WO2016165147A1 - Ultra-wideband wireless positioning technology-based parking lot guiding system and guiding method - Google Patents

Abstract

An ultra-wideband wireless positioning technology-based parking lot guiding system and guiding method. The parking lot guiding system comprises an electronic license plate (1) affixed onto a vehicle and transmitting an ultra-wideband pulse signal; at least three interconnected and synchronized base stations (2) located in a parking lot and used for receiving the ultra-wideband pulse signal and uploading the moments at which the ultra-wideband pulse signal is received; a parking space guiding server (3) used for generating real-time coordinates of the electronic license plate (1) on the basis of a positioning algorithm and the moments uploaded by each base station (2) at which the ultra-wideband signal is received, calling an affixing position and a model parameter of the vehicle, producing position coordinates of the vehicle, and guiding, on the basis of the model parameter of the vehicle, the position coordinates of the vehicle, and parking space marking coordinates of a vacant parking space, the vehicle to drive into the vacant parking space. An ultra-wideband wireless communication technology is employed for signal transmission between the base stations (2) and the electronic license plate (1) in the parking lot guiding system, thus allowing high-precision positioning of the electronic license plate (1) moving at a high speed.

Description

Parking lot guiding system and guiding method based on ultra-wideband wireless positioning technology Technical field

The invention belongs to the field of parking lot management, and particularly relates to a parking lot guiding system and a guiding method based on ultra-wideband wireless positioning technology.

Background technique

In recent years, the social economy has developed rapidly, and the number of urban vehicles has continued to grow rapidly. Parking problems have become common in large and medium-sized cities, and there is a growing trend. In order to alleviate the parking problem and save time for vehicles to enter and exit the parking lot, the parking guidance system uses indoor positioning to guide the vehicle to the free parking space.

However, the existing parking lot guidance system cannot accurately locate the vehicle in the parking lot, has insufficient positioning stability, and cannot guide the vehicle to a suitable free parking space according to the model parameters of the vehicle. The reason is that the existing parking lot guidance system generally adopts the following three positioning methods, which are detailed as follows:

The first type of positioning adopts GPS positioning. Since GPS positioning is global positioning, it will be affected by various factors, and the positioning accuracy is low. Therefore, the parking guidance system using GPS positioning cannot be used in the parking lot. Vehicles for high precision positioning;

The second positioning method uses image recognition to locate the vehicle. Since the image is susceptible to light and dark, the image data is limited by the camera coverage of the parking lot. Therefore, it is often difficult to identify the vehicle in the image in the background, so High-precision positioning of vehicles in the parking lot;

The third positioning method, narrowband wireless communication positioning technology represented by RFID and ZIGbee, is not able to accurately locate the vehicles in the parking lot because the narrowband wireless communication itself is limited by the frequency band. In addition, the narrowband signal is susceptible to other signals. Signal interference affects the stability of the positioning of the parking lot guidance system.

technical problem

The purpose of the embodiments of the present invention is to provide a parking lot guidance system based on ultra-wideband wireless positioning technology, which aims to solve the existing parking lot guidance system, and cannot accurately locate and stabilize the positioning of vehicles in the parking lot. It is not possible to guide the vehicle to the appropriate free parking space based on the vehicle's model parameters.

Problem solution

Technical solution

The embodiment of the present invention is implemented in this manner, and a parking lot guiding system based on an ultra-wideband wireless positioning technology includes:

An electronic license plate attached to the vehicle and transmitting an ultra-wideband pulse signal;

At least three base stations located in the parking lot, interconnected and synchronized, for receiving the ultra-wideband pulse signal, uploading a time when the ultra-wideband pulse signal is received;

a parking space guiding server connected to the base station, configured to generate real-time coordinates of the electronic license plate according to a positioning algorithm and a time when each of the base stations uploads the super-wideband pulse signal, and call the pre-stored electronic Determining a position of the license plate on the vehicle and a model parameter of the vehicle, obtaining a position coordinate of the vehicle, according to a model parameter of the vehicle, a position coordinate of the vehicle, and a parking space line coordinate of the free parking space, The vehicle is guided into the vacant parking space.

