CN102800212A - Intelligent parking system in environment of internet of things - Google Patents
Intelligent parking system in environment of internet of things Download PDFInfo
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- CN102800212A CN102800212A CN2012102616894A CN201210261689A CN102800212A CN 102800212 A CN102800212 A CN 102800212A CN 2012102616894 A CN2012102616894 A CN 2012102616894A CN 201210261689 A CN201210261689 A CN 201210261689A CN 102800212 A CN102800212 A CN 102800212A
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Abstract
Along with the development of an internet of things as well as the maturity and productization of supporting technologies of the internet of things, the construction of low-cost intelligent parking systems in an environment of the internet of things becomes possible. The invention discloses an intelligent parking system in an environment of an internet of things. The intelligent parking system comprises a wireless sensing unit, an intelligent node unit, a scheduling management unit and a humanized interface unit, wherein the scheduling management unit can be completely replaced by the intelligent node unit when the management of parking stall resources and road resources of the scheduling management unit, the optimization of vehicle running routes and the optimization of parking lot operation schemes can be dispersed to intelligent nodes to be completed in a cooperative manner. The system is capable of completely replacing manual parking and taking, is low in construction cost and flexible in building, and is capable of improving the parking stall utilization rate, the parking efficiency as well as the safety and comfort level of people in a parking process.
Description
Technical background
The invention belongs to intelligent parking system field, the intelligent parking system under particularly a kind of environment of internet of things.
Background technology
Along with the propelling of urbanization construction and the increase of city automobile recoverable amount; The large parking lot increasing demand increases; Especially the urban district is in the process of expansion of suburb; Be equipped with large parking lot in the big newly-built airports of vehicle density, station, subway station, large-scale shopping square, residential area, tourist attractions etc., inner parking stalls, these parking lots are numerous, the track is complicated, labor management park that order is relatively more chaotic, the efficient of parking is low; And vehicle collides with easily, scratches, and occupies the significant proportion of non-safety traffic hazard.
To As-Is; On the one hand, the automobile services product of having developed out is sought truck system and automatic parking backup system like parking guidance system, intelligence; Although just realize vehicle location and the automatic regulatory function of attitude in several meters scopes, also greatly reduce the accident rate that vehicle collides with; Then through showing in real time the idle parking stall number in each zone, parking lot, guide people finds the parking stall more orderlyly in the parking guidance system, but the people still can not free from the uninteresting process of parking, and in case vacant parking stall density hour still block up easily.On the other hand; The full-automatic parking lot of having developed out can replace the people to park and pick up the car fully; But be limited to the wherein high construction cost of electro-hydraulic kinematic train, this type of parking lot generally has only a hundreds of parking stall and will customize according to applied environment, is not suitable for scale of mass production.
At present, environment of internet of things makes up down intelligent cheaply parking system has become possibility, can replace the people to park fully and picks up the car, and reason is two aspects: on the one hand, and the maturation of Internet of Things support technology and commercialization.1. wireless network communication protocol reaches its maturity, has stipulated the function of Physical layer and data link layer like low-cost wireless procotol IEEE802.15.4, and the ZigBee protocol stack has then been realized network layer, basic software and wireless network driver.2. the maturation of basic software and hardware technology.Based on popularizing and embedded OS perfect of the micro-control unit of radio network interface, sensor, promoted the volume production and the commercialization of compute node cheaply.Thus, the user can be set up large-scale wireless sensing net cheaply fast, and the application of having quickened Internet of Things transforms.Internet of Things is the basis with the wireless sense network, through object-object link, cooperate optimization and intelligent decision, be intelligentized object (being intelligent node) thereby make compute node cheaply.On the other hand; The automatic control technology of vehicle reaches its maturity; Red flag HQ3 pilotless automobile highway success of the test to Wuhan like National University of Defense technology's independent development from Changsha; The Goog1e pilotless automobile has carried out more than 20 ten thousand kilometers automatic test-drive on the street, these are laid a good foundation for the automatic control that realizes vehicle slow running in the process of parking.
