Movable base station, parking function verification truth value system and application method

Abstract

The invention provides a mobile base station, a parking function verification truth value system and an application method. The movable base station is used for a parking function verification true value system, the movable base station (100) comprises a movable device (2) and a base station body (1) assembled on the movable device (2), and the base station body (1) can move relative to the movable device (2); the base station body (1) senses a mobile station (V1) carried on a tested vehicle (V) so as to obtain position data of the tested vehicle (V); the position data is used for parking function verification.

Description

Technical Field

[0001] This disclosure relates to the field of parking function verification, specifically to a mobile base station, a parking function verification truth system, and an application method. Background Technology

[0002] This section aims to provide background information relevant to understanding the various techniques described herein. As the title of this section implies, this is a discussion of related techniques that should in no way imply that they are necessarily prior art. Therefore, it should be understood that any statement in this section should be read in this context, rather than as an admission of any prior art.

[0003] Some technical solutions involve parking functions for garage scenarios. To understand the performance of these functions, such as parking space detection accuracy, parking success rate, and planning trajectory tracking performance, a ground truth system is needed to evaluate these defined key performance indicators (KPIs). Summary of the Invention

[0004] Depending on the specific aspects, the purpose of this disclosure is to improve the versatility of the parking function truth verification system and reduce system development and verification costs.

[0005] Furthermore, the purpose of this disclosure is to solve or at least alleviate one or more problems existing in the prior art.

[0006] This disclosure addresses the aforementioned problems by providing a mobile base station, a truth verification system for parking functions, and an application method. Specifically, according to one aspect of this disclosure, the following is provided:

[0007] A mobile base station for a parking function verification truth system, wherein the mobile base station includes a mobile device and a base station body mounted on the mobile device, the base station body being movable relative to the mobile device; the base station body senses a mobile station mounted on the vehicle under test to obtain the location data of the vehicle under test; the location data is used for parking function verification.

[0008] According to another aspect of this disclosure, this disclosure provides a parking function verification truth system, wherein the parking function verification truth system includes any of the above-mentioned mobile base stations and the mobile station.

[0009] According to another aspect of this disclosure, this disclosure provides an application method for any of the above-mentioned parking function truth verification systems. Attached Figure Description

[0010] Referring to the accompanying drawings, the above and other features of this disclosure will become apparent, wherein,

[0011] Figure 1 A schematic diagram of the structure of a mobile base station according to the present disclosure is shown;

[0012] Figure 2 A top view of an application scenario of a mobile base station according to this disclosure is shown; and

[0013] Figure 3 A flowchart of an application method according to this disclosure is shown. Detailed Implementation

[0014] It is readily understood that, based on the technical solutions of this disclosure, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this disclosure. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solutions of this disclosure and should not be considered as the entirety of this disclosure or as limitations or restrictions on the technical solutions of this disclosure.

[0015] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," "third," and similar expressions are used for descriptive and distinguishing purposes only and should not be construed as indicating or implying the relative importance of the corresponding components.

[0016] Some technical solutions known to the applicant involve a fixed parking garage ground truth system for verifying these key performance indicators, but this solution has significant limitations. For example, the parking garage function can only be verified in garages equipped with a fixed ground truth system, and the garages where the equipment can be installed are those owned by the enterprise.

[0017] refer to Figure 1 and Figure 2 ,in, Figure 1 A schematic diagram of the structure of a mobile base station according to the present disclosure is shown; and Figure 2 A top view of an application scenario of a mobile base station according to this disclosure is shown.

[0018] The mobile base station 100 is used in a parking function verification truth system. The mobile base station 100 includes a mobile device 2 and a base station body 1 mounted on the mobile device 2. The base station body 1 can move relative to the mobile device 2. The base station body 1 senses a mobile station V1 mounted on the vehicle under test V to obtain the position data of the vehicle under test V. The position data is used for parking function verification.

