阅读说明：本技术 一种停车场车辆导航系统及导航方法 (Parking lot vehicle navigation system and navigation method ) 是由 胡友德 朱滨 刘钢 孙英豪 曹笈 许锦龙 于 2019-09-24 设计创作，主要内容包括：本发明公开了一种停车场导航系统及导航方法,系统包括移动用户端、毫米波雷达定位模块和停车场管理终端,停车场管理终端与移动用户端通讯连接、与毫米波雷达定位模块电连接；移动用户端位于车辆端,用于显示车辆实时位置、目标车位位置、停车场地图以及导航路线,用户通过移动用户端选择目标停车位,车道上的毫米波雷达定位模块实时采集车辆反射的电磁波数据信息,将其发送至停车场管理终端,停车场管理终端接收并处理毫米波雷达定位模块提供的数据信息,获取车辆位置,形成导航路线发送给移动用户端,用户到达目标停车位置后,系统更新车位信息。本发明定位精度高,实施成本低,能够帮助车辆高效地找到停车位,同时可实现对多个车辆的停车管理。(The invention discloses a parking lot navigation system and a navigation method, wherein the system comprises a mobile user terminal, a millimeter wave radar positioning module and a parking lot management terminal, wherein the parking lot management terminal is in communication connection with the mobile user terminal and is electrically connected with the millimeter wave radar positioning module; the mobile user side is located at the vehicle side and used for displaying the real-time position of the vehicle, the position of a target parking space, a parking lot map and a navigation route, the user selects the target parking space through the mobile user side, the millimeter wave radar positioning module on the lane collects electromagnetic wave data information reflected by the vehicle in real time and sends the electromagnetic wave data information to the parking lot management terminal, the parking lot management terminal receives and processes the data information provided by the millimeter wave radar positioning module, the position of the vehicle is obtained, the navigation route is formed and sent to the mobile user side, and after the user reaches the target parking space, the parking space. The invention has high positioning precision and low implementation cost, can help vehicles to efficiently find parking spaces, and can realize parking management of a plurality of vehicles.)

1. A parking lot navigation system, comprising:

the mobile user side is positioned at the vehicle-mounted end and used for displaying the real-time position of the vehicle, the position of a target parking space, a parking lot map and a navigation route;

the millimeter wave radar positioning module comprises a plurality of millimeter wave radars distributed in a parking lot and is used for collecting data information of electromagnetic waves reflected by a vehicle, wherein the data information comprises information of the real-time position of the vehicle;

and the parking lot management terminal is electrically connected with the millimeter wave radar positioning module, is in communication connection with the mobile user side, and is used for receiving the data of the millimeter wave radar positioning module, processing the data and then sending the processed data to the mobile user side.

2. A parking lot vehicle navigation method based on the parking lot vehicle navigation system according to claim 1, characterized by comprising the steps of:

step 1, a user opens a parking lot map with parking space information and positions displayed through a mobile user side, selects a target parking space position, and the mobile user side sends the target parking space position and vehicle information to a parking management terminal;

step 2, a vehicle enters a parking lot, a parking lot management terminal acquires vehicle information and judges whether the acquired vehicle information is consistent with the vehicle information sent by the mobile user terminal in the step 1, and if so, the parking lot management terminal sends the acquired vehicle information to a millimeter wave radar positioning module;

step 3, the millimeter wave radar positioning module receives vehicle information, simultaneously collects electromagnetic wave data information reflected by the vehicle in real time and sends the electromagnetic wave data information to the parking management terminal;

step 4, the parking lot management terminal acquires the real-time position of the vehicle according to the data information, generates a navigation route according to the real-time position of the vehicle and the position of the target parking space, and sends the real-time position of the vehicle and the navigation route to a mobile user side;

and 5, displaying the real-time position of the vehicle on an interface of the mobile user side, and driving to the target parking space position according to the navigation route.

3. The parking lot vehicle navigation method according to claim 2, wherein the parking lot management terminal in step 4 acquires the real-time position of the vehicle according to the data information, and the specific steps are as follows:

the parking lot management terminal analyzes and preprocesses the data information, and abnormal points and noise are judged and removed according to the Doppler coefficient and the amplitude;

and packaging the data of the position information according to a preset time period: dividing the data information according to time periods, and encapsulating the detection data in one time period to form a data packet, wherein the information of the data packet represents the data information of the current real-time position of the vehicle;

and extracting X coordinate and Y coordinate data in the packaged position information, wherein the X coordinate and the Y coordinate data represent the real-time position of the vehicle.

