Implementation method of automatic parking system of unmanned vehicle in underground parking lot
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHANGSHU INSTITUTE OF TECHNOLOGY
- Filing Date
- 2026-04-02
- Publication Date
- 2026-06-26
AI Technical Summary
Existing underground parking lots suffer from low parking space allocation efficiency, inaccurate management, slow departures, and high operating costs, making digital management impossible.
Design an automated parking system for unmanned vehicles in an underground parking lot. Through the coordinated work of vehicle nodes, entrance equipment, guidance equipment, and parking space equipment, the system can automatically allocate parking spaces, guide routes, and manage departures. Wireless interfaces are used for information exchange to ensure the real-time performance and automation of the system.
It improves parking space allocation efficiency, provides precise parking routes, reduces operating costs, achieves digital management, and enhances parking and departure efficiency.
Smart Images
Figure CN121982927B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to an implementation method, and more particularly to an implementation method for an automated parking system for driverless vehicles in an underground parking lot. Background Technology
[0002] Currently, underground parking lots mainly rely on manual allocation of parking spaces and self-finding of parking spaces. This method has the following obvious shortcomings: (1) Low parking space allocation efficiency: At the entrance, manual inquiry, guidance or issuance of vouchers is required, resulting in long waiting times for vehicles. During peak periods, queues can easily form and cause congestion extending to municipal roads. (2) Ineffective detours within the parking lot: After entering the parking lot, vehicles lack precise guidance and need to wander in the passage to find empty spaces, increasing congestion and passage time within the parking lot. (3) Slow departure: The combination of manual payment and manual guidance for vehicle retrieval leads to low vehicle departure efficiency. (4) High operating costs: Entrance guides and in-park inspectors are required, resulting in high labor costs under multi-shift rotation. (5) Inability to achieve digital management: Under the manual mode, it is impossible to accurately count key data such as parking space occupancy rate, and digital management cannot be achieved.
[0003] The present invention aims to solve the above problems and realize intelligent automatic parking of driverless vehicles in underground parking lots. Summary of the Invention
[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide a method for implementing an automatic parking system for unmanned vehicles in underground parking lots, addressing the shortcomings of the existing technology.
[0005] Technical solution: This invention discloses a method for implementing an automated parking system for unmanned vehicles in an underground parking lot. The system includes vehicle nodes, entrance devices, guidance devices, and parking space devices; the parking space devices send parking space messages to establish a parking space table; the entrance devices send entrance messages to establish an entrance table.
[0006] For each entry in the entry table, the guiding device selects all parking space entries whose entry labels are equal to the entry label of the current entry, and sends a guiding message. The parking space table in this guiding message consists of all the selected parking space entries, with the entry label and next-hop coordinate equal to the entry label and next-hop coordinate of the current entry, respectively. The coordinate set includes its own coordinates. If the coordinates of the guiding device receiving the guiding message are equal to the next-hop coordinates of the guiding message, it selects the entry entries whose entry labels are equal to the entry label of the guiding message, sets the next-hop coordinates of the guiding message to the next-hop coordinates of the current entry, adds its own coordinates to the coordinate set of the guiding message, and forwards the guiding message as the first element.
[0007] If the entry label of the entry device that receives the guidance message is equal to the entry label of the guidance message, then for each parking space table entry in the guidance message, an information table entry is created. The parking space label of the information table entry is equal to the parking space label of the parking space table entry, and the coordinate set is equal to the coordinate set of the guidance message.
[0008] The entry device sends a detection message to determine whether the parking space device identified by the parking space label in the target information table is working properly. If the coordinate set of the detection message contains only one coordinate, and the coordinate of the guiding device that receives the detection message is equal to that coordinate, the guiding device sets a clock and forwards the detection message. If the guiding device does not receive a result message within the time set by the clock that the parking space label is equal to the parking space label of the detection message, it sends a result message. The usage flag of the result message is equal to 2, the coordinate set is equal to the reverse coordinate set of the detection message, and the parking space label is equal to the parking space label of the detection message. After receiving the result message, the entry device that sent the detection message sets the usage flag of the target information table entry to the usage flag of the result message.
[0009] The vehicle node sends a parking message to obtain the parking space tag of the parking space device configured in the parking space, as well as the set of coordinates to reach the parking space; the vehicle node sends a leave message to release the occupied parking space.
