CN103473947A - Underground space reverse vehicle locating system and method based on fuzzy recognition technology - Google Patents
Underground space reverse vehicle locating system and method based on fuzzy recognition technology Download PDFInfo
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Abstract
The invention discloses an underground space reverse vehicle locating system and method based on a fuzzy recognition technology. The system comprises a PC server, a main control panel, a reverse vehicle locating self-service terminal, a coil inductor, a video recognition license plate camera, a vehicle RFID label reader and a parking space occupying detector, wherein the main control panel and the reverse vehicle locating self-service terminal are respectively connected with the PC server, and the coil inductor, the video recognition license plate camera, the vehicle RFID label reader and the parking space occupying detector are connected with the main control board. The coil inductor is arranged at the front end of an entrance fencing barrier of an underground space parking place, the video recognition license plate camera is arranged at the rear end of the entrance fencing barrier of the underground space parking place, the vehicle RFID label reader is arranged on the driving section of underground space and is matched with an RFID label card on a vehicle entering the parking place, the parking space occupying detector is arranged above a parking space, and the reverse vehicle locating self-service terminal is arranged on an elevator exit of the underground space. By means of multi-sensor information fusion, the system and method have the advantages of being high in robustness, low in cost, high in precision and strong in practicality.
Description
Technical field
The present invention relates to a kind of system and method for Large Underground space parking management, especially relate to a kind of fuzzy recognition technology that utilizes and assist the car owner oppositely to seek the system and method for car in underground space parking lot.
Background technology
In the underground space, the underground space in the public places such as large-scale store, city, large-scale amusement particularly, due to the parking lot of the underground space, generally to build mould rule larger, traffic organization and space layout are comparatively complicated, and the car owner is strange to the parking area in underground space, factors causes the car owner to stop and looks for the car difficulty afterwards.
If the car owner looks for the car inefficiency, not only can cause parking lot integrity service level low, and affect the convenience of car owner's trip.At present, existing parking management system is applied to the parking lot management field of the underground space, in the hope of the parking that improves the underground space, looks for car efficiency.But, general underground space managing system of car parking carries out parking management by modes such as parking access control, the monitoring of stopping, it offers convenience can on the parking management aspect parking management person, make keeper's macroscopic view palm according to overall vehicle parking situation, but can not induce the car owner reasonably to park cars, can not instruct the car owner to pick up the car by optimum way.
And for parking guidance, seek the problem that car is induced demand, common solution is to lay on a large scale the vehicle detecting sensor, the driving trace by the sensor senses vehicle, the position of deriving and stopping.This scheme can solve the problem that the car owner is stopped, looked for the car difficulty to a certain extent, but system stability is subject to the impact of vehicle detecting sensor duty, and the construction cost costliness, and the SNA complexity, safeguard more difficult.
In sum, if underground space parking lot management can reasonably pass through the information Perception means, adopt information processing algorithm, parking information is distributed to and looks for the car owner of car to be necessary.But realizing the above function while, need to take into account the problems such as feasibility, cost input, reliability and precision of system.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of cost is low, precision is high, practical underground space reverse vehicle searching system and method based on fuzzy recognition technology.
For achieving the above object, the present invention is achieved by the following technical solutions:
Underground space reverse vehicle searching system based on fuzzy recognition technology, it is characterized in that, comprise the PC server, the master control borad be communicated with the PC server respectively and oppositely seek the car self-aided terminal, and the coil inductor be communicated with described master control borad respectively, video identification car plate camera, vehicle RFID label reader and parking stall take detecting device, described coil inductor is arranged on underground space Entrance banister front end, described video identification car plate camera is arranged on underground space Entrance banister rear end, described vehicle RFID label reader is arranged on the driving section of the underground space, and it coordinates with the RFID label card on being arranged on the vehicle that enters parking lot, described parking stall take detecting device be arranged on parking stall directly over, describedly oppositely seek the elevator exit that the car self-aided terminal is arranged on the underground space.
Further, be provided with RS485 interface, CAN interface and RJ45 interface on described master control borad, for docking with each awareness apparatus (coil inductor, video identification car plate camera, vehicle RFID label reader and parking stall take detecting device) interface.
In addition, the described operation interface of oppositely seeking the car self-aided terminal is touch-screen.
