Unattended group type parking space sharing system and method

Abstract

The invention relates to the technical field of intelligent parking, and discloses an unattended group type parking space sharing system and method, and the system comprises a user terminal which is used for a parking space owner to input parking space position information, a license plate number and a vacancy rate threshold value, and recording a parking track; a temporary user registers license plate information and navigates to the shared parking space; the license plate recognition device is arranged at a parking lot gate and used for recognizing license plates of entering and exiting vehicles and sending the license plates to the background server; the background server comprises a database and a processing module and is used for storing community map data, owner parking space states and vacancy rate threshold values; receiving parking track data of a user terminal, and generating an indoor map through inertial navigation modeling; dynamically managing a parking space sharing state; when the proportion of the number of vacant parking spaces to the number of effective shared parking spaces meets a vacancy rate threshold value, opening a temporary vehicle entrance permission; allocating and navigating to an idle shared parking space for the temporary vehicle; and the gate control module responds to an instruction of the background server to open and close a gate.

Description

Technical Field

[0001] The present invention relates to the field of smart parking technology, and in particular to an unmanned group parking space sharing system and method. Background Art

[0002] In many urban residential areas, parking spaces are purchased outright, with owners purchasing fixed spaces for parking. However, in actual use, these spaces are not always used, resulting in idle space waste or illegal occupation by others, leading to conflicts.

[0003] Currently, parking conflicts are primarily avoided by prohibiting non-parking space owners from entering parking lots, or by having parking space owners authorize a reserved vehicle to enter the community system and park in their own space. This maximizes the free space's value and alleviates parking pressure in the area. However, this method is inefficient. Drivers who park temporarily are unfamiliar with the parking spaces and have difficulty finding a specific one. Furthermore, parking space owners who have temporary vehicles parked in the spaces also have difficulty accessing the spaces in a timely manner. Therefore, existing buyout parking spaces suffer from low utilization efficiency and poor communication between temporary parking and parking space owners. Summary of the Invention

[0004] The present invention provides an unmanned group parking space sharing system and method to solve the problems of low utilization efficiency of existing buyout parking spaces and untimely communication of needs between temporary parking and parking space owners.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions: In a first aspect, the present invention provides an unmanned group parking space sharing system, comprising: User terminals are used for parking space owners to input parking space location information, license plate numbers, and vacancy rate thresholds, and record parking trajectories; temporary users are used to register license plate information and navigate to shared parking spaces; The license plate recognition device is installed at the parking lot gate to identify the license plates of vehicles entering and leaving the parking lot and send them to the backend server; The backend server, including the database and processing modules, is used to: (a) Storing community map data, owner parking space status, and vacancy rate thresholds; (b) receiving parking trajectory data from the user terminal and generating an indoor map through inertial navigation modeling; (c) Dynamic management of parking space sharing status: when the ratio of vacant parking spaces to valid shared parking spaces meets the vacancy rate threshold, temporary vehicle access is granted; (d) Allocate and navigate temporary vehicles to available shared parking spaces; The gate control module responds to the instructions of the background server to open and close the gate.

[0006] Optionally, the user terminal includes a data acquisition module and a data processing module; The data acquisition module is used to trigger recording when a vehicle enters the gate, and collect the geomagnetic direction angle, acceleration and driving time of the vehicle when entering the gate; The data processing module is used to divide the vehicle driving process into segments according to fixed time intervals, calculate the displacement distance of each segment based on the average value of acceleration, and generate a plane circle with the turning point as the center, with the diameter of the circle being proportional to the turning angle; The data processing module is also used to optimize the trajectory through a weight algorithm, and assign weights according to the accumulated absolute values ​​of the acceleration differences between adjacent road sections. The smaller the accumulated value, the higher the weight and the thicker the trajectory line.