Summary of the invention
The present invention is directed to As-Is; Proposed the intelligent parking system under a kind of environment of internet of things, this system can replace the people to park fully and pick up the car, and the construction cost of system is low; Set up flexibly, can improve the parking stall utilization factor and park the security of the efficient and the process of parking and people's comfort level.
The block diagram of the intelligent parking system under a kind of environment of internet of things that the present invention proposes such as Fig. 1 of accompanying drawing comprise: wireless sensing unit 1, and intelligent node unit 2, management and running unit 3, humanization interface unit 4,
Wireless sensing unit is installed on the parking stall in parking lot, and wireless sensing unit links to each other with the intelligent node unit, and wireless sensing unit detects the parking stall and whether stops to have information of vehicles, and the parking space information that detects is sent to the intelligent node unit.
The intelligent node unit: each intelligent node unit all is equipped with wireless communication module, and intelligent node is connected with each other between the unit.The adjacent wireless sensing unit of some numbers is formed a zone, and each zone is by an intelligent node Single Component Management.Vehicle is furnished with wireless vehicle mounted communication module, and the intelligent node unit links to each other with moving vehicle in the parking lot through wireless network.The intelligent node unit links to each other with the management and running unit.The intelligent node unit stops having the information of vehicle, the positional information of moving vehicle to issue the management and running unit parking stall, and the order of the traffic order of receiving scheduling administrative unit, resolution scheduling, with the automatic driving process of the mode controlled motion vehicle of close-loop feedback.
The management and running unit: the management and running unit links to each other with the humanization interface unit.Parking stall resource and path resource in the unified management parking lot, management and running unit, the optimization of realization vehicle running path and parking lot operation scheme optimization.
The humanization interface unit: the user links to each other with the humanization interface unit; The humanization interface unit receives user's demand information; User's request information is sent to the management and running unit, and the humanization interface unit will send to the user automatically to the performance of user's request information.
Especially, described wireless sensing unit links to each other with the intelligent node unit, can link to each other through cable network or wireless network mode.
Especially, described intelligent node is connected with each other between the unit, can link to each other through cable network or wireless network mode.
Especially, described intelligent node unit links to each other with the management and running unit, can link to each other through cable network or wireless network mode.
Especially, described intelligent node unit comprises with the automatic driving process of the mode controlled motion vehicle of close-loop feedback: the real-time detection of moving vehicle position, the calculating of moving vehicle real time control command and sending of moving vehicle real time control command.
The real-time detection of moving vehicle position comprises: the intelligent node unit is collected the wireless signal that the wireless vehicle mounted communication module of moving vehicle is sent in real time; Utilize the signal intensity deixis that provides in the wireless communication IEEE802.15.4 standard; Estimate distance between the two by signal intensity, the distance estimations value through a plurality of intelligent nodes and the position coordinates of intelligent node estimate the position of sports car.
The calculating of moving vehicle real time control command comprises: the application network control method; Take all factors into consideration uncertain network delay, control system precision index and become the sampling period; The equivalence of moving vehicle real-time control problem is the control problem that time lag changes, uses the instruction of STOCHASTIC CONTROL method calculation control again.
Especially; The method of described dividing region comprises: take all factors into consideration the Cost And Performance demand of each unit in communication capacity and the intelligent parking system of communication energy consumption indicators, intelligent node unit of communication distance index, the wireless network of wireless network, the wireless sensing unit number in the number that adopts the optimization method zoning and each zone.
Especially; The optimization of the parking stall resource of management and running unit and the management of path resource and vehicle running path and parking lot operation scheme optimization can be distributed to the collaborative completion of each intelligent node, and then the management and running unit can be replaced by the intelligent node unit fully.
Especially, integrated safety practice comprises in the humanization interface unit: biometric apparatus, coded lock Authentication devices.