[0019] It should be understood that the parking function verification truth value system can be used to verify parking-related characteristics of vehicles in parking locations such as garages. Parking locations are not limited to indoor or outdoor areas. Parking-related characteristics may include, for example, parking space detection accuracy, parking success rate, planned trajectory tracking performance, parking position, attitude, and centering, thereby evaluating the performance of the parking function. Data information of the tested vehicle and its mobile station is recorded through sensing between one or more base stations and the mobile station mounted on the vehicle under test. This data can then be post-processed to output various parking-related characteristics. For this purpose, refer to... Figure 2 As can be seen, the vehicle under test can be equipped with multiple mobile stations, such as one mobile station at the front and one at the rear of the vehicle's central axis. Changes in the vehicle's direction can then be inferred from the positional changes of these two mobile stations. More mobile stations can also be set up to improve measurement accuracy, stability, and redundancy. In this context, the term "true value" can be understood as a realistic and accurate measurement or verification system used to evaluate the performance of parking functions.

[0020] In this technical solution, a base station and a mobile device are set up as part of the truth system. The mobile device can move on the ground using moving components such as wheels, thereby moving the base station. Compared with fixed base stations, mobile base stations have the following advantages: 1. After parking function verification, the mobile base station can be recycled and reused in the next verification scenario. Furthermore, the fixed base station can be mounted on the mobile device, thus reusing the equipment and data processing production line of the fixed base station. Fixed base stations need to be fixed to the ceiling using methods such as bolts, resulting in lower flexibility and reusability; 2. Due to the immobility of fixed base stations, a large number of fixed base stations are often needed to cover all parking spaces P in the same parking scenario. The mobility of mobile base stations allows for on-demand and targeted coverage of specific parking spaces, reducing the number of base stations and verification costs; 3. Because fixed base stations need to be fixed, while mobile base stations can be moved on-demand using other methods, the mobile base station can be moved on-demand using other methods. 4. The mobility and flexibility of mobile base stations allow for successful verification and recycling, ensuring the system remains unaffected by parking spaces and making it suitable for public parking garage testing scenarios. Fixed base stations, due to their immobility, may have blind spots and are generally only suitable for regular-shaped parking spaces (e.g., rectangular spaces without obstructions), or require specific layouts for irregular spaces. This type of verification for parking functionality in irregular or obstructed spaces is sometimes referred to as fuzz testing or generalization testing. 5. The mobile base station design also facilitates system maintenance and upgrades. For example, if the base station needs repair or component replacement, it can be easily removed from the mobile device and transported to a repair location. Similarly, system upgrades or the addition of new features can be easily performed on the mobile device or the base station itself.

[0021] In this technical solution, the base station body can move relative to the mobile device. This means that during parking function verification, the base station body can more easily adjust its position and angle to more accurately sense the mobile station on the vehicle under test, or adapt to indoor spaces of different sizes. This adjustability reduces waiting time during the verification process, improves verification efficiency, and this design can increase the effective coverage area of ​​the base station body. Therefore, compared with fixed base station equipment, the number of base stations required for the same test scenario can be reduced, and costs are controlled.

[0022] Furthermore, by sensing the rover station of the vehicle under test through the base station itself, data about the vehicle under test can be obtained. This enables real-time and accurate acquisition of the vehicle's location information, providing reliable data support for parking function verification. This acquisition method includes direct and indirect acquisition. In the latter case, for example, the base station itself includes a positioning module used to locate the rover station V1 mounted on the vehicle under test. That is, the base station acquires the vehicle's location data by locating the rover station of the vehicle under test. In this regard, as mentioned later, there can be multiple rover stations, for example, two rover stations distributed along the longitudinal centerline of the vehicle. Therefore, by locating these two rover stations, the position and angle of the vehicle under test can be obtained. As mentioned later, the location data of the vehicle under test can be stored by the base station itself or a mobile base station and transmitted to the data post-processing device of the truth system, such as a computer. The data post-processing device generates the parking trajectory of the vehicle under test based on the location data, and obtains a series of parking characteristic indicators by comparing the actual trajectory with the theoretical trajectory, thereby completing the parking function verification and evaluating the accuracy and reliability of the parking function. This comparative verification method helps improve the overall performance of the parking system.