Another object of the embodiments of the present invention is to provide a guiding method based on the parking lot guiding system described above, including:

The electronic license plate sends an ultra-wideband pulse signal to the base station;

Receiving, by the base station, the ultra-wideband pulse signal, uploading the time when the ultra-wideband pulse signal is received to the parking space guiding server;

The parking space guiding server generates real-time coordinates of the electronic license plate according to a positioning algorithm and a time when each of the base stations uploads the super-wideband pulse signal, and calls the pre-stored electronic license plate on the vehicle. Attaching a position and a model parameter of the vehicle, obtaining a position coordinate of the vehicle, guiding the vehicle into the vehicle according to a model parameter of the vehicle, a position coordinate of the vehicle, and a parking space line coordinate of the free parking space Said empty parking space.

Advantageous effects of the invention

Beneficial effect

In the embodiment of the present invention, a parking space guiding server is provided, and real-time coordinates of the electronic license plate can be generated according to the positioning algorithm and the time when the super-wideband pulse signal is received by each base station, and can be based on the model parameter of the vehicle and the position coordinate of the vehicle. And the coordinates of the parking space markings of the empty parking spaces guide the vehicles into the empty parking spaces. Solved the existing parking lot guidance system and could not accurately measure the vehicles in the parking lot The problem of insufficient positioning and positioning stability, and the inability to guide the vehicle to a suitable free parking space according to the model parameters of the vehicle. The beneficial effects are in two aspects, as detailed below:

On the one hand, due to the ultra-wideband wireless communication technology between the base station and the electronic license plate, the signal transmission between the base station and the base station, and the ultra-wideband wireless communication technology, with the nanosecond non-sinusoidal narrow pulse transmission data, has a frequency bandwidth. Multi-channel, low power consumption, low interference, high safety factor, and existing spectrum, will not interfere with the existing ultra-wideband frequency communication applications, so high-precision positioning of high-speed mobile electronic license plates In addition, the vehicle with the electronic license plate attached to the parking lot is highly positioned, and the stability of the positioning is also enhanced.

On the other hand, according to the model parameters of the vehicle, the position coordinates of the vehicle and the parking space marking coordinates of the free parking space, the vehicle can be guided into the empty parking space, so that various types of vehicles can be guided to the appropriate free parking spaces, which is enhanced. The intelligence of the parking lot guidance system based on ultra-wideband wireless positioning technology.

Brief description of the drawing

DRAWINGS

1 is a structural diagram of a parking lot guidance system based on an ultra-wideband wireless positioning technology according to an embodiment of the present invention;

2 is a flowchart of implementing a method for guiding a parking lot guidance system according to an embodiment of the present invention;

FIG. 3 is a flowchart of an implementation of guiding a vehicle to adjust a parking position according to an embodiment of the present invention; FIG.

4 is a flowchart of realizing an implementation of guiding a vehicle to adjust a parking direction according to an embodiment of the present invention;

FIG. 5 is a flowchart of an implementation of generating charging information according to an embodiment of the present invention.

Invention embodiment

Embodiments of the invention

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Embodiment 1

1 is a structural diagram of a parking lot guidance system based on an ultra-wideband wireless positioning technology according to an embodiment of the present invention, which is described in detail as follows:

An electronic license plate 1 attached to the vehicle and transmitting an ultra-wideband pulse signal;

At least three base stations 2 are located in the parking lot, interconnected and synchronized, for receiving the ultra-wideband pulse signal, and uploading the time when the ultra-wideband pulse signal is received;

The parking space guiding server 3 connected to the base station 2 is configured to generate real-time coordinates of the electronic license plate 1 according to a positioning algorithm and a time when each of the base stations 2 receives the super-wideband pulse signal, and call pre-stored Obtaining a position of the electronic license plate 1 on the vehicle and a model parameter of the vehicle, obtaining position coordinates of the vehicle, according to model parameters of the vehicle, position coordinates of the vehicle, and spare parking spaces The parking space marking coordinates guide the vehicle into the empty parking space.

In the at least three base stations 2, the base station 2 and the base station 2 are interconnected by using a wired network mode or a wireless network mode, and the wired network mode includes an optical network, an Ethernet composed of twisted pairs, At least one of Ethernets composed of coaxial cables, the wireless network mode comprising at least one of a WIFI network mode, a 3G network mode, a 4G network mode, and a 5G network mode.

The base station 2 and the vehicle location server 3 are interconnected by a wired network mode or a wireless network mode, and the wired network mode includes an optical network, an Ethernet composed of twisted pairs, and an Ethernet composed of coaxial cables. At least one of the networks, the wireless network mode includes at least one of a WIFI network mode, a 3G network mode, a 4G network mode, and a 5G network mode.

