Roadside intelligent parking space management method and system

Abstract

The application provides a roadside intelligent parking space management method and system, relates to the technical field of data processing, and comprises the following steps: a driving instruction record is split into a plurality of instruction stages according to instruction turning points, and each instruction stage is alternately nested to obtain a stage coupling track; the continuity constraint degree between each stage in the driving process is calculated to obtain a stage stability quantity; position feedback records are sequentially reconstructed to form an offset expansion chain; the overall pulling trend of the flip plate structure in the current limiting action is calculated to generate a cumulative pulling quantity; the driving instruction is divided into a plurality of rhythm segments according to the stage stability quantity to form a rhythm driving sequence; the driving amplitude in each rhythm segment is directionally increased or decreased to generate a pulling correction sequence; and the flip plate is controlled to perform a limiting and releasing action. The application can accurately control the lifting angle of the flip plate, and avoid the problem of inaccurate lifting caused by the change of the meshing gap of the worm and the shaft offset.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method and system for managing intelligent roadside parking spaces. Background Technology

[0002] With the continuous increase in the number of motor vehicles in cities, roadside parking spaces are gradually adopting intelligent management methods for standardized control. In existing technologies, a parking space manager is typically installed at each parking space, connected to a vehicle detection module and a control module. When a vehicle is detected entering a parking space, the system drives a flap or barrier mechanism to rise, physically limiting the vehicle and preventing it from leaving without paying. After the driver completes payment by scanning a QR code, the system receives a payment completion signal, causing the flap or barrier to lower, allowing the vehicle to leave, thus achieving unattended automatic payment and management.

[0003] Some parking space managers use a worm gear reduction mechanism to directly drive the flap shaft. Because this drive mechanism is relatively large, a tall housing structure is required to accommodate the transmission components, which may cause the upper structure of the equipment to protrude significantly from the ground. For example, in street parking scenarios on main urban roads, when a vehicle parks, its wheels may adjust their position near the curb, potentially causing lateral pressure or crushing impact on the protruding housing. Long-term repeated stress may cause changes in the worm gear meshing clearance or shaft misalignment, resulting in insufficient flap lifting angle or jamming, thus affecting the vehicle limiting effect. Summary of the Invention

[0004] The purpose of this invention is to provide a roadside intelligent parking space management method and system, which aims to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] Firstly, based on a roadside intelligent parking space management method, the method includes:

[0007] Acquire the drive command record and position feedback record of the berth during a single limit switch action;

[0008] By dividing the driving instruction record into several instruction stages according to the instruction turning point, and by alternately nesting the instruction progression direction and stage duration within each instruction stage, a stage coupling trajectory is obtained.

[0009] Based on the stage coupling trajectory, hierarchical recursive calculation is performed to calculate the degree of continuous constraint between each stage within the characteristic driving process, and the stage stability quantity is obtained.

[0010] By reconstructing the position feedback records sequentially with the stage stability as the rearrangement reference, a feedback recombination sequence is formed. The feedback recombination sequence is then subjected to front and rear differential expansion processing to form an offset expansion chain.

[0011] Several aggregated segments are formed by folding and aggregating the offset extension chain, and the overall traction trend of the flap structure in this limiting action is calculated based on each aggregated segment to generate the cumulative traction amount.

[0012] Based on the stage stability, the driving instructions are rhythmically reconstructed, and the driving instructions are divided into several rhythm segments according to the stage stability to form a rhythm driving sequence.

[0013] The amplitude of the rhythm drive sequence is re-adjusted based on the cumulative traction amount, and the driving amplitude in each rhythm segment is increased or decreased in a directional manner to generate a traction correction sequence.

[0014] The control flap is controlled to perform limit and release actions according to the traction correction sequence, and the current drive response record is stored as the reference sequence for the next cycle after the action is completed.

[0015] Furthermore, by dividing the driver instruction record into several instruction stages according to instruction inflection points, and alternately nesting the instruction progression direction and stage duration within each instruction stage, a stage coupling trajectory is obtained, including:

[0016] The difference between adjacent instructions is calculated based on the driving instruction record. The values ​​of driving instructions that are adjacent in time sequence are subtracted one by one to obtain the instruction difference sequence.

[0017] Based on the instruction difference sequence, each instruction difference is converted into a corresponding direction identifier value, and then arranged in chronological order to form a direction identifier sequence;

[0018] Based on the direction identifier sequence, the record positions where the direction identifier value changes are extracted as turning index points, thus obtaining the turning index set;

[0019] Based on the transition index set, the driving instruction records between adjacent transition index points are divided into an instruction stage to obtain the instruction stage set. The number of driving instruction records in each instruction stage is counted to obtain the stage duration data.

[0020] Based on the direction identifier sequence and stage duration data, the direction identifiers and stage durations corresponding to each instruction stage are arranged alternately according to the stage order to obtain the stage coupling trajectory.

[0021] Furthermore, based on the stage coupling trajectory, a hierarchical recursive calculation is performed to determine the degree of continuous constraint between each stage within the symmetric-driven process, yielding stage stability quantities, including:

[0022] Based on the instruction phase set and phase duration data, calculate the phase average amplitude of each instruction phase, and calculate the amplitude concentration of each phase average amplitude under a uniform scale to obtain the phase amplitude balance term.

[0023] Based on the direction identifier sequence, calculate the average direction value of the corresponding direction identifier within each instruction stage, identify the concentrated state of the driving direction within each stage, and obtain the stage direction condensation term.

[0024] Based on the phase amplitude equalization term and the phase direction cohesion term, the degree of mutual constraint between direction and amplitude within each instruction phase is calculated to obtain the phase interaction inhibition term.

[0025] Based on the phase interaction suppression term and phase duration of adjacent instruction phases, the smoothness of the transition between adjacent instruction phases is calculated to obtain the continuity term of adjacent phases.

[0026] By fusing the stage interaction inhibition term with the adjacent stage continuity term, the degree of continuity constraint between each instruction stage within the characteristic-driven process is calculated, and the stage stability quantity is obtained.

[0027] Furthermore, by reconstructing the position feedback records sequentially using the stage stability as a rearrangement reference, a feedback reconstruction sequence is formed. This feedback reconstruction sequence is then subjected to front-to-back differential expansion processing to form an offset expansion chain, including:

[0028] By splitting the stage stability quantity into sequential weight groups and constructing a rearranged weight sequence corresponding to the instruction stage set, the stage weight sequence is obtained;

[0029] Based on the stage weight sequence and the position feedback record, an association mapping is performed, and the position feedback record is mapped to the stage weight sequence according to the instruction stage when the stage weight sequence is formed, thereby generating a weighted feedback sequence;

[0030] The weighted feedback sequence is arranged in descending order of stage weights to obtain the feedback recombination sequence;

[0031] The difference between adjacent feedback records after recombination is calculated based on the feedback recombination sequence to obtain the feedback difference. The feedback difference is then progressively spliced ​​together according to the direction of change to form an offset extension chain.

[0032] Furthermore, by offsetting and extending the chain, several aggregated segments are formed through folding and aggregation. Based on each aggregated segment, the overall traction trend of the flap structure during this limiting action is calculated, generating the cumulative traction amount, including:

[0033] By dividing the feedback differences with the same direction of continuous change in the offset extension chain into segments with the same direction, a set of segments with the same direction is obtained; the feedback differences in each segment with the same direction are accumulated in chain order, and the result is calculated based on the number of differences contained in the segment with the same direction, to obtain the segment folding value sequence.

[0034] Based on the feedback difference, calculate the cumulative average of all feedback differences to obtain the difference scale benchmark term;

[0035] Based on the stage weight sequence and the difference scale benchmark term, the available traction degree of the segment folding amount under the stage weight constraint is calculated, and the segment weighted folding strength term is obtained.

[0036] Based on the set of segments in the same direction, calculate the degree of continuity between the changing directions of two adjacent segments in the same direction, and identify the relationship between the overall trend and the continuity of the segment direction to obtain the direction maintenance term of adjacent segments.

[0037] Based on the segment fold value sequence and the difference scale benchmark term, the degree of abrupt change of segment fold value at the segment boundary is calculated, and the interference of folding on the overall trend is suppressed to obtain the cross-segment morphological perturbation suppression term.