[0023] In some embodiments of this disclosure, it is feasible for the movable device 2 to include a chassis 21, a movable element 22 disposed on the bottom side of the chassis 21, and a mounting part 23 connected to the chassis 21. The mounting part 23 is movable relative to the chassis 21, and the base station body 1 is mounted on the mounting part 23.

[0024] This technical solution defines a mobile device comprising a chassis, moving components, and a mounting section. The chassis may house various components supporting the driving and use of the mobile device, including the base station itself, such as a main unit 212 and a display panel 213. The main unit includes a control panel for operating the entire mobile device, such as moving, adjusting direction, raising / lowering, and adjusting the attitude of the base station. The main unit also has a built-in device for recording data, facilitating subsequent communication with a data post-processing device. The display panel displays basic information about the mobile device, including the base station, such as movement speed, position, coordinates, attitude, and height. It can also display base station attributes (e.g., if the base station has a height H, it can cover a field of view with a radius of 2.5H). The display panel can be embedded within the main unit. In addition, the mobile device may also include components such as a gateway and wiring harnesses (signal cables, power cables, etc.). As mentioned earlier, the moving components support the movement of the mobile device on the ground. These components can be wheels, tracks, or other forms of mobile devices to adapt to different ground conditions. In this regard, the truth system can also be called a ground truth system. The mounting section is used to mount the base station body. For example, the transmitter and sensor of the base station body are both positioned facing the ground to facilitate better interaction with the mobile station. Therefore, during use, the mounting section has a certain distance from the ground, and the sensing capability of the base station body is related to this distance. The mounting section can directly or indirectly allow the base station body to adjust its angle and height within a certain range to better sense the mobile station on the vehicle under test. In this regard, the mounting section can also be understood as a type of pan-tilt unit. Furthermore, this disclosure does not impose special constraints on the arrangement of the base station body on the mounting section. For example, a single base station can be located at the edge of the mounting section, facing downwards, or multiple base station bodies can be evenly distributed at equal angles on the mounting section to further improve the sensing capability of a single mobile base station.

[0025] Furthermore, this technical solution employs a segmented design for the mobile device. The design of moving components supports the device's mobility, while the design of the mounting section supports the assembly and movement of the base station body. Therefore, each part of the mobile device 2 performs its specific function and works together, allowing for more targeted design and maintenance. Regarding the specific operational methods of the base station body and the mobile station, for example, the base station body 1 is an infrared-based optical positioning base station body and is equipped with photosensitive material for sensing position changes of the mobile station V1. In a specific example, the mobile station may be equipped with an infrared emitting device capable of continuously or periodically emitting infrared signals of a specific wavelength. The base station body may integrate an infrared receiving module and its photosensitive material, wherein the photosensitive material is highly sensitive to infrared light of a specific wavelength, accurately capturing and identifying infrared signals from the mobile station; alternatively, the base station body may be equipped with infrared emitting and receiving modules, while the mobile station may be equipped with an infrared reflecting device. The receiving module can determine the position or position change of the mobile station based on whether it receives the infrared signal reflected by the reflecting device. Additionally, preprocessing steps such as signal amplification and filtering can be added to improve the signal-to-noise ratio and reliability. Finally, the signal is processed using positioning algorithms built into the mobile device to extract the location information of the mobile station. These algorithms include various methods such as triangulation and time difference positioning. Furthermore, optical positioning methods can infer the current location of the mobile station based on the location of the base station itself or the mobile base station and its interaction with the mobile station (i.e., whether there is a photosensitive phenomenon).

[0026] It is understandable that infrared positioning methods offer high positioning accuracy, meeting the high-precision requirements of scenarios such as parking function verification. Positioning accuracy can be further improved by optimizing the performance of infrared transmitters and receivers and designing the positioning algorithm. Infrared signals are less susceptible to electromagnetic interference during transmission, thus infrared positioning systems maintain good performance even in complex electromagnetic environments. Furthermore, infrared signals have a high transmission speed, and processing algorithms typically have high execution efficiency; therefore, infrared positioning systems can achieve real-time or near real-time position updates, meeting the needs of dynamic testing.