[0007] Optionally, the backend server includes a map modeling module; The map modeling module is used to obtain the plane circles generated by the data processing module, merge the intersecting circles in multiple trajectories, and determine the new center position in inverse proportion to the diameter based on the line connecting the two center points; The map modeling module is also used to merge pairs of overlapping routes and calculate the new path distance by weighted average, with the new weight being the maximum value of the original weight; When the number of circles absorbed by the merged circle center exceeds the preset threshold, the center position is fixed as a map node; Optimize the path through backtracking: delete redundant nodes and replace the original path with the shortest path between nodes.

[0008] Optionally, the backend server further includes a vacancy rate determination module; The vacancy rate determination module is used for parking space owners to set the shareability status and vacancy rate threshold of their personal parking spaces; The vacancy rate determination module is also used to calculate the ratio of currently vacant shared parking spaces to the total available shared parking spaces in real time; Temporary vehicles are allowed to enter only when this ratio simultaneously meets the vacancy rate threshold of all shared parking spaces.

[0009] Optionally, the backend server further includes a temporary vehicle navigation module; The temporary vehicle navigation module is used to collect vehicle motion sensor data for the user terminal in real time and locate its relative position in the parking lot; The temporary vehicle navigation module is further used to generate a navigation route by combining the indoor map and vacant parking space information published by the backend server; When the vehicle is detected to have arrived at the target parking space, navigation ends automatically.

[0010] In a second aspect, an embodiment of the present application provides an unattended group parking space sharing method, comprising the following steps: Parking space registration steps: The parking space owner submits the parking space location, license plate number and vacancy rate threshold through the user terminal, authorizing the parking space to become shareable; Trajectory modeling steps: (a) When a vehicle enters the gate, the user terminal is triggered to record the geomagnetic direction angle, acceleration, and driving time; (b) Sending the trajectory data to the backend server, generating a plane circle with a diameter proportional to the angle through the turning point; (c) Merge the intersecting circles and overlapping paths in multiple trajectories to generate an optimized indoor map; Shared control steps: (a) Monitor the status of shared parking spaces and grant temporary parking permissions when the ratio of vacant parking spaces meets the vacancy rate threshold; (b) After a temporary vehicle enters the parking lot, it will be navigated to an available parking space based on the indoor map and real-time positioning; Emergency handling steps: When the owner returns and finds that the parking space is occupied, it will be automatically allocated and navigated to other available shared parking spaces.

[0011] Optionally, the specific method of path optimization in the trajectory modeling step is: Calculate the accumulated absolute value of the acceleration difference between adjacent path segments and assign weights based on the preset interval; Merge nodes for path segments with weights lower than the threshold, and use the fixed circle center as the map reference node; Redundant nodes are deleted through the backtracking method, and the core paths that account for more than 50% of the total mileage are retained as valid trajectories.

[0012] Optionally, the application of the vacancy rate threshold includes: The system configures a global vacancy ratio threshold, and sharing is only enabled when the real-time vacancy ratio exceeds the threshold; Owners set their own vacancy rate thresholds, and the system must simultaneously meet the individual threshold requirements of all shared parking spaces.

[0013] Beneficial effects: The unmanned group parking sharing system provided by this invention integrates dispersed parking resources through a group sharing mechanism and dynamically controls open sharing permissions based on vacancy rate thresholds, enabling large-scale operation of idle parking spaces. Measured data shows that the average daily utilization rate of residential parking spaces has increased by over 40%, effectively alleviating congestion on surrounding roads. The system generates a planar circle with a diameter proportional to the angle at turning points to address positioning drift caused by geomagnetic interference. A path backtracking method is used to remove redundant nodes, shortening navigation paths by an average of 30%. Through real-time positioning and map optimization, temporary vehicles can find their way from an average of 8 minutes to 2 minutes, and the rate of incorrect parking has dropped by 90%. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is one of the structural diagrams of the unattended group parking space sharing system according to the preferred embodiment of the present invention; Figure 2 This is the second structural diagram of the unmanned group parking space sharing system according to the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0015] The following is a clear and complete description of the technical solutions of the present invention. It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0016] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "a" do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0017] See Figure 1-2 The present application provides an unmanned group parking space sharing system, including: User terminals are used for parking space owners to input parking space location information, license plate numbers, and vacancy rate thresholds, and record parking trajectories; temporary users are used to register license plate information and navigate to shared parking spaces; The license plate recognition device is installed at the parking lot gate to identify the license plates of vehicles entering and leaving the parking lot and send them to the backend server; The backend server, including the database and processing modules, is used to: (a) Storing community map data, owner parking space status, and vacancy rate thresholds; (b) receiving parking trajectory data from the user terminal and generating an indoor map through inertial navigation modeling; (c) Dynamic management of parking space sharing status: when the ratio of vacant parking spaces to valid shared parking spaces meets the vacancy rate threshold, temporary vehicle access is granted; (d) Allocate and navigate temporary vehicles to available shared parking spaces; The gate control module responds to the instructions of the background server to open and close the gate.

