Parking difficulties have become a social issue that people have to solve.Automated parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking acc...Parking difficulties have become a social issue that people have to solve.Automated parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking accidents.The paper proposes a Lyapunov-based nonlinear model predictive controller embedding an instructable solution which is generated by the modified rear-wheel feedback method(RF-LNMPC)in order to improve the overall path tracking accuracy in parking conditions.Firstly,A discrete-time RF-LNMPC considering the position and attitude of the parking vehicle is proposed to increase the success rate of automated parking effectively.Secondly,the RF-LNMPC problem with a multi-objective cost function is solved by the Interior-Point Optimization,of which the iterative initial values are described as the instructable solutions calculated by combining modified rear-wheel feedback to improve the performance of local optimal solution.Thirdly,the details on the computation of the terminal constraint and terminal cost for the linear time-varying case is presented.The closed-loop stability is verified via Lyapunov techniques by considering the terminal constraint and terminal cost theoretically.Finally,the proposed RF-LNMPC is implemented on a selfdriving Lincoln MKZ platform and the experiment results have shown improved performance in parallel and vertical parking conditions.The Monte Carlo analysis also demonstrates good stability and repeatability of the proposed method which can be applied in practical use in the near future.展开更多
The searching of parking burns a lot of barrels of the world’s oil every day. Car parking problem is a major contributor in congestion of traffic and has been, still a major problem with increasing vehicle size in th...The searching of parking burns a lot of barrels of the world’s oil every day. Car parking problem is a major contributor in congestion of traffic and has been, still a major problem with increasing vehicle size in the luxurious segment and also confines parking spaces in urban cities. The rapid growth in the number of vehicles worldwide is intensifying the problem of the lack of parking space. As the global population continues to urbanize, without a well-planned, convenience-driven retreat from the car, these problems will worsen in many countries. The current unmanaged car parks and transportation facilities make it difficult to accommodate the increasing number of vehicles in a proper, convenient manner so it is necessary to have an efficient and smart parking system. Smart parking management systems are capable of providing extreme level of convenience to the drivers. In this paper, a proposed web App system, named “Park Easy” is based on the usage of smart phones, sensors monitoring techniques with a camera which is used as a sensor to take photos to show the occupancy of cars parks. By implementing this system, the utilization of parking spaces will increase. It allocates available parking space to a given driver to park their vehicle, renew the availability of the parking space when the car leaves and compute the charges due. Smart parking App, “Park Easy”, will also enable most important techniques to provide all the possible shortage route for parking from any area of the city mainly, it helps to predict accurately and sense spot/vehicle occupancy in real-time.展开更多
As the number of motor vehicles increases rapidly in many populated countries, t he shortage of parking space has become a difficult problem to all cities around the world. The contradiction between the shortage of pa...As the number of motor vehicles increases rapidly in many populated countries, t he shortage of parking space has become a difficult problem to all cities around the world. The contradiction between the shortage of parking space and the incr easing number of motor vehicles is still growing in the recent years. The utiliz ation of various kinds of mechanical parking facilities is an effective solution to this problem. How to organize a reasonable logistics system in a mechanical parking lot so that as many parking positions as possible can be constructed wit hin a limited space at the lowest cost is a long challenging subject for enginee ring designers. Obviously, it is of great value to approach this subject theoret ically and systematically. Based on the study of the development of different me chanical parking facilities, the features, definitions, classifications and eval uation indexes of mechanical parking logistics systems are discussed in this pap er. The static and dynamic characteristics of different systems are also analyze d.展开更多