[0027] To improve the all-around detection capability of the base station body, it is feasible to make the mounting part 23 height-adjustable relative to the chassis 21, and the base station body 1 rotatable relative to the chassis 21. This technical solution should be interpreted broadly. For example, the base station body may have a rotation function, or the mounting part may have a rotation function, thereby driving the base station body to rotate, and the rotation capability mentioned herein includes the adjustment of yaw and pitch angles.

[0028] The height-adjustable design of the mounting unit allows the base station to be adjusted in height according to testing needs or the site environment, making it suitable for various indoor garage scenarios. Height or orientation adjustments can optimize the sensing effect with the mobile station, helping to reduce interference factors such as signal attenuation and multipath effects, thereby improving the accuracy and reliability of test results. The rotatable design of the base station relative to the chassis allows for flexible adjustment of its orientation for better alignment with the mobile station on the vehicle under test, suitable for dynamic testing scenarios. Furthermore, the height-adjustable and rotatable design makes maintenance or adjustments to the base station easier and faster. Test personnel can easily access all parts of the base station for necessary inspections, repairs, or component replacements, unlike base stations fixed to the ceiling where access is difficult.

[0029] Regarding the specific lifting and rotation methods, in some embodiments of this disclosure, the movable device 2 further includes a liftable strut 24, which is arranged in the housing 21 and connected to the mounting part 23. The mounting part 23 is rotatable relative to the liftable strut 24 and / or the base station body 1 is rotatable relative to the mounting part 23.

[0030] The liftable strut is at least partially housed within the chassis, which has openings for accommodating and guiding its movement. The strut can move up and down relative to the chassis to support the lifting function of the mounting section, thereby raising and lowering the base station body as needed. While supporting height adjustment, the liftable strut possesses excellent load-bearing capacity and stability, is not easily tipped over, and is easy to operate and maintain. During lifting, it provides stable support, ensuring the safe operation of the system. This technical solution also provides several ways to achieve the rotatability of the base station body. Rotation can be achieved through the base station body's rotation relative to the mounting section, or indirectly through the rotation of the mounting section relative to the strut, thus driving the base station body's rotation. This offers flexible design options and allows for more targeted design, with each component performing its specific function alongside the lifting strut.

[0031] Feasibly, the liftable push rod 24 can be configured as a hydraulic push rod, and a hydraulic pump 211 is installed inside the housing 21 to drive the liftable push rod 24 to move up and down. Specifically, the hydraulic pump can output pressurized oil to the hydraulic cylinder, and the piston rod inside the cylinder generates thrust with the help of the pressurized oil and outputs it to the push rod. The characteristics of this hydraulic system include precise control of the lifting speed, stroke and stop position of the hydraulic push rod, large load-bearing capacity, fast response speed and smooth and shock-free operation, applicability to various working environments and load conditions and easy maintenance. The hydraulic pump is set inside the housing, which can make full use of the layout space provided by the housing and maintain the compactness of the entire mobile device. Alternatively, multiple push rods can be set and connected to the bottom side of the mounting part with even weight distribution, or they can be connected to the mounting part through a lifting mechanism such as a scissor fork.

[0032] Regarding the specific rotation implementation method, for example, the mounting part 23 is constructed as a platform and is capable of horizontal rotation, and the pitch and yaw angles of the base station body 1 are adjustable. Therefore, the adjustability of the pitch and yaw angles can be achieved by setting corresponding adjustment mechanisms. For example, the adjustment mechanism can be designed with a tilting bracket connected to the mounting part, on which the base station body is mounted. The tilting bracket is driven by a motor to realize the rotational movement of the base station body. The motor transmits power to the rotation axis of the tilting bracket through a reduction mechanism (such as a worm gear), thereby changing the pitch angle of the base station body. The adjustability of the yaw angle can be achieved, for example, through a rotating mechanism connected to the mounting part, on which the base station body or the aforementioned bracket is mounted. The rotating mechanism can also be driven by a motor. Furthermore, this technical solution can also be understood as the platform not only being able to rotate horizontally, but also being able to adjust the pitch and yaw angles, so as to drive the base station to adjust its pitch and yaw angles. Thus, the design of the pitch and yaw angles can be realized in a similar manner as described above.