[0018] In the above embodiment, if Figure 1 As shown, the user terminal, which consists of an app, a license plate recognition device, a backend server, and a gate control module. These modules interact with each other via cloud services. Community users use the app to enter basic community information, such as location, available parking capacity, number of floors, and charging standards, and register it in the backend server's database. Parking space owners use the app to join and authorize their spaces to be rented out, reporting their license plate number, parking space location, and other information. A vacancy rate is also set. When the ratio of vacant parking spaces to available shared parking spaces reaches a certain ratio, outside parking spaces are allowed.

[0019] Optionally, the user terminal includes a data acquisition module and a data processing module; The data acquisition module is used to trigger recording when a vehicle enters the gate, and collect the geomagnetic direction angle, acceleration and driving time of the vehicle when entering the gate; The data processing module is used to divide the vehicle driving process into segments according to fixed time intervals, calculate the displacement distance of each segment based on the average value of acceleration, and generate a plane circle with the turning point as the center, with the diameter of the circle being proportional to the turning angle; The data processing module is also used to optimize the trajectory through a weight algorithm, and assign weights according to the accumulated absolute values ​​of the acceleration differences between adjacent road sections. The smaller the accumulated value, the higher the weight and the thicker the trajectory line.

[0020] In the above embodiment, in the initial state, the APP uses inertial navigation to perform indoor positioning of the owner's parking space. When the owner's car enters the gate, the license plate recognition camera sends the license plate to the backend server. The server sends a command to start the APP on the owner's mobile phone for positioning. A countdown start and a manual stop button appear on the APP page. After the recording starts, the owner drives the vehicle into the parking space, clicks the stop button when arriving near the parking space, and selects the direction of the current parking space relative to the front of the vehicle. The smartphone records three data: geomagnetic direction angle, acceleration / deceleration, and driving time. Since each driving situation may be different, the recording process can also be completed multiple times to generate multiple trajectories. For a single parking trajectory record, the backend server projects it onto a virtual map. Each turning point is represented by a flat circle. On the projected map, the vehicle's turning angle, from 0 to 360 degrees, is divided into 10 diameters (9.9 to 0.9 meters) with a Zj = 0.9. Larger turning angles increase the diameter, meaning the circle's diameter is proportional to the angle. Ten set diameters are determined based on the ratio of turning angle to 360 degrees. These diameters are then plotted on the map. Assuming the vehicle's speed is zero when recording starts and zero when stopped, and a configurable interval time unit, Tj, of 1 second is set. The entire parking period is divided into multiple time segments. The distance for each time segment can be calculated using the acceleration formula Si = Vi-1 + AiTj, where Si is the distance of the i-th segment, Vi-1 is the speed of the previous segment, Ai is the average acceleration sampled during the current segment, and Tj is the time interval. Given the distance and angle on the virtual map, and with a configurable distance unit, Sj, of 1 meter, a driving trajectory can be fitted starting from the map's midpoint. Due to frequent acceleration, deceleration, or parking, large errors may occur. Between each spherical node, the acceleration difference of adjacent road sections is calculated, and the acceleration of the 10% of the road sections before and after the spherical node is discarded. This part has frequent acceleration and deceleration due to vehicle turning. The absolute value of the acceleration difference of the remaining sections is accumulated, and Aj = 0.01~0.1G (configurable). According to the absolute value of the accumulated acceleration, the range of Aj is divided into 10~1, that is, the absolute value of the accumulated acceleration within 0.01 is very stable, and the weight is Sq = 10. The weight decreases in sequence, with the minimum being 1. In the map, the larger the weight, the thicker the line is connected. Optionally, the backend server includes a map modeling module; The map modeling module is used to obtain the plane circles generated by the data processing module, merge the intersecting circles in multiple trajectories, and determine the new center position in inverse proportion to the diameter based on the line connecting the two center points; The map modeling module is also used to merge pairs of overlapping routes and calculate the new path distance by weighted average, with the new weight being the maximum value of the original weight; When the number of circles absorbed by the merged circle center exceeds the preset threshold, the center position is fixed as a map node; Optimize the path through backtracking: delete redundant nodes and replace the original path with the shortest path between nodes.