4. The parking lot vehicle navigation method according to claim 3, wherein the abnormal point and the noise are judged and removed according to the Doppler coefficient and the amplitude, and the specific steps are as follows:

judging static noise according to the Doppler coefficient of the data points in the data information and removing the static noise, specifically, when the Doppler coefficient is zero, the corresponding data points are the static noise;

and judging and removing the dynamic noise according to the amplitude of the data points in the data information, specifically, when the amplitude is not in a preset range, the corresponding data point is the dynamic noise.

5. The parking lot vehicle navigation method according to claim 2, further comprising, after said step 5:

and 6, when the vehicle runs to the target parking space position and stops, the parking lot management terminal updates the empty parking space information, and simultaneously, the position of the vehicle in the parking lot is displayed on the mobile user side interface.

6. The parking lot vehicle navigation method according to claim 5, wherein when the target parking space of the user is occupied by other vehicles, the parking lot management terminal automatically allocates other empty parking spaces according to the real-time updated parking space state, and sends the updated navigation route to the mobile user terminal.

7. The parking lot vehicle navigation method according to claim 2, characterized in that: in step 1, the target parking space position information includes an X coordinate and a Y coordinate of a target parking space center position.

8. The parking lot vehicle navigation method according to claim 2, characterized in that: in step 1, the vehicle information at least includes license plate information.

9. The parking lot vehicle navigation method according to claim 2, characterized in that: in step 3, the electromagnetic wave data information comprises an x coordinate, a y coordinate, an x-direction speed, a y-direction speed, an amplitude, a Doppler coefficient and a time parameter.

Technical Field

The invention relates to vehicle positioning and navigation, in particular to a parking lot vehicle navigation system and a parking lot vehicle navigation method.

Background

With the rapid development of the automobile industry, the problem of urban parking is more and more serious. In order to solve the problem of lack of parking places, indoor parking lots are built in superstores or shopping supermarkets in many cities. Along with the increase of vehicle, the problem of parking garage in design and use gradually exposes, especially, waits to park the vehicle and hardly finds the parking stall in the inside parking area fast, and it is hard to park, and the parking area parking stall also can not make full use of. Therefore, a navigation method/system for a parking lot is desired to solve the above problems.

In some indoor parking lots, especially underground parking lots, it is difficult or even impossible to receive GPS positioning signals, and thus the automatic navigation function cannot be realized by using GPS technology. In the prior art, parking space navigation in a parking lot is performed by using a guide lamp, bluetooth positioning or video and the like, but in the actual implementation process, the following problems exist: the way of the guide lamp cannot dynamically allocate the parking spaces to the users according to the parking space information in real time; the Bluetooth positioning precision is 1-1.5m, and the positioning error is too large to meet the use requirement of a parking lot; the video mode positioning data has large transmission quantity, needs to process image data in large quantity, has small coverage area, is greatly influenced by light rays, and has larger cost.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a vehicle navigation system based on a millimeter wave radar for a parking lot, and the vehicle navigation method is used for realizing high-precision and long-distance vehicle positioning, navigation and monitoring in a complex parking lot.

The technical scheme is as follows: a parking lot navigation system comprising: the mobile user side is positioned at the vehicle-mounted end and used for displaying the real-time position of the vehicle, the position of a target parking space, a parking lot map and a navigation route; the millimeter wave radar positioning module comprises a plurality of millimeter wave radars distributed in a parking lot and is used for collecting data information of electromagnetic waves reflected by a vehicle, wherein the data information comprises information of the real-time position of the vehicle; and the parking lot management terminal is electrically connected with the millimeter wave radar positioning module, is in communication connection with the mobile user side, and is used for receiving the data of the millimeter wave radar positioning module, processing the data and then sending the processed data to the mobile user side.

A parking lot vehicle navigation method based on the parking lot vehicle navigation system according to claim 1, comprising the steps of:

step 1, a user opens a parking lot map with parking space information and positions displayed through a mobile user side, selects a target parking space position, and the mobile user side sends the target parking space position and vehicle information to a parking management terminal;

step 2, a vehicle enters a parking lot, a parking lot management terminal acquires vehicle information and judges whether the acquired vehicle information is consistent with the vehicle information sent by the mobile user terminal in the step 1, and if so, the parking lot management terminal sends the acquired vehicle information to a millimeter wave radar positioning module;

step 3, the millimeter wave radar positioning module receives vehicle information, simultaneously collects electromagnetic wave data information reflected by the vehicle in real time and sends the electromagnetic wave data information to the parking management terminal;

step 4, the parking lot management terminal acquires the real-time position of the vehicle according to the data information, generates a navigation route according to the real-time position of the vehicle and the position of the target parking space, and sends the real-time position of the vehicle and the navigation route to a mobile user side;

and 5, displaying the real-time position of the vehicle on an interface of the mobile user side, and driving to the target parking space position according to the navigation route.