Wherein, the pre-stored attachment position of the electronic license plate 1 on the vehicle and the model parameters of the vehicle are generated, and the relative distance between the attachment position and the model parameter is generated, according to the relative distance and the electronic license plate The real-time coordinates of 1 generate the position coordinates of the vehicle.

Wherein, the electronic license plate 1 is attached to the windshield of the vehicle, and the ultra-wideband pulse signal is transmitted without direction through the ultra-wideband antenna.

The parking space guiding server 3 is further configured to store a correspondence between the electronic license plate 1 and the vehicle, and also store a correspondence relationship between the electronic vehicle license plate 1 and model parameters of the vehicle.

It should be noted that the position coordinates of the vehicle include two-dimensional coordinates and three-dimensional coordinates.

When three base stations are used, two-dimensional coordinates can be calculated, and when four or more base stations are used, three-dimensional coordinates can be calculated.

The remaining free parking spaces are obtained in the following ways, as detailed below:

The first way:

At the time of initialization, assign a parking space number to each parking space in the parking lot, and establish a parking space number. Correspondence between parking spaces and parking spaces. When the parking space is occupied, the parking space is modified to the occupied parking space.

The occupied parking spaces are removed from all parking spaces and the remaining parking spaces are the remaining free parking spaces.

The second way:

At the time of initialization, each parking space in the parking lot is assigned a parking space label and an indication of the parking state, and the corresponding relationship between the parking space number, the parking space, the parking space geographic coordinate, and the parking state is established. The parking state is defaulted to a vacant state, and each parking space in the default parking lot is a vacant parking space, detecting whether the parking state of the parking space changes, and when the parking state of the parking space changes, The parking state corresponding to the parking space is replaced by the occupancy state, and the free parking space is modified to the occupied parking space.

The occupied parking spaces are removed from all parking spaces and the remaining parking spaces are the remaining free parking spaces.

Wherein, whether the parking state of the parking space changes is detected by detecting a change in the magnetic field at the parking space or detecting a change in light at the parking space.

It should be noted that the model parameters include shape parameters and model numbers. The parking space guiding server 3 connected to the base station 2 guides the vehicle into the vacant parking space according to the model parameters of the vehicle, the position coordinates of the vehicle, and the parking space reticle coordinates of the vacant parking space. There are two implementations, as detailed below:

In the first implementation manner, among the remaining free parking spaces, a spare parking space corresponding to the shape parameter of the vehicle is selected;

Comparing the position coordinates of the vehicle with the parking space marking coordinates of the selected spare parking space in real time, generating a navigation line and a navigation arrow between the two;

The navigation line and the navigation arrow are transmitted to the vehicle-mounted terminal of the vehicle in real time, and the vehicle is guided to enter a free parking space corresponding to the shape parameter of the vehicle.

In a second implementation manner, among the remaining free parking spaces, a spare parking space corresponding to the model of the vehicle is selected;

Comparing the position coordinates of the vehicle with the parking space marking coordinates of the selected spare parking space in real time, generating a navigation line and a navigation arrow between the two;

Transmitting the navigation line and navigation arrows to the vehicle-mounted terminal of the vehicle in real time, guiding the vehicle, driving Enter the free parking space corresponding to the model of the vehicle.

It should be noted that the parking space guiding server 3 connected to the base station 2 can separate the executed method into two parts and is implemented by two servers, as follows:

a positioning server, configured to generate real-time coordinates of the electronic license plate 1 according to a positioning algorithm and a time when each of the base stations 2 receives the super-wideband pulse signal, and call the pre-stored electronic license plate 1 in the a position of the attachment on the vehicle and a model parameter of the vehicle to obtain a position coordinate of the vehicle;

And a guiding server, guiding the vehicle to enter the vacant parking space according to model parameters of the vehicle, position coordinates of the vehicle, and parking space reticle coordinates of the vacant parking space.

In the embodiment of the present invention, the signal transmission between the base station 2 and the electronic license plate 1 and between the base station 2 and the base station adopts an ultra-wideband wireless positioning technology, and has the characteristics of low power consumption and ultra-wideband, and the transmission technology can be used for high speed. The mobile electronic license plate 1 performs high-precision positioning.