The better management of resources and the potential improvement in trafc congestion via reducing the orbiting time for parking spaces is crucial in a smart city,particularly those with an uneven correlation between t...The better management of resources and the potential improvement in trafc congestion via reducing the orbiting time for parking spaces is crucial in a smart city,particularly those with an uneven correlation between the increase in vehicles and infrastructure.This paper proposes and analyses a novel green IoT-based Pay-As-You-Go(PAYG)smart parking system by utilizing unused garage parking spaces.The article also presents an intelligent system that offers the most favorable prices to its users by matching private garages’pricing portfolio with a garage’s current demand.Malta,the world’s fourth-most densely populated country,is considered as a case of a smart city for the implementation of the proposed approach.The results obtained conrm that apart from having a high potential system in such countries,the pricing generated correctly forecasts the demand for a particular garage at a specic time of the day and year.The proposed PAYG smart parking system can effectively contribute to the macro solution to trafc congestion by encouraging potential users to use the system’s services and reducing the orbiting time for parking.展开更多
In crowded cities,searching for the availability of parking lots is a herculean task as it results in the wastage of drivers’time,increases air pollution,and traffic congestion.Smart parking systems facilitate the dr...In crowded cities,searching for the availability of parking lots is a herculean task as it results in the wastage of drivers’time,increases air pollution,and traffic congestion.Smart parking systems facilitate the drivers to determine the information about the parking lot in real time and book them depending on the requirement.But the existing smart parking systems necessitate the drivers to reveal their sensitive information that includes their mobile number,personal identity,and desired destination.This disclosure of sensitive information makes the existing centralized smart parking systems more vulnerable to service providers’security breaches,single points of failure,and bottlenecks.In this paper,an Improved Asymmetric Consortium Blockchain and Homomorphically Computing Univariate Polynomial-based private information retrieval(IACB-HCUPPIR)scheme is proposed to ensure parking lots’availability with transparency security in a privacy-preserving smart parking system.In specific,an improved Asymmetric Consortium Blockchain is used for achieving secure transactions between different parties interacting in the smart parking environment.It further adopted the method of Homomorphically Computing Univariate Polynomial-based private information retrieval(HCUPPIR)scheme for preserving the location privacy of drivers.The results of IACB-HCUPPIR confirmed better results in terms of minimized computation and communication overload with throughput,latency,and response time with maximized drivers’privacy preservation.Moreover,the proposed fully homomorphic algorithm(FHE)was compared against partial-homomorphic encryption(PHE)and technique without encryption and found that the proposed model has quick communication in allocating the parking slots starting with 24.3 s,whereas PHE starts allocating from 24.7 s and the technique without encryption starts at 27.4 s.Thus,we ensure the proposed model performs well in allocating parking slots with less time and high security with privacy preservation.展开更多
Smart parking systems are a crucial component of the “smart city” concept, especially in the age of the Internet of Things (IoT). They aim to take the stress out of finding a vacant parking spot in city centers, due...Smart parking systems are a crucial component of the “smart city” concept, especially in the age of the Internet of Things (IoT). They aim to take the stress out of finding a vacant parking spot in city centers, due to the increasing number of cars, especially during peak hours. To realize the concept of smart parking, IoT-enabling technologies must be utilized, as the traditional way of developing smart parking solutions entails a lack of scalability, compatibility with IoT-constrained devices, security, and privacy awareness. In this paper, we propose a secure and privacy-preserving framework for smart parking systems. The framework relies on the publish/subscribe communication model for exchanging a huge volume of data with a large number of clients. On one hand, it provides functional services, including parking vacancy detection, real-time information for drivers about parking availability, driver guidance, and parking reservation. On the other hand, it provides security approaches on both the network and application layers. In addition, it supports mutual authentication mechanisms between entities to ensure device/ data authenticity, and provide security protection for users. That makes our proposed framework resilient to various types of security attacks, such as replay, phishing, and man-in-the-middle attacks. Finally, we analyze the performance of our framework, which is suitable for IoT devices, in terms of computation and network overhead.展开更多
The traffic accidents, traffic jams and parking problems come to appear, and have caused more and more concerns of people. The automatic parking system can help us a lot to solve these problems. The automatic parking ...The traffic accidents, traffic jams and parking problems come to appear, and have caused more and more concerns of people. The automatic parking system can help us a lot to solve these problems. The automatic parking system in this paper includes two sections, environment perception and automatic controller. The median filter and least square method are used to process the laser sensor data. Then, feasible parking space can be displayed by using K-means clustering method. The Matlab fuzzy GUI is used to establish the fuzzy controller. The kinematics equation of car is utilized to simulate the automatic vertical parking in the Matlab/simulation with the different initial path angles. Experiment results show that the environmental perception method has perfect performance and the controlling algorithm of the automatic parking system has good feasibility.展开更多
