Vehicle dynamic guidance method based on multi-sensor cooperation and related device

Abstract

The application discloses a kind of vehicle dynamic guidance method and related device based on multi-sensor cooperation, by collecting the initial state signal sequence that first sensor array returns when vehicle passes through the preset detection area, according to initial state signal sequence, determine the length of the occupied section and initial position interval of vehicle, and determine the number of guide lamp beads corresponding to the length of the occupied section, according to the preset guide path and guide pearl quantity, the vehicle that has been identified is guided. That is, one aspect of the technical solution, continuous sensor array is used to realize full-length coverage monitoring of vehicle, especially suitable for curved roads and nonlinear areas, effectively eliminates the guide breakpoint, improves the continuity and accuracy of guidance. On the other hand, by initial state signal sequence, the length and position of vehicle are calculated in real time to improve the tracking accuracy of vehicle, and the corresponding number of lamp beads can be matched for vehicles of different lengths (the greater the length, the more the number of corresponding lamp beads), thereby improving the matching accuracy of the guide path.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of parking lot guiding, in particular to a vehicle dynamic guiding method based on multi-sensor cooperation and related device. BACKGROUND

[0002] With the development of intelligent traffic management and automated logistics, vehicle guiding systems are widely used in parking lots, logistics warehouses and other scenarios to assist drivers in quickly and accurately completing path navigation and parking.

[0003] The vehicle guiding method of the related art is mostly based on fixed path indicator light control or manual scheduling strategy. When a vehicle travels in a nonlinear path (such as a curved path or a complex intersection path), the existing vehicle guiding technology mainly has the following obvious defects:

[0004] The first aspect is the poor guiding continuity, because most sensors are randomly arranged in discrete, especially when the vehicle enters a nonlinear area, signal interruption is easy to occur, leading to light guiding lag or error.

[0005] The second aspect is the low path matching accuracy, because the current single-point detection or fixed light group logic cannot accurately match the real-time position of the vehicle, especially cannot flexibly respond to the guiding path scheduling when different length vehicles or multiple vehicles enter at the same time.

[0006] The third aspect is the insufficient dynamic response, because the light guiding is usually statically set, and cannot dynamically adjust the number of light beads according to the real-time detection result of the vehicle, leading to guiding failure.

[0007] Therefore, the related art needs to be improved. SUMMARY

[0008] The main purpose of the present application is to provide a vehicle dynamic guiding method based on multi-sensor cooperation and related device, aiming at at least solving the technical problems mentioned in the background art.

[0009] The first aspect of the present application provides a vehicle dynamic guiding method based on multi-sensor cooperation, applied to a vehicle dynamic guiding system comprising a continuous sensor array, a controller and a light bead, the vehicle dynamic guiding system is arranged in a parking lot, the method comprises:

[0010] Collecting an initial state signal sequence returned by a first sensor array when a vehicle passes through a preset detection area; wherein the first sensor array is a sensor array arranged in the continuous sensor array in the parking lot for monitoring the vehicle passing through the detection area;

[0011] determine an initial position interval of the vehicle according to the initial state signal sequence, and determine a number of guide lamp beads corresponding to the length of the occupied section;

[0012] guide the identified vehicle according to the preset guide path and the number of guide lamp beads.

[0013] In a second aspect, the present application provides a vehicle dynamic guiding system for implementing the vehicle dynamic guiding method of the first aspect, and the vehicle dynamic guiding system comprises:

[0014] a continuous sensor array arranged in the parking lot and used for monitoring a monitoring object in the parking lot, wherein the monitoring object comprises at least one of a person, a vehicle and an obstacle;

[0015] a lamp bead arranged in the parking lot and used for dynamically guiding a vehicle;

[0016] a controller used for controlling the continuous sensor array and the lamp bead.

[0017] In a third aspect, the present application provides an electronic device comprising a memory, a processor and a bus, wherein the bus is used for connecting and communicating between the memory and the processor, the processor is used for executing a computer program stored in the memory, and the processor executes the computer program to implement the steps in the vehicle dynamic guiding method based on multi-sensor cooperation of the first aspect.

[0018] In a fourth aspect, the present application provides a computer readable storage medium, and a computer program is stored in the computer readable storage medium, wherein the computer program is executed by a processor to implement the steps in the vehicle dynamic guiding method based on multi-sensor cooperation of the first aspect.

[0019] The vehicle dynamic guiding method based on multi-sensor cooperation and the related device of the present application acquire an initial state signal sequence returned by a first sensor array when a vehicle passes through a preset detection region, determine a length of an occupied section and an initial position interval of the vehicle according to the initial state signal sequence, determine a number of guide lamp beads corresponding to the length of the occupied section, and guide the identified vehicle according to a preset guide path and the number of guide lamp beads. In one aspect of the present application, a continuous sensor array is used to realize full-length coverage monitoring of a vehicle, which is particularly suitable for curved roads and nonlinear regions, effectively eliminates guiding breakpoints, and improves continuity and accuracy of guiding. In another aspect, the length and position of a vehicle are calculated in real time through an initial state signal sequence to improve tracking accuracy of the vehicle, and the number of guide lamp beads can be matched according to different lengths of vehicles (the longer the vehicle is, the more the number of guide lamp beads is), so as to improve matching accuracy of a guide path. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained without creative effort.