Embodiment 2

This embodiment mainly describes the connection relationship between the parking space guiding server and the base station, and the details are as follows:

The parking space guiding server directly connects one of the at least three base stations or the plurality of base stations, or the parking space guiding server connects one of the at least three base stations or the plurality of base stations through a data switching device.

Synchronization between the base station and the base station can be accomplished by transmitting a synchronization pulse to other base stations by one of the at least three base stations.

Among them, there are two connection modes between the parking space guiding server and the base station, as detailed below:

The first connection method:

The parking space guiding server 3 directly connects one of the at least three base stations or a plurality of base stations.

It should be noted that the parking space guiding server 3 directly connects one of the at least three base stations or a plurality of base stations, indicating that the connection link between the parking space guiding server 3 and the base station is a direct link. There is no data exchange device in between.

It should be noted that the number of base stations directly connected to the parking space guiding server 3 may be one or multiple.

When the number of the base stations connected to the parking space guiding server 3 is one, the base station connected to the parking space guiding server 3 can be understood as the primary base station, and the remaining base stations are the secondary base stations, between the primary base station and the secondary base station. cascade. The primary base station aggregates and uploads the time at which the other secondary base station receives the ultra-wideband pulse signal.

When the number of directly connected base stations of the parking space guiding server 3 is plural, the parking space guiding server 3 summarizes and counts the time when the three base stations upload the received super-wideband pulse signal.

The second connection method:

The parking space guiding server 3 connects one of the at least three base stations or a plurality of base stations through a data switching device.

The data exchange device is a device for performing electronic data exchange, and includes at least one of a router, a switch, an optical transceiver, and a fiber transceiver.

It should be noted that the number of base stations connected to the parking space guiding server 3 through the data switching device may be one or multiple.

When the number of base stations connected to the parking space guiding server 3 through the data exchange device is one, the base station connected to the parking space guiding server 3 can be understood as the primary base station, and the remaining base stations are the secondary base station, the primary base station and the auxiliary base station. Cascading between base stations. The primary base station aggregates and uploads the time at which the other secondary base station receives the ultra-wideband pulse signal.

When the number of base stations connected to the parking space guiding server 3 through the data exchange device is plural, the parking space guiding server 3 summarizes and counts the time at which the three base stations upload the received super-wideband pulse signal.

It should be noted that when the parking space guiding server 3 connects one of the at least three base stations or the plurality of base stations through the data switching device, the networking structure between the base station and the parking space guiding server 3 includes any one of the following architectures. Species, as detailed below:

1. The base station and the base station are connected by a network cable, and one or more base stations are connected to the data distribution port of the router through the network cable, and the data distribution port of the router is connected to the parking space to guide the server 3 through the network cable;

Second, the base station and the base station are connected by a network cable, and one or more base stations are connected to the data distribution port of the switch through the network cable, and the data distribution port of the switch is connected to the parking space to guide the server 3 through the network cable;

Third, the base station and the base station use optical fiber connection, one or more base stations are connected to the input end of the optical transceiver through the optical fiber, and the output end of the optical transceiver is connected to the parking space to guide the server 3 through the network cable;

4. The optical connection is used between the base station and the base station, and one or more base stations are connected to the input end of the optical transceiver through the optical fiber, and the output end of the optical transceiver is connected to the parking space to guide the server 3 through the network cable.

Embodiment 3

2 is a flowchart of an implementation of a method for guiding a parking lot guidance system according to an embodiment of the present invention, where the guiding method includes:

S201, the electronic license plate 1 sends an ultra-wideband pulse signal to the base station 2;

S202, the base station 2 receives the ultra-wideband pulse signal, uploading the time to receive the ultra-wideband pulse signal to the parking space guiding server 3;

S203, the parking space guiding server 3 generates real-time coordinates of the electronic license plate 1 according to a positioning algorithm and a time when each of the base stations 2 receives the super-wideband pulse signal, and calls the pre-stored electronic license plate 1 Positioning coordinates of the vehicle on the attached position on the vehicle and model parameters of the vehicle, and guiding according to model parameters of the vehicle, position coordinates of the vehicle, and parking space marking coordinates of the free parking space The vehicle enters the vacant parking space.

The positioning algorithm includes at least one of a Time of Arrival (TOA) algorithm and a Time Difference of Arrival (TOA) algorithm.