Further, the parking lot management terminal in step 4 acquires the real-time position of the vehicle according to the data information, and the specific steps are as follows:

the parking lot management terminal analyzes and preprocesses the data information, and abnormal points and noise are judged and removed according to the Doppler coefficient and the amplitude;

and packaging the data of the position information according to a preset time period: dividing the data information according to time periods, and encapsulating the detection data in one time period to form a data packet, wherein the information of the data packet represents the data information of the current real-time position of the vehicle;

and extracting X coordinate and Y coordinate data in the packaged position information, wherein the X coordinate and the Y coordinate data represent the real-time position of the vehicle.

Further, the method for judging and removing the outlier and the noise according to the doppler coefficient and the amplitude comprises the following specific steps:

judging static noise according to the Doppler coefficient of the data points in the data information and removing the static noise, specifically, when the Doppler coefficient is zero, the corresponding data points are the static noise;

and judging and removing the dynamic noise according to the amplitude of the data points in the data information, specifically, when the amplitude is not in a preset range, the corresponding data point is the dynamic noise.

Further, after the step 5, the method further comprises:

and 6, when the vehicle runs to the target parking space position and stops, the parking lot management terminal updates the empty parking space information, and simultaneously, the position of the vehicle in the parking lot is displayed on the mobile user side interface.

Furthermore, when the target parking space of the user is occupied by other vehicles, the parking lot management terminal automatically allocates other empty parking spaces according to the real-time updated parking space state, and sends the updated navigation route to the mobile user side.

Further, in step 1, the target parking space position information includes an X coordinate and a Y coordinate of the target parking space center position. The vehicle information at least includes license plate information.

Further, in step 3, the electromagnetic wave data information includes an x coordinate, a y coordinate, an x-direction velocity, a y-direction velocity, an amplitude, a doppler coefficient, and a time parameter.

Compared with the prior art, the invention has the following remarkable advantages: 1. the millimeter wave radar-based parking lot vehicle real-time positioning and parking space navigation functions are realized, the system can adapt to various weather conditions, is little influenced by environmental interference, has high positioning precision (reaching 5cm), and is very suitable for monitoring vehicles in a complicated parking lot. 2. The detection distance of the millimeter wave radar is far, 7-8 radars can cover the whole parking lot range when the parking lot is arranged in a size of 3500 square meters, and the implementation cost is low. 3. The system can display parking space information of the parking lot in real time and has strong human-computer interaction performance. 4. The system can simultaneously realize real-time position display and navigation of a plurality of vehicles, and compared with the prior art, the system can help users to find parking spaces rapidly and is convenient for the management of the background to the vehicles and the parking spaces. 5. The parking lot can be realized only by installing relevant hardware such as a radar in the parking lot and then arranging a communication network for communication, and the application prospect is wide.

Drawings

FIG. 1 is a diagram showing data information of various parts of a vehicle after being received by a millimeter wave radar;

FIG. 2 is a schematic view of a parking lot according to an embodiment of the present invention;

fig. 3 is data information before and after processing by the parking lot management terminal;

fig. 4 is a flow chart of a parking lot vehicle navigation method according to the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the following will clearly and completely describe the technical solution of the present invention with reference to the embodiments and the accompanying drawings.

The invention relates to a parking lot navigation system which comprises a mobile user side, a millimeter wave radar positioning module and a parking lot management terminal. The mobile user terminal is installed on the vehicle and used for displaying the real-time position of the vehicle, the position of a target parking space, a parking lot map and a navigation route. And the parking lot management terminal is in communication connection with the mobile user terminal and is used for receiving the data of the millimeter wave radar positioning module, processing the data and then sending the processed data to the mobile user terminal.

The millimeter wave radar positioning module is used for receiving vehicle information (license plate number) and collecting electromagnetic wave data information reflected by a vehicle in real time, and consists of a plurality of millimeter wave radars distributed in a parking lot, wherein the millimeter wave radars can be fixedly arranged on a wall or a bridge and are 2-3m away from the ground, the directions of radar antennas are preferably right opposite to the middle of a lane, the installation number of the radars is distributed according to the size of the parking lot, so that the radars can cover each lane and each parking space, and at least 1 radar (the coverage range of the radars is 80-100m, if the distance of one lane is more than 100 m) can be respectively arranged at two ends of the lane in the actual installation process; as shown in fig. 2, the parking lot is schematically represented, the area of the parking lot is about 3500 square meters, and a-G can cover the whole parking lot range by 7 radars. The frequency of the millimeter wave radar is preferably 75-85 GHz.