And the underground space based on fuzzy recognition technology is oppositely sought the car method, it is characterized in that, comprise the following steps:
(1) information acquisition: the temporal information that starts to enter underground space parking lot by the coil inductor collection vehicle, and form the first spatial key node, time and the vehicle license plate number information of underground parking have been entered by video identification car plate camera collection vehicle, and formation second space key node, time and vehicle license plate number information by vehicle RFID label reader collection vehicle through the driving section of the underground space, and form the 3rd spatial key node, take by parking stall the occupied correct time information in parking stall that detecting device gathers its below simultaneously, and form the 4th spatial key node,
(2) information processing: master control borad is collected the described various information of step (1) and is real-time transmitted to the PC server, the above-mentioned information data of described PC server process according to the license board information of vehicle, vehicle elapsed time information is calculated the most probable travel route of vehicle, determine the key node of process in the vehicle parking process, calculate this vehicle by the time of above-mentioned key node simultaneously, then the time of definite key node and the described key node of vehicle process is input in the fuzzy recognizer of parking stall as input variable, generate the parking stall area information that the vehicle most probable is stopped,
(3) parking stall region decision: whether the fuzzy membership of the parking stall area information that the most probable at first generated in determining step (2) is stopped is less than 50%, in this way, returning to step (2) recalculates, as no, the parking stall area information that the most probable further step (2) generated is stopped and the contrast of parking stall occupied information judge that whether parking stall is occupied, if unoccupied, returning to step (2) recalculates, if occupied, complete the computation process in the zone, parking stall of vehicle most probable stop, differentiate and obtain the zone that most probable stops, computation process finishes,
(4) information issue: the parking stall area information that the most probable that step (3) is completed is stopped is published to oppositely to be sought on the car self-aided terminal, for car owner's inquiry.
Wherein, the generative process of described parking stall fuzzy recognizer is:
1. set up parking stall fuzzy discrimination knowledge base: at first each key node in the vehicle parking path is set, and the time reference of the locational awareness apparatus of unified each key node, and each key node is numbered and forms the parking set of paths existed; Simultaneously, divide parking area and parking area is numbered, forming the set of parking target area, in conjunction with after parking set of paths and the set of parking target area, forming parking stall fuzzy discrimination knowledge base;
2. train the parking stall fuzzy recognizer: the parking stall fuzzy discrimination knowledge base of 1. setting up according to step is determined domain and fuzzy set, trains the parking stall fuzzy recognizer in conjunction with routing information, elapsed time information and the final parking area information of historical docking process simultaneously;
3. generate the parking stall fuzzy recognizer: the parking stall fuzzy recognizer of 2. training according to step calculates the degree of membership of domain and fuzzy set, and calculate domain and be subordinate to the rate function with fuzzy set, simultaneously in conjunction with perception information and the parking stall occupied information generation parking stall fuzzy recognizer of new vehicle.
And the computing formula of described fuzzy membership is:
In formula,
A is the parking sub-area territory,
;
N is frequency of training;
T surveys for training the time that vehicle finally rests in a-quadrant;
The invention has the beneficial effects as follows: the present invention is by taking four kinds of sensor combinations utilizations of detecting device by coil inductor, video identification car plate camera, vehicle RFID label reader, parking stall, reasonable Arrangement is on the key node of underground space Vehicle Driving Cycle, utilize the fuzzy discrimination device to determine the parking stall of vehicle parking, and by the PC server analyzing and processing information on backstage, for providing, the car owner oppositely seeks the car service by oppositely seeking the car self-aided terminal, utilize the many heat transfer agents that merge, therefore there is the advantage that robustness is high, cost is low, precision is high, practical.
the accompanying drawing explanation
The theory diagram that Fig. 1 is the underground space reverse vehicle searching system based on fuzzy recognition technology of the present invention;
The application schematic diagram that Fig. 2 is one embodiment of the invention;
Fig. 3 is that the underground space based on fuzzy recognition technology of the present invention is oppositely sought the schematic flow sheet of car method;
The schematic flow sheet of the generative process that Fig. 4 is parking stall of the present invention fuzzy recognizer.
In figure, main Reference numeral implication is:
1, coil inductor 2, video identification car plate camera
3, vehicle RFID label reader 4, parking stall take detecting device
5, master control borad 6, PC server 7, oppositely seek the car self-aided terminal.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is carried out to concrete introduction.
The theory diagram that Fig. 1 is the underground space reverse vehicle searching system based on fuzzy recognition technology of the present invention.
