CN103956074B - The automatic guidance system in parking lot based on location-based service and implementation method - Google Patents
The automatic guidance system in parking lot based on location-based service and implementation method Download PDFInfo
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Abstract
The invention discloses the automatic guidance system in a kind of parking lot based on location-based service and implementation method, including being fixed on the reference transceiver on roof, parking garage, the vehicular-mounted transceiver being arranged on car owner's car and a display processing unit, contact with reference to using radio frequency and ultrasonic signal between transceiver and vehicular-mounted transceiver；Transmit signals to display processing unit enterprising row data with reference to transceiver and vehicular-mounted transceiver process, calculate the 3 d space coordinate of the car at vehicular-mounted transceiver place and realize the navigation to target vehicle accordingly；Display processing unit shows empty vehicle parking position of parking lot information in real time and dynamically issues parking stall guide and outlet director information, and the information of display is sent to the smart mobile phone of car owner.The present invention, based on localization by ultrasonic mechanism, has the advantage such as accurate positioning, strong, no electromagnetic pollution with low cost, private.
Description
Technical Field
The invention relates to a parking lot automatic guiding system based on Location Based Service (LBS) and an implementation method, and belongs to the technical field of ultrasonic detection positioning.
Background
With the increase of the amount of private cars, the problem of difficult parking is gradually raised, especially in the first-line cities such as the northern upper reaches. In response to the parking problem, the original outdoor planar parking lot can not meet the requirements, and most of the existing outdoor planar parking lots face the ground or underground layered three-dimensional large parking garages. The large parking garage relieves the parking difficulty to a certain extent, but simultaneously provides challenges for drivers: in the face of a large stereo garage, how to quickly find an idle parking space during parking and how to quickly find a car during car taking?
The proposed LBS concept provides a way to solve the above problems. At present, the position service is mostly based on GPS positioning, but the civil positioning precision is limited, and the position service is difficult to play in the room. Expert scholars propose many solutions to indoor positioning technologies, such as a-GPS positioning technology, ultrasonic positioning technology, bluetooth technology, infrared technology, radio frequency identification technology, ultra wide band technology, wireless local area network, optical tracking positioning technology, image analysis, beacon positioning, computer vision positioning technology, and the like. At present, the radio frequency identification technology, the WIFI technology and the like are reported and introduced to carry out indoor garage positioning service, but the positioning accuracy and the equipment complexity have problems.
Considering the characteristics of indoor positioning, how to improve the positioning accuracy is the key point of research, and the ultrasonic positioning technology is a preferred scheme for realizing indoor high-accuracy positioning due to higher overall positioning accuracy, simple structure and relatively low cost.
Disclosure of Invention
The invention aims to provide an indoor parking lot automatic guiding system based on position service and an implementation method thereof. The accurate positioning navigation, parking or exit guidance of vehicles in the indoor parking lot is realized by adopting an ultrasonic mode. The reference transceiver is a fixed node with a known spatial position and is reasonably arranged according to the spatial structure of the parking lot; the vehicle-mounted transceiver is installed at a proper position on the target automobile and is easily identified and positioned by the reference transceiver of the parking lot; the display processing device displays the vacant parking spaces in the parking lot in real time, displays the movement tracks of the vehicles entering and exiting in real time, and dynamically issues parking space guide and exit guide information; meanwhile, the mobile phone terminal application program can provide services such as vehicle searching and the like for the vehicle owner.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an automatic parking lot guidance system based on position service is characterized by comprising a reference transceiver fixed on the roof of an indoor parking lot, a vehicle-mounted transceiver arranged on a main vehicle and a display processing device,
the reference transceiver and the vehicle-mounted transceiver are communicated by adopting radio frequency and ultrasonic signals;
the reference transceiver and the vehicle-mounted transceiver transmit signals to the display processing device for data processing, operation positioning, and calculation of the spatial three-dimensional coordinates of the vehicle where the vehicle-mounted transceiver is located, so that navigation of the target vehicle is realized;
the display processing device displays the information of the vacant parking spaces in the parking lot in real time, displays the movement tracks of the vehicles entering and exiting in real time, dynamically issues parking space guide and exit guide information, and sends the displayed information to the smart phone of the vehicle owner in real time through the mobile phone end application program.
The display processing device comprises a controller, a processor, a display and a radio frequency communication module, wherein the controller controls the processor, the display and the radio frequency communication module to work.