[0038] By integrating the segment-weighted folding strength term, the adjacent segment orientation maintenance term, and the cross-segment morphological disturbance suppression term, the overall traction trend of the flap structure in this limiting action is calculated, and the cumulative traction amount is obtained.

[0039] Furthermore, the driving instructions are rhythmically reconstructed based on the stage stability values. The driving instructions are divided into several rhythmic segments according to the stage stability values ​​to form a rhythmic driving sequence, including:

[0040] The rhythm scale is mapped based on the stage stability quantity, and the stage stability quantity is mapped to the rhythm allocation coefficient. Then, a rhythm allocation rule set is constructed based on the rhythm allocation coefficient.

[0041] Based on the rhythm allocation rule set, the data corresponding to each instruction stage in the drive instruction record is matched with the rhythm allocation rule set to generate a stage rhythm identifier sequence;

[0042] Based on the phase rhythm identifier sequence, the driving instruction record is re-divided according to the segmentation length corresponding to the phase rhythm identifier to obtain several rhythm segments.

[0043] The rhythm segments are reorganized in sequence, and each rhythm segment is rearranged according to the rhythm distribution coefficient corresponding to the stage stability quantity to form a rhythm-driven sequence.

[0044] Furthermore, the rhythmic drive sequence is amplitude-reorganized based on the cumulative traction, and the driving amplitude in each rhythmic segment is increased or decreased in a directional manner to generate a traction correction sequence, including:

[0045] Directional analysis is performed based on the cumulative traction amount, which is then broken down into traction direction identifier and traction strength value. An amplitude reference adjustment amount is then constructed based on the traction strength value.

[0046] The traction direction identifier and the driving direction of each rhythm segment are compared. When the direction identifiers match, a same-direction identifier is generated; otherwise, a reverse identifier is generated, thus obtaining a segment direction matching sequence.

[0047] Based on the segment direction matching sequence, rhythmic segments with same-direction or opposite-direction identifiers are subjected to amplitude superposition or amplitude subtraction according to the amplitude reference adjustment amount to obtain an amplitude-corrected segment set.

[0048] Based on the amplitude correction fragment set, the amplitude difference between adjacent rhythm fragments is smoothed to ensure that the amplitude change forms a continuous transition between adjacent fragments, generating a traction correction sequence.

[0049] Secondly, based on the roadside intelligent parking management system, the system includes:

[0050] The data module is used to acquire the drive command record and position feedback record of the berth during a single limit action;

[0051] The trajectory module is used to divide the drive instruction record into several instruction stages according to the instruction turning point, and to alternately nest the instruction progression direction and stage duration within each instruction stage to obtain the stage coupling trajectory.

[0052] The stabilization module is used to perform hierarchical recursive calculations based on the stage coupling trajectory, calculate the degree of continuous constraint between each stage within the characteristic-driven process, and obtain the stage stability quantity.

[0053] The extended chain module is used to reconstruct the position feedback records sequentially with the stage stability as the rearrangement reference to form a feedback recombination sequence, and to perform front and rear differential expansion processing on the feedback recombination sequence to form an offset extended chain.

[0054] The traction module is used to fold and aggregate the offset extension chain to form several aggregate segments, and calculate the overall traction trend of the flap structure in this limiting action based on each aggregate segment, and generate the cumulative traction amount.

[0055] The driving module is used to reconstruct the rhythm of the driving instructions according to the stage stability value, and divide the driving instructions into several rhythm segments according to the stage stability value to form a rhythm driving sequence.

[0056] The correction module is used to re-amplify the rhythm drive sequence based on the cumulative traction amount, and to increase or decrease the drive amplitude in each rhythm segment in a directional manner to generate a traction correction sequence.

[0057] The control module is used to control the flapper to perform limit and release actions according to the traction correction sequence, and to store the current drive response record as the reference sequence for the next cycle after the action is completed.

[0058] The above-described solution of the present invention has at least the following beneficial effects:

[0059] This invention breaks down drive command records into several command stages based on command inflection points, and then alternately nests these stages to obtain a stage coupling trajectory. By refining and alternately nesting commands, complex control signals can be effectively decomposed into multiple controllable operation stages, allowing for precise optimization of the control effect of each stage. Through in-depth analysis of the stage coupling trajectory, the duration and direction of each stage can be adjusted according to actual conditions, further optimizing the overall action execution efficiency, improving the system's adaptability and accuracy in complex parking environments, ensuring the smooth operation of the flip-over process, and reducing potential operational errors.

[0060] This invention calculates the degree of continuity constraint between each stage within the driving process to obtain the stage stability quantity. By recursively calculating the stability between each stage, potential unstable factors in the operation process can be identified and controlled by calculating the stability quantity. This ensures a smoother connection between each instruction stage, avoids equipment jamming caused by signal jumps or discontinuities during operation, provides real-time status feedback to the system, and enables the system to make timely adjustments when encountering environmental changes or operational deviations, ensuring the stability and accuracy of each operation.

[0061] This invention reconstructs the position feedback records sequentially using stage stability values ​​as a reference, forming an offset extension chain. By reconstructing and differentially extending the feedback data, the system's processing accuracy of the position feedback signal is effectively improved. Through differential analysis of the feedback signal before and after, minute changes in the feedback data can be clearly identified. Continuous data processing is achieved through the extension chain, avoiding system malfunctions caused by short-term data anomalies or errors. The operating parameters can be dynamically adjusted to ensure that the flip-board action is always in the optimal state, thus improving the overall operational accuracy.

[0062] This invention uses an offset extension chain to fold and aggregate several aggregated segments, calculates the overall traction trend of the flap structure in this limiting action to generate cumulative traction, and integrates feedback information from multiple stages by expanding, folding and aggregating the feedback data. This allows for a comprehensive evaluation of the overall trend of the flap action, accurately grasps the traction changes in each action, ensures that the flap's action force and stroke can be optimized in real time, achieves more precise control during operation, reduces energy waste, improves the response efficiency of the flap action, and enhances the overall efficiency and automation level of parking management.

[0063] This invention generates a traction correction sequence by directionally increasing or decreasing the driving amplitude in each rhythm segment. By directionally increasing or decreasing the driving amplitude, it ensures a smoother transition between each stage of the flapping action, avoiding mechanical burden or energy waste caused by excessive amplitude changes, ensuring the stability of the system during long-term operation, effectively controlling dynamic changes during the driving process, making the overall control more efficient and stable, and improving the reliability of the flapping control system in different scenarios. Attached Figure Description

[0064] Figure 1 This is a flowchart of a roadside intelligent parking space management method provided by an embodiment of the present invention. Detailed Implementation

[0065] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0066] like Figure 1 As shown, embodiments of the present invention propose a roadside intelligent parking space management method, the method comprising:

[0067] Acquire the drive command record and position feedback record of the berth during a single limit switch action;

[0068] By dividing the driving instruction record into several instruction stages according to the instruction turning point, and by alternately nesting the instruction progression direction and stage duration within each instruction stage, a stage coupling trajectory is obtained.

[0069] Based on the stage coupling trajectory, hierarchical recursive calculation is performed to calculate the degree of continuous constraint between each stage within the characteristic driving process, and the stage stability quantity is obtained.

[0070] By reconstructing the position feedback records sequentially with the stage stability as the rearrangement reference, a feedback recombination sequence is formed. The feedback recombination sequence is then subjected to front and rear differential expansion processing to form an offset expansion chain.

[0071] Several aggregated segments are formed by folding and aggregating the offset extension chain, and the overall traction trend of the flap structure in this limiting action is calculated based on each aggregated segment to generate the cumulative traction amount.

[0072] Based on the stage stability, the driving instructions are rhythmically reconstructed, and the driving instructions are divided into several rhythm segments according to the stage stability to form a rhythm driving sequence.

[0073] The amplitude of the rhythm drive sequence is re-adjusted based on the cumulative traction amount, and the driving amplitude in each rhythm segment is increased or decreased in a directional manner to generate a traction correction sequence.

[0074] The control flap is controlled to perform limit and release actions according to the traction correction sequence, and the current drive response record is stored as the reference sequence for the next cycle after the action is completed.