As shown in Figure 1: the underground space reverse vehicle searching system based on fuzzy recognition technology, comprise PC server 6, the master control borad 5 be communicated with PC server 6 respectively and oppositely seek car self-aided terminal 7, and the coil inductor 1 be communicated with described master control borad 5 respectively, video identification car plate camera 2, vehicle RFID label reader 3 and parking stall take detecting device 4, described coil inductor 1 is arranged on underground space Entrance banister front end, described video identification car plate camera 2 is arranged on underground space Entrance banister rear end, described vehicle RFID label reader 3 is arranged on the driving section of the underground space, and it coordinates with the RFID label card on being arranged on the vehicle that enters parking lot, described parking stall take detecting device 4 be arranged on parking stall directly over, describedly oppositely seek the elevator exit that car self-aided terminal 7 is arranged on the underground space.
Described coil inductor 1 for gather coil-induced information, video identification car plate camera 2 for gathering the video identification license board information, vehicle RFID label reader 3 takies detecting device 4 for collection vehicle RFID label information, parking stall and takies detection information for gathering parking stall, the parking information of above-mentioned multi-source is for realizing the trace track and localization of vehicle in the underground space, and based on trace track and localization information, the particular location and the running time that adopt fuzzy discrimination technology identification vehicle to stop in the underground space, provide the direct basis of oppositely seeking car.
And described PC server 6 is as the application service end, for information of vehicles perception, information of vehicles calculate, background support is made in the information of vehicles issue, described 7 of the car self-aided terminals of oppositely seeking are used to the car owner to provide to seek the car service.
The principle of the underground space reverse vehicle searching system based on fuzzy recognition technology is: described coil inductor 1, video identification car plate camera 2, vehicle RFID label reader 3, parking stall takies detecting device 4, above awareness apparatus all links with master control borad 5, master control borad 5 links with backstage PC server 6, PC server 6 with oppositely seek car self-aided terminal 7 and link, awareness apparatus obtains the multi-source information of vehicles, information is uploaded to PC server 6 and carries out fuzzy diagnosis calculating, show the parking stall area information has been stopped and stopped to vehicle whether, for providing, the car owner looks into the car function by oppositely seeking car self-aided terminal 7.
The application schematic diagram that Fig. 2 is one embodiment of the invention.
As shown in Figure 2: in the present embodiment, described coil inductor 1 is arranged on 2 meters of underground space Entrance banister front end, and for the underground space the first key node is set, and registration of vehicle enters the time of underground parking;
Described video identification car plate camera 2 is arranged on, 2 meters of underground space Entrance banister rear ends, and for the underground space the second key node is set, registration of vehicle has entered time, the vehicle license plate number of underground parking;
Described vehicle RFID label reader 3 is arranged on the driving section of underground space inside, specifically be installed on craspedodrome section 5 meter Chu apart from crossing, high 3 meters, and it coordinates with the RFID label card on being arranged on the vehicle that enters parking lot, for the underground space the 3rd key node is set, registration of vehicle is through time, the vehicle license plate number of this key node;
Described parking stall take detecting device 4 be arranged on parking stall directly over place, 3.5 meters high positions, for the underground space the 4th key node is set, record the occupied correct time in this parking stall;
In addition, described master control borad 5 is positioned in Main Control Tank, be provided with RS485 interface, CAN interface and RJ45 interface on it, for docking with each awareness apparatus (coil inductor, video identification car plate camera, vehicle RFID label reader and parking stall take detecting device) interface, it accesses the perception information of each awareness apparatus, and the perception information synchronous driving is arrived to the PC server 6 on backstage.PC server 6 is positioned in the machine room of parking lot, to each information converge, analyzing and processing, issue.In the present embodiment, the described length and width height of oppositely seeking car self-aided terminal 7 is respectively 50cm*30cm*160cm, and its fixed placement is in the elevator exit position of the underground space, and the man-machine interface operation format of touch-screen of take is oppositely sought the car service as the car owner provides.
Fig. 3 is that the underground space based on fuzzy recognition technology of the present invention is oppositely sought the schematic flow sheet of car method.
