in that: According to the change time of each array point Determine whether each array point is a parking point, specifically including: The change time after the last height change of the array point If the following formula is satisfied, the array point is judged to be a parking point, otherwise it is a passage point: / > ,in, is the preset threshold.

4. The underground parking lot parking space identification method according to any one of claims 1 to 3, characterized in that: The acquisition of each array point is performed at a preset sampling time. The height change information is obtained by a distance sensor, which includes a laser sensor and / or an ultrasonic sensor.

5. A parking guidance method for an underground parking lot, characterized in that: The following steps are involved: Determine the location of the parking spaces in the underground parking lot by using the underground parking lot parking space identification method described in any one of claims 1 to 4; Calculate the congestion parameters for each parking space; And based on the channel congestion parameter, an optimal parking space with the least congestion is selected, and the user is guided to drive the vehicle into the parking space.

6. The underground parking lot parking guidance method according to claim 5, characterized in that: The congestion parameters include average parking time and congestion degree; calculating the congestion parameters of each parking space includes: For any parking space, perform the following steps: Get the parking space Parking time per stop , and calculate its average parking time; where, Indicates the parking time of the first parking. Indicates the parking time for the second stop. Indicates The parking time of each stop; Obtain the height change information of the channel points within the preset range near the parking space within the preset tracing time before each parking, and construct the candidate channel set before each parking , ,in, For the The first access point before the second stop Height change information, For the The second access point before the second stop Height change information, For the The first stop before Channel Points Height change information; Obtain the intersection of the candidate channel sets corresponding to all parking times of the parking space, and use the channel points corresponding to the intersection as the congested channel points of each parking space to construct the congested channel point set Dpc of the parking space; Count the number of congested channel points in the congested channel set of each parking space respectively as the standard congestion degree of each parking space; Monitor the height change of the congested channel points in the congested channel set of each parking space in real time, and count the number of real-time congested channel points whose height change is not 0 as the real-time congestion degree, compare the real-time congestion degree with the standard congestion degree, and judge whether there is a vehicle near the parking space according to the comparison result; When there is a vehicle, the vacant parking space with the shortest average parking time is selected as the optimal parking space, and the vehicle is guided to park in the optimal parking space.

7. The underground parking lot parking guidance method according to claim 6, characterized in that: Get the parking space The parking time of each stop is realized by the following rules: For a period of time in which any parking point in the parking space experiences continuous height changes, the duration from the start of the height change of the first parking point to the stop of the height change of the last parking point in the period is taken as the parking time.

8. The underground parking lot parking guidance method according to claim 6, characterized in that: The specific passage points within the preset range near the parking space are: During parking in the parking space, a dot matrix with varying heights appears within a preset range of the parking space.

9. The underground parking lot parking guidance method according to claim 6, characterized in that: The real-time congestion degree is compared with the standard congestion degree, and it is determined whether there is a vehicle near the parking space according to the comparison result, which is achieved by the following formula: When the real-time congestion degree / standard congestion degree>preset value, it is determined that there is a vehicle in the parking space.

10. A computer system comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

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