Description of drawings
The block diagram of the intelligent parking system under a kind of environment of internet of things that Fig. 1 the present invention proposes
The synoptic diagram of the intelligent parking system under a kind of environment of internet of things that Fig. 2 embodiment of the invention provides
Embodiment
Provide embodiment of the present invention below in conjunction with accompanying drawing 2, but the present invention is not limited to following embodiment.
Internet of Things intelligence parking system of the present invention comprises: shown in accompanying drawing 2, and wireless sensing unit 13,14; Intelligent node unit 6,8,16; Management and running unit 9; Humanization interface unit 12.
The principle of work of Internet of Things intelligence parking system is:
Wireless sensing unit: each parking stall 7 is equipped with a wireless sensing unit; Wireless sensing unit 13 links to each other with intelligent node unit 16 through wireless network 15; The parking stall sky is accounted for information (detect the parking stall and whether stop to have vehicle) send to the intelligent node unit; It is " accounting for " that the sky that returns like the wireless sensing unit of parking stall 5 accounts for information, and it is " sky " that the sky that the wireless sensing unit of parking stall 7 returns accounts for information.The realization of wireless sensing unit comprises ultrasonic sensor and image recognition sensor.
The intelligent node unit: each intelligent node unit all is equipped with wireless communication module; The adjacent wireless sensing unit of some numbers is formed a zone 17; Each zone is by an intelligent node Single Component Management; The method of dividing region comprises: take all factors into consideration the Cost And Performance demand of each unit in communication capacity and the intelligent parking system of communication energy consumption indicators, intelligent node unit of communication distance index, the wireless network of wireless network, the wireless sensing unit number in the number that adopts the optimization method zoning and each zone.The intelligent node unit links to each other through wireless network each other.Vehicle is furnished with wireless vehicle mounted communication module, and the intelligent node unit links to each other with moving vehicle in the parking lot through wireless network 3, and intelligent node 8 passes through wireless network and links to each other with the management and running unit.The management and running unit is issued with the positional information that the parking stall sky of collecting accounts for information, moving vehicle in the intelligent node unit, and the order of the traffic order of receiving scheduling administrative unit, resolution scheduling, with the automatic driving process of the mode controlled motion vehicle of close-loop feedback.The intelligent node unit comprises with the automatic driving process of the mode controlled motion vehicle of close-loop feedback: the real-time detection of moving vehicle position, the calculating of moving vehicle real time control command and sending of moving vehicle real time control command.The real-time detection of moving vehicle position comprises: the intelligent node unit is collected the wireless signal that the wireless vehicle mounted communication module of moving vehicle is sent in real time; Utilize the signal intensity deixis that provides in the wireless communication IEEE802.15.4 standard; Estimate distance between the two by signal intensity; So,, just can estimate the position of moving vehicle through the estimated value of several intelligent nodes and the position coordinates of intelligent node.The calculating of moving vehicle real time control command comprises: the application network control method; Take all factors into consideration uncertain network delay, control system precision index and become the sampling period; The equivalence of moving vehicle real-time control problem is the control problem that time lag changes, uses the instruction of STOCHASTIC CONTROL method calculation control again.The hardware implementation mode of intelligent node unit comprises: the chip of micro-control unit, FPGA, customization.The hardware of wireless communication module is realized comprising: discrete wireless communication chips and the IP kernel that is integrated in the chip internal of customization.
The management and running unit: the management and running unit links to each other with the humanization interface unit with the intelligent node unit.Connection 10 between management and running unit 9 and the humanization interface unit 12 can be wired connection or wireless connection.The demand of parking and pick up the car that management and running cell processing humanization interface unit is sent is parked and the demand of picking up the car comprises parking of immediately park and pick up the car demand and reservation and picks up the car demand.For parking and pick up the car demand immediately; Parking stall resource and path resource in the unified management parking lot, management and running unit; And the position of the barrier in the consideration parking lot 2, optimize and rational vehicle running path, and the vehicle running path of optimizing is sent to the intelligent node unit; For the demand of parking and pick up the car of subscribing, whether the management and running unit can satisfy according to the reservation demand of the current operation scheme analysis user in parking lot.The management and running unit also writes down the parking stall resource and the path resource behaviour in service in parking lot, utilizes statistical multivariate data analysis method to obtain the best operation scheme in parking lot.The hardware implementation mode of management and running unit comprises: the computing machine of high performance industrial control computer, workstation, PC and customization.The optimization of the parking stall resource of management and running unit and the management of path resource and vehicle running path and parking lot operation scheme optimization can be distributed to the collaborative completion of each intelligent node, and the management and running unit can be replaced by intelligent node fully.