As shown in Figure 3: and the underground space based on fuzzy recognition technology is oppositely sought the car method, comprises the following steps:
(1) information acquisition: the temporal information that starts to enter underground space parking lot by coil inductor 1 collection vehicle, and form the first spatial key node, time and the vehicle license plate number information of underground parking have been entered by video identification car plate camera 2 collection vehicle, and formation second space key node, time and vehicle license plate number information by vehicle RFID label reader 3 collection vehicle through the driving section of the underground space, and form the 3rd spatial key node, take by parking stall the occupied correct time information in parking stall that detecting device 4 gathers its below simultaneously, and form the 4th spatial key node,
(2) information processing: master control borad 5 is collected the described various information of step (1) and is real-time transmitted to PC server 6, described PC server 6 is processed above-mentioned information datas and according to the license board information of vehicle, vehicle elapsed time information is calculated the most probable travel route of vehicle, determine the key node of process in the vehicle parking process, calculate this vehicle by the time of above-mentioned key node simultaneously, then the time of definite key node and the described key node of vehicle process is input in the fuzzy recognizer of parking stall as input variable, generate the parking stall area information that the vehicle most probable is stopped,
(3) parking stall region decision: whether the fuzzy membership of the parking stall area information that the most probable at first generated in determining step (2) is stopped is less than 50%, in this way, returning to step (2) recalculates, as no, the parking stall area information that the most probable further step (2) generated is stopped and the contrast of parking stall occupied information judge that whether parking stall is occupied, if unoccupied, returning to step (2) recalculates, if as occupied, complete the computation process in the zone, parking stall of vehicle most probable stop, differentiate and obtain the zone that most probable stops, computation process finishes,
(4) information issue: the parking stall area information that the most probable that step (3) is completed is stopped is published to oppositely to be sought on car self-aided terminal 7, for car owner's inquiry.
The schematic flow sheet of the generative process that Fig. 4 is parking stall of the present invention fuzzy recognizer.
As shown in Figure 4: the generative process of described parking stall fuzzy recognizer is:
1. set up parking stall fuzzy discrimination knowledge base: at first each key node in the vehicle parking path is set, and the time reference of the locational awareness apparatus of unified each key node, time error is not more than 10
-6s, and each key node is numbered and forms the parking set of paths existed, these numberings by certain, reasonably order extracts some numbering permutation and combination, be vehicle enter underground parking may need through route, the permutation and combination of route is formed to set
; Simultaneously, divide parking area and parking area is numbered, forming the set of parking target area, these unique number are the fuzzy set of fuzzy diagnosis
, in conjunction with after parking set of paths and the set of parking target area, forming parking stall fuzzy discrimination knowledge base, the key node sequence number that described parking stall fuzzy discrimination knowledge base comprises the vehicle process, experience the consuming time of each key node
, and the parking area number value A of final vehicle parking;
2. train the parking stall fuzzy recognizer: the parking stall fuzzy discrimination knowledge base of 1. setting up according to step is determined domain and fuzzy set
, train the parking stall fuzzy recognizer in conjunction with routing information, elapsed time information and the final parking area information of historical docking process simultaneously;
3. generate the parking stall fuzzy recognizer: the parking stall fuzzy recognizer of 2. training according to step calculates the degree of membership of domain and fuzzy set, and described fuzzy set is the parking area number value A that vehicle is selected, and domain is the required time scope in this Route situation:
, and calculate domain and be subordinate to the rate function with fuzzy set, perception information and the parking stall occupied information in conjunction with new vehicle generates the parking stall fuzzy recognizer simultaneously, differentiates most probable parking stall most, and formation parking area number value.
And the computing formula of described fuzzy membership is:
In formula,
for fuzzy set, several zonule set of dividing in parking lot;
A is the parking sub-area territory,
;
N is frequency of training;
T surveys for training the time that vehicle finally rests in a-quadrant;
According to degree of membership matching subordinate function, constantly train the parking stall fuzzy recognizer according to Statistics Method, judge the result of fuzzy judgement according to the subordinate function criterion, according to input and the output requirement of parking stall fuzzy recognizer, carry out the vehicle parking area judging, the input vehicle route
, vehicle is through the time increment of each key node of this route, output fuzzy judgement A as a result, and means the zone, parking stall that the vehicle most probable is stopped.
And the present invention is based on multi-source vehicle cognition technology, obtain the vehicle elapsed time of different key nodes and the information of process vehicle, set up information of vehicles, vehicle through the time of key node and the fuzzy diagnosis relation between parking stall, empirical data by several vehicles is trained the fuzzy diagnosis decision device, improve the parking space information automatic discrimination accuracy of vehicle, and the parking space of automatically identifying based on system, utilization is oppositely sought the car self-aided terminal and is sought the car tutorial message for car owner's issue.
The present invention is illustrated according to above-described embodiment, should be appreciated that above-described embodiment does not limit the present invention in any form, and all employings are equal to replaces or technical scheme that the equivalent transformation mode obtains, within all dropping on protection scope of the present invention.