[0033] The horizontal rotation capability of the mounting section allows the base station body to freely adjust its direction within the horizontal plane where the mounting section is located. This is highly advantageous for tracking moving targets, covering a wider monitoring area, or adapting to different testing scenarios, and also provides strong rotational stability. The base station body is responsible for adjusting the pitch and yaw angles, meaning it rotates relative to the mounting section. This allows for more targeted design of both the mounting section's rotation and the base station's rotation, while simultaneously maintaining advantages such as good tracking of mobile stations, optimized communication quality, and ease of maintenance.

[0034] Regarding the specific rotation design of the mounting part, in some embodiments of this disclosure, the mounting part 23 is equipped with a servo motor 231. The mounting part 23 and the liftable strut 24 are connected via the rotation shaft 25 of the movable device 2, and the output shaft of the servo motor 231 is connected to the rotation shaft 25. Therefore, due to the use of a servo motor, the system can achieve high-precision rotation and positioning. Furthermore, the connection between the mounting part and the liftable strut via the rotation shaft means that the mounting part can not only rotate in the horizontal plane, but also be adjusted in the vertical direction or the longitudinal direction of the strut by raising and lowering it, increasing the system's flexibility and adaptability.

[0035] Among these, stepper motors can be used as servo motors, offering convenient control and manageable costs. In particular, stepper motors possess precise stepping characteristics, improving the control accuracy of the rotating parts and providing rapid response, meeting the system's requirements for dynamic response speed. Furthermore, the output shaft of the servo motor can be connected to the rotating shaft via a transmission mechanism (such as a reduction gear) to achieve torque amplification, enhancing the servo motor's driving capability and making it easier to achieve stable operation, thus improving the system's control accuracy. The transmission mechanism reduces the load on the motor. Those skilled in the art can set the transmission ratio or reduction ratio according to actual needs.

[0036] According to another aspect of this disclosure, this disclosure relates to a parking function verification truth system, wherein the parking function verification truth system includes any of the above-mentioned mobile base station 100 and the mobile station V1.

[0037] Therefore, the parking function verification truth system disclosed herein can inherit various specific implementation methods and technical effects that can be achieved by mobile base stations, which will not be elaborated here.

[0038] However, it should be noted that the parking function verification truth value system may also include a data post-processing device. This data post-processing device can receive and process the data recorded by the mobile base station 100. Thus, the data post-processing device can, for example, draw or generate the driving posture and trajectory of the vehicle under test based on data from the mobile base station (e.g., the data recording device of the host computer within its chassis), and compare it with the trajectory calculated and planned by the parking function of the vehicle under test, thereby obtaining various parking performance indicators such as trajectory planning and tracking performance. Furthermore, this data post-processing device can, for example, be integrated into a computer device. This computer device, in addition to the data post-processing device, can also be equipped with a calibration algorithm for calibrating the mobile base station device (described later), and a storage device for storing theoretical values ​​of parking characteristics for comparison. Therefore, through the parking function verification truth value system, the performance of the parking function can be comprehensively evaluated, existing problems can be identified and diagnosed in a timely manner, providing developers with clear directions for improvement. It also differentiates itself from mobile base stations and mobile stations in terms of function, making the development and design of these three more targeted.

[0039] refer to Figure 3 The diagram illustrates a flowchart of an application method according to this disclosure.

[0040] This disclosure also relates to an application method for the above-mentioned parking function truth verification system, wherein the application method includes the following steps:

[0041] S1: The mobile base station 100 is placed on the ground of the garage G;

[0042] S2: Calibrate the mobile base station 100;

[0043] S3: The vehicle under test V parks, and the base station body 1 senses the mobile station V1 mounted on the vehicle under test V and records the location data of the mobile station V1.

[0044] S4: Recover the mobile base station 100 and the vehicle under test V.