[0021] In the above embodiment, after multiple owners share parking spaces and record their own parking route trajectories, the background server performs map modeling on the community. In method 4, each vehicle outputs its own trajectory map and projects it into the map according to the configuration parameters of Tj, Sj, and Aj. Circles whose intersection ratio occupies more than 20% of the total area of ​​the two circles can be superimposed, with the centers of the two plane circles as the straight line, and the new center of the circle is located on the straight line, and the position is inversely proportional to the diameter ratio. If multiple circles intersect, they are merged in order from large to small diameters, and the position of the new center of the circle is calculated. The new plane circle includes the number Cx of absorbed circles and the original connected lines. At this time, the distance between the connecting lines will also change, and the new distance between the two circles can be calculated based on the map ratio; If the merged circles have identical connecting routes in pairs, merge the routes one by one. For example, if there are two routes a and b, with distances Sa and Sb, respectively, and weights Sqa and Sqb, respectively, the new distance is (Sa * Sqa + Sb * Sqb) / (Sqa + Sqb), with the weight of the new distance being the maximum of Sqa and Sqb. The length of the merged circle's center on the map is adjusted proportionally based on the new distance. As multiple routes are merged, a threshold Cy = 10 (configurable) is set. When the number of absorbed circles Cx > Cy, the position of the absorbed circle's center is fixed on the map as a fixed circle and does not move. When absorbing additional circles, the fixed circle's center is used as the new circle's center, and the fixed circle's diameter is used as the new circle's diameter.

[0022] Optionally, the backend server further includes a vacancy rate determination module; The vacancy rate determination module is used for parking space owners to set the shareability status and vacancy rate threshold of their personal parking spaces; The vacancy rate determination module is also used to calculate the ratio of currently vacant shared parking spaces to the total available shared parking spaces in real time; Temporary vehicles are allowed to enter only when this ratio simultaneously meets the vacancy rate threshold of all shared parking spaces.

[0023] In the above embodiment, after a temporary vehicle registers its license plate information using the app, when it arrives at a parking lot with shared parking spaces, the system will use the license plate recognition camera to determine whether the license plate belongs to a registered vehicle and, if there is a vacant space, open the gate for entry. Temporary vehicles can use the map function in the app to consult the parking lot map and randomly search for a desired empty shared parking space. At the same time, using a method similar to inertial navigation in Method 3, the app will also calculate the approximate location of the vehicle's current parking lot for reference during driving. When a parking space with a number that matches a shared space is found, the vehicle will park in the garage. If the owner of the shared space returns to the community and finds that the space is occupied, they can randomly search for other shared parking spaces on the app map and drive to a nearby parking space.

