CN-121982927-A - Method for realizing automatic parking system of unmanned vehicle in underground parking garage

CN121982927ACN 121982927 ACN121982927 ACN 121982927ACN-121982927-A

Abstract

The invention provides a method for realizing an automatic parking system of an unmanned vehicle in an underground parking lot. The system comprises a vehicle node, an entrance device, a guiding device and a parking space device. The system has the following functions of (1) improving the parking space distribution efficiency, automatically acquiring the parking space by an automatic driving vehicle, realizing full automation of parking space distribution without manual intervention in the whole process, (2) providing a parking path, namely automatically acquiring an optimal path reaching the parking space by the vehicle, realizing accurate guidance, avoiding congestion in a field, greatly shortening parking time delay, (3) efficiently leaving the field, namely automatically leaving the field by the vehicle and releasing the occupied parking space, greatly improving the leaving efficiency without manual intervention in the whole process, (4) greatly reducing the operation cost, namely, saving the labor cost by the vehicle parking without manual intervention, (5) realizing digital management, namely, providing key data such as the parking space occupation rate in real time, and realizing the datamation, the intellectualization and the automation of management. The invention has wide application prospect in the intelligent traffic field.

Inventors

WANG XIAONAN
MAO YIHENG
CHEN KEHAN
WANG BINGXIN
YAN HAIYING
ZHU HAIXIA
TIAN JIALING
CHENG YUWEI
LI ZEHONG

Assignees

苏州工学院

Dates

Publication Date: 20260505
Application Date: 20260402

Claims (10)