[0075] In this embodiment of the invention, the drive command record and position feedback record of the berth during a single limit-movement are obtained, providing accurate raw data for subsequent data processing and optimization, and enabling a comprehensive understanding of all details in the limit-movement process. By dividing the drive command record into several command stages according to the command inflection point, and alternately nesting the command progression direction and stage duration within each command stage, a stage coupling trajectory is obtained. This allows for a more detailed analysis and control of the relationship between each command stage, making the action of each stage more in line with actual needs, ensuring seamless connection between each action stage, and avoiding sudden deviations or errors. Based on the stage coupling trajectory, hierarchical recursive calculations are performed to calculate the internal characteristics of the drive process. The degree of continuity constraint between stages is used to obtain stage stability quantities, ensuring smooth transitions between stages and avoiding control deviations caused by discontinuities between stages. This ensures smooth and efficient responsiveness of the flap operation and guarantees long-term stable operation of parking equipment. By reconstructing the position feedback records sequentially using the stage stability quantities as a reference, a feedback recombination sequence is formed. The feedback recombination sequence is then subjected to differential expansion processing to form an offset expansion chain. This chain can identify and respond to minute changes in feedback data in real time, better adapt to changes in the environment or equipment operating status, and adjust the flap action response in real time. This effectively avoids control errors caused by untimely or inaccurate feedback processing, improving the reliability of parking management.

[0076] By folding and aggregating the offset extension chain to form several aggregated segments, and calculating the overall traction trend of the flap structure in this limiting action based on each aggregated segment, a cumulative traction amount is generated. This effectively summarizes and extracts key changing trends from the feedback information, further enhancing the control accuracy of the flap movement. Real-time monitoring of the overall traction trend of the flap movement ensures that the flap's lifting and lowering operations conform to the desired control mode. Furthermore, by reconstructing the rhythm of the drive commands according to the stage stability amount, the drive commands are divided into several rhythmic segments according to the stage stability amount, forming a rhythmic drive sequence. This avoids unnecessary signal abrupt changes, ensuring smooth transitions between each action stage, and making the flap movement... The system can execute stably; it re-adjusts the amplitude of the rhythm drive sequence based on the accumulated traction amount, and increases or decreases the drive amplitude in each rhythm segment in a directional manner to generate a traction correction sequence. This optimizes energy distribution, avoids unnecessary load fluctuations, ensures that the system maintains a high degree of consistency during dynamic changes, and avoids control errors caused by excessively fast or slow amplitude adjustment. Based on the traction correction sequence, it controls the flapper to perform limit and release actions, and records and stores the drive response as the reference sequence for the next cycle after the action is completed. This ensures that the flapper's action amplitude is more accurate when performing limit and release actions, and avoids wear caused by improper flapper action due to over-driving or insufficient driving force.

[0077] Specifically, acquiring the drive command record and position feedback record of the berth during a single limit switch action includes:

[0078] The system requires detailed data acquisition and recording for each limit action. First, the system generates and sends drive commands through the berth management system's control module. These commands typically include information such as the lifting and lowering control commands for the tilting ramp, movement duration, rotation angle, and speed. Internally, the commands are sent to actuators such as motors and pneumatic devices, which then control the tilting ramp's movement. Simultaneously, to ensure the accuracy of the tilting ramp's movement, the system uses feedback devices such as position sensors, encoders, or sensor networks to acquire the current state and position of the tilting ramp in real time. The position feedback record specifically includes key information such as the real-time position of the tilting ramp, the displacement during movement, and the time it takes for the tilting ramp to reach a specific position. These drive command records and position feedback records are saved in real time through a data storage module, ensuring accurate recording of each limit action and guaranteeing data integrity.

[0079] Specifically, the control of the flapper to perform limit and release actions according to the traction correction sequence, and the recording of the current drive response after the action is completed as the reference sequence for the next loop, includes:

[0080] The system first controls the limiting and releasing actions of the flapper truck based on a traction correction sequence. This sequence is generated through data optimization after analyzing traction force changes at each stage, ensuring that the traction force for each flapper truck action is precisely adjusted within the appropriate timeframe. Each control command in the traction correction sequence includes specific values ​​for drive amplitude and direction adjustment. Once the traction correction sequence is generated, the system uses it as input to control the flapper truck to perform limiting or releasing actions. For example, when the flapper truck needs to be raised to restrict vehicle exit, the system gradually sends progressively increasing drive commands to the flapper truck actuator based on the amplitude adjustment in the traction correction sequence, ensuring smooth flapper truck action without violent fluctuations. When the flapper truck needs to be released, the system gradually reduces the drive amplitude based on the traction correction sequence, ensuring the release action is neither too fast nor too slow, avoiding impact or excessive wear on mechanical components.

[0081] After the flapper completes its limit or release action, the system records the drive response of this operation, including the drive command, execution time, flapper position, and other data for each stage. This data is stored as a reference sequence for the next cycle. The reference sequence provides the system with a standard operating mode that can be used as a reference for the next execution. The system will fine-tune subsequent operations based on trends and deviations in historical data to ensure that each limit action better meets the expected accuracy. Through fine-tuning of the traction correction sequence, the drive process of each flapper action is made smoother, avoiding mechanical fatigue or operational instability caused by over-adjustment. Moreover, by recording each drive response and using it as a reference sequence for the next cycle, the system can continuously optimize its control strategy, achieving self-learning and evolution.

[0082] In a preferred embodiment of the present invention, by dividing the driving instruction record into several instruction stages according to the instruction inflection point, and alternately nesting the instruction progression direction and stage duration within each instruction stage, a stage coupling trajectory is obtained, including:

[0083] The difference between adjacent instructions is calculated based on the driving instruction record. The values ​​of driving instructions that are adjacent in time sequence are subtracted one by one to obtain the instruction difference sequence.

[0084] Based on the instruction difference sequence, each instruction difference is converted into a corresponding direction identifier value, and then arranged in chronological order to form a direction identifier sequence;

[0085] Based on the direction identifier sequence, the record positions where the direction identifier value changes are extracted as turning index points, thus obtaining the turning index set;

[0086] Based on the transition index set, the driving instruction records between adjacent transition index points are divided into an instruction stage to obtain the instruction stage set. The number of driving instruction records in each instruction stage is counted to obtain the stage duration data.

[0087] Based on the direction identifier sequence and stage duration data, the direction identifiers and stage durations corresponding to each instruction stage are arranged alternately according to the stage order to obtain the stage coupling trajectory.

[0088] In this embodiment of the invention, adjacent instruction differences are calculated based on the driving instruction records. The values ​​of driving instructions that are sequentially adjacent are subtracted one by one to obtain an instruction difference sequence. This accurately quantifies the magnitude of instruction changes in the time series, capturing rapid changes or relatively smooth transitions in instructions, ensuring more detailed processing and optimization of driving instructions. Based on the instruction difference sequence, each instruction difference is converted into a corresponding direction identifier value, and these values ​​are arranged in chronological order to form a direction identifier sequence. This clearly captures the trend of instruction changes, ensuring that the boundaries of instruction stages can be clearly defined during subsequent data processing. Based on the direction identifier sequence, the record positions where direction identifier values ​​change are extracted as turning point index points, resulting in a turning point index set, accurately identifying the critical moments of instruction changes. This system enables refined instruction processing, ensuring smooth and precise operation. Based on the turning point index set, the driving instruction records between adjacent turning point index points are divided into an instruction stage, resulting in an instruction stage set. The number of driving instruction records within each instruction stage is counted to obtain stage duration data, allowing each stage to be analyzed and optimized independently. This ensures continuity and stability during operation and optimizes the overall control effect. Based on the direction identifier sequence and stage duration data, the direction identifiers and stage durations corresponding to each instruction stage are arranged alternately according to the stage sequence, resulting in a stage coupling trajectory. This accurately represents the temporal and spatial variation trend of each instruction stage, effectively reducing gaps or conflicts between instruction stages and ensuring the smoothness and consistency of system actions.