[0024] Optionally, the backend server further includes a temporary vehicle navigation module; The temporary vehicle navigation module is used to collect vehicle motion sensor data for the user terminal in real time and locate its relative position in the parking lot; The temporary vehicle navigation module is further used to generate a navigation route by combining the indoor map and vacant parking space information published by the backend server; When the vehicle is detected to have arrived at the target parking space, navigation ends automatically.

[0025] In the above embodiment, the shortest path detection is performed. A car owner's route is traced back from the parking space to find out whether there is a route that reaches the turning point through the shortest path. For example, if Ca, Cb, and Cc are three locations and Ca and Cb are fixed circles, Cc is deleted and the original Ca-Cc-Cb path is replaced by Ca-Cb. When the sum of the fixed circle distances of the car owner's route exceeds 50% of the total parking mileage, the parking trajectory is a valid trajectory and the backend server publishes it. After fitting multiple routes, the approximate locations of all vehicles participating in the shared parking space operation in the community can be obtained. The backend server processing program publishes parking spaces, indoor maps, etc. After the system recognizes that a car has left the shared parking space through the license plate recognition camera, it automatically switches to the rental mode. The system can also configure multiple ratios of current vacant parking spaces / rentable spaces, for example, they can only be rented after reaching a certain ratio.

[0026] The present application also provides an unattended group parking space sharing method, comprising the following steps: Parking space registration steps: The parking space owner submits the parking space location, license plate number and vacancy rate threshold through the user terminal, authorizing the parking space to become shareable; Trajectory modeling steps: (a) When a vehicle enters the gate, the user terminal is triggered to record the geomagnetic direction angle, acceleration, and driving time; (b) Sending the trajectory data to the backend server, generating a plane circle with a diameter proportional to the angle through the turning point; (c) Merge the intersecting circles and overlapping paths in multiple trajectories to generate an optimized indoor map; Shared control steps: (a) Monitor the status of shared parking spaces and grant temporary parking permissions when the ratio of vacant parking spaces meets the vacancy rate threshold; (b) After a temporary vehicle enters the parking lot, it will be navigated to an available parking space based on the indoor map and real-time positioning; Emergency handling steps: When the owner returns and finds that the parking space is occupied, it will be automatically allocated and navigated to other available shared parking spaces.

[0027] Optionally, the specific method of path optimization in the trajectory modeling step is: Calculate the accumulated absolute value of the acceleration difference between adjacent path segments and assign weights based on the preset interval; Merge nodes for path segments whose weights are lower than the threshold, and use the fixed circle center as the map reference node; Redundant nodes are deleted through the backtracking method, and the core paths that account for more than 50% of the total mileage are retained as valid trajectories.

[0028] Optionally, the application of the vacancy rate threshold includes: The system configures a global vacancy ratio threshold, and sharing is only enabled when the real-time vacancy ratio exceeds the threshold; Owners set their own vacancy rate thresholds, and the system must simultaneously meet the individual threshold requirements of all shared parking spaces.

[0029] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. An unmanned group parking space sharing system, characterized in that: include: User terminals are used for parking space owners to input parking space location information, license plate numbers, and vacancy rate thresholds, and to record parking trajectories; For temporary users to register license plate information and navigate to shared parking spaces; The license plate recognition device is installed at the parking lot gate to identify the license plates of vehicles entering and leaving the parking lot and send them to the backend server; The backend server, including the database and processing modules, is used to: (a) Storing community map data, owner parking space status, and vacancy rate thresholds; (b) receiving parking trajectory data from the user terminal and generating an indoor map through inertial navigation modeling; (c) Dynamic management of parking space sharing status: when the ratio of vacant parking spaces to valid shared parking spaces meets the vacancy rate threshold, temporary vehicle access is granted; (d) Allocate and navigate temporary vehicles to available shared parking spaces; The gate control module responds to the instructions of the background server to open and close the gate.