1. A realization method of an automatic parking system of an unmanned vehicle in an underground parking lot is characterized in that the system comprises vehicle nodes, entrance equipment, guiding equipment and parking space equipment, wherein the parking space equipment sends a parking space message to build a parking space table; For each entry table item of the entry table, the guiding device selects all entry tags to be equal to the parking space table item of the entry table item entry tag, sends a guiding message, the parking space table of the guiding message is composed of all selected parking space table items, the entry tags and the next hop coordinates are respectively equal to the entry tags and the next hop coordinates of the entry table item, and the coordinate set comprises the coordinates of the guiding device, if the guiding device coordinates of the guiding message are equal to the next hop coordinates of the guiding message, the entry tag is selected to be equal to the entry table item of the guiding message entry tag, the next hop coordinates of the guiding message are set as the next hop coordinates of the entry table item, the coordinates of the guiding device are added into the coordinate set of the guiding message, and the guiding message is forwarded as a first element; if the entrance label of the entrance device receiving the guide message is equal to the entrance label of the guide message, creating an information table for each parking space table in the guide message, wherein the parking space label of the information table is equal to the parking space label of the parking space table, and the coordinate set is equal to the coordinate set of the guide message; If the guide equipment does not receive the result message of the parking stall label equal to the detection information parking stall label within the time set by the clock, the guide equipment sends the result message, the use identification bit of the result message is equal to 2, the coordinate set is equal to the reverse coordinate set of the detection information, and the parking stall label is equal to the parking stall label of the detection information; The vehicle node sends a parking message to obtain a parking space label of a parking space device configured in a parking space and a coordinate set reaching the parking space, and the vehicle node sends a leaving message to release the occupied parking space.
2. The method for implementing an automated parking system for an unmanned vehicle in an underground parking garage of claim 1, The use identifier of the target information table item is not equal to 2, the life cycle is greater than 0 and is lower than a preset threshold value, the clock initial value set by the guiding equipment receiving the detection message is equal to t multiplied by n, n is equal to the total number of the parking space table items of the guiding equipment, and t is equal to the maximum delay for forwarding the detection message; If the parking space label of the parking space equipment receiving the detection message is equal to the parking space label of the detection message and can work normally, sending a result message, wherein the use identification bit of the result message is set to 0 or 1 according to the occupation state of the parking space where the parking space equipment is located, the coordinate set is equal to the reverse coordinate set of the detection message, and the parking space label is equal to the parking space label of the parking space equipment; and if the coordinates of the guiding device receiving the result message are equal to the last coordinates in the coordinate set of the result message, deleting the last coordinates from the coordinate set, and forwarding the result message.
3. The method for implementing an automated parking system for an unmanned vehicle in an underground parking garage of claim 1, Each entrance device stores an information table, wherein one information table item comprises a parking space label, a coordinate set, a use identification position and a life cycle, wherein the use identification position has a value of 0,1 or 2,0 indicates that the parking space of the parking space device identified by the parking space label is not allocated, 1 indicates that the parking space of the parking space device identified by the parking space label is allocated, and 2 indicates that the parking space device identified by the parking space label cannot work normally; If the coordinates of the guiding device receiving the detection message are equal to the first coordinates in the coordinate set of the detection message and the number of the coordinates contained in the coordinate set of the detection message is greater than 1, the guiding device deletes the first coordinates from the coordinate set of the detection message and forwards the detection message.
4. A method for implementing an automated parking system for an unmanned vehicle in an underground parking garage, as claimed in any one of claims 1 to 3, In the parking message sent by the vehicle node, the vehicle ID is the own vehicle ID; The method comprises the steps that an entrance device receiving the parking message selects an information table item with a use identification bit equal to 0, the use identification bit of the information table item is set to be 1, an information message is sent, the vehicle ID of the information message is equal to the vehicle ID of the parking message, and a parking space label and a coordinate set are respectively equal to a parking space label and a coordinate set of the information table item; the vehicle ID of the vehicle node that received the information message saves the information message if it is equal to the vehicle ID of the information message.
5. A method for implementing an automated parking system for an unmanned vehicle in an underground parking garage, as claimed in any one of claims 1 to 3, In the departure message sent by the vehicle node, the vehicle ID is the own vehicle ID, and the parking space label and the coordinate set are respectively equal to those in the information message stored by the vehicle node; And the entrance equipment receiving the departure message selects an information table item with a parking space label equal to the parking space label of the departure message, and sets the use identification bit of the information table item to 0.
6. A method for implementing an automated parking system for an unmanned vehicle in an underground parking garage, as claimed in any one of claims 1 to 3, Each guiding device stores an entry table, and an entry table item comprises an entry label, a next-hop coordinate and a life cycle, wherein in an entry message sent by the entry device, the entry label is equal to the own entry label, and the next-hop coordinate is equal to the own coordinate; The guiding device receives the entrance information, creates an entrance table item, the entrance label of the entrance table item is equal to the entrance label of the entrance information, the next hop coordinate is equal to the next hop coordinate of the entrance information, and the guiding device sets the next hop coordinate of the entrance information as the own coordinate and forwards the entrance information.
7. A method for implementing an automated parking system for an unmanned vehicle in an underground parking garage, as claimed in any one of claims 1 to 3, Each guiding device stores a parking space table, and a parking space table item comprises a parking space label, an entrance label and a life cycle; in the parking space information sent by the parking space equipment, the parking space label is equal to the parking space label of the user, and the entrance label is equal to the pre-configured entrance label; the guiding equipment receiving the parking space information creates a parking space table item, the parking space label of the parking space table item is equal to the parking space label of the parking space information, and the entrance label of the parking space table item is equal to the entrance label of the parking space information.
8. A method for implementing an automated parking system for an unmanned vehicle in an underground parking garage, as claimed in any one of claims 1 to 3, Each entrance of the parking lot is provided with an entrance device, the guiding devices are uniformly distributed in the underground parking lot, and each parking space is provided with a parking space device; the vehicle node, the entrance equipment, the guiding equipment and the parking space equipment are all provided with a wireless interface; the entrance device, the guiding device and the parking space device are fixed devices, and the coordinates of the entrance device, the guiding device and the parking space device are unique.
9. A method for implementing an automated parking system for an unmanned vehicle in an underground parking garage, as claimed in any one of claims 1 to 3, Each entrance device is uniquely identified by an entrance tag with a value equal to the coordinates of the entrance device, each guiding device is uniquely identified by a guiding tag with a value equal to the coordinates of the guiding device, and a parking space device is uniquely identified by a parking space tag with a value equal to the coordinates of the parking space device.
10. A method for implementing an automated parking system for an unmanned vehicle in an underground parking garage, as claimed in any one of claims 1 to 3, Each entrance device is provided with a parking space tag set in advance, the entrance device is responsible for distributing parking spaces where the parking space devices marked by each parking space tag in the parking space tag set are located, the parking space devices marked by each parking space tag in the parking space tag set are provided with entrance tags of the entrance device in advance, and the intersection of the parking space tag sets of any two entrance devices is an empty set.