The reference transceiver comprises a controller, a signal generator, an ultrasonic emission probe and a radio frequency communication module, wherein the controller controls the signal generator, the ultrasonic emission probe and the radio frequency communication module to work.
The vehicle-mounted transceiver comprises a controller, a processor, an ultrasonic receiving probe and a radio frequency communication module, wherein the controller controls the processor, the ultrasonic receiving probe and the radio frequency communication module to work.
And the reference transceivers transmit and receive synchronous signals through the radio frequency communication module, and the synchronous signals are radio frequency signals.
The reference transceiver and the vehicle-mounted transceiver operate in a synchronous mode or an asynchronous mode.
Synchronization mode, precise positioning of the target relies on accurate synchronization of clocks between the reference transceiver and the vehicle-mounted transceiver.
And in the asynchronous mode, on the premise of meeting a certain topological structure, the accurate positioning of the target does not depend on the accurate synchronization of clocks between the reference transceiver and the vehicle-mounted transceiver.
The method for realizing the automatic guidance of the parking lot based on the position service is characterized by comprising the following steps of:
(1) installing more than 4 reference transceivers on the roof of a parking lot floor according to a specific topological structure, and accurately calibrating the geographic coordinates of each reference transceiver;
(2) the reference transceiver uses radio frequency signals for synchronization and transmits and receives ultrasonic signals with the vehicle-mounted transceiver;
(3) processing data and operating a positioning algorithm on a reference transceiver or a display processing device to obtain a positioning result, and accordingly realizing navigation of the target vehicle;
(4) the method comprises the steps of displaying the vacant parking spaces in the parking lot in real time on a display processing device, displaying the movement tracks of vehicles entering and exiting in real time, dynamically issuing parking space guide and exit guide information, and sending the displayed information to a smart phone of a vehicle owner in real time through a mobile phone end application program.
Determining coordinates of the vehicle-mounted transceiver by adopting a spherical intersection method through the positioning algorithm in the step (3), and knowing that the positions of m reference transceivers on the roof are coordinates (x) respectively under the condition that the m reference transceivers are usedn,yn,zn) Wherein n is 1,2,3,4 … m, and solving coordinates (x, y, z) of the vehicle-mounted transceiver position P;
the following spherical equation set is obtained according to the receiving and transmitting position and the slope distance:
obtaining the following formula by using least square method
Wherein,is an estimated quantity of x and is,is an estimated quantity of y that is,is an estimate of z.
The invention achieves the following beneficial effects:
the invention provides centimeter-level accurate position service for the vehicle-mounted transceiver of the indoor parking lot. The system is mainly composed of a reference transceiver fixed on the roof of the parking lot and a vehicle-mounted transceiver carried by a vehicle entering the parking lot. The system adopts advanced broadband coding, not only improves the positioning precision, but also can meet the simultaneous positioning and navigation service of more than 1000 indoor parking lot users. The service is actively started by the user when needed, if the user does not start, the system cannot collect any user data, and the used mark is only carried out on the parking space when the user stops in the parking space, so that the privacy of the user is protected.
Compared with the technologies such as ultra-wideband radio frequency, WIFI radio frequency and video image, the ultrasonic positioning system designed by the invention has the advantages of high positioning precision, low cost, strong privacy, no electromagnetic pollution and the like, and is a preferred technology for indoor positioning service.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a vehicle-mounted transceiver of the ultrasonic locating system of the present invention.
Fig. 2 is a block diagram of the transmit GOLD signal generation of the ultrasonic positioning system of the present invention.
Fig. 3 is a signal flow diagram of the parking lot automatic guidance system of the present invention.
Fig. 4 is a schematic diagram of the parking lot automatic guidance system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, 3 and 4, the system includes a reference transceiver, an in-vehicle transceiver, a display processing device and a smartphone. The reference transceiver is fixed on the roof of an indoor parking lot and is a fixed point with a known spatial position, the reference transceiver is in communication with the vehicle-mounted transceiver through radio frequency ultrasonic signals, the vehicle-mounted transceiver is mounted on a vehicle, the vehicle in which the reference transceiver is located is a moving point of which the position coordinate needs to be determined in the space, the display processing device displays the topological structure of the system and the positioning result of the vehicle in real time and determines the number and the position of empty parking spaces according to the positioning position of each vehicle in the parking lot, and therefore the whole system is coordinately controlled. The display processing device displays the information of the vacant parking spaces in the parking lot in real time, displays the movement tracks of the vehicles entering and exiting in real time, dynamically issues parking space guide and exit guide information, and sends the displayed information to the smart phone of the vehicle owner in real time through the mobile phone end application program.