Claims (6)
1. the underground space reverse vehicle searching system based on fuzzy recognition technology, it is characterized in that, comprise the PC server, the master control borad be communicated with the PC server respectively and oppositely seek the car self-aided terminal, and the coil inductor be communicated with described master control borad respectively, video identification car plate camera, vehicle RFID label reader and parking stall take detecting device, described coil inductor is arranged on underground space Entrance banister front end, described video identification car plate camera is arranged on underground space Entrance banister rear end, described vehicle RFID label reader is arranged on the driving section of the underground space, and it coordinates with the RFID label card on being arranged on the vehicle that enters parking lot, described parking stall take detecting device be arranged on parking stall directly over, describedly oppositely seek the elevator exit that the car self-aided terminal is arranged on the underground space.
2. the underground space reverse vehicle searching system based on fuzzy recognition technology according to claim 1, is characterized in that, is provided with RS485 interface, CAN interface and RJ45 interface on described master control borad.
3. the underground space reverse vehicle searching system based on fuzzy recognition technology according to claim 1, is characterized in that, the described operation interface of oppositely seeking the car self-aided terminal is touch-screen.
4. the underground space based on fuzzy recognition technology is oppositely sought the car method, it is characterized in that, comprises the following steps:
(1) information acquisition: the temporal information that starts to enter underground space parking lot by the coil inductor collection vehicle, and form the first spatial key node, time and the vehicle license plate number information of underground parking have been entered by video identification car plate camera collection vehicle, and formation second space key node, time and vehicle license plate number information by vehicle RFID label reader collection vehicle through the driving section of the underground space, and form the 3rd spatial key node, take by parking stall the occupied correct time information in parking stall that detecting device gathers its below simultaneously, and form the 4th spatial key node,
(2) information processing: master control borad is collected the described various information of step (1) and is real-time transmitted to the PC server, the above-mentioned information data of described PC server process according to the license board information of vehicle, vehicle elapsed time information is calculated the most probable travel route of vehicle, determine the key node of process in the vehicle parking process, calculate this vehicle by the time of above-mentioned key node simultaneously, then the time of definite key node and the described key node of vehicle process is input in the fuzzy recognizer of parking stall as input variable, generate the parking stall area information that the vehicle most probable is stopped,
(3) parking stall region decision: whether the fuzzy membership of the parking stall area information that the most probable at first generated in determining step (2) is stopped is less than 50%, in this way, returning to step (2) recalculates, as no, the parking stall area information that the most probable further step (2) generated is stopped and the contrast of parking stall occupied information judge that whether parking stall is occupied, if unoccupied, returning to step (2) recalculates, if as occupied, complete the computation process in the zone, parking stall of vehicle most probable stop, differentiate and obtain the zone that most probable stops, computation process finishes,
(4) information issue: the parking stall area information that the most probable that step (3) is completed is stopped is published to oppositely to be sought on the car self-aided terminal, for car owner's inquiry.
5. the underground space based on fuzzy recognition technology according to claim 4 is oppositely sought the car method, it is characterized in that, the generative process of described parking stall fuzzy recognizer is:
1. set up parking stall fuzzy discrimination knowledge base: at first each key node in the vehicle parking path is set, and the time reference of the locational awareness apparatus of unified each key node, and each key node is numbered and forms the parking set of paths existed; Simultaneously, divide parking area and parking area is numbered, forming the set of parking target area, in conjunction with after parking set of paths and the set of parking target area, forming parking stall fuzzy discrimination knowledge base;
2. train the parking stall fuzzy recognizer: the parking stall fuzzy discrimination knowledge base of 1. setting up according to step is determined domain and fuzzy set, trains the parking stall fuzzy recognizer in conjunction with routing information, elapsed time information and the final parking area information of historical docking process simultaneously;
3. generate the parking stall fuzzy recognizer: the parking stall fuzzy recognizer of 2. training according to step calculates the degree of membership of domain and fuzzy set, and calculate domain and be subordinate to the rate function with fuzzy set, simultaneously in conjunction with perception information and the parking stall occupied information generation parking stall fuzzy recognizer of new vehicle.
6. oppositely seek the car method according to the described underground space based on fuzzy recognition technology of claim 4 or 5, it is characterized in that, the computing formula of described fuzzy membership is:
In formula,
A is the parking sub-area territory,
;
N is frequency of training;
T surveys for training the time that vehicle finally rests in a-quadrant;
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| CN107134172A (en) * | 2017-07-12 | 2017-09-05 | 嘉兴寰知科技有限公司 | Parking monitors identifying system and its method |
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