[0021] Figure 1 A basic flow diagram of the vehicle dynamic guidance method based on multi-sensor cooperation provided by the embodiments of the present application;

[0022] Figure 2 A detailed flow diagram of the vehicle dynamic guidance method based on multi-sensor cooperation provided by the embodiments of the present application;

[0023] Figure 3 A detailed flow diagram of the vehicle dynamic guidance method based on multi-sensor cooperation provided by the embodiments of the present application;

[0024] Figure 4 A principle block diagram of the vehicle dynamic guidance system provided by the embodiments of the present application;

[0025] Figure 5 A structure connection diagram of the electronic device provided by the embodiments of the present application.

[0026] The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] It should be understood that the specific embodiments described herein are merely intended to explain the present application, and are not intended to limit the present application.

[0028] It should be noted that related terms such as "first", "second" and the like can be used to describe various components, but these terms do not limit the components. These terms are only used to distinguish one component from another component. For example, without departing from the scope of the present application, the first component can be referred to as the second component, and the second component can be similarly referred to as the first component. The term "and / or" refers to the combination of any one or more of the related terms and the described terms.

[0029] Please refer to Figure 1 The embodiments of the present application provide a vehicle dynamic guidance method based on multi-sensor cooperation, which is applied to a vehicle dynamic guidance system including a continuous sensor array, a controller and a lamp bead, and the vehicle dynamic guidance system is arranged in a parking lot.

[0030] The vehicle dynamic guidance method of the embodiments of the present application at least includes the following steps:

[0031] Step S101, collect the initial state signal sequence returned by the first sensor array when the vehicle passes through the preset detection area.

[0032] In this embodiment, the continuous sensor array is arranged in advance along the vehicle driving path on the parking lot ground. At the same time, a section of the area near the entrance of the parking lot in the parking lot is defined as the detection area, and a plurality of sensors with equal spacing (the first sensor array) are assigned to the detection area. That is, the first sensor array is the sensor array arranged in the continuous sensor array in the parking lot, which is used to monitor the vehicle passing through the detection area.

[0033] When the vehicle enters the detection area, each sensor in the first sensor array returns a "1" or "0" signal to the controller according to whether its position is occupied by the vehicle body, thereby forming an initial state signal sequence in binary format. For example, if the detection area has 12 sensors, when the vehicle covers sensors 1 to 3 at the front, the state signal sequence received by the controller may be "111000000000".

[0034] As the vehicle advances, more sensors will monitor the area occupied by the tire or the vehicle body, and at this time the state signal sequence gradually evolves into "111110000000" and the like. When the entire vehicle (entire vehicle body) enters the detection area and the tail of the vehicle leaves the end sensor, the signal sequence will again become "000000000000". In short, the initial state signal sequence is used to indicate the space occupation of the vehicle when it enters the detection area.

[0035] It should be noted that the first sensor array can be an ultrasonic sensor, and can be arranged continuously on the ground, ceiling or side wall structure of the parking lot according to a preset spacing, for real-time collection of vehicle occupation information when passing through the detection area, thereby generating an initial state signal sequence for analysis.

[0036] Among them, the first sensor array can also include a camera, which can identify the vehicle license plate in the detection area, and bind it with the parameters recorded by the first array sensor (initial state signal sequence), playing the role of identity recognition and accurate driving positioning.

[0037] Step S102, determine the length of the occupied section and the initial position interval of the vehicle according to the initial state signal sequence, and determine the number of guide beads corresponding to the length of the occupied section.

[0038] In the present embodiment, the controller receives and analyzes the initial status signal sequence returned by the first sensor array. The initial status signal sequence generally represents the occupancy status of each sensor in binary form, for example, “0111110000” indicates that the 2nd to 6th sensors are in the “occupied” state (generally, “1” represents occupied, and “0” represents unoccupied). Based on this sequence, the controller can identify the initial position interval of the vehicle in the detection area ([2, 6]) and the occupancy section length (6-2+1=5).

[0039] In short, the initial position interval represents the starting position and the ending position of the vehicle detected by the first sensor array in the detection area. It reflects the specific position range of the vehicle at present, that is, the vehicle is detected from the 2nd sensor and occupies the consecutive sensors until the 6th sensor. In addition, the above-mentioned occupancy section length is used to estimate the estimated value of the length of the space occupied by the vehicle or the length of the vehicle body.