Description

Method for realizing automatic parking system of unmanned vehicle in underground parking garage Technical Field The invention relates to an implementation method, in particular to an implementation method of an automatic parking system of an unmanned vehicle in an underground parking lot. Background At present, an underground parking lot mainly relies on manual parking space allocation and automatic parking space searching, and the mode has the obvious defects that (1) the parking space allocation efficiency is low, manual inquiry, guiding or certificate issuing is needed at an entrance, the waiting time of vehicles is long, and queuing blocking to municipal roads is easy to form in peak period. (2) And the vehicle cannot accurately guide after entering the parking lot, and the vehicle needs to roam in a channel to find a vacant position, so that the congestion and the passing time in the field are increased. (3) The departure is slow, and the manual charging is overlapped with manual guided vehicle taking, so that the departure efficiency of the vehicle is low. (4) The operation cost is high, and entrance directors, in-site patrolling staff and the like are required to be equipped, so that the labor cost is high when a plurality of shifts are used. (5) The digital management cannot be realized, namely key data such as the occupancy rate of the parking space cannot be accurately counted in a manual mode, and the digital management cannot be realized. The invention aims to solve the problems and realize intelligent automatic parking of the unmanned vehicle in the underground parking lot. Disclosure of Invention The invention aims to solve the technical problem of providing a method for realizing an automatic parking system of an unmanned vehicle in an underground parking lot aiming at the defects of the prior art. The invention discloses a realization method of an automatic parking system of an unmanned vehicle in an underground parking lot, which comprises vehicle nodes, entrance equipment, guiding equipment and parking space equipment, wherein the parking space equipment sends a parking space message to build a parking space table; For each entry table item of the entry table, the guiding device selects all entry tags to be equal to the parking space table item of the entry table item entry tag, sends a guiding message, the parking space table of the guiding message is composed of all selected parking space table items, the entry tags and the next hop coordinates are respectively equal to the entry tags and the next hop coordinates of the entry table item, and the coordinate set comprises the coordinates of the guiding device, if the guiding device coordinates of the guiding message are equal to the next hop coordinates of the guiding message, the entry tag is selected to be equal to the entry table item of the guiding message entry tag, the next hop coordinates of the guiding message are set as the next hop coordinates of the entry table item, the coordinates of the guiding device are added into the coordinate set of the guiding message, and the guiding message is forwarded as a first element; if the entrance label of the entrance device receiving the guide message is equal to the entrance label of the guide message, creating an information table for each parking space table in the guide message, wherein the parking space label of the information table is equal to the parking space label of the parking space table, and the coordinate set is equal to the coordinate set of the guide message; If the guide equipment does not receive the result message of the parking stall label equal to the detection information parking stall label within the time set by the clock, the guide equipment sends the result message, the use identification bit of the result message is equal to 2, the coordinate set is equal to the reverse coordinate set of the detection information, and the parking stall label is equal to the parking stall label of the detection information; The vehicle node sends a parking message to obtain a parking space label of a parking space device configured in a parking space and a coordinate set reaching the parking space, and the vehicle node sends a leaving message to release the occupied parking space. The method further comprises the steps of: the use identifier of the target information table item is not equal to 2, the life cycle is greater than 0 and is lower than a preset threshold value, the clock initial value set by the guiding equipment receiving the detection message is equal to t multiplied by n, n is equal to the total number of the parking space table items of the guiding equipment, and t is the maximum time delay for forwarding the detection message; If the parking space label of the parking space equipment receiving the detection message is equal to the parking space label of the detection message and can work normally, sending a result message, wherein the use identification bit of the r