[0010] The method further includes:
[0011] The identifier of the target information entry is not equal to 2, and its lifespan is greater than 0, and its lifespan is less than a preset threshold; the initial value of the clock set by the guidance device that receives the detection message is equal to t×n, where n is equal to the total number of parking space entries of the guidance device, and t is the maximum delay for forwarding the detection message;
[0012] If the parking space tag of the parking space device that receives the detection message is equal to the parking space tag in the detection message and is working properly, then it sends a result message. The usage flag of the result message is set to 0 or 1 according to the occupancy status of the parking space where the parking space device is located, the coordinate set is equal to the reverse coordinate set of the detection message, and the parking space tag is equal to its own parking space tag. If the guidance device that receives the detection message receives a result message with a parking space tag equal to the parking space tag in the detection message within the time set by the clock, then it forwards the result message.
[0013] If the coordinates of the receiving device that receives the result message are equal to the last coordinate in the coordinate set of the result message, then the last coordinate is removed from the coordinate set and the result message is forwarded.
[0014] The method further includes:
[0015] Each entrance device stores an information table. Each information table entry contains a parking space label, a set of coordinates, a usage identifier, and a lifespan. The value of the usage identifier is 0, 1, or 2. 0 indicates that the parking space where the device is located is not assigned, 1 indicates that the parking space where the device is located is assigned, and 2 indicates that the device is not working properly.
[0016] If the coordinates of the guiding device receiving the detection message are equal to the first coordinate in the coordinate set of the detection message, and the number of coordinates contained in the coordinate set of the detection message is greater than 1, the guiding device will delete the first coordinate from the coordinate set of the detection message and forward the detection message.
[0017] The method further includes:
[0018] In the parking message sent by the vehicle node, the vehicle ID is its own vehicle ID;
[0019] Upon receiving the parking message, the entry device selects an information entry with a flag bit equal to 0, sets the flag bit of the information entry to 1, and sends an information message. The vehicle ID of the information message is equal to the vehicle ID of the parking message, and the parking space label and coordinate set are equal to the parking space label and coordinate set of the information entry, respectively.
[0020] If the vehicle ID of the vehicle node that receives the message is equal to the vehicle ID of the message, then the message is saved.
[0021] The method further includes:
[0022] In the departure message sent by the vehicle node, the vehicle ID is its own vehicle ID, and the parking space label and coordinate set are equal to the parking space label and coordinate set in the information message it saves.
[0023] Upon receiving the departure message, the entry device selects an information entry whose parking space label is equal to the parking space label in the departure message and sets the usage flag of that information entry to 0.
[0024] The method further includes:
[0025] Each boot device maintains an entry table, and each entry table entry contains an entry label, next-hop coordinates, and lifespan. In the entry messages sent by the entry device, the entry label is equal to its own entry label, and the next-hop coordinates are equal to its own coordinates.
[0026] Upon receiving the ingress message, the guiding device creates an ingress entry. The ingress label of this entry is equal to the ingress label of the ingress message, and the next-hop coordinate is equal to the next-hop coordinate of the ingress message. The guiding device sets the next-hop coordinate of the ingress message to its own coordinates and forwards the ingress message.
[0027] The method further includes:
[0028] Each guidance device stores a parking space table, and each parking space table entry contains a parking space label, an entrance label, and a lifespan.
[0029] In the parking space message sent by the parking space device, the parking space label is equal to its own parking space label, and the entrance label is equal to the pre-configured entrance label;
[0030] Upon receiving the parking space message, the guidance device creates a parking space entry. The parking space label of this entry is equal to the parking space label of the parking space message, and the entry label of this entry is equal to the entry label of the parking space message.
[0031] The method further includes:
[0032] Each entrance to the parking lot is equipped with an entrance device, and guidance devices are evenly distributed throughout the underground parking lot, with one parking space device for each parking space.
[0033] Each vehicle node, entrance device, guidance device, and parking space device is equipped with a wireless interface;
[0034] Entrance equipment, guidance equipment, and parking space equipment are fixed equipment, and their coordinates are unique.
[0035] The method further includes:
[0036] Each entrance device is uniquely identified by an entrance tag, the value of which is equal to the coordinates of that entrance device; each guide device is uniquely identified by a guide tag, the value of which is equal to the coordinates of that guide device; parking space devices are uniquely identified by parking space tags, the value of which is equal to the coordinates of that parking space device.