[0040] Subsequently, the controller calculates the corresponding number of guide light beads according to the occupancy section length (assuming N). If k light beads are provided per unit length (k as the basic mapping coefficient), then the number of guide light beads Z=N*k can be obtained. Wherein, the number of guide light beads represents the number of light beads that need to be lit on the guide path, and the main purpose is to form a visual light path (the path length formed by different numbers is different) to guide the vehicle to travel according to the specified route. The number directly determines the starting and ending range of the light beads lit (combined with the initial position interval) and can ensure that the whole vehicle is always under light coverage to avoid interruption or deviation in guiding.

[0041] It should be understood that the number of guide light beads Z is not always calculated by a fixed ratio or a single basic mapping coefficient, but can be dynamically adjusted in combination with the vehicle speed V to improve the stability and adaptability of the guidance. For example, the following calculation formula is used:

[0042]

[0043] Wherein, k is the mapping coefficient (used to represent the mapping relationship between the number of light beads and the occupancy section length) which can be adjusted according to the vehicle speed V; represents the basic coverage coefficient (generally, its value range is 0.4-0.6), represents the speed adjustment coefficient (the recommended value range is 0.02-0.04, which is adjusted according to the vehicle speed V).

[0044] In addition, the vehicle guiding method of the present application embodiment only guides the vehicle that passes through the first sensor array (i.e., the vehicle for which the occupancy section length and the initial position interval can be determined), and ends the guidance after the corresponding vehicle is parked in the parking space (the off-site vehicle will not be guided).

[0045] Step S103, guiding the identified vehicle according to the preset guiding path and the guiding bead quantity.

[0046] In the embodiment, when the controller identifies that the vehicle is in a specific detection area through the first sensor array and completes the initial state identification of the vehicle (such as obtaining the length of the occupied section, the initial position interval, the guiding bead quantity, the assigned unique identification number, etc.), the controller controls the target light beads in the corresponding positions and the same quantity as the guiding bead quantity to light in sequence according to the preset vehicle passing path (i.e., the guiding path), so as to guide the vehicle.

[0047] The vehicle dynamic guiding method of the embodiment has the following advantages. First, the continuous sensor array is adopted to realize full-length coverage monitoring of the vehicle, which is particularly suitable for curved roads and nonlinear areas, effectively eliminates guiding breakpoints, and improves the continuity and accuracy of the guidance. Second, the initial state signal sequence is used to calculate the length and position of the vehicle in real time, so as to improve the tracking accuracy of the vehicle, and the corresponding guiding bead quantity can be matched for vehicles of different lengths (the longer the vehicle is, the more the guiding bead quantity is), so as to improve the matching accuracy of the guiding path.

[0048] It should be noted that in the guiding process, the actual driving route of the vehicle is detected every preset driving time period, and if the vehicle does not drive according to the preset guiding path, a standby guiding path with the shortest driving distance is reassigned according to the actual driving route of the vehicle. More specifically, during the driving of the vehicle according to the path generated by the system, the system sets a preset driving time (such as every 3 seconds, 5 seconds, etc.), and after the end of each time period, the vehicle position acquisition module is automatically called to reacquire the current position and compare it with the original guiding path. If it is detected that the vehicle deviates from the original guiding path, the control unit immediately generates the shortest standby guiding path based on the current actual position of the vehicle and the updated path accessibility, and controls the light beads to guide the path according to the path.

[0049] Please refer to Figure 2 which shows a detailed flowchart of the vehicle dynamic guiding method based on multi-sensor cooperation provided by the embodiment. That is, after the step S203 of guiding the identified vehicle according to the preset guiding path and the guiding bead quantity, the following steps are further included:

[0050] Step S204, acquiring the real-time state signal sequence returned by the second sensor array.

[0051] In the embodiment, when the identified vehicle drives along the preset guiding path and is about to enter or has entered the curved area, the controller continuously monitors the vehicle through the second sensor array pre-arranged in the curved area.

[0052] It should be noted that the second sensor array is preferably a continuous deployment ultrasonic sensor, which can obtain the occupancy state of the vehicle in the area in real time and continuously return the detection signal to the controller. Among them, the number of the second sensor array is multiple and the interval is the same, which belongs to the continuous sensor array and is arranged in the parking lot, and is used for monitoring the vehicle passing through the curve area (non-linear area) of the guide path, and the corresponding direction light is lit according to the end point of the current vehicle.

[0053] Specifically, each sensor node returns a state value (such as "0" indicating unoccupied and "1" indicating occupied) every preset time period during vehicle driving. These state values form a real-time state signal sequence in order, for example, "0000011110000000", indicating that the vehicle is in the middle part of the sequence. It can be seen that the controller determines the current position, occupancy length and movement trend of the vehicle in the curve area according to the real-time state signal sequence, so as to further be used for vehicle identification confirmation, guide adjustment and path tracking continuity analysis. That is, the real-time state signal sequence is used to indicate the current position, occupancy state and dynamic change trend of the vehicle in the curve area, which is the key data to realize accurate tracking and guiding of the vehicle in complex road sections (such as curves).

[0054] Step S205, according to the real-time state signal sequence, identifying the corresponding lamp bead occupancy interval of the vehicle in the curve area.