[0089] Specifically, based on the instruction difference sequence, each instruction difference is converted into a corresponding direction identifier value, and then arranged in chronological order to form a direction identifier sequence, including:

[0090] First, the system extracts all instructions from the drive instruction record and arranges them in chronological order. For each pair of adjacent instructions, the system calculates the difference, that is, the numerical difference between the current instruction and the previous instruction. By calculating the difference between each pair of instructions, the system can understand the magnitude and direction of the instruction's change in the time series. Once the difference calculation is complete, the system converts these differences into direction identifier values ​​based on their signs. If the difference is positive, it indicates that the instruction value is increasing, meaning the system's drive direction is upward or increasing, and the system sets the corresponding direction identifier to "up"; if the difference is negative, it indicates that the instruction value is decreasing, meaning the drive direction is downward or decreasing, and the system sets the direction identifier value to "down". These direction identifier value conversions not only clearly express the movement trend of each instruction but also provide accurate identifiers of changes in instruction direction for subsequent steps. Finally, all direction identifier values ​​are arranged in their original chronological order, forming a complete direction identifier sequence.

[0091] Specifically, based on the direction identifier sequence, the record positions where the direction identifier value changes are extracted as turning point index points, resulting in a turning point index set, which includes:

[0092] The system analyzes the changes in each direction identifier value in the sequence. When a direction identifier value changes, it indicates a shift in the execution direction of the instruction; this point of change is called a turning point index. Specifically, when the direction changes from up to down or from down to up, the system marks this position as a turning point. The system iterates through the direction identifier sequence, checking the difference between each direction identifier value and its predecessor. If the current direction identifier differs from the previous one, the system marks the current position as a turning point. The marking of each turning point is stored in a turning point index set, which records the critical moments of all instruction stage transitions.

[0093] Specifically, based on the direction identifier sequence and stage duration data, the direction identifiers and stage durations corresponding to each instruction stage are arranged alternately according to the stage order to obtain the stage coupling trajectory, which includes:

[0094] The system divides instruction records into multiple independent instruction stages based on a set of inflection indexes. These stages are separated by inflection points, and each instruction stage contains consecutive instructions with the same direction identifier. Each stage has not only a specific direction but also a duration, i.e., stage duration. Stage duration refers to the execution time of the driving instruction within each stage. The system then arranges the direction identifiers for each stage based on the direction identifier sequence and stage duration data. Specifically, it pairs the direction identifier of each instruction stage with its corresponding stage duration and arranges them alternately according to the stage order. This alternating arrangement is based on the duration and direction identifier of each stage, allowing the action of each stage to be accurately displayed on the timeline. The result of this staggered arrangement is a stage coupling trajectory, which not only contains the direction information of each stage but also clearly represents the duration of each stage.

[0095] In a preferred embodiment of the present invention, a hierarchical recursive calculation is performed based on the stage coupling trajectory to calculate the degree of continuous constraint between each stage within the symmetric driving process, thereby obtaining the stage stability quantity, including:

[0096] Based on the instruction phase set and phase duration data, calculate the phase average amplitude of each instruction phase, and calculate the amplitude concentration of each phase average amplitude under a uniform scale to obtain the phase amplitude balance term.

[0097] Based on the direction identifier sequence, calculate the average direction value of the corresponding direction identifier within each instruction stage, identify the concentrated state of the driving direction within each stage, and obtain the stage direction condensation term.

[0098] Based on the phase amplitude equalization term and the phase direction cohesion term, the degree of mutual constraint between direction and amplitude within each instruction phase is calculated to obtain the phase interaction inhibition term.

[0099] Based on the phase interaction suppression term and phase duration of adjacent instruction phases, the smoothness of the transition between adjacent instruction phases is calculated to obtain the continuity term of adjacent phases.

[0100] By fusing the stage interaction inhibition term with the adjacent stage continuity term, the degree of continuity constraint between each instruction stage within the characteristic-driven process is calculated, and the stage stability quantity is obtained.

[0101] In this embodiment of the invention, based on the instruction stage set and stage duration data, the average amplitude of each instruction stage is calculated, and the amplitude concentration of each stage's average amplitude under a uniform scale is calculated to obtain a stage amplitude equalization term. This quantifies the amplitude concentration of each instruction stage, ensuring that the system can accurately control the control strength of each stage and avoid situations where the amplitude is too large or too small in certain stages. Based on the direction identifier sequence, the average direction value of the corresponding direction identifier value within each instruction stage is calculated to identify the concentration state of the driving direction within each stage, obtaining a stage direction cohesion term. This evaluates whether the driving direction within each stage is consistent, ensuring the continuity and accuracy of the entire limit action and avoiding system deviation or jamming due to inconsistent direction control. Based on the stage amplitude equalization term and the stage direction cohesion term, the direction and amplitude within each instruction stage are calculated. The degree of mutual constraint between them is used to obtain the stage interaction suppression term, which ensures that the interaction between direction and amplitude is effectively coordinated during the control process. This avoids operational errors caused by mismatch between amplitude and direction in each instruction stage and prevents premature wear of mechanical parts due to operational conflicts. Based on the stage interaction suppression term and stage duration of adjacent instruction stages, the smoothness of the transition between adjacent instruction stages is calculated to obtain the adjacent stage continuity term. This avoids equipment damage or energy waste caused by excessive switching and ensures that the flip-plate action is both fast and smooth. The stage interaction suppression term and the adjacent stage continuity term are fused to calculate the degree of continuous constraint between each instruction stage within the driving process and obtain the stage stability quantity. This ensures that the transition of each instruction stage is within a controllable range and avoids equipment damage or malfunction caused by sudden mechanical impacts or reverse movements.

[0102] In a preferred embodiment of the present invention, the position feedback records are sequentially reconstructed using the stage stability amount as a rearrangement reference to form a feedback recombination sequence, and the feedback recombination sequence is subjected to front-to-back differential expansion processing to form an offset expansion chain, including:

[0103] By splitting the stage stability quantity into sequential weight groups and constructing a rearranged weight sequence corresponding to the instruction stage set, the stage weight sequence is obtained;

[0104] Based on the stage weight sequence and the position feedback record, an association mapping is performed, and the position feedback record is mapped to the stage weight sequence according to the instruction stage when the stage weight sequence is formed, thereby generating a weighted feedback sequence;

[0105] The weighted feedback sequence is arranged in descending order of stage weights to obtain the feedback recombination sequence;

[0106] The difference between adjacent feedback records after recombination is calculated based on the feedback recombination sequence to obtain the feedback difference. The feedback difference is then progressively spliced ​​together according to the direction of change to form an offset extension chain.

[0107] In this embodiment of the invention, by splitting the stage stability quantity into sequential weight groups and constructing a rearranged weight sequence corresponding to the instruction stage set, a stage weight sequence is obtained. This clarifies the importance and priority of each instruction stage in the entire control process, ensuring that the feedback signals of key stages receive appropriate attention. A correlation mapping is performed between the stage weight sequence and the position feedback records. The position feedback records are mapped to the stage weight sequence according to the instruction stage at the time the stage weight sequence was formed, generating a weighted feedback sequence. This ensures that the influence of the feedback signal is consistent with the importance of its corresponding stage, avoiding interference from low-weighted feedback data to key stages. The weighted feedback sequence is arranged in descending order of stage weights to obtain a feedback recombination sequence. This ensures that the data of key stages has a greater influence on subsequent operations, avoiding interference from low-weighted feedback records to the entire process, accurately adjusting the actions of each stage, and ensuring the rationality of the feedback signal's influence. The feedback difference is calculated based on the feedback recombination sequence for adjacent position feedback records after recombination. The feedback difference is then progressively spliced ​​according to the direction of change to form an offset extension chain. This effectively identifies the direction and trend of feedback signal changes, avoiding unnecessary system adjustments caused by sudden signal changes, making the flip-board action smoother and more precise.

[0108] Specifically, by splitting the stage stability quantity into sequential weight groups and constructing a rearranged weight sequence corresponding to the instruction stage set, the stage weight sequence is obtained, which includes:

[0109] First, the system needs to calculate the stability quantity for each stage. The stage stability quantity is a numerical value reflecting the stability of each stage; it measures the stability of different instruction stages during execution. To ensure the system can correctly identify and process the feedback signals of each stage, it divides the stage into multiple sequential weight groups based on the stage stability quantity. Each weight group represents the stability of a specific stage and its impact on system operation. The division process is based on an evaluation of key indicators for each stage, mainly including the stage's duration, operational smoothness, and the coordination of operations within the stage. Next, the system constructs a rearranged weight sequence corresponding to the instruction stage set based on the divided weight groups. Each weight group occupies a different position in the sequence, reflecting the relative importance of each stage. The order of the weights depends on the importance of the instruction stage and the level of its stability quantity. Through this ordering, the system can assign appropriate priorities to each stage so that important and stable stages are given priority in subsequent feedback signal processing.