[0037] The method further includes:
[0038] Each entrance device is pre-set with a set of parking space tags. The entrance device is responsible for allocating the parking space to which each parking space tag in the set belongs. Each parking space tag in the set is pre-configured with the entrance tag of the entrance device. The intersection of the parking space tag sets of any two entrance devices is an empty set.
[0039] Beneficial Effects: This invention provides a method for implementing an automated parking system for unmanned vehicles in an underground parking lot. The system has the following functions: (1) Improved parking space allocation efficiency: The automated vehicle automatically acquires a parking space without human intervention, achieving full automation of parking space allocation; (2) Provides parking paths: The vehicle automatically acquires the optimal path to the parking space, achieving precise guidance, avoiding congestion in the parking lot, and significantly shortening parking time; (3) Efficient departure: The vehicle automatically leaves the parking lot and releases the occupied parking space without human intervention, significantly improving departure efficiency; (4) Significantly reduces operating costs: Vehicle parking does not require human intervention, saving labor costs; (5) Realizes digital management: Real-time provision of key data such as parking space occupancy rate, realizing data-driven, intelligent, and automated management. This invention has broad application prospects in the field of intelligent transportation. Attached Figure Description
[0040] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.
[0041] Figure 1 This is a schematic diagram of the automatic parking system for unmanned vehicles described in this invention.
[0042] Figure 2 This is a schematic diagram of the process for creating a parking space table as described in this invention.
[0043] Figure 3 This is a schematic diagram of the process for creating an entry table as described in this invention.
[0044] Figure 4 This is a schematic diagram of the process for creating an information table as described in this invention.
[0045] Figure 5 This is a schematic diagram of the process of the parking space detection equipment described in this invention.
[0046] Figure 6 This is a schematic diagram of the parking space acquisition process described in this invention.
[0047] Figure 7 This is a schematic diagram of the parking space release process described in this invention. Detailed Implementation
[0048] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0049] Figure 1This is a schematic diagram of the automatic parking system for unmanned vehicles described in this invention. Figure 2 This is a schematic diagram of the process for establishing a parking space table according to the present invention. The system includes vehicle nodes, entrance devices, guidance devices, and parking space devices. The entrance devices, guidance devices, and parking space devices can be intelligent devices such as sensor nodes, smart probes, and smart cameras. Each vehicle node, entrance device, guidance device, and parking space device is equipped with a wireless interface for exchanging information.
[0050] Entrance equipment, guidance equipment, and parking space equipment are fixed equipment, and their coordinates are unique and pre-configured.
[0051] The parking lot has multiple entrances, each equipped with an entrance device. Guidance devices are evenly distributed throughout the underground parking lot, covering the entire underground parking lot. Each parking space is equipped with one parking space device.
[0052] Each entrance device is uniquely identified by an entrance tag, the value of which is equal to the coordinates of that entrance device; each guide device is uniquely identified by a guide tag, the value of which is equal to the coordinates of that guide device; parking space devices are uniquely identified by parking space tags, the value of which is equal to the coordinates of that parking space device.
[0053] Each entrance device has a pre-set set of parking space tags. The entrance device is responsible for allocating the parking space to which each parking space tag in the set belongs. Each parking space tag in the set is pre-configured with the entrance tag of the entrance device. The intersection of the parking space tag sets of any two entrance devices is an empty set. At any given time, a parking space device is connected to only one guiding device. Each message is uniquely identified by a message ID.
[0054] Each guidance device maintains a parking space table. Each parking space table entry contains a parking space label, an entrance label, and a lifespan. The initial value of the parking space table is an empty table.
[0055] Parking space messages include message ID, parking space tag, and entrance tag;
[0056] The parking space equipment VE1 is connected to the guidance equipment GE1, and performs the following operations periodically:
[0057] Step 101: Begin
[0058] Step 102: Parking device VE1 sends a parking space message. The message ID of this parking space message is 1, the parking space label is its own parking space label, and the entrance label is equal to the pre-configured entrance label.
[0059] Step 103: After receiving the parking space message, the guiding device GE1 determines whether there is a parking space entry with the parking space tag equal to the parking space tag of the parking space message. If it exists, the entry tag of the parking space entry is set to the entry tag of the parking space message, and the lifecycle is set to the maximum value, such as 30 minutes. Otherwise, a parking space entry is created with the parking space tag and entry tag equal to the entry tag of the parking space message, and the lifecycle is set to the maximum value.