[0055] In this embodiment, the controller receives the real-time state signal sequence returned by the second sensor array, for example, binary data such as "000111100000", indicating that the vehicle currently occupies the continuous sensor section in the curve area. The controller analyzes the sequence to identify the starting position and the ending position corresponding to "1", and determines the occupancy sensor interval (such as [4, 7]) of the current vehicle in the curve area.

[0056] Subsequently, the controller converts the identified occupancy sensor interval into the corresponding lamp bead occupancy interval (such as [160, 280]) based on the preset mapping relationship between the sensor and the lamp bead (for example, each sensor corresponds to 40 lamp beads). The lamp bead occupancy interval indicates the range of the guide lamp bead currently lit by the vehicle in the curve area, which is used for subsequent matching with the preset lamp bead number interval to complete the dynamic tracking and guide path verification of the vehicle.

[0057] Step S206, matching the lamp bead occupancy interval with the preset curve lamp bead number interval.

[0058] In the embodiment, the controller matches the current lamp bead occupied interval (for example: [160, 280]) identified in step S205 with the preset curve lamp bead number interval (for example: [150, 300]) stored in the system. The preset curve lamp bead number interval is the number interval corresponding to the lamp beads arranged in the curve region of the guide path, which is usually defined and configured into the controller in advance when the system is installed.

[0059] In addition, the matching mode can adopt interval inclusion or intersection judgment. For example, whether the current lamp bead occupied interval is completely included in or mostly falls into the preset curve lamp bead interval is judged as the basis for judging whether the vehicle is currently in the curve region.

[0060] Step S207, when the matching result meets the preset condition, the vehicle that has been identified continues to be guided.

[0061] In the embodiment, when the matching result of the current lamp bead occupied interval and the preset curve lamp bead number interval meets the preset condition, the controller controls the subsequent lamp beads in the guide path to continue to dynamically guide the vehicle that has been identified.

[0062] The "preset condition" can be that at least a preset percentage of the numbers in the current lamp bead occupied interval is located in the preset curve lamp bead number interval, or the current occupied interval completely falls into the preset interval. Based on the judgment result (the matching result meets the preset condition), the controller confirms that the vehicle is still in the correct guide path range, and then sequentially lights the subsequent lamp beads in the curve region according to the current position of the vehicle and the required number of guided lamp beads, thereby maintaining a continuous light guiding effect, guiding the vehicle to smoothly pass through the curve, and reaching the preset terminal region.

[0063] It should also be understood that the "preset percentage" is an adjustable parameter, which can be flexibly set according to the site layout, vehicle speed, sensor accuracy and other conditions. For example, in some high-precision guiding scenes, it can be set to 100%; while in scenes with multiple interferences or small turning radii, it can be set to a floating range of 80% to improve the robustness and continuity of the system.

[0064] It can be seen that the vehicle dynamic guiding method in the embodiment of the application realizes accurate identification and continuous guidance of the vehicle by collecting the state signal sequence of the vehicle in the detection area and the curve area in real time, and matching the number of occupied light beads with the preset path interval. Compared with the guiding mode based on fixed sensors or RFID tags in the related art, which often loses the target when tracking in a curve, the method in the embodiment of the application can accurately determine the length of the occupied section of the vehicle and the change of the dynamic position interval, especially when the vehicle drives to a nonlinear path area such as a curve, the current light bead interval and the curve light bead interval can still be matched (similar to a double check mechanism), the tracking accuracy is determined through the matching result, and the guiding interruption or lag caused by signal loss is significantly reduced.

[0065] In an optional implementation of the embodiment of the application, before the step of guiding the identified vehicle according to the preset guiding path and the number of guiding light beads, the vehicle is identified.

[0066] In the embodiment, after the vehicle passes through the detection area and completes the identification of the length of the occupied section and the number of guiding light beads, the controller binds the length of the occupied section and the number of guiding light beads with the vehicle identification code or the vehicle license plate, and registers the vehicle as an “identified vehicle” to continuously track the motion state of the vehicle in the subsequent guiding process.

[0067] Meanwhile, before the step of continuing to guide the identified vehicle, the identification of the vehicle is maintained.

[0068] In the embodiment, when the vehicle moves along the guiding path, especially during the traversal of multiple sensor sections and light bead areas, the system continuously maintains the unique identification state of the vehicle, and dynamically updates the current position and the corresponding light bead state through real-time signal sequences to prevent the identification from being lost or confused with the tracking data of other vehicles. This process can be realized by a dynamic identification mapping table in the controller, thereby improving the continuous guiding ability of the system for the vehicle in the whole process.

[0069] It should be noted that after the step of matching the current light bead occupied interval with the preset curve light bead interval, the following step is further included: when the matching result does not meet the preset condition, the controller marks the identification state of the current vehicle as “not confirmed” or “identification abnormality”, and triggers the corresponding error correction mechanism. Specifically, the controller can use at least one of the following error correction mechanisms: suspend the guiding process of the current vehicle to prevent misguiding to the wrong path; re-collect real-time state signal sequences to confirm whether it is caused by transient interference; retrieve the data of the adjacent sensors or the historical state sequence for backtracking matching to attempt to restore the identification of the vehicle.