The guiding the vehicle into the free parking space according to the model parameter of the vehicle, the position coordinate of the vehicle, and the parking space marking coordinate of the free parking space, specifically:

Comparing the position coordinates of the vehicle with the parking space marking coordinates of the free parking space in real time, and guiding the vehicle to enter the free parking space corresponding to the model parameter of the vehicle according to the comparison result.

In the embodiment of the present invention, the signal transmission between the base station 2 and the electronic license plate 1 and between the base station and the base station adopts ultra-wideband wireless communication technology, and the ultra-wideband wireless communication technology uses nanosecond non-sinusoidal narrow pulse transmission data. With frequency bandwidth, multi-channel, low power consumption, low interference, high safety factor, and existing spectrum, it will not interfere with the existing ultra-wideband frequency communication applications, so it can pass the high-speed mobile electronic license plate. High-precision positioning enables high-precision positioning of vehicles with electronic license plates in the parking lot, and also enhances the stability of positioning.

Embodiment 4

FIG. 3 is a flowchart of an implementation of guiding a vehicle to adjust a parking position according to an embodiment of the present invention, which is described in detail as follows:

S301. Compare the position coordinates of the vehicle with the parking space marking coordinates of the free parking space in real time, and generate a coordinate distance between the two;

S302. Determine, according to the coordinate distance, a model parameter pair of whether the vehicle completely enters the vehicle. Empty parking space;

S303. When the vehicle completely enters the vacant parking space, detecting whether an area occupied by the vehicle exceeds an area of the vacant parking space;

S304. When the area occupied by the vehicle exceeds the area of the vacant parking space, the voice information exceeding the parking space is played, and the vehicle is guided to adjust the parking position.

When the area occupied by the vehicle exceeds the area of the vacant parking space, the corresponding area indicator lights the alarm, and the speaker corresponding to the area is used to play the voice information exceeding the parking space, and the vehicle is guided to adjust the parking position.

In the embodiment of the present invention, the vehicle is guided to adjust the parking position, thereby enhancing the intelligence degree of the parking lot guidance system based on the ultra-wideband wireless positioning technology.

Embodiment 5

FIG. 4 is a flowchart of an implementation of guiding a vehicle to adjust a parking direction according to an embodiment of the present invention, which is described in detail as follows:

S401. When the vehicle completely enters the vacant parking space, detecting whether the parking direction of the vehicle matches the set parking direction;

S402: When the parking direction of the vehicle does not match the set parking direction, play voice information that does not match the parking direction, and guide the vehicle to adjust the parking direction.

When the parking direction of the vehicle does not match the set parking direction, the corresponding area indicator is controlled to issue an alarm reminder, and the corresponding area speaker is used to play the voice information that does not match the parking direction, and the vehicle is guided to adjust the parking direction.

In the embodiment of the present invention, the vehicle is guided to adjust the parking direction, thereby enhancing the intelligence degree of the parking lot guidance system based on the ultra-wideband wireless positioning technology.

Embodiment 6

FIG. 5 is a flowchart of an implementation of generating charging information according to an embodiment of the present invention, which is described in detail as follows:

S501: Obtain a parking time of the vehicle on the spare parking space;

S502. When the parking time exceeds a set threshold, parking the parking for the vehicle;

S503. When the vehicle leaves the vacant parking space, generate charging information, and send the charging information to a payment terminal associated with the electronic license plate 1 in advance.

Among them, the electronic license plate 1 is pre-established with various payment terminals, and the electronic license plate 1 and various payment ends The correspondence of the ends is stored in the parking space guide server 3.

In the embodiment of the present invention, parking charging may be performed according to model parameters and parking time of the vehicle, and different charging needs of the parking lot guiding system based on the ultra-wideband wireless positioning technology.

Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus necessary general hardware. The program may be stored in a readable storage medium such as a random access memory, a flash memory, a read only memory, a programmable read only memory, an electrically erasable programmable memory, a register, or the like. The storage medium is located in a memory, the processor reads information in the memory, and in conjunction with its hardware, performs the methods described in various embodiments of the present invention.