System supported smart parking can reduce traffic by making it stress free to locate empty parking spaces,hence lowering the risk of unfocussed driving.In this study,we propose a smart parking system using deep learni...System supported smart parking can reduce traffic by making it stress free to locate empty parking spaces,hence lowering the risk of unfocussed driving.In this study,we propose a smart parking system using deep learning and an application-based approach.This system has two modules,one module detects and recognizes a license plate(LP),and the other selects a parking space;both modules use deep learning techniques.We used two modules that work independently to detect and recognize an LP by using an image of the vehicle.To detect parking space,only deep learning techniques were used.The two modules were compared with other state-of-the-art solutions.We utilized the You Only Look Once(YOLO)architecture to detect and recognize an LP because its performance in the context of Saudi Arabian LP numbers was superior to that of other solutions.Compared with existing state-of-the-art solutions,the performance of the proposed solution was more effective.The solution can be further improved for use in the city and large organizations that have priority parking spaces.A dataset of LP-annotated images of vehicles was used.The results of this study have considerable implications for smart parking,particularly in universities;in addition,they can be utilized for smart cities.展开更多
With the development of automatic driving and fuzzy theory, people pay more and more attention to the application of fuzzy logic in engineering technology. The automatic parking module in the automatic driving system ...With the development of automatic driving and fuzzy theory, people pay more and more attention to the application of fuzzy logic in engineering technology. The automatic parking module in the automatic driving system has always been the focus of research. Automatic parking modules can greatly assist drivers in parking operations, greatly reduce parking difficulties and make people more convenient and fast parking. In this paper, an automatic parking system based on the fuzzy controller is proposed. The fuzzy controller of automatic parking system is constructed by using fuzzy theory, and the robustness of the whole system is examined by fuzzy logic. Firstly, the vehicle motion rules and trajectory changes are analyzed in detail, and the real parking lot model is simulated. Then, the input and output variables of the whole system are analyzed by fuzzy theory and the membership function is constructed. Based on the experience of human experts, the parking rules are tested and summarized, and a reasonable and practical rule base is established. Finally, MATLAB is used to code, build the visual interface of parking lot and vehicles, and draw the cyclic iterative function to detect the vehicle position and direction angle, so as to act as a sensor. The results show that using a fuzzy controller to construct an automatic parking system can effectively improve the parking level.展开更多
With a surge in the university’s student and staff population, parking problems and congestion have rapidly intensified. The recent inclusion of women drivers, particularly during official working hours, has exacerba...With a surge in the university’s student and staff population, parking problems and congestion have rapidly intensified. The recent inclusion of women drivers, particularly during official working hours, has exacerbated these challenges. This pressing issue underscores the critical necessity for a structured approach to managing university entries and overseeing parking at the gates. The proposed smart parking management system aims to address these concerns by introducing a design concept that restricts unauthorized access and provides exclusive parking privileges to authorized users. Through image processing, the system identifies available parking spaces, relaying real-time information to users via a mobile application. This comprehensive solution also generates detailed reports (daily, weekly, and monthly), aiding university safety authorities in future gate management decisions.展开更多