[0070] In an optional implementation of the embodiments of the present application, the step of guiding the identified vehicle according to the number of guide light beads along the preset guide path specifically comprises:

[0071] determining whether the vehicle is a reserved vehicle according to the license plate information of the vehicle;

[0072] guiding the identified vehicle according to the number of guide light beads along the preset guide path when the vehicle is a reserved vehicle; wherein the end point of the guide path is a parking position corresponding to the target location in the reservation information.

[0073] In the present implementation, the camera arranged in the detection area of the parking lot recognizes the license plate information of the vehicle, and then the controller determines whether the vehicle is a reserved vehicle according to the license plate information of the vehicle. Specifically, the controller matches the obtained license plate information with the background reservation database to determine whether the vehicle is a reserved vehicle. When the vehicle is a reserved vehicle, the identified vehicle is guided according to the number of guide light beads along the preset guide path.

[0074] Specifically, the guide path is automatically planned by the controller according to the target location recorded in the reservation information, and the corresponding number of light beads are sequentially lighted along the path direction. In addition, during the guiding process, the controller controls the light beads to dynamically adjust the lighting time and number according to the current real-time position information and speed of the vehicle, so as to ensure that the vehicle is always in a visual guidance state during the driving process. In addition, the end point of the guide path is a parking position corresponding to the target location in the reservation information, such as a corresponding parking space, loading and unloading point or exclusive parking area.

[0075] In an optional implementation of the embodiments of the present application, after the step of determining whether the vehicle is a reserved vehicle according to the license plate information of the vehicle, the method further comprises:

[0076] when the vehicle is not a reserved vehicle, dynamically assigning the nearest target parking space (one or more of the empty parking positions) according to the real-time driving route and the current area of the vehicle every preset detection time period, and guiding the vehicle along the shortest guide path.

[0077] In the embodiment, when the vehicle does not belong to the reserved vehicle (i.e., the vehicle belongs to a non-reserved vehicle), the controller starts a dynamic standby guiding strategy, automatically detects the empty parking position in the parking lot every preset detection period, dynamically allocates the nearest target parking space according to the real-time travel route and the current area of the vehicle, and guides the vehicle to travel to the parking space along the optimal guiding path (which may be the shortest) according to the set priority (such as distance, current vehicle guiding quantity, historical parking record of the vehicle owner, etc.). The path can also be dynamically generated by the controller through a path planning algorithm, considering factors such as real-time travel route, current area, path smoothness, and distance, to calculate the shortest guiding path to the target empty space.

[0078] Subsequently, the controller guides the vehicle that has been identified according to the guiding path with the shortest length and the number of guiding lamp beads, that is, the controller controls the lamp beads to light up in sequence in the direction of the shortest path, forming a visual guiding signal for the vehicle, until the vehicle reaches the selected empty position.

[0079] It should be understood that for the reserved vehicle and the non-reserved vehicle, the priority of the reserved vehicle can be set to be higher than that of the non-reserved vehicle: when there are multiple vehicles that need to be guided at the same time, the system responds to the guiding request of the reserved vehicle first, ensuring that it can reach the specified target position in the shortest time, improving user experience and system order; or, if there are overlapping or conflicting areas in the guiding path, the system calculates a priority parameter based on factors such as vehicle category, entry order, and guiding urgency, and preferentially allocates path resources to high-priority vehicles, and the remaining vehicles are re-planned or delayed; or, when the parking space resource is scarce or the path selection is complex, the reserved vehicle is preferentially allocated to the target parking space, and the non-reserved vehicle is allocated to a suitable area based on the shortest path or regional load balancing strategy, to avoid congestion.

[0080] In an optional embodiment of the application, the initial state signal sequence includes an initial state sequence in binary format; wherein the initial state sequence is the sequence information returned by the continuous sensor array when the entire vehicle body of the vehicle is in the detection area.

[0081] The step of determining the occupied section length and the initial position interval of the vehicle according to the initial state signal sequence specifically includes:

[0082] Identifying a continuous target sequence value in the initial state signal sequence; wherein the target sequence value is used to indicate the value returned by the target sensor array corresponding to the current position of the vehicle in the parking lot;

[0083] Based on the starting position and the ending position of the target sequence value in the initial state signal sequence;

[0084] According to the start position and the end position, a length of an occupied section of the vehicle and an initial position interval are determined.

[0085] In the embodiment, the sensor occupancy state sequence information returned by the continuous sensor array is in the form of a binary bitmap composed of "0" and "1", wherein "1" indicates that the corresponding sensor detects the vehicle occupancy, and "0" indicates that the corresponding sensor does not detect the vehicle.