[0060] Step 104: End.
[0061] The time interval between the parking space device sending parking space messages is less than the maximum lifespan value of the parking space table entry. The innovations of the above process include: (1) the guiding device can obtain the parking space tag of the connected parking space device and the entrance tag of the entrance device responsible for allocating the corresponding parking space; (2) the lifespan is used to ensure the real-time performance and effectiveness of the parking space table.
[0062] Figure 3 This is a schematic diagram of the entry table establishment process described in this invention. Each boot device stores one entry table, and each entry table entry contains an entry label, next-hop coordinates, and lifecycle; the initial value of the entry table is an empty table;
[0063] The entry message includes a message ID, an entry tag, and the next-hop coordinates;
[0064] Each entry device EE1 periodically performs the following procedure to establish an entry table;
[0065] Step 201: Begin;
[0066] Step 202: The ingress device EE1 sends an ingress message with message ID 2, ingress label equal to its own ingress label, and next-hop coordinates equal to its own coordinates;
[0067] Step 203: If other entrance devices, vehicle nodes, or parking space devices receive the entrance message, proceed to step 207; otherwise, proceed to step 204.
[0068] Step 204: The guiding device that receives the entry message determines whether there is an entry entry whose entry tag is equal to the entry tag in the entry message and whose lifespan is greater than a preset threshold TH1. The threshold TH1 is set in the range of 90% to 100% of the maximum lifespan. If it exists, proceed to step 207; otherwise, proceed to step 205.
[0069] Step 205: The guiding device that receives the ingress message determines whether there is an ingress entry with an ingress label equal to the ingress label in the ingress message. If it exists, the next-hop coordinate of the ingress entry is set to the next-hop coordinate of the ingress message, and the lifetime is set to the maximum value. Otherwise, an ingress entry is created with an ingress label equal to the ingress label of the ingress message, the next-hop coordinate of the ingress entry is equal to the next-hop coordinate of the ingress message, and the lifetime is set to the maximum value.
[0070] Step 206: The guiding device that receives the ingress message sets the next-hop coordinates of the ingress message to its own coordinates, forwards the ingress message, and executes step 203;
[0071] Step 207: End.
[0072] The time interval between the entry devices sending entry messages is less than the maximum lifetime value of the entry table entries. The innovations of the above process include: (1) guiding the devices to obtain the optimal route path to each entry device, i.e., the entry table; (2) using the lifetime to ensure the real-time performance and effectiveness of the entry table.
[0073] Figure 4 This is a schematic diagram of the information table creation process described in this invention. Each entry device stores an information table. Each information table entry includes a parking space label, a set of coordinates, a usage identifier, and a lifespan. The usage identifier has a value of 0, 1, or 2. 0 indicates that the parking space where the device identified by the parking space label is located is not allocated, 1 indicates that the parking space where the device identified by the parking space label is located is allocated, and 2 indicates that the device identified by the parking space label is not working properly.
[0074] The guidance message includes a message ID, parking space table, entrance label, coordinate set, and next-hop coordinates;
[0075] The GE1 guide device periodically performs the following operations:
[0076] Step 301: Begin;
[0077] Step 302: For each entry E1 in the entry table, the guiding device GE1 performs the following operation: If there is at least one parking space entry whose entry label is equal to the entry label of entry E1, the guiding device GE1 selects all parking space entries whose entry labels are equal to the entry labels of entry E1, and sends a guiding message with message ID 3. The parking space table consists of all selected parking space entries, whose entry labels are equal to the entry labels of entry E1, whose next-hop coordinates are equal to the next-hop coordinates of entry E1, and whose coordinate set contains only one element, namely its own coordinates.
[0078] Step 303: If the vehicle node or parking space device receives the guidance message, proceed to step 309; otherwise, proceed to step 304.
[0079] Step 304: If the entry device receives the guidance message, proceed to step 307; otherwise, proceed to step 305.
[0080] Step 305: The guiding device that receives the guiding message determines whether its own coordinates are equal to the next hop coordinates in the guiding message. If they are, proceed to step 306; otherwise, proceed to step 309.