The display processing device comprises a controller, a processor, a display, a radio frequency communication module and the like, wherein the controller controls the processor, the display and the radio frequency communication module to work.
The reference transceiver comprises a controller, a signal generator, an ultrasonic emission probe, a radio frequency communication module and the like, wherein the controller controls the signal generator, the ultrasonic emission probe and the radio frequency communication module to work.
The vehicle-mounted transceiver comprises a controller, a processor, an ultrasonic receiving probe, a radio frequency communication module and the like, wherein the controller controls the processor, the ultrasonic receiving probe and the radio frequency communication module to work.
And the reference transceivers transmit and receive synchronous signals through the radio frequency communication module, and the synchronous signals are radio frequency signals.
The reference transceiver and the vehicle-mounted transceiver can work in two modes: synchronous mode and asynchronous mode.
In the synchronous working mode, the accurate positioning of the target depends on the accurate synchronization of clocks between the reference transceiver and the vehicle-mounted transceiver.
The asynchronous working mode ensures that the accurate positioning of the target does not depend on the accurate synchronization of clocks between the reference transceiver and the vehicle-mounted transceiver on the premise of meeting a certain topological structure.
The reference transceiver and the vehicle-mounted transceiver receive and transmit ultrasonic signals through respective ultrasonic transmitting probes to realize the positioning of the vehicle-mounted transceiver.
And carrying out data processing on the received acoustic signals on the reference transceiver or the vehicle-mounted transceiver, operating a high-precision positioning algorithm, and calculating the space three-dimensional coordinates of the vehicle-mounted transceiver.
The display processing device based on the pc displays the vacant parking spaces in the parking lot in real time, displays the movement tracks of the vehicles entering and exiting in real time, and dynamically issues parking space guide and export guide information.
The implementation method of the parking lot automatic guidance system based on the position service comprises the following steps:
(1) installing more than 4 reference transceivers on an indoor roof according to a specific topological structure, and accurately calibrating the geographic coordinates of each reference transceiver;
(2) each reference transceiver is used for synchronizing by using radio frequency signals and receiving and transmitting ultrasonic signals with the vehicle-mounted transceiver;
(3) processing data and operating a positioning algorithm on a vehicle-mounted transceiver or a display processing device to obtain a positioning result;
(4) the method comprises the steps of displaying the vacant parking spaces in the parking lot in real time on a display processing device, displaying the movement tracks of vehicles entering and exiting in real time, dynamically issuing parking space guide and exit guide information, and sending the displayed information to a smart phone of a vehicle owner in real time through a mobile phone end application program.
Wherein, the positioning algorithm in step (3) adopts a spherical intersection method to determine the coordinates of the vehicle-mounted transceiver, and taking the situation that four reference transceivers are used as an example, the positions of four reference transceivers a, b, c and d on the roof are known as coordinates (x) respectivelyn,yn,zn) N is 1,2,3,4, which forms a square, and the side length of the square can be determined by the measurement precision. And solving the P coordinates (x, y, z) of the ground vehicle-mounted transceiver position.
The following spherical equation set is obtained according to the receiving and transmitting position and the slope distance:
subtracting (1) from (2), (3) and (4), respectively, and obtaining the following formula by using a least square method
Wherein,is an estimate of x and, for the same reason,is an estimated quantity of y that is,is an estimate of z.
Example 1
The reference transceiver and the vehicle-mounted transceiver described in the invention can both transmit and receive radio frequency and ultrasonic signals, so that the positioning of the vehicle-mounted transceiver can be realized by two ways: an upper-transmitting lower-receiving working mode and an upper-transmitting upper-receiving working mode. The lower and upper receiving operation modes are taken as an example.
The number of the vehicle-mounted transceivers for sending down the upper receiving working mode depends on the coding mode adopted by the system, and the coding mode can be determined according to the number of the parking spaces in the parking lot.
The vehicle-mounted transceiver only transmits positioning sound signals, and the data processing and positioning operation are completed by the display processing device.
There are two types of links in the system: a radio frequency link and an acoustic link.
The radio frequency link exists among all nodes such as the reference transceiver, the vehicle-mounted transceiver and the display processing device. The method can be applied to synchronization among a reference transceiver, a vehicle-mounted transceiver and a display processing device, and is also responsible for communication between the reference transceiver and the display processing device, ultrasonic signals transmitted by the vehicle-mounted transceiver are subjected to primary data processing by the reference transceiver and then submitted to the display processing device through a radio frequency link, and the display processing device transmits navigation information of the vehicle-mounted transceiver.