[0110] Specifically, a correlation mapping is performed between the stage weight sequence and the location feedback records. The location feedback records are mapped to the stage weight sequence according to the instruction stage at which the stage weight sequence was formed, generating a weighted feedback sequence. This includes:

[0111] The system matches each location feedback record with its corresponding instruction stage by mapping it to a stage weight sequence. Location feedback records are real-time data acquired by sensors, typically reflecting the system's current operating status and indicating whether devices such as flip-up panels are in the correct position. To ensure accurate processing of each location feedback record, the system maps each record to its corresponding instruction stage according to the stage weight sequence. Specifically, the system scans each location feedback record, compares its matching degree with the current stage, and binds these feedback signals to the appropriate stage based on their priority in the stage weight sequence. This ensures that the system fully considers the stability of each stage and the real-time nature of the feedback when processing it. Each feedback record carries a corresponding weight, representing its importance in the instruction stage and its impact on subsequent decisions. Finally, the system generates a weighted feedback sequence based on the mapping between the stage weight sequence and the location feedback records. This sequence includes not only the original feedback data but also the weight information for each feedback record.

[0112] Specifically, the difference between adjacent feedback records after recombination is calculated based on the feedback recombination sequence to obtain the feedback difference. The feedback differences are then progressively concatenated according to the direction of change to form an offset extension chain, which includes:

[0113] The system performs difference calculations on the recombined feedback records of adjacent positions. The core purpose of this difference calculation is to identify and quantify the changes between adjacent feedback records. These feedback differences can reveal subtle positional changes that may exist in devices such as flaps during operation, helping the system to accurately adjust control commands. Specifically, the system compares two adjacent feedback records and calculates the difference between them to obtain the feedback difference. The difference calculation considers not only the numerical value of the feedback record but also its changes in time and space. Through this difference calculation, the system can identify the changing trends and positional deviations in each stage, providing a basis for subsequent action adjustments. The system will further process these differences. Specifically, the system progressively splices them according to the direction of change of the differences. If the changing directions of adjacent differences are consistent, i.e., both change in the same direction, the system connects them into a continuous segment; if the changing directions are opposite, they are processed separately. After this process, the system finally forms an offset extension chain. The offset extension chain is composed of multiple feedback difference segments, with the difference changing in the same direction within each segment, reflecting the stable operating state of the system during that period.

[0114] In a preferred embodiment of the present invention, a plurality of aggregated segments are formed by folding and agglomerating the offset extension chain, and the overall traction trend of the flap structure in this limiting action is calculated based on each aggregated segment to generate a cumulative traction amount, including:

[0115] By dividing the feedback differences with the same direction of continuous change in the offset extension chain into segments with the same direction, a set of segments with the same direction is obtained; the feedback differences in each segment with the same direction are accumulated in chain order, and the result is calculated based on the number of differences contained in the segment with the same direction, to obtain the segment folding value sequence.

[0116] Based on the feedback difference, calculate the cumulative average of all feedback differences to obtain the difference scale benchmark term;

[0117] Based on the stage weight sequence and the difference scale benchmark term, the available traction degree of the segment folding amount under the stage weight constraint is calculated, and the segment weighted folding strength term is obtained.

[0118] Based on the set of segments in the same direction, calculate the degree of continuity between the changing directions of two adjacent segments in the same direction, and identify the relationship between the overall trend and the continuity of the segment direction to obtain the direction maintenance term of adjacent segments.

[0119] Based on the segment fold value sequence and the difference scale benchmark term, the degree of abrupt change of segment fold value at the segment boundary is calculated, and the interference of folding on the overall trend is suppressed to obtain the cross-segment morphological perturbation suppression term.

[0120] By integrating the segment-weighted folding strength term, the adjacent segment orientation maintenance term, and the cross-segment morphological disturbance suppression term, the overall traction trend of the flap structure in this limiting action is calculated, and the cumulative traction amount is obtained.

[0121] In this embodiment of the invention, by dividing the feedback differences with the same direction of continuous change in the offset extension chain into unidirectional segments, a set of unidirectional segments is obtained, effectively avoiding misjudgments caused by excessive data fluctuations. The feedback differences within each unidirectional segment are accumulated in a chain-like order and discounted based on the number of differences contained in that segment, resulting in a segment folding value sequence. This fully reflects the cumulative effect of the feedback data within each segment, accurately calculating the contribution of each segment to the overall traction, ensuring a more stable and realistic traction trend for the flapper action. Based on the feedback differences, the cumulative average of all feedback differences is calculated to obtain a difference scale benchmark term, transforming the traction in actual operation into a unified scale, optimizing the traction calculation and adjustment of the flapper control system. Based on the stage weight sequence and the difference scale benchmark term, the usable traction degree of the segment folding amount under stage weight constraints is calculated, obtaining a segment weighted folding strength term. This ensures that each feedback difference is reasonably weighted according to its relative importance in the overall traction calculation, ensuring more accurate feedback adjustment of the system. The system is further refined; based on the set of segments in the same direction, the degree of continuity between the changing directions of two adjacent segments in the same direction is calculated, and the correlation between the overall traction trend and the continuity of segment direction is identified, resulting in the adjacent segment direction maintenance term. This effectively avoids abrupt changes or jumps in direction between different stages, ensuring the continuity and consistency of the system's actions during the flip-up action, and avoiding unexpected operations caused by command interruptions or errors during operation. Based on the segment folding value sequence and the difference scale benchmark term, the degree of abrupt change in segment folding value at the segment boundary is calculated, and the interference of folding on the overall traction trend is suppressed, resulting in the cross-segment morphological disturbance suppression term. This effectively suppresses the interference caused by the transitional changes between segments on the overall traction effect, ensuring that the traction force of the flip-up action remains stable. The segment weighted folding strength term, the adjacent segment direction maintenance term, and the cross-segment morphological disturbance suppression term are fused to calculate the overall traction trend of the flip-up structure in this limiting action, obtaining the cumulative traction amount. This effectively improves the accuracy, stability, and response efficiency of the flip-up action, ensuring the efficient operation of the intelligent parking management system.

[0122] Specifically, by dividing the feedback differences with the same continuous change direction in the offset extension chain into co-directional segments, a co-directional segment set is obtained; the feedback differences within each co-directional segment are accumulated in chain order, and the result is calculated based on the number of differences contained in that co-directional segment, resulting in a segment folding value sequence, which specifically includes:

[0123] First, the system analyzes each feedback difference in the offset extension chain, detecting the direction of change between each pair of adjacent feedback differences. The direction of change for each feedback difference is determined by its sign; for example, if two feedback differences change in the same direction (i.e., they have the same sign), they are considered to belong to the same direction. The system finds all feedback differences with the same direction throughout the extension chain and divides them into segments with the same direction. The division of segments with the same direction is based on the following criteria: if adjacent feedback differences have the same direction, they will be grouped into the same segment until a feedback difference with a changed direction is encountered. When the direction changes, the system ends the current segment and begins dividing the feedback differences with the new direction into new segments with the same direction. In this way, the system can divide the feedback signal into multiple sets of segments with the same direction based on the changing trend, facilitating subsequent data processing and analysis.

[0124] Next, the system accumulates the feedback differences within each unidirectional segment in a chain-like order. Specifically, the system accumulates the feedback differences in each unidirectional segment one by one, starting from the first one. Through this accumulation method, the system can calculate the total feedback change within each unidirectional segment, reflecting the overall traction change experienced by the flap structure within that segment. For example, if a unidirectional segment contains three feedback differences, the system will add these three differences to obtain the total change for that segment. The system also recalculates the number of feedback differences within each unidirectional segment. In practice, the system performs a normalized recalculation based on the number of feedback differences within the segment. The recalculation method typically involves dividing the total change of the segment by the number of differences within that segment to obtain a weighted feedback change value. This value more accurately represents the traction effect of the flap structure within that unidirectional segment. The purpose of this recalculation is to ensure that unidirectional segments of different lengths occupy a reasonable proportion in the calculation, avoiding traction calculation errors caused by varying segment lengths.