[0081] Step 306: The guiding device that receives the guiding message selects an entry entry, the entry label of which is equal to the entry label of the guiding message, sets the next-hop coordinate of the guiding message to the next-hop coordinate of the entry entry, adds its own coordinates to the coordinate set of the guiding message as the first element, forwards the guiding message, and executes step 303.
[0082] Step 307: The entry device that receives the boot message determines whether its own entry label is equal to the entry label of the boot message. If it is equal, proceed to step 308; otherwise, proceed to step 309.
[0083] Step 308: The entry device that receives the guidance message performs the following operation for each parking space entry V1 in the guidance message: Determine whether there is an information entry whose parking space label is equal to the parking space label of parking space entry V1. If it exists, set the coordinate set of the information entry to the coordinate set of the guidance message and set the lifespan to the maximum value. Otherwise, create an information entry whose parking space label is equal to the parking space label of parking space entry V1, whose coordinate set is equal to the coordinate set of the guidance message, whose flag bit is 0, and whose lifespan is equal to the maximum value.
[0084] Step 309: End.
[0085] The interval between the guidance device sending guidance messages is less than the threshold T1. The value of T1 is 50%-70% of the maximum lifespan of the information table entry. The innovation of the above process includes: (1) The entrance device automatically obtains the parking path of each parking space under its management, realizing automatic parking without human intervention throughout the process, which greatly improves the automation and efficiency of parking; (2) The guidance device creates its own associated parking space equipment information table entry in the corresponding entrance device by sending guidance messages, realizing real-time allocation of parking spaces; (3) The above process establishes information table entries of multiple parking space equipment in one process, ensuring the real-time nature and effectiveness of parking space information; (4) The entrance device obtains parking space information through unicast using the entrance table, which effectively improves the efficiency of parking space allocation.
[0086] Figure 5 This is a schematic diagram of the parking space detection device described in this invention. The detection message includes a message ID, a set of reverse coordinates, a set of coordinates, and a parking space label.
[0087] The result message includes a message ID, a usage identifier, a set of coordinates, and a parking space label;
[0088] If the entrance device EE1 detects that the usage identifier of information entry IE1 is not equal to 2, and the lifespan is greater than 0 and lower than the threshold TH2 (the threshold TH2 is preset to be 5%-10% of the maximum lifespan), then the following process is used to determine whether the parking space device identified by the parking space label of information entry IE1 is working properly:
[0089] Step 401: Begin;
[0090] Step 402: The entrance device EE1 sends a detection message with message ID 4. The reverse coordinate set and the coordinate set are both equal to the coordinate set of information table entry IE1, and the parking space label is equal to the parking space label in information table entry IE1.
[0091] Step 403: The guiding device that receives the detection message determines whether its own coordinates are equal to the first coordinate in the coordinate set of the detection message. If so, proceed to step 404; otherwise, proceed to step 414.
[0092] Step 404: The guiding device that receives the detection message deletes the first coordinate from the coordinate set of the detection message, and determines whether the coordinate set is empty. If it is, proceed to step 406; otherwise, proceed to step 405.
[0093] Step 405: The guiding device that receives the detection message forwards the detection message and executes step 403;
[0094] Step 406: The guiding device that receives the detection message sets clock TM1. The value of clock TM1 is equal to t×n, where n is equal to the total number of parking space entries in the guiding device's table, and t is the maximum delay for forwarding the detection message, for example, 500ms, which is preset. The guiding device forwards the detection message. If the parking space tag of the parking space device that receives the detection message is equal to the parking space tag in the detection message and can work normally, then a result message is sent. The message ID of the result message is 5. The usage flag is set to 0 or 1 according to the usage status of the parking space where the parking space device is located. That is, if the parking space is occupied, the usage flag is 1; otherwise, the usage flag is 0. The parking space occupancy status can be obtained through the data collected by the parking space tag, for example, identifying whether there is a parked vehicle in the image, or whether the parking space ground is obscured by a vehicle, etc. The coordinate set is equal to the reverse coordinate set of the detection message, and the parking space tag is equal to its own parking space tag.
[0095] Step 407: If the guiding device that receives the detection message receives a result message that the parking space tag is equal to the parking space tag in the detection message within the time set by clock TM1, then proceed to step 409; otherwise, proceed to step 408.
[0096] Step 408: The guiding device that receives the detection message constructs a result message with a message ID of 5, an identifier bit of 2, a coordinate set equal to the reverse coordinate set of the detection message, and a parking space label equal to the parking space label of the detection message.