The humanization interface unit: the user is mutual through the management and running unit of humanization interface unit and intelligent parking system; The humanization interface unit can receive the parking of user and the demand of picking up the car, and the process of parking and pick up the car in the parking lot is accomplished by Internet of Things intelligence parking system.User's the demand of parking is included in automobile and arrives before the Entrance parking stall subscription information etc. of issuing the humanization interface unit through Wireless Telecom Equipment; User's the demand of picking up the car comprises that the user issues the information etc. of picking up the car of humanization interface unit before through Wireless Telecom Equipment at the arrival EXIT.The humanization interface unit will send to the user automatically to the performance of user's request information; Like the demand information of subscribing for the user parking stall; Whether the management and running unit can satisfy according to the reservation demand of the current operation scheme analysis user in parking lot; Demand will be subscribed in the management and running unit, and whether satisfiable information sends to the humanization interface unit, and whether the humanization interface unit demand of will subscribing automatically can satisfy information sends to the user, informs whether the reservation of user parking stall successfully waits information.Safety practice integrated in the humanization interface unit comprises: biometric apparatus, coded lock Authentication devices.The humanization interface unit hardware realizes comprising: fixed interactive device such as touch-screen, PC etc., and can with the mutual fixed and portable customization interactive device of Wireless Telecom Equipment.
A kind of environment of internet of things that the present invention proposes intelligent parking system down can replace the people to park fully and picks up the car, and the construction cost of system is low, sets up flexibly, can improve the parking stall utilization factor and the park security of the efficient and the process of parking and people's comfort level.
The course of work of Internet of Things intelligence parking system embodiment is:
The user arrives the Entrance place, automobile 1 open wireless vehicle-carrying communication module, and the user sends the demand of parking immediately to humanization interface unit 12, begins to park.Humanization interface unit 12 is transmitted to management and running unit 9 with user's the demand of parking immediately; Management and running cell processing user's the demand of parking immediately; Notify nearest intelligent node unit to be connected with wireless vehicle mounted communication module, wireless vehicle mounted communication module is connected to the intelligent node unit 6 nearest with automobile through network 3.The automobile 20 of another porch is adopted to use the same method the demand of parking is passed to the management and running unit.
The management and running unit can the Unified Treatment automobile 1 with the demand of parking of automobile 20.The management and running unit can confirm that through the unified of parking stall resource in the parking lot and path resource optimized the parking stall of parking of automobile 1 and automobile 20 is respectively parking stall 7 and parking stall 4.The management and running unit adopts the paths planning method of moving vehicle simultaneously; Draw the driving path of optimization; Optimize the shortest the parking the time that index comprises the No Assets conflict; With automobile 20 is example, the driving path 19 that the management and running unit is optimized, and the driving path of optimization sends the intelligent node unit to the form of certain characteristics positional information 18; Feature locations information comprises the position that obviously turns in the vehicle traveling process and the value of steering angle, is counterclockwise 35 degree like feature locations information 18 place's steering angles.
Going automatically of the feature locations information Control automobile that the intelligent node unit is sent according to the management and running unit: the steering angle requirement by the management and running unit when feature locations turns to, not when feature locations then along straight-line travelling.Final automobile 20 arrival parking stalls 4, completion is parked.
When picking up the car, send the demand of picking up the car from the user and leave to automobile 11 process in parking lot, the course of work of each unit of intelligent parking system is similar with the process of parking.Final automobile 11 arrives the EXIT place, and automobile is given the user, and the wireless network of intelligent parking system breaks off with automobile 11 automatically and being connected, and completion is picked up the car.