To adapt to the unique demand-supply features of accessory parking lots at passenger transport hubs,a mixed parking demand assignment method based on regression modeling is proposed.First,an optimal model aiming to mi...To adapt to the unique demand-supply features of accessory parking lots at passenger transport hubs,a mixed parking demand assignment method based on regression modeling is proposed.First,an optimal model aiming to minimize total time expenditure is constructed.It incorporates parking search time,walking time,and departure time,focusing on short-term parking features.Then,the information dimensions that the parking lot can obtain are evaluated,and three assignment strategies based on three types of regression models-linear regression(LR),extreme gradient boosting(XGBoost),and multilayer perceptron(MLP)-are proposed.A parking process simulation model is built using the traffic simulation package SUMO to facilitate data collection,model training,and case studies.Finally,the performance of the three strategies is com-pared,revealing that the XGBoost-based strategy performs the best in case parking lots,which reduces time expendi-ture by 29.3%and 37.2%,respectively,compared with the MLP-based strategy and LR-based strategy.This method offers diverse options for practical parking manage-ment.展开更多
The construction of“park cities”requires a systematic thinking to coordinate the networked development of park system and break through the limitation of emphasizing scale and grade and neglecting dynamic correlatio...The construction of“park cities”requires a systematic thinking to coordinate the networked development of park system and break through the limitation of emphasizing scale and grade and neglecting dynamic correlation in traditional planning.Taking Haidian District of Beijing as an example,the social network analysis method is introduced to construct the network model of park green spaces.Through indicators such as clustering coefficient,network density and node centrality,the characteristics of its spatial structure and hierarchical relationship are analyzed.It is found that the network integrity presents the characteristics of“highly local concentration and global fragmentation”,fragmented park green space network and missing spatial connection,isolated clusters and collaborative failure,as well as the spatial mismatch between population and resource supply and demand.Hierarchical issues include“structural imbalance and functional disorder”,disorder between network hierarchy and park level,misalignment of functional hierarchy leading to weakened network risk resistance capacity,and a relatively dense distribution of core nodes,etc.In response to the above problems,a multi-level spatial intervention strategy should be adopted to solve the overall problem of the network.Meanwhile,it is needed to clarify the positioning of a park itself and improve the hierarchical system,so as to construct a multi-level and multi-scale park green space network,contribute to the construction of a park city,and provide residents with more diverse activity venues.展开更多
Integrating autonomous vehicles (AVs) and autonomous parking spaces (APS) marks a transformative development in urban mobility and sustainability. This paper reflects on these technologies’ historical evolution, curr...Integrating autonomous vehicles (AVs) and autonomous parking spaces (APS) marks a transformative development in urban mobility and sustainability. This paper reflects on these technologies’ historical evolution, current interdependence, and future potential through the lens of environmental, social, and economic sustainability. Historically, parking systems evolved from manual designs to automated processes yet remained focused on convenience rather than sustainability. Presently, advancements in smart infrastructure and vehicle-to-infrastructure (V2I) communication have enabled AVs and APS to operate as a cohesive system, optimizing space, energy, and transportation efficiency. Looking ahead, the seamless integration of AVs and APS into broader smart city ecosystems promises to redefine urban landscapes by repurposing traditional parking infrastructure into multifunctional spaces and supporting renewable energy initiatives. These technologies align with global sustainability goals by mitigating emissions, reducing urban sprawl, and fostering adaptive land uses. This reflection highlights the need for collaborative efforts among stakeholders to address regulatory and technological challenges, ensuring the equitable and efficient deployment of AVs and APS for smarter, greener cities.展开更多
Unlike the detection of marked on-street parking spaces,detecting unmarked spaces poses significant challenges due to the absence of clear physical demarcation and uneven gaps caused by irregular parking.In urban citi...Unlike the detection of marked on-street parking spaces,detecting unmarked spaces poses significant challenges due to the absence of clear physical demarcation and uneven gaps caused by irregular parking.In urban cities with heavy traffic flow,these challenges can result in traffic disruptions,rear-end collisions,sideswipes,and congestion as drivers struggle to make decisions.We propose a real-time detection system for on-street parking spaces using YOLO models and recommend the most suitable space based on KD-tree search.Lightweight versions of YOLOv5,YOLOv7-tiny,and YOLOv8 with different architectures are trained.Among the models,YOLOv5s with SPPF at the backbone achieved an F1-score of 0.89,which was selected for validation using k-fold cross-validation on our dataset.The Low variance and standard deviation recorded across folds indicate the model’s generalizability,reliability,and stability.Inference with KD-tree using predictions from the YOLO models recorded FPS of 37.9 for YOLOv5,67.2 for YOLOv7-tiny,and 67.