[0097] Step 409: The guiding device that receives the detection message deletes the last element from the coordinate set of the detection message and sends the result message of the construction or receipt;
[0098] Step 410: If the ingress device EE1 receives the result message, proceed to step 413; otherwise, proceed to step 411.
[0099] Step 411: The guiding device that receives the result message determines whether the coordinate set of the result message is not equal to the empty set and whether its own coordinates are equal to the last coordinate of the coordinate set of the result message. If so, proceed to step 412; otherwise, proceed to step 414.
[0100] Step 412: The guiding device that receives the result message deletes the last coordinate from the coordinate set of the result message, forwards the result message, and executes step 410;
[0101] Step 413: The entry device EE1 that receives the result message sets the usage flag value of the information entry IE1 to the usage flag value of the result message. If the usage flag value of the result message is equal to 2, the lifetime of the information entry IE1 is set to a negative number; otherwise, the lifetime of the information entry IE1 is set to the maximum value.
[0102] Step 414: End.
[0103] The innovations of the above process include: (1) The entrance equipment detects whether the parking space equipment is working properly by detecting the message. If it is not working properly, it will notify the work robot or human to repair it in time, so as to realize timely alarm; (2) The entrance equipment uses the information table to quickly detect whether the parking space equipment is working properly through the optimal path, so as to realize the real-time and rapid detection of the parking space equipment and maintain the safety and efficient management of the underground parking lot.
[0104] Figure 6 This is a schematic diagram of the parking space acquisition process described in this invention. Each vehicle node is uniquely identified by a vehicle ID, such as a license plate number;
[0105] The parking message includes a message ID and a vehicle ID;
[0106] The information message includes a message ID, vehicle ID, parking space label, and a set of coordinates;
[0107] After vehicle node V1 arrives at any entrance of the underground parking lot, it obtains the parking space and the coordinates of the arriving parking space through the following process:
[0108] Step 501: Begin;
[0109] Step 502: Vehicle node V1 sends a parking message with message ID 6 and vehicle ID being its own vehicle ID;
[0110] Step 503: After receiving the parking message, the entrance device EE1 located at the entrance determines whether there is an information entry with the usage flag bit of the entry being equal to 0. If it exists, proceed to step 504; otherwise, proceed to step 505.
[0111] Step 504: The entry device EE1 that receives the parking message selects an information entry with the usage flag bit equal to 0, sets the usage flag bit of the information entry to 1, sends an information message with message ID 7, vehicle ID equal to the vehicle ID of the parking message, and parking space label and coordinate set equal to the parking space label and coordinate set in the information entry, and executes step 506.
[0112] Step 505: The entry device EE1 that receives the parking message sends an information message with message ID 7, vehicle ID equal to the vehicle ID of the parking message, empty parking space label, and empty coordinate set.
[0113] Step 506: The vehicle node that receives the information message determines whether its own vehicle ID is equal to the vehicle ID of the information message. If they are equal, proceed to step 507; otherwise, proceed to step 508.
[0114] Step 507: The vehicle node that receives the information message saves the information message;
[0115] Step 508: End;
[0116] If vehicle node V1 detects that the parking space label of the information message is not empty and the coordinate set is not empty, then it travels along each coordinate in the coordinate set. That is, it first reaches the position of the first coordinate, then the position of the second coordinate, and so on. When it reaches the position of the last coordinate in the coordinate set, vehicle node V1 finally parks in the parking space indicated by the parking space label.
[0117] The innovations of the above process include: (1) the vehicle automatically obtains the coordinates of the parking space, and no human intervention is required throughout the process, thus achieving full automation; (2) the vehicle automatically arrives at the designated parking space along the route specified by the coordinate set, thus achieving fully automated parking operation.
[0118] Figure 7 This is a schematic diagram of the parking space release process described in this invention. The departure message includes a message ID, vehicle ID, parking space label, and a set of coordinates.
[0119] After vehicle node V1 leaves the parking space, it travels along each coordinate in the saved information message coordinate set until it reaches the entrance. That is, it first reaches the position of the last coordinate in the coordinate set, then the position of the second to last coordinate in the coordinate set, and so on, until it finally reaches the parking lot entrance and executes the following process:
[0120] Step 601: Begin;
[0121] Step 602: Vehicle node V1 sends a leave message. The message ID of this message is 8, the vehicle ID is its own vehicle ID, and the parking space label and coordinate set are equal to the parking space label and coordinate set in its own saved information message, respectively.