An acoustic link exists between the reference transceiver and the vehicle transceiver and can only transmit ultrasound signals from the vehicle transceiver to the reference transceiver (i.e., down-transmit, up-receive).
The reference transceiver receives the ultrasonic signal of the vehicle-mounted transceiver, records the receiving moment, primarily processes the received ultrasonic signal and submits the ultrasonic signal to the display processing device through the radio frequency link, and the positioning operation of the vehicle-mounted transceiver is realized on the display processing device.
The display processing device displays the vacant parking spaces in the parking lot in real time, displays the movement tracks of the vehicles entering and exiting in real time, and dynamically issues parking space guide and exit guide information.
Example 2
The system can select various signal coding modes, and the Gold sequence is taken as an example for description.
The Gold sequence has the optimal ambiguity function characteristic-pin shape as a broadband pseudo-random noise signal, namely the optimal distance estimation accuracy and speed estimation accuracy, and is independently determined by a signal bandwidth B and a pulse width T respectively, namely:
distance resolution:
speed resolution:
the range resolution can be further improved by increasing the transmit signal bandwidth as long as the ultrasonic transmit transducer frequency response (flat and broadband) is tolerable. The speed resolution is related to the pulse width, the larger the pulse width, the higher the speed resolution. Both the bandwidth and the pulse width can be independently controlled, and the parameter decoupling provides great flexibility for coding design.
The Gold sequence has strong addressing capability, namely different users are distinguished, each user is allocated to a specific pseudo noise sequence, and in order to inhibit co-channel interference caused by the fact that a plurality of users share the same frequency channel, the cross correlation coefficient of the pseudo noise sequences used by the different users is required to be as small as possible. This benefits from the orthogonality of the Gold sequences: there is good correlation between the same Gold sequences, while there is little correlation between different Gold sequences.
If there are two m-sequences, their cross-correlation function is bounded in absolute value and satisfies the following condition:
we refer to this pair of m-sequences as the preferred pair. If the preferred pair of sequences generated by the two m-sequence generators is modulo-added, a new code sequence, i.e., Gold sequence, is generated. A schematic block diagram of a Gold code generator is shown in fig. 2.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An automatic parking lot guiding system based on position service is characterized in that,
comprises a reference transceiver fixed on the roof of an indoor parking lot, a vehicle-mounted transceiver arranged on a main vehicle of the vehicle and a display processing device,
the reference transceiver and the vehicle-mounted transceiver are communicated by adopting radio frequency and ultrasonic signals;
the reference transceiver and the vehicle-mounted transceiver transmit signals to the display processing device for data processing, operation positioning, and calculation of the spatial three-dimensional coordinates of the vehicle where the vehicle-mounted transceiver is located, so that navigation of the target vehicle is realized;
the display processing device displays the information of the vacant parking spaces in the parking lot in real time, displays the movement tracks of the vehicles entering and exiting in real time, dynamically issues parking space guide and exit guide information, and sends the displayed information to the smart phone of the vehicle owner in real time through the mobile phone end application program.
2. The location based service parking lot automatic guidance system according to claim 1, characterized in that: the display processing device comprises a controller, a processor, a display and a radio frequency communication module, wherein the controller controls the processor, the display and the radio frequency communication module to work.
3. The location based service parking lot automatic guidance system according to claim 1, characterized in that: the reference transceiver comprises a controller, a signal generator, an ultrasonic emission probe and a radio frequency communication module, wherein the controller controls the signal generator, the ultrasonic emission probe and the radio frequency communication module to work.
4. The location based service parking lot automatic guidance system according to claim 1, characterized in that: the vehicle-mounted transceiver comprises a controller, a processor, an ultrasonic receiving probe and a radio frequency communication module, wherein the controller controls the processor, the ultrasonic receiving probe and the radio frequency communication module to work.
5. The location based service parking lot automatic guidance system according to claim 3, characterized in that: and the reference transceivers transmit and receive synchronous signals through the radio frequency communication module, and the synchronous signals are radio frequency signals.
6. The location based service parking lot automatic guidance system according to claim 1, characterized in that: the reference transceiver and the vehicle-mounted transceiver operate in a synchronous mode or an asynchronous mode.
7. The location based service parking lot automatic guidance system according to claim 6, characterized in that: synchronization mode, precise positioning of the target relies on accurate synchronization of clocks between the reference transceiver and the vehicle-mounted transceiver.