[0086] Firstly, the controller identifies a target sequence value composed of consecutive "1"s in the initial state signal sequence. The target sequence value (composed of multiple consecutive binary digits "1") is used to represent the actual physical section occupied by the vehicle in the parking lot detection area, which is generally consecutive "111".

[0087] Secondly, the controller calculates the corresponding initial position interval based on the start position and the end position of the target sequence value in the initial state signal sequence, that is, a value interval composed of the start sensor number and the end sensor number. For example, if the initial state sequence is "000111000000", the start position is the 4th position, and the end position is the 6th position, and the corresponding initial position interval is [4, 6].

[0088] Finally, the length of the occupied section of the vehicle is determined based on the difference in the number of sensors between the start position and the end position. Continuing with the above example, the length of the occupied section is 6-4+1=3, indicating that the vehicle occupies a detection section covered by 3 consecutive sensors.

[0089] Through the above embodiment, the controller can not only accurately identify the actual length and position of the vehicle in the initial stage, but also provide accurate basic data for subsequent calculation of the number of light beads and path guidance. The process has good adaptability and real-time performance, and can be uniformly adapted in sensor arrays with different densities and arrangement modes.

[0090] In an optional embodiment of the present application, the step of determining the length of the occupied section of the vehicle and the initial position interval according to the start position and the end position specifically comprises:

[0091] According to the length of the occupied section and the initial position interval, the start position index and the end position index of the vehicle in the detection area are determined;

[0092] The length of the occupied section is calculated according to the start position index and the end position index.

[0093] The start position and the end position are combined to form a coordinate to determine the initial position interval of the vehicle.

[0094] In the embodiment, if the initial state sequence is "000111000000", i.e., when the start position is the 4th position and the end position is the 6th position, it can be further determined that the start position index is the 4th position and the end position index is the 6th position, and the corresponding occupied section length is 6-4+1=3, and the initial position interval is [4, 6].

[0095] It can be seen that the embodiment of the application can quickly and accurately calculate the actual occupied section and initial position interval of the vehicle in the detection area based on the state sequence information generated by the local sensor array without relying on external positioning equipment. Since the state sequence information returned by the sensor array is sent every preset detection period, the controller can dynamically analyze and monitor the length of the occupied section and the position interval of the monitoring object in the parking lot, thereby reducing the tracking loss.

[0096] Please refer to Figure 3 After the step S303 of guiding the identified vehicle according to the preset guide path and the guide bead quantity, the method further includes:

[0097] In step S304, a current state signal sequence returned by a third sensor array is collected; the third sensor array is a sensor array arranged in the parking lot and used for monitoring the monitoring object passing through the guide path; the monitoring object includes at least one of a person, a vehicle, and an obstacle.

[0098] In step S305, the current state signal sequence is detected according to a preset vehicle interval identification strategy.

[0099] In step S306, if the current state signal sequence contains a plurality of regular cyclic sequence values, a target monitoring object corresponding to the cyclic sequence value is determined as a monitoring object consistent with the vehicle, and the guiding is continued.

[0100] In step S307, if the current state signal sequence contains a single isolated sequence value, a target monitoring object corresponding to the isolated sequence value is determined as a person or an obstacle.

[0101] In the embodiment, the vehicle interval identification strategy refers to that the system identifies the position interval of the vehicle determined in two adjacent detection stages, and determines whether the change of the two continuous position intervals is within a preset fault tolerance range. When the change of the position interval is within the fault tolerance range (indicating that the vehicle is normally driving), the system accurately identifies the identity of the vehicle in real time, and continuously performs accurate positioning and guiding.

[0102] The following is illustrated by an example: ① When the vehicle is located in the detection range of sensors 3 and 4 at the same time, the position interval in which the vehicle is located is determined to be 【3, 4】; ② As the vehicle continues to move, when the vehicle enters the detection range of a new adjacent sensor, the system updates the position interval of the vehicle in real time, for example, when the vehicle enters the detection range of sensors 4 and 5, the system will update the position interval to 【4, 5】; ③ The system predefines a position fault tolerance range, that is, the position interval of the vehicle is allowed to float within the range of 3 sensors before and after the current position interval, so as to accommodate the real-time fluctuations of the position record; ④ The system updates and queries the vehicle position in real time by using the above position fault tolerance logic, and by performing real-time data detection on the identification range formed by the combination of the real-time position interval of the vehicle and the fault tolerance range, if there is valid data in the identification range, the identity of the vehicle is continuously determined and the guidance is continued.

[0103] After detection by using the vehicle interval identification strategy, if the current state signal sequence contains multiple regular cyclic sequence values (such as multiple binary value combinations “1111” or periodic displacement sequences), the controller can determine that the target monitoring object has certain length and continuous mobility characteristics in space, and its motion trajectory is consistent with the characteristics of the existing vehicle. At this time, the target monitoring object is determined as a monitoring object consistent with the vehicle (i.e. belongs to the same vehicle), and the controller continues to maintain the lighting path of the guide light bead, and the guidance logic is not interrupted.