[0122] Step 603: After receiving the departure message, the entrance device EE1 located at the entrance selects an information entry, the parking space label of which is equal to the parking space label of the departure message, and sets the usage flag bit of the information entry to 0.
[0123] Step 604: End.
[0124] The innovations of the above process include: (1) the parking space is automatically released after the vehicle leaves the parking lot; (2) the vehicle automatically arrives at the entrance of the parking lot along the route specified by the coordinate set, without the need for human intervention, thus realizing fully automated operation.
[0125] Example 1
[0126] Based on the following simulation parameters, this embodiment simulates the implementation method of an unmanned automatic parking system for underground parking lots according to the present invention: the MAC protocol is IEEE 802.11, the transmission radius is 50 meters, the simulation time is 1 hour, and the number of simulations is 100. Performance analysis is as follows: when the distance between the vehicle node and the assigned parking space is far, the parking success rate in the underground parking lot decreases; when the distance between the vehicle node and the assigned parking space is close, the parking success rate in the underground parking lot increases, with an average success rate of 99.91%.
[0127] This invention provides a method for implementing an automated parking system for unmanned vehicles in an underground parking lot. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.
Claims
1. A method for implementing an automated parking system for unmanned vehicles in an underground parking lot, characterized in that, The system includes vehicle nodes, entrance devices, guidance devices, and parking space devices; the parking space devices send parking space messages to establish a parking space table; the entrance devices send entrance messages to establish an entrance table; For each entry in the entry table, the guiding device selects all parking space entries whose entry labels are equal to the entry label of the current entry, and sends a guiding message. The parking space table in this guiding message consists of all the selected parking space entries, with the entry label and next-hop coordinate equal to the entry label and next-hop coordinate of the current entry, respectively. The coordinate set includes its own coordinates. If the coordinates of the guiding device receiving the guiding message are equal to the next-hop coordinates of the guiding message, it selects the entry entries whose entry labels are equal to the entry label of the guiding message, sets the next-hop coordinates of the guiding message to the next-hop coordinates of the current entry, adds its own coordinates to the coordinate set of the guiding message, and forwards the guiding message as the first element. If the entry label of the entry device that receives the guidance message is equal to the entry label of the guidance message, then for each parking space table entry in the guidance message, an information table entry is created. The parking space label of the information table entry is equal to the parking space label of the parking space table entry, and the coordinate set is equal to the coordinate set of the guidance message. The entrance device sends a detection message to determine whether the parking space device identified by the parking space label in the target information table is working properly; If the detection message coordinate set contains only one coordinate, and the coordinate of the guiding device receiving the detection message is equal to that coordinate, the guiding device sets a clock and forwards the detection message. If the guiding device does not receive a result message with a parking space label equal to the parking space label of the detection message within the time set by the clock, it sends a result message. The usage flag of the result message is equal to 2, the coordinate set is equal to the reverse coordinate set of the detection message, and the parking space label is equal to the parking space label of the detection message. After receiving the result message, the entry device that sent the detection message sets the usage flag of the target information table entry to the usage flag of the result message. The vehicle node sends a parking message to obtain the parking space tag of the parking space device configured in the parking space, as well as the set of coordinates to reach the parking space; The vehicle node sends a departure message to release the parking space it occupies; Each boot device maintains an entry table, and each entry table entry contains an entry label, next-hop coordinates, and lifespan. In the entry messages sent by the entry device, the entry label is equal to its own entry label, and the next-hop coordinates are equal to its own coordinates. Upon receiving the ingress message, the guiding device creates an ingress entry. The ingress label of this entry is equal to the ingress label of the ingress message, and the next-hop coordinate is equal to the next-hop coordinate of the ingress message. The guiding device sets the next-hop coordinate of the ingress message to its own coordinates and forwards the ingress message.