8. The location based service parking lot automatic guidance system according to claim 6, characterized in that: and in the asynchronous mode, on the premise of meeting a certain topological structure, the accurate positioning of the target does not depend on the accurate synchronization of clocks between the reference transceiver and the vehicle-mounted transceiver.
9. The method for implementing the parking lot automatic guidance system based on the location service as claimed in claim 1, wherein the method comprises the following steps:
(1) installing more than 4 reference transceivers on the roof of a parking lot floor according to a specific topological structure, and accurately calibrating the indoor geographic coordinates of each reference transceiver;
(2) the reference transceiver uses radio frequency signals for synchronization and transmits and receives ultrasonic signals with the vehicle-mounted transceiver;
(3) processing data and operating a positioning algorithm on a display processing device to obtain a positioning result, and accordingly realizing navigation of the target vehicle;
(4) the method comprises the steps of displaying the vacant parking spaces in the parking lot in real time on a display processing device, displaying the movement tracks of vehicles entering and exiting in real time, dynamically issuing parking space guide and exit guide information, and sending the displayed information to a smart phone of a vehicle owner in real time through a mobile phone end application program.
10. The method as claimed in claim 9, wherein the positioning algorithm in step (3) determines coordinates of the vehicle-mounted transceiver by using a spherical intersection method, and in the case of using m reference transceivers, the positions of the m reference transceivers on the roof are known as coordinates (x) respectivelyn,yn,zn) Wherein n is 1,2,3,4 … m, and solving coordinates (x, y, z) of the vehicle-mounted transceiver position P;
the following spherical equation set is obtained according to the receiving and transmitting position and the slope distance:
(x1-x)2+(y1-y)2+(z1-z)2＝r1 2(1)
(x2-x)2+(y2-y)2+(z2-z)2＝r2 2(2)
(x3-x)2+(y3-y)2+(z3-z)2＝r3 2(3)
(x4-x)2+(y4-y)2+(z4-z)2＝r4 2(4)
obtaining the following formula by using least square method
Wherein,is an estimated quantity of x and is,is an estimated quantity of y that is,as an estimate of z, the intermediate parameter A, B is as follows:
wherein n is 1,2,3,4 … m.
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| CN104244183A (en) * | 2014-09-17 | 2014-12-24 | 深圳市航盛电子股份有限公司 | Vehicle positioning system based on Bluetooth beacon |
| CN105427652A (en) * | 2014-09-18 | 2016-03-23 | 上海理工大学 | Automatic parking management system of unmanned parking lot |
| CN105047017A (en) * | 2015-09-01 | 2015-11-11 | 成都智控科技有限公司 | Parking lot path navigation method |
| CN106585626A (en) * | 2015-10-19 | 2017-04-26 | 北京汽车股份有限公司 | Automatic parking system and method |
| CN105243845B (en) * | 2015-10-20 | 2017-11-10 | 昆明理工大学 | It is a kind of based on real-time embedded supersonic vehicle trace monitor device |
| CN105788011A (en) * | 2016-02-25 | 2016-07-20 | 武汉长江通信智联技术有限公司 | System and method for radio frequency positioning based on dedicated short-range communication |
| CN105974420A (en) * | 2016-07-13 | 2016-09-28 | 南京邮电大学 | Ultrasonic positioning system based on reflection cones |
| CN106546972A (en) * | 2016-09-29 | 2017-03-29 | 莫冰 | A kind of ultrasound wave of VR and infrared ray joint distance-measuring equipment and its method |
| CN108665568A (en) * | 2018-05-31 | 2018-10-16 | 汕头市集信网络科技有限公司 | It is a kind of mostly into having more asymmetric managing system of car parking and implementation method |
| CN110070746A (en) * | 2019-04-11 | 2019-07-30 | 华为技术有限公司 | Parking stall Sharing Management method, apparatus and system |
| CN110264776B (en) * | 2019-06-21 | 2021-12-07 | 同济大学 | Intelligent garage management system and garage control method |
| DE102020200130B4 (en) | 2020-01-08 | 2022-12-22 | Volkswagen Aktiengesellschaft | Method, device and computer program for a vehicle for sending a sound-modulated request signal to a traffic infrastructure |
| CN114842665A (en) * | 2021-02-02 | 2022-08-02 | 中国银联股份有限公司 | Method, computer system and readable medium for intelligently managing parking spaces |
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