[0104] On the contrary, if only a single isolated sequence value (such as “1” at a certain time point and “0” before and after) appears in the current state signal sequence, and the system confirms by querying that there is no currently guided vehicle in the nearby area (corresponding to the target area of the isolated sequence value), it indicates that the object stays in space for a short time and the length range belongs to non-vehicle length, which may be pedestrians temporarily crossing or stationary objects and other non-vehicle targets. Therefore, the target monitoring object corresponding to the isolated sequence value is determined as a person or an obstacle, and the system does not perform vehicle identity recognition or guidance operation.

[0105] In the subsequent guidance process, when the vehicle stops in the parking space along the guidance path, the system releases the vehicle identity binding parameter, and only binds the vehicle identity to the parking space. After the user inputs the license plate number and the current parking space number through the program, the light above the current person will produce a continuous light extension effect for a few seconds to indicate the vehicle direction.

[0106] In addition, if the current state signal sequence contains multiple regular cyclic sequence values, but the values have not been bound by the first sensor array parameter, the system determines that it is an outgoing vehicle and no longer performs guidance.

[0107] Please refer to Figure 4 which shows a vehicle dynamic guidance system provided by an embodiment of the application. It is used to perform the steps in the vehicle dynamic guidance method of the above-mentioned embodiment.

[0108] The vehicle dynamic guiding system comprises:

[0109] a continuous sensor array 401, which is arranged continuously along a preset guiding path in a parking lot area, and is used to collect real-time state information of a monitoring object including a vehicle. The sensor can be an ultrasonic sensor, and the monitoring object includes at least one of a person, a vehicle, and an obstacle;

[0110] a lamp bead 402, which is arranged in the parking lot and is used to guide the vehicle dynamically; the lamp bead system is arranged on one side of a vehicle driving path in one-to-one correspondence with the sensor array or independently.

[0111] a controller 403, which is a core control module, receives data from the continuous sensor array 401, performs sequence recognition, target classification, path matching, and the like, and judges the running state of the vehicle according to the data. Meanwhile, the controller sends a lighting or extinguishing instruction to the lamp bead 402, so as to realize dynamic adjustment of the vehicle guiding path.

[0112] It should be noted that in the embodiment, the steps of the vehicle dynamic guiding method described above can be performed, and thus the embodiments described in the above method embodiments will not be further described here.

[0113] Through the vehicle dynamic guiding system of the embodiment, the continuous sensor array is arranged to collect state signal sequences of the vehicle in a detection area and a curved area in real time, and the number of lamp beads occupied is matched with a preset path interval, so as to realize accurate identification and continuous guidance of the vehicle. Compared with the guiding method based on fixed sensors or RFID tags in the related art, the method can accurately determine the length of the occupied section of the vehicle and the change of the dynamic position interval, especially when the vehicle drives to a curved area or the like, the number of lamp beads in the curved area is matched with the number of lamp beads in the interval, the tracking accuracy is determined according to the matching result, and the problem of interruption or lag in guidance caused by signal loss is significantly reduced. In addition, the vehicle dynamic guiding method of the embodiment supports dynamic calculation of the number of lamp beads and continuous update of the state of the vehicle identification, has good continuity, robustness and adaptability, and improves the intelligent level of system guidance and user passing efficiency.

[0114] Please refer to Figure 5 which shows an electronic device provided by the embodiment, which can be used to implement the vehicle dynamic guiding method based on multi-sensor cooperation in any of the preceding embodiments. The electronic device comprises:

[0115] The memory 501, the processor 502, the bus 503, and the computer program stored in the memory 501 and capable of running on the processor 502 are connected through the bus 503. When the processor 502 executes the computer program, the vehicle dynamic guidance method based on multi-sensor cooperation in the foregoing embodiments is implemented. The number of processors can be one or more.

[0116] The memory 501 can be a high-speed random access memory (RAM) or a non-volatile memory such as a disk memory. The memory 501 is used to store executable program codes, and the processor 502 is coupled to the memory 501.

[0117] Further, the embodiments of the present application also provide a computer readable storage medium, which can be arranged in the electronic device in the foregoing embodiments. The computer readable storage medium can be a memory.

[0118] The computer readable storage medium stores a computer program, and the program is executed by the processor to implement the vehicle dynamic guidance method based on multi-sensor cooperation in the foregoing embodiments. Further, the computer readable storage medium can also be a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk or an optical disk, and various media capable of storing program codes.

[0119] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. In actual implementation, another division mode can be used, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed components can be indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0120] The modules illustrated as separate components can or can not be physically separated, and the components illustrated as modules can or can not be physical modules, that is, they can be located in one place or distributed on a plurality of network modules. According to actual needs, some or all of the modules can be selected to achieve the purpose of the embodiments.

[0121] In addition, each function module in each embodiment of the present application can be integrated in one processing module, or each module can be physically present alone, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software function module.

[0122] When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a readable storage medium, including a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the embodiments of the method of the present application. The aforementioned readable storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various program code storage media.