[0125] By accumulating and converting these feedback differences, the system generates a segment folding value sequence. This sequence contains the sum of the feedback differences for each segment in the same direction, and is weighted according to the number of differences within each segment. The segment folding value sequence effectively describes the contribution of each segment in the same direction to the overall traction force, while avoiding the problem of unbalanced calculations caused by some segments being too long or too short. This folding value sequence provides a stable reference for subsequent calculations, enabling more precise and smooth traction control of the flapper action. The above steps, through the directional consistency division, accumulation, and quantity conversion of the feedback differences, provide the system with an accurate and smooth feedback data sequence. This sequence reflects the traction effect of each segment in the flapper action and provides key input data for the calculation of the overall traction amount.

[0126] In a preferred embodiment of the present invention, the driving instructions are rhythmically reconstructed according to the stage stability value, and the driving instructions are divided into several rhythm segments according to the stage stability value to form a rhythm driving sequence, including:

[0127] The rhythm scale is mapped based on the stage stability quantity, and the stage stability quantity is mapped to the rhythm allocation coefficient. Then, a rhythm allocation rule set is constructed based on the rhythm allocation coefficient.

[0128] Based on the rhythm allocation rule set, the data corresponding to each instruction stage in the drive instruction record is matched with the rhythm allocation rule set to generate a stage rhythm identifier sequence;

[0129] Based on the phase rhythm identifier sequence, the driving instruction record is re-divided according to the segmentation length corresponding to the phase rhythm identifier to obtain several rhythm segments.

[0130] The rhythm segments are reorganized in sequence, and each rhythm segment is rearranged according to the rhythm distribution coefficient corresponding to the stage stability quantity to form a rhythm-driven sequence.

[0131] In this embodiment of the invention, rhythm scale mapping is performed based on stage stability quantities, mapping stage stability quantities to rhythm allocation coefficients, and a rhythm allocation rule set is constructed based on the rhythm allocation coefficients to precisely control the execution time and intensity of each stage's driving instructions. According to the rhythm allocation rule set, the data corresponding to each instruction stage in the driving instruction record is matched with the rhythm allocation rule set to generate a stage rhythm identifier sequence, effectively adjusting the control strategy for each stage to ensure smooth operation and avoid erroneous actions or sluggish actions caused by rhythm mismatch between stages. Based on the stage rhythm identifier sequence, the driving instruction record is re-divided according to the segmentation length corresponding to the stage rhythm identifier to obtain several rhythm segments, avoiding stuttering or delays caused by inconsistent time intervals during instruction execution and improving the system's adaptability to different load conditions and environmental changes. The rhythm segments are then sequentially rearranged according to the rhythm allocation coefficients corresponding to the stage stability quantities to form a rhythm driving sequence, ensuring that the execution order of the driving instructions meets system requirements.

[0132] Specifically, rhythm scale mapping is performed based on stage stability quantities, which are then mapped to rhythm allocation coefficients. A rhythm allocation rule set is then constructed based on these coefficients, including:

[0133] The system first acquires the stability values ​​of each stage calculated in the preliminary stage. These stability values ​​are obtained by analyzing the driving commands and position feedback of each instruction stage, reflecting the interaction and stability between stages. The system then maps these stability values ​​to generate rhythm allocation coefficients. There is a direct mapping relationship between the stability value of each stage and the rhythm allocation coefficient; the higher the stability value of a stage, the larger its allocation coefficient, indicating that the driving command of that stage will be given greater execution force or a longer execution time. Conversely, the lower the stability value of a stage, the smaller the allocation coefficient, indicating that the stage requires less execution force or a shorter execution time. Through this mapping, the system can allocate an appropriate rhythm to each stage, making subsequent control more precise and balanced. The rhythm allocation coefficients provide the foundation for the construction of rhythm rules and command matching in subsequent steps, ensuring that the action of each stage can adapt to its stability requirements and avoiding operational instability or equipment damage caused by rhythm mismatch. Based on the rhythm allocation coefficients, the system constructs a rule set to guide the rhythm arrangement of each stage. Specifically, the rhythm allocation rule set further refines the role and function of each stage in the overall operation sequence by setting the rhythm requirements for each stage. For example, a rule set might specify that certain stages need to be executed quickly, while other stages require a slower pace or longer intervals. This rule set is adjusted not only based on the pace allocation coefficient but also takes into account the operational requirements and physical constraints of each stage, such as equipment load and speed. By constructing this rule set, the system can ensure smooth transitions between actions in each stage, avoiding equipment shocks or lag caused by pace inconsistencies. Ultimately, the pace allocation rule set provides specific operational standards for subsequent drive command matching and execution, making the overall control strategy more refined and personalized.

[0134] Specifically, based on the rhythm allocation rule set, the data corresponding to each instruction stage in the drive instruction record is matched with the rhythm allocation rule set to generate a stage rhythm identifier sequence, which includes:

[0135] The system matches driving instructions against the previously constructed rhythm allocation rule set. First, the system identifies the stage corresponding to each driving instruction and compares it with the relevant requirements in the rule set. This matching process ensures that instructions in each stage are executed according to the predetermined rhythm, thus avoiding excessive friction or lag caused by inconsistent rhythms between instructions. For example, if the rules for a certain stage require a longer execution cycle, the system will extend the execution time of the driving instructions for that stage according to the rule set; conversely, it will shorten the time. By precisely matching the data of each instruction stage with the rhythm allocation rule set, the system can generate a stage rhythm identifier sequence. This sequence identifies the rhythm execution requirements of each stage and associates these identifier sequences with specific driving instructions. This matching method ensures that the execution of each stage meets its rhythm requirements.

[0136] Specifically, the rhythmic segments are rearranged according to their rhythmic distribution coefficients based on the stability of each stage, forming a rhythm-driven sequence. This includes:

[0137] The system first sorts all rhythm segments according to the generated stage rhythm identifier sequence. This sorting is based on the stability value and rhythm allocation coefficient of each rhythm segment. Specifically, the system rearranges the order of each rhythm segment according to the magnitude of the stability value and the level of the rhythm allocation coefficient for each stage. Stages with high stability values ​​will be executed first or given greater control, while stages with low stability values ​​will be adjusted to lower execution intensity or shorter execution time. Through this adjustment of order, the system can ensure smoother transitions between stages, avoiding abrupt transitions or uncoordinated movements. The final formation of the rhythm-driven sequence is a highly optimized set of control instructions. The system can precisely control the movement of the flap structure according to this sequence, thereby ensuring that each limiting action is completed at the most appropriate time and intensity.

[0138] In a preferred embodiment of the present invention, the amplitude of the rhythm drive sequence is rebalanced based on the cumulative traction amount, and the driving amplitude in each rhythm segment is increased or decreased in a directional manner to generate a traction correction sequence, including:

[0139] Directional analysis is performed based on the cumulative traction amount, which is then broken down into traction direction identifier and traction strength value. An amplitude reference adjustment amount is then constructed based on the traction strength value.

[0140] The traction direction identifier and the driving direction of each rhythm segment are compared. When the direction identifiers match, a same-direction identifier is generated; otherwise, a reverse identifier is generated, thus obtaining a segment direction matching sequence.

[0141] Based on the segment direction matching sequence, rhythmic segments with same-direction or opposite-direction identifiers are subjected to amplitude superposition or amplitude subtraction according to the amplitude reference adjustment amount to obtain an amplitude-corrected segment set.

[0142] Based on the amplitude correction fragment set, the amplitude difference between adjacent rhythm fragments is smoothed to ensure that the amplitude change forms a continuous transition between adjacent fragments, generating a traction correction sequence.