Claims (7)
1. the intelligent parking system under the environment of internet of things is characterized in that: comprising: wireless sensing unit, and the intelligent node unit, the management and running unit, the humanization interface unit,
Wireless sensing unit is installed on the parking stall in parking lot, and wireless sensing unit links to each other with the intelligent node unit, and wireless sensing unit detects the parking stall and whether stops to have information of vehicles, and the parking space information that detects is sent to the intelligent node unit;
The intelligent node unit: each intelligent node unit all is equipped with wireless communication module; Intelligent node is connected with each other between the unit; The adjacent wireless sensing unit of some numbers is formed a zone; Each zone is by an intelligent node Single Component Management; Vehicle is furnished with wireless vehicle mounted communication module, and the intelligent node unit links to each other with moving vehicle in the parking lot through wireless network, and the intelligent node unit links to each other with the management and running unit; The intelligent node unit stops having the information of vehicle, the positional information of moving vehicle to issue the management and running unit parking stall, and the order of the traffic order of receiving scheduling administrative unit, resolution scheduling, with the automatic driving process of the mode controlled motion vehicle of close-loop feedback;
The management and running unit: the management and running unit links to each other with the humanization interface unit, parking stall resource and path resource in the unified management parking lot, management and running unit, the optimization of realization vehicle running path and parking lot operation scheme optimization;
The humanization interface unit: the user links to each other with the humanization interface unit, and the humanization interface unit receives user's demand information, and user's request information is sent to the management and running unit, and the humanization interface unit sends to the user automatically with the performance of user's request.
2. intelligent parking system according to claim 1; It is characterized in that: the optimization of the parking stall resource of management and running unit and the management of path resource and vehicle running path and parking lot operation scheme optimization can be distributed to the collaborative completion of each intelligent node, and the management and running unit can be replaced by the intelligent node unit fully.
3. intelligent parking system according to claim 1 is characterized in that: described intelligent node unit comprises with the automatic driving process of the mode controlled motion vehicle of close-loop feedback: the real-time detection of moving vehicle position, the calculating of moving vehicle real time control command and sending of moving vehicle real time control command:
The real-time detection of moving vehicle position comprises: the intelligent node unit is collected the wireless signal that the wireless vehicle mounted communication module of moving vehicle is sent in real time; Utilize the signal intensity deixis that provides in the wireless communication IEEE802.15.4 standard; Estimate distance between the two by signal intensity, the distance estimations value through a plurality of intelligent nodes and the position coordinates of intelligent node estimate the position of sports car;
The calculating of moving vehicle real time control command comprises: the application network control method; Take all factors into consideration uncertain network delay, control system precision index and become the sampling period; The equivalence of moving vehicle real-time control problem is the control problem that time lag changes, uses the instruction of STOCHASTIC CONTROL method calculation control again.
4. intelligent parking system according to claim 1; It is characterized in that: the method for described dividing region comprises: take all factors into consideration the Cost And Performance demand of each unit in communication capacity and the intelligent parking system of communication energy consumption indicators, intelligent node unit of communication distance index, the wireless network of wireless network, the wireless sensing unit number in the number that adopts the optimization method zoning and each zone.
5. intelligent parking system according to claim 1 is characterized in that: safety practice integrated in the humanization interface unit comprises: biometric apparatus, coded lock Authentication devices.
6. intelligent parking system according to claim 1; It is characterized in that: described wireless sensing unit links to each other with the intelligent node unit; Can link to each other through cable network or wireless network mode, described intelligent node is connected with each other between the unit, can link to each other through cable network or wireless network mode; Described intelligent node unit links to each other with the management and running unit, can link to each other through cable network or wireless network mode.
7. intelligent parking system according to claim 1 is characterized in that: the hardware implementation mode of intelligent node unit comprises: the chip of micro-control unit, FPGA, customization.
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