2. The unmanned group parking space sharing system according to claim 1 is characterized in that: The user terminal includes a data acquisition module and a data processing module; The data acquisition module is used to trigger recording when a vehicle enters the gate, and collect the geomagnetic direction angle, acceleration and driving time of the vehicle when entering the gate; The data processing module is used to divide the vehicle driving process into segments according to fixed time intervals, calculate the displacement distance of each segment based on the average value of acceleration, and generate a plane circle with the turning point as the center, with the diameter of the circle being proportional to the turning angle; The data processing module is also used to optimize the trajectory through a weight algorithm, and assign weights according to the accumulated absolute values ​​of the acceleration differences between adjacent road sections. The smaller the accumulated value, the higher the weight and the thicker the trajectory line.

3. The unmanned group parking space sharing system according to claim 2 is characterized in that: The backend server includes a map modeling module; The map modeling module is used to obtain the plane circles generated by the data processing module, merge the intersecting circles in multiple trajectories, and determine the new center position in inverse proportion to the diameter based on the line connecting the two center points; The map modeling module is also used to merge pairs of overlapping routes and calculate the new path distance by weighted average, with the new weight being the maximum value of the original weight; When the number of circles absorbed by the merged circle center exceeds the preset threshold, the center position is fixed as a map node; Optimize the path through backtracking: delete redundant nodes and replace the original path with the shortest path between nodes.

4. The unmanned group parking space sharing system according to claim 1 is characterized in that: The backend server also includes a vacancy rate determination module; The vacancy rate determination module is used for parking space owners to set the shareability status and vacancy rate threshold of their personal parking spaces; The vacancy rate determination module is also used to calculate the ratio of currently vacant shared parking spaces to the total available shared parking spaces in real time; Temporary vehicles are allowed to enter only when this ratio simultaneously meets the vacancy rate threshold of all shared parking spaces.

5. The unmanned group parking space sharing system according to claim 1 is characterized in that: The backend server also includes a temporary vehicle navigation module; The temporary vehicle navigation module is used to collect vehicle motion sensor data for the user terminal in real time and locate its relative position in the parking lot; The temporary vehicle navigation module is further used to generate a navigation route by combining the indoor map and vacant parking space information published by the backend server; When the vehicle is detected to have arrived at the target parking space, navigation ends automatically.

6. An unmanned group parking space sharing method, characterized in that: The following steps are involved: Parking space registration steps: The parking space owner submits the parking space location, license plate number and vacancy rate threshold through the user terminal, authorizing the parking space to become shareable; Trajectory modeling steps: (a) When a vehicle enters the gate, the user terminal is triggered to record the geomagnetic direction angle, acceleration, and driving time; (b) Sending the trajectory data to the backend server, generating a plane circle with a diameter proportional to the angle through the turning point; (c) Merge the intersecting circles and overlapping paths in multiple trajectories to generate an optimized indoor map; Shared control steps: (a) Monitor the status of shared parking spaces and grant temporary parking permissions when the ratio of vacant parking spaces meets the vacancy rate threshold; (b) After a temporary vehicle enters the parking lot, it will be navigated to an available parking space based on the indoor map and real-time positioning; Emergency handling steps: When the owner returns and finds that the parking space is occupied, it will be automatically allocated and navigated to other available shared parking spaces.

7. The unmanned group parking space sharing method according to claim 6, characterized in that: The specific method of path optimization in the trajectory modeling step is: Calculate the accumulated absolute value of the acceleration difference between adjacent path segments and assign weights based on the preset interval; Merge nodes for path segments whose weights are lower than the threshold, and use the fixed circle center as the map reference node; Redundant nodes are deleted through the backtracking method, and the core paths that account for more than 50% of the total mileage are retained as valid trajectories.

8. The unmanned group parking space sharing method according to claim 6, characterized in that: Applications of the vacancy rate thresholds include: The system configures a global vacancy ratio threshold, and sharing is only enabled when the real-time vacancy ratio exceeds the threshold; Owners set their own vacancy rate thresholds, and the system must simultaneously meet the individual threshold requirements of all shared parking spaces.

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