[0143] In this embodiment of the invention, directional analysis is performed based on the cumulative traction amount, which is then broken down into a traction direction identifier and a traction intensity value. An amplitude reference adjustment is constructed based on the traction intensity value to accurately grasp the movement direction and force of the flap structure. This ensures that each operational step follows a suitable traction mode and that the driving force at each stage fluctuates within a reasonable range, avoiding equipment instability or excessive wear caused by uneven driving force. The traction direction identifier is compared with the driving direction of each rhythmic segment. When the direction identifiers match, a same-direction identifier is generated; otherwise, a reverse identifier is generated, resulting in a segment direction matching sequence. This effectively identifies and marks which rhythmic segments are forward-direction and which are reverse-direction, ensuring that each segment can be used when needed. Appropriate traction correction; based on the segment direction matching sequence, rhythm segments with same-direction or opposite-direction indicators are superimposed or subtracted according to the amplitude reference adjustment amount to obtain an amplitude correction segment set, ensuring the balance and smoothness of traction amplitude during operation, and avoiding excessive wear of mechanical parts or motion jamming caused by excessive or insufficient driving force; based on the amplitude correction segment set, the amplitude difference between adjacent rhythm segments is smoothed to ensure that amplitude changes form a continuous transition between adjacent segments, generating a traction correction sequence, effectively eliminating the abruptness of amplitude changes, making the amplitude transition of the traction correction sequence smoother, and avoiding wear of mechanical parts or drastic load changes caused by amplitude fluctuations during operation.

[0144] Specifically, the cumulative traction amount is analyzed for direction, which is then broken down into traction direction identifier and traction intensity value. An amplitude reference adjustment is then constructed based on the traction intensity value, including:

[0145] First, the system performs directional analysis based on the cumulative traction amount calculated in real time. The cumulative traction amount refers to the sum of all traction forces applied during the operation of the flap structure, typically accumulated over time. Using this data, the system decomposes the traction amount into two key parameters: traction direction indicator and traction strength value. The traction direction indicator describes the traction direction, usually categorized as forward or reverse; forward indicates the flap is rising, and reverse indicates it is descending. The traction strength value quantifies the magnitude of the traction force, usually expressed numerically, reflecting the required traction force for the drive system. The system then constructs an amplitude reference adjustment amount based on the traction strength value. This amplitude reference adjustment amount is an adjustment factor generated based on the traction strength value, used to provide a standard for subsequent amplitude adjustments. Specifically, the system standardizes the traction strength value and converts it into an amplitude reference adjustment amount, which serves as a reference for adjusting the amplitude in subsequent steps.

[0146] Specifically, based on the segment direction matching sequence, rhythmic segments with same-direction or opposite-direction identifiers are subjected to amplitude superposition or amplitude subtraction according to the amplitude reference adjustment amount, resulting in an amplitude-corrected segment set, which includes:

[0147] The system processes the direction of each rhythmic segment based on the segment direction matching sequence. The segment direction matching sequence compares the traction direction identifier with the driving direction of each rhythmic segment to determine which segments are in the same direction and which are in the opposite direction. If the driving direction of a segment matches the traction direction, the system assigns it a same-direction identifier; if the driving direction is opposite to the traction direction, the system assigns it a opposite-direction identifier. For rhythmic segments with a same-direction identifier, the system adds amplitude to the amplitude reference adjustment. Amplitude addition means the system enhances the traction force of the segment to ensure sufficient force for the flapping action in the same direction. Specifically, the system adds the amplitude reference adjustment to the initial amplitude of the same-direction identified rhythmic segment to enhance its traction force, ensuring the flapping action has sufficient force to complete the task during forward traction. For rhythmic segments with a opposite-direction identifier, the system subtracts amplitude from the amplitude reference adjustment. Amplitude subtraction means the system reduces the traction force of the segment to avoid excessive traction during reverse traction, which could affect the flapping's descent or other operations. This process reduces the force of the reverse pull by subtracting a certain percentage of the amplitude reference adjustment from the initial amplitude of the reverse-identified rhythm segment, making the reverse operation smoother. These operations generate an amplitude correction segment set, which contains the correction amplitude information for all rhythm segments, ensuring that the driving amplitude of each rhythm segment meets the actual pull requirements, whether for forward or reverse pull.

[0148] Specifically, based on the amplitude correction segment set, the amplitude differences between adjacent rhythmic segments are smoothed to ensure a continuous transition in amplitude changes between adjacent segments, generating a traction correction sequence, which includes:

[0149] The system smooths the amplitude differences in the amplitude correction segment set to generate a traction correction sequence. Because the amplitude changes between rhythm segments can fluctuate significantly, directly applying amplitude differences might lead to uneven flapping movements or even unnecessary mechanical shocks. Therefore, the system needs to use smoothing to ensure a smooth transition in amplitude changes between adjacent rhythm segments. The system first analyzes the amplitude differences between adjacent rhythm segments, calculating the amplitude change between each pair of adjacent segments. If the difference is too large, the system applies a smoothing algorithm, such as linear interpolation or other smoothing algorithms, to adjust the amplitude to a continuous transition value. In this way, the system avoids the instability caused by drastic amplitude changes, making the flapping movement smoother. During the smoothing process, the system adjusts the amplitude change between adjacent rhythm segments based on the actual situation of each segment and the amplitude baseline adjustment amount, ensuring a continuous transition in amplitude between adjacent segments. This aims to avoid uneven equipment load caused by excessive amplitude fluctuations, reduce wear on mechanical parts, and extend the equipment's lifespan. Ultimately, the generated traction correction sequence contains correction amplitude information for all rhythmic segments, and this amplitude information is smooth during the transition, ensuring smoother and more efficient operation of the flap structure. The traction correction sequence provides the system with a smooth and continuous drive command, making the flap control process more stable and reliable, and reducing mechanical damage or system errors caused by sudden amplitude changes.

[0150] Embodiments of the present invention also provide a roadside intelligent parking management system, the system comprising:

[0151] The data module is used to acquire the drive command record and position feedback record of the berth during a single limit action;

[0152] The trajectory module is used to divide the drive instruction record into several instruction stages according to the instruction turning point, and to alternately nest the instruction progression direction and stage duration within each instruction stage to obtain the stage coupling trajectory.

[0153] The stabilization module is used to perform hierarchical recursive calculations based on the stage coupling trajectory, calculate the degree of continuous constraint between each stage within the characteristic-driven process, and obtain the stage stability quantity.

[0154] The extended chain module is used to reconstruct the position feedback records sequentially with the stage stability as the rearrangement reference to form a feedback recombination sequence, and to perform front and rear differential expansion processing on the feedback recombination sequence to form an offset extended chain.

[0155] The traction module is used to fold and aggregate the offset extension chain to form several aggregate segments, and calculate the overall traction trend of the flap structure in this limiting action based on each aggregate segment, and generate the cumulative traction amount.

[0156] The driving module is used to reconstruct the rhythm of the driving instructions according to the stage stability value, and divide the driving instructions into several rhythm segments according to the stage stability value to form a rhythm driving sequence.

[0157] The correction module is used to re-amplify the rhythm drive sequence based on the cumulative traction amount, and to increase or decrease the drive amplitude in each rhythm segment in a directional manner to generate a traction correction sequence.

[0158] The control module is used to control the flapper to perform limit and release actions according to the traction correction sequence, and to store the current drive response record as the reference sequence for the next cycle after the action is completed.

[0159] It should be noted that this system is a system corresponding to the above method. All implementation methods in the above method embodiments are applicable to this embodiment and can achieve the same technical effect.

[0160] Embodiments of the present invention also provide a computing device, including: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0161] Embodiments of the present invention also provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described above. All implementations in the above method embodiments are applicable to this embodiment and can achieve the same technical effects.