[0123] It should be noted that, for the foregoing method embodiments, in order to facilitate description, they are all described as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0124] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0125] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle dynamic guidance method based on multi-sensor collaboration, characterized in that, A method for a vehicle dynamic guidance system comprising a continuous sensor array, a controller, and LEDs, the vehicle dynamic guidance system being deployed in a parking lot, the method comprising: The system collects an initial state signal sequence transmitted back by a first sensor array when a vehicle passes through a preset detection area; wherein, the first sensor array is a sensor array arranged in the parking lot within the continuous sensor array for monitoring the vehicle passing through the detection area; the initial state signal sequence includes an initial state sequence in binary format, and the initial state sequence is the sequence information transmitted back by the continuous sensor array when the entire body of the vehicle is within the detection area. Identify consecutive target sequence values ​​in the initial state signal sequence; wherein, the target sequence values ​​are used to indicate the values ​​returned by the target sensor array corresponding to the current position of the vehicle in the parking lot; Based on the starting and ending positions of the target sequence value in the initial state signal sequence, the length of the occupied section and the initial position interval of the vehicle are determined, and the number of guide lamp beads corresponding to the length of the occupied section is determined. The marked vehicles are guided according to the preset guidance path and the number of guide lights. The real-time status signal sequence transmitted back by the second sensor array is collected; wherein, the second sensor array is the sensor array arranged in the parking lot in the continuous sensor array and used to monitor vehicles passing through the curved area of ​​the guide path. Based on the real-time status signal sequence, identify the current LED occupancy range of the vehicle within the curve area; The range occupied by the LED beads is matched with the preset range of the number of LED beads in the curve; wherein, the range of the number of LED beads in the curve is the number range corresponding to the LED beads already deployed in the curve area; When the matching result meets the preset conditions, continue to guide the identified vehicles.

2. The vehicle dynamic guidance method based on multi-sensor collaboration as described in claim 1, characterized in that, Before the step of guiding the marked vehicles according to the preset guide path and the number of guide lights, the method further includes: The vehicle shall be identified; Before proceeding with the step of guiding the identified vehicles, the method further includes: Maintain the identification of the vehicle.

3. The vehicle dynamic guidance method based on multi-sensor collaboration as described in claim 2, characterized in that, The step of guiding the marked vehicles according to the preset guidance path and the number of guidance LEDs specifically includes: Determine whether the vehicle is a reserved vehicle based on the vehicle's license plate information; When the vehicle is a reserved vehicle, the vehicle is guided according to the number of guide lights and a preset guidance path; wherein the destination of the guidance path is the parking position corresponding to the target location in the reservation information. When the vehicle is not a reserved vehicle, the nearest target parking space is dynamically allocated according to the vehicle's real-time travel route and current location every preset detection time period, and the vehicle is guided according to the shortest guidance path.

4. The vehicle dynamic guidance method based on multi-sensor collaboration as described in claim 3, characterized in that, The step of determining the length of the occupied section and the initial position interval of the vehicle specifically includes: Based on the length of the occupied section and the initial position interval, the starting position index and ending position index of the vehicle within the detection area are determined; The length of the occupied segment is calculated based on the start position index and the end position index; The starting position index and the ending position index are combined to form coordinates, which are then used to determine the initial position range of the vehicle.

5. The vehicle dynamic guidance method based on multi-sensor collaboration as described in claim 1, characterized in that, After the step of guiding the marked vehicles according to the preset guide path and the number of guide lights, the method further includes: The current status signal sequence transmitted back by the third sensor array is collected; wherein, the third sensor array is a sensor array deployed in the parking lot within the continuous sensor array and used to monitor the objects passing through the guidance path; the monitored objects include at least one of people, vehicles, and obstacles. The current state signal sequence is detected according to a preset vehicle section identification strategy; When the current status signal sequence contains multiple regularly cyclic sequence values, the target monitoring object corresponding to the cyclic sequence value is identified as the monitoring object consistent with the vehicle, and guidance continues. When the current state signal sequence contains a single isolated sequence value, the target monitoring object corresponding to the isolated sequence value is identified as a person or an obstacle.

6. A vehicle dynamic guidance system, characterized in that, For performing the vehicle dynamic guidance method as described in any one of claims 1 to 5, the vehicle dynamic guidance system comprises: A continuous sensor array is deployed within the parking lot to monitor objects within the parking lot; wherein the monitored objects include at least one of people, vehicles, and obstacles. LED beads are installed in the parking lot and used for dynamic vehicle guidance; A controller for controlling the continuous sensor array and the LED beads.

7. An electronic device, characterized in that, Includes memory, processor, and bus; The bus is used to enable communication between the memory and the processor; The processor is used to execute computer programs stored in the memory; When the processor executes the computer program, it implements the steps in the vehicle dynamic guidance method based on multi-sensor collaboration as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps in the vehicle dynamic guidance method based on multi-sensor collaboration as described in any one of claims 1 to 5.

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