[0045] In step S2, calibration can be understood as initializing the positions of the deployed mobile base stations to establish a Cartesian coordinate system, allowing the coordinates of each mobile base station or mobile station in the parking garage to be expressed. Specifically, the initialization method involves using the vertical point of the first deployed mobile base station's pole to the ground as the coordinate origin. This provides other base stations or mobile stations with reference coordinates relative to this origin, facilitating subsequent data generation and processing. Furthermore, it should be understood that in step S4, the base stations and the vehicle under test are retrieved. Therefore, this application method will not cause any subsequent impact on the parking garage, allowing public parking garages to accept the system. It also allows for the reuse of system equipment such as base stations and mobile stations, saving costs and improving flexibility. During parking function verification, multiple mobile base stations can be deployed, and these base stations can communicate with each other to cover the entire test area. Due to their mobility, compared to fixed base stations, the number of devices required is reduced, making it convenient to use and cost-effective. It is also understandable that the mobile base station is assembled before being deployed on the ground, and disassembled before or after being recycled.

[0046] It should be understood that all the above preferred embodiments are exemplary and not restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above under the concept of this disclosure should be within the legal protection scope of this disclosure.

Claims

1. A mobile base station (100) for a parking function truth verification system, characterized in that, The mobile base station (100) includes a mobile device (2) and a base station body (1) mounted on the mobile device (2). The base station body (1) can move relative to the mobile device (2). The base station body (1) senses the mobile station (V1) mounted on the vehicle under test (V) to obtain the location data of the vehicle under test (V). The location data is used for parking function verification.

2. The mobile base station (100) according to claim 1, characterized in that, The base station body (1) includes a positioning module, which is used to locate the mobile station (V1) mounted on the vehicle under test (V).

3. The mobile base station (100) according to claim 1 or 2, characterized in that, The movable device (2) includes a chassis (21), a movable element (22) disposed on the bottom side of the chassis (21), and a mounting part (23) connected to the chassis (21). The mounting part (23) can move relative to the chassis (21), and the base station body (1) is mounted on the mounting part (23).

4. The mobile base station (100) according to claim 3, characterized in that, The mounting part (23) is liftable relative to the chassis (21), and the base station body (1) is rotatable relative to the chassis (21).

5. The mobile base station (100) according to claim 4, characterized in that, The movable device (2) further includes a liftable strut (24) arranged in the chassis (21) and connected to the mounting part (23), the mounting part (23) being rotatable relative to the liftable strut (24) and / or the base station body (1) being rotatable relative to the mounting part (23).

6. The mobile base station (100) according to claim 1, characterized in that, The base station body (1) is an infrared positioning-based base station body and is equipped with photosensitive material for sensing the position changes of the mobile station (V1).

7. The mobile base station (100) according to claim 5, characterized in that, The liftable push rod (24) is configured as a hydraulic push rod, and a hydraulic pump (211) is provided in the housing (21) for driving the liftable push rod (24) to lift.

8. The mobile base station (100) according to claim 5, characterized in that, The mounting part (23) is constructed as a platform and can rotate horizontally, and the pitch angle and yaw angle of the base station body (1) are adjustable.

9. The mobile base station (100) according to claim 8, characterized in that, The mounting part (23) is equipped with a servo motor (231). The mounting part (23) and the liftable push rod (24) are connected via the rotating shaft (25) of the movable device (2). The output shaft of the servo motor (231) is connected to the rotating shaft (25).

10. A parking function truth verification system, characterized in that, The parking function truth verification system includes a mobile base station (100) according to any one of claims 1 to 9 and the mobile station (V1).

11. The parking function truth verification system according to claim 10, characterized in that, The parking function verification truth system also includes a data post-processing device, which can receive the location data recorded by the mobile base station (100) and perform data post-processing.

12. An application method for a parking function truth verification system according to claim 10 or 11, characterized in that, The application method includes the following steps: The mobile base station (100) is placed on the ground of the garage (G); The mobile base station (100) is calibrated; When the vehicle under test (V) is parked, the base station body (1) senses the mobile station (V1) mounted on the vehicle under test (V) and records the location data of the mobile station (V1). The mobile base station (100) and the vehicle under test (V) are recovered.

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