[0162] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A roadside intelligent parking space management method, characterized in that, The method includes: Acquire the drive command record and position feedback record of the berth during a single limit switch action; By dividing the driving instruction record into several instruction stages according to the instruction turning point, and by alternately nesting the instruction progression direction and stage duration within each instruction stage, a stage coupling trajectory is obtained. Based on the stage coupling trajectory, a hierarchical recursive calculation is performed to determine the degree of continuous constraint between each stage within the symmetric driving process, yielding stage stability quantities, including: Based on the instruction phase set and phase duration data, calculate the phase average amplitude of each instruction phase, and calculate the amplitude concentration of each phase average amplitude under a uniform scale to obtain the phase amplitude balance term. Based on the direction identifier sequence, calculate the average direction value of the corresponding direction identifier within each instruction stage, identify the concentration state of the driving direction within each stage, and obtain the stage direction condensation term. Based on the phase amplitude equalization term and the phase direction cohesion term, the degree of mutual constraint between direction and amplitude within each instruction phase is calculated to obtain the phase interaction inhibition term. Based on the phase interaction suppression term and phase duration of adjacent instruction phases, the smoothness of the transition between adjacent instruction phases is calculated to obtain the continuity term of adjacent phases. By fusing the stage interaction inhibition term with the adjacent stage continuity term, the degree of continuity constraint between each instruction stage within the feature-driven process is calculated, and the stage stability quantity is obtained. By reconstructing the position feedback records sequentially with the stage stability as the rearrangement reference, a feedback recombination sequence is formed. The feedback recombination sequence is then subjected to front and rear differential expansion processing to form an offset expansion chain. Several aggregated segments are formed by folding and aggregating the offset extension chain, and the overall traction trend of the flap structure in this limiting action is calculated based on each aggregated segment to generate the cumulative traction amount. Based on the stage stability, the driving instructions are rhythmically reconstructed, and the driving instructions are divided into several rhythm segments according to the stage stability to form a rhythm driving sequence. The amplitude of the rhythm drive sequence is re-adjusted based on the cumulative traction amount, and the driving amplitude in each rhythm segment is increased or decreased in a directional manner to generate a traction correction sequence. The control flap is controlled to perform limit and release actions according to the traction correction sequence, and the current drive response record is stored as the reference sequence for the next cycle after the action is completed.

2. The roadside intelligent parking space management method according to claim 1, characterized in that, By dividing the driver instruction record into several instruction stages according to the instruction inflection point, and alternately nesting the instruction progression direction and stage duration within each instruction stage, a stage coupling trajectory is obtained, including: The difference between adjacent instructions is calculated based on the driving instruction record. The values ​​of driving instructions that are adjacent in time sequence are subtracted one by one to obtain the instruction difference sequence. Based on the instruction difference sequence, each instruction difference is converted into a corresponding direction identifier value, and then arranged in chronological order to form a direction identifier sequence; Based on the direction identifier sequence, the record positions where the direction identifier value changes are extracted as turning index points, thus obtaining the turning index set; Based on the transition index set, the driving instruction records between adjacent transition index points are divided into an instruction stage to obtain the instruction stage set. The number of driving instruction records in each instruction stage is counted to obtain the stage duration data. Based on the direction identifier sequence and stage duration data, the direction identifiers and stage durations corresponding to each instruction stage are arranged alternately according to the stage order to obtain the stage coupling trajectory.

3. The roadside intelligent parking space management method according to claim 2, characterized in that, By reconstructing the position feedback records sequentially using the stage stability as a rearrangement reference, a feedback reconstruction sequence is formed. This reconstructed sequence is then subjected to differential expansion processing to form an offset expansion chain, including: By splitting the stage stability quantity into sequential weight groups and constructing a rearranged weight sequence corresponding to the instruction stage set, the stage weight sequence is obtained; Based on the stage weight sequence and the position feedback record, an association mapping is performed, and the position feedback record is mapped to the stage weight sequence according to the instruction stage when the stage weight sequence is formed, thereby generating a weighted feedback sequence; The weighted feedback sequence is arranged in descending order of stage weights to obtain the feedback recombination sequence; The difference between adjacent feedback records after recombination is calculated based on the feedback recombination sequence to obtain the feedback difference. The feedback difference is then progressively spliced ​​together according to the direction of change to form an offset extension chain.

4. The roadside intelligent parking space management method according to claim 3, characterized in that, The offset extension chain is used to fold and aggregate into several aggregate segments. Based on each aggregate segment, the overall traction trend of the flap structure in this limiting action is calculated to generate the cumulative traction amount, including: By dividing the feedback differences with the same direction of continuous change in the offset extension chain into segments with the same direction, a set of segments with the same direction is obtained; the feedback differences in each segment with the same direction are accumulated in chain order, and the result is calculated based on the number of differences contained in the segment with the same direction, to obtain the segment folding value sequence. Based on the feedback difference, calculate the cumulative average of all feedback differences to obtain the difference scale benchmark term; Based on the stage weight sequence and the difference scale benchmark term, the available traction degree of the segment folding amount under the stage weight constraint is calculated, and the segment weighted folding strength term is obtained. Based on the set of segments in the same direction, calculate the degree of continuity between the changing directions of two adjacent segments in the same direction, and identify the relationship between the overall trend and the continuity of the segment direction to obtain the direction maintenance term of adjacent segments. Based on the segment fold value sequence and the difference scale benchmark term, the degree of abrupt change of segment fold value at the segment boundary is calculated, and the interference of folding on the overall trend is suppressed to obtain the cross-segment morphological perturbation suppression term. By integrating the segment-weighted folding strength term, the adjacent segment orientation maintenance term, and the cross-segment morphological disturbance suppression term, the overall traction trend of the flap structure in this limiting action is calculated, and the cumulative traction amount is obtained.

5. The roadside intelligent parking space management method according to claim 4, characterized in that, Based on the stage stability values, the driving instructions are rhythmically reconstructed, and the driving instructions are divided into several rhythmic segments according to the stage stability values ​​to form a rhythmic driving sequence, including: The rhythm scale is mapped based on the stage stability quantity, and the stage stability quantity is mapped to the rhythm allocation coefficient. Then, a rhythm allocation rule set is constructed based on the rhythm allocation coefficient. Based on the rhythm allocation rule set, the data corresponding to each instruction stage in the drive instruction record is matched with the rhythm allocation rule set to generate a stage rhythm identifier sequence; Based on the phase rhythm identifier sequence, the driving instruction record is re-divided according to the segmentation length corresponding to the phase rhythm identifier to obtain several rhythm segments. The rhythm segments are reorganized in sequence, and each rhythm segment is rearranged according to the rhythm distribution coefficient corresponding to the stage stability quantity to form a rhythm-driven sequence.

6. The roadside intelligent parking space management method according to claim 5, characterized in that, The rhythmic drive sequence is rebalanced based on the cumulative traction, and the driving amplitude in each rhythmic segment is increased or decreased in a directional manner to generate a traction correction sequence, including: Directional analysis is performed based on the cumulative traction amount, which is then broken down into traction direction identifier and traction strength value. An amplitude reference adjustment amount is then constructed based on the traction strength value. The traction direction identifier and the driving direction of each rhythm segment are compared. When the direction identifiers match, a same-direction identifier is generated; otherwise, a reverse identifier is generated, thus obtaining a segment direction matching sequence. Based on the segment direction matching sequence, rhythmic segments with same-direction or opposite-direction identifiers are subjected to amplitude superposition or amplitude subtraction according to the amplitude reference adjustment amount to obtain an amplitude-corrected segment set. Based on the amplitude correction fragment set, the amplitude difference between adjacent rhythm fragments is smoothed to ensure that the amplitude change forms a continuous transition between adjacent fragments, generating a traction correction sequence.

7. A roadside intelligent parking management system, characterized in that, The system is used to perform the method as described in any one of claims 1 to 6, the system comprising: The data module is used to acquire the drive command record and position feedback record of the berth during a single limit action; The trajectory module is used to divide the drive instruction record into several instruction stages according to the instruction turning point, and to alternately nest the instruction progression direction and stage duration within each instruction stage to obtain the stage coupling trajectory. The stabilization module is used to perform hierarchical recursive calculations based on the stage coupling trajectory, calculate the degree of continuous constraint between each stage within the symmetric driving process, and obtain the stage stability quantity. The extended chain module is used to reconstruct the position feedback records sequentially with the stage stability as the rearrangement reference to form a feedback recombination sequence, and to perform front and rear differential expansion processing on the feedback recombination sequence to form an offset extended chain. The traction module is used to fold and aggregate the offset extension chain to form several aggregate segments, and calculate the overall traction trend of the flap structure in this limiting action based on each aggregate segment, and generate the cumulative traction amount. The driving module is used to reconstruct the rhythm of the driving instructions according to the stage stability value, and divide the driving instructions into several rhythm segments according to the stage stability value to form a rhythm driving sequence. The correction module is used to re-amplify the rhythm drive sequence based on the cumulative traction amount, and to increase or decrease the drive amplitude in each rhythm segment in a directional manner to generate a traction correction sequence. The control module is used to control the flapper to perform limit and release actions according to the traction correction sequence, and to store the current drive response record as the reference sequence for the next cycle after the action is completed.

8. A computing device, characterized in that, include: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program that, when executed by a processor, implements the method as described in any one of claims 1 to 6.

Images