The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. All should be covered by the scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims (10)

A parking lot guidance system based on ultra-wideband wireless positioning technology, characterized in that it comprises: An electronic license plate attached to the vehicle and transmitting an ultra-wideband pulse signal; At least three base stations located in the parking lot, interconnected and synchronized, for receiving the ultra-wideband pulse signal, uploading a time when the ultra-wideband pulse signal is received; a parking space guiding server connected to the base station, configured to generate real-time coordinates of the electronic license plate according to a positioning algorithm and a time when each of the base stations uploads the super-wideband pulse signal, and call the pre-stored electronic Determining a position of the license plate on the vehicle and a model parameter of the vehicle, obtaining a position coordinate of the vehicle, according to a model parameter of the vehicle, a position coordinate of the vehicle, and a parking space line coordinate of the free parking space, The vehicle is guided into the vacant parking space. The parking lot guidance system based on the ultra-wideband wireless positioning technology according to claim 1, wherein in the at least three base stations, the base station and the base station are interconnected by using a wired network mode or a wireless network mode. The wired network mode includes at least one of a fiber network, an Ethernet composed of a twisted pair, and an Ethernet composed of a coaxial cable, and the wireless network mode includes a WIFI network mode, a 3G network mode, and a 4G network mode. At least one of the 5G network modes. The parking lot guidance system based on the ultra-wideband wireless positioning technology of claim 1, wherein the base station and the boot server are interconnected by a wired network mode or a wireless network mode, and the wired network mode is used. The wireless network mode includes at least one of a fiber network, an Ethernet composed of a twisted pair cable, and a coaxial cable, and the wireless network mode includes at least one of a WIFI network mode, a 3G network mode, a 4G network mode, and a 5G network mode. One. The parking space guidance system based on ultra-wideband wireless positioning technology according to claim 1, The parking space guiding server directly connects one of the at least three base stations or the plurality of base stations, or the parking space guiding server connects one of the at least three base stations through a data switching device. Or multiple base stations. A method for guiding a parking lot guidance system according to claim 1, wherein the guiding method comprises: The electronic license plate sends an ultra-wideband pulse signal to the base station; Receiving, by the base station, the ultra-wideband pulse signal, uploading the time when the ultra-wideband pulse signal is received to the parking space guiding server; The parking space guiding server generates real-time coordinates of the electronic license plate according to a positioning algorithm and a time when each of the base stations uploads the super-wideband pulse signal, and calls the pre-stored electronic license plate on the vehicle. Attaching a position and a model parameter of the vehicle, obtaining a position coordinate of the vehicle, guiding the vehicle into the vehicle according to a model parameter of the vehicle, a position coordinate of the vehicle, and a parking space line coordinate of the free parking space Said empty parking space. The guidance method according to claim 5, wherein the positioning algorithm comprises at least one of an arrival time TOA algorithm and an arrival time difference TDOA algorithm. The guiding method according to claim 5, wherein the guiding the vehicle into the free parking according to a model parameter of the vehicle, a position coordinate of the vehicle, and a parking space marking coordinate of a free parking space Bit, specifically: Comparing the position coordinates of the vehicle with the parking space marking coordinates of the free parking space in real time, and guiding the vehicle to enter the free parking space corresponding to the model parameter of the vehicle according to the comparison result. The guiding method according to claim 7, wherein the real-time comparison of the position coordinates of the vehicle with the parking space marking coordinates of the vacant parking space is based on the comparison result. The free parking space corresponding to the model parameter of the vehicle driving into the vehicle is specifically: Comparing the position coordinates of the vehicle with the parking space marking coordinates of the free parking space in real time to generate a coordinate distance between the two; Determining, according to the coordinate distance, whether the vehicle completely enters a free parking space corresponding to a model parameter of the vehicle; When the vehicle completely enters the vacant parking space, detecting whether the area occupied by the vehicle exceeds an area of the vacant parking space; When the area occupied by the vehicle exceeds the area of the vacant parking space, voice information exceeding the parking space is played, and the vehicle is guided to adjust the parking position. The guiding method according to claim 8, wherein the guiding method further comprises: after determining whether the vehicle completely enters a free parking space corresponding to a model parameter of the vehicle according to the coordinate distance, the guiding method further comprising: When the vehicle completely enters the vacant parking space, detecting whether the parking direction of the vehicle matches the set parking direction; When the parking direction of the vehicle does not match the set parking direction, voice information that does not match the parking direction is played, and the vehicle is guided to adjust the parking direction. The guiding method according to claim 5, wherein the guiding method further comprises: Obtaining a parking time of the vehicle on the free parking space; When the parking time exceeds a set threshold, parking charging is performed on the vehicle; When the vehicle leaves the vacant parking space, billing information is generated, and the billing information is sent to the payment terminal pre-associated with the electronic license plate.

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