2. The method for implementing an automated parking system for unmanned vehicles in an underground parking lot according to claim 1, characterized in that, The identifier of the target information entry is not equal to 2, and its lifespan is greater than 0, and its lifespan is lower than a preset threshold; the initial clock value set by the guidance device that receives the detection message is equal to t×n, where n is equal to the total number of parking space entries of the guidance device, and t is equal to the maximum delay for forwarding the detection message; If the parking space tag of the parking space device that receives the detection message is equal to the parking space tag in the detection message and is working properly, then it sends a result message. The usage flag of the result message is set to 0 or 1 according to the occupancy status of the parking space where the parking space device is located, the coordinate set is equal to the reverse coordinate set of the detection message, and the parking space tag is equal to its own parking space tag. If the guidance device that receives the detection message receives a result message with a parking space tag equal to the parking space tag in the detection message within the time set by the clock, then it forwards the result message. If the coordinates of the receiving device that receives the result message are equal to the last coordinate in the coordinate set of the result message, then the last coordinate is removed from the coordinate set and the result message is forwarded.
3. The method for implementing an automated parking system for unmanned vehicles in an underground parking lot according to claim 1, characterized in that, Each entrance device stores an information table. Each information table entry contains a parking space label, a set of coordinates, a usage identifier, and a lifespan. The value of the usage identifier is 0, 1, or 2. 0 indicates that the parking space where the device is located is not assigned, 1 indicates that the parking space where the device is located is assigned, and 2 indicates that the device is not working properly. If the coordinates of the guiding device receiving the detection message are equal to the first coordinate in the coordinate set of the detection message, and the number of coordinates contained in the coordinate set of the detection message is greater than 1, the guiding device will delete the first coordinate from the coordinate set of the detection message and forward the detection message.
4. A method for implementing an automated parking system for unmanned vehicles in an underground parking lot according to any one of claims 1 to 3, characterized in that, In the parking message sent by the vehicle node, the vehicle ID is its own vehicle ID; Upon receiving the parking message, the entry device selects an information entry with a flag bit equal to 0, sets the flag bit of the information entry to 1, and sends an information message. The vehicle ID of the information message is equal to the vehicle ID of the parking message, and the parking space label and coordinate set are equal to the parking space label and coordinate set of the information entry, respectively. If the vehicle ID of the vehicle node that receives the message is equal to the vehicle ID of the message, then the message is saved.
5. A method for implementing an automated parking system for unmanned vehicles in an underground parking lot according to any one of claims 1 to 3, characterized in that, In the departure message sent by the vehicle node, the vehicle ID is its own vehicle ID, and the parking space label and coordinate set are equal to the parking space label and coordinate set in the information message it saves. Upon receiving the departure message, the entry device selects an information entry whose parking space label is equal to the parking space label in the departure message and sets the usage flag of that information entry to 0.
6. A method for implementing an automated parking system for unmanned vehicles in an underground parking lot according to any one of claims 1 to 3, characterized in that, Each guidance device stores a parking space table, and each parking space table entry contains a parking space label, an entrance label, and a lifespan. In the parking space message sent by the parking space device, the parking space label is equal to its own parking space label, and the entrance label is equal to the pre-configured entrance label; Upon receiving the parking space message, the guidance device creates a parking space entry. The parking space label of this entry is equal to the parking space label of the parking space message, and the entry label of this entry is equal to the entry label of the parking space message.
7. A method for implementing an automated parking system for unmanned vehicles in an underground parking lot according to any one of claims 1 to 3, characterized in that, Each entrance to the parking lot is equipped with an entrance device, and guidance devices are evenly distributed throughout the underground parking lot, with one parking space device for each parking space. Each vehicle node, entrance device, guidance device, and parking space device is equipped with a wireless interface; Entrance equipment, guidance equipment, and parking space equipment are fixed equipment, and their coordinates are unique.
8. A method for implementing an automated parking system for unmanned vehicles in an underground parking lot according to any one of claims 1 to 3, characterized in that, Each entrance device is uniquely identified by an entrance tag, the value of which is equal to the coordinates of that entrance device; each guide device is uniquely identified by a guide tag, the value of which is equal to the coordinates of that guide device. Each parking space device is uniquely identified by a parking space tag, the value of which is equal to the coordinates of that parking space device.
9. A method for implementing an automated parking system for unmanned vehicles in an underground parking lot according to any one of claims 1 to 3, characterized in that, Each entrance device is pre-set with a set of parking space tags. The entrance device is responsible for allocating the parking space to which each parking space tag identifies the parking space device in the set. Each parking space tag identifies the parking space device in the set and is pre-configured with the entrance tag of the entrance device. The intersection of the parking space label sets of any two entrance devices is an empty set.