As shown in fig. 4, the specific steps of performing real-time vehicle positioning and vehicle navigation to a target parking space based on the navigation system are as follows:

step 1, a mobile user opens a parking lot map through a mobile phone APP (the map can display the remaining parking space information and the remaining parking space position), and the user selects a target parking space position a (at this moment, the APP background sends the target parking space position a and the license plate information selected by the user to a parking management terminal).

And 2, the vehicle enters the parking lot from the entrance 1, the parking management terminal can acquire the vehicle information through the camera at the entrance 1, meanwhile, the parking lot management system judges whether the vehicle information in the step 1 is consistent with the vehicle information in the step 2, if so, the vehicle information is sent to the millimeter wave radar positioning module, so that the one-to-one correspondence between the vehicle information and the vehicle position is realized, and then the navigation route corresponding to the vehicle is generated according to the current position and the target position. The vehicle information at least comprises a license plate number, and the target parking space position information comprises an X coordinate and a Y coordinate of the center position of the target parking space.

Step 3, the millimeter wave radar positioning module receives vehicle information, and simultaneously, the millimeter wave radar A at the corresponding entrance 1 position acquires electromagnetic wave data information reflected by the vehicle real-time position b, wherein the data information at least comprises real-time position coordinates (x and y coordinates), x-direction speed, y-direction speed, amplitude, Doppler coefficient and time parameters; and the millimeter wave radar positioning module sends the related data information of the real-time position b of the vehicle to the parking management terminal.

And 4, the parking management terminal acquires the real-time position b of the vehicle according to the data information sent by the millimeter wave radar, generates a navigation route with the target parking space position a of the vehicle, and sends the navigation route to the mobile user terminal.

In this step, the parking management terminal firstly analyzes and processes the data information provided by the millimeter wave radar, mainly judges and removes abnormal points and noise according to parameters such as doppler coefficient, amplitude and the like, and specifically includes the following contents:

(1) static point noise is removed according to the Doppler coefficient, due to the fact that the environment of a large parking lot and a small parking lot is complex, the millimeter wave radar can detect information of vehicles and other static reflection data information, but due to the fact that the Doppler coefficient of a static target is 0, static noise data points can be removed firstly according to the Doppler coefficient. The Doppler coefficient of a moving object is positive or negative (the Doppler coefficient is positive when the object is farther from the radar and negative when the object is closer to the radar)

(2) Dynamic noise is removed according to the amplitude value, the parking lot has other moving objects (such as people) besides the moving car, and the amplitude values of the car and the people can be obviously distinguished (the car has large reflection and small absorption on millimeter waves, and the people has small reflection and large absorption on the millimeter waves, so that the millimeter wave amplitude values of the car and the people are completely different, for example, the amplitude value of the car is 4000 at the same position, the amplitude value of the people is only 2000, and the amplitude value range of the car can be set at different positions.

Secondly, packaging the data according to a preset rule; the preset rule specifically refers to dividing the data information according to a time period, for example, the time period may be set to 20ms, and then packaging the 20ms detection data to form a data packet, where the information of the data packet represents the data information of the current real-time position of the vehicle, as shown in fig. 3, the data information before and after processing is shown, data points before processing are relatively cluttered in the figure, data points in a circle after processing represent the position points of the vehicle at the current time, and the data of each time period is connected together to be equivalent to the driving track of the vehicle. And finally, extracting the X coordinate data and the Y coordinate data in the encapsulated data information and combining the data with the position information of the target parking space to form a navigation route. In the running process of the vehicle, the millimeter wave radars arranged on all lanes can detect the position data information of the vehicle in real time and continuously send the real-time position b of the vehicle to the parking management terminal, and the parking management terminal also continuously sends the real-time position b of the vehicle and the optimized navigation route to the mobile user side.

And 5, displaying a navigation route map of the real-time position b of the vehicle and the target vehicle position a on the interface of the mobile user terminal, and enabling the user to drive to the target parking space position a according to the navigation route.

And 6, when the vehicle runs to the target parking space and stops, the parking lot management terminal updates the empty parking space information, and simultaneously, the position of the vehicle in the parking lot is displayed on the APP interface of the mobile user side.

The invention utilizes the radar to monitor the vehicles in real time, and can realize the simultaneous positioning of a plurality of vehicles and the extraction of motion tracks by processing data because the radar data information of different vehicles is different. And when the target parking space position a is occupied by other vehicles, the parking lot management terminal automatically allocates other empty parking spaces to update the navigation route and sends the updated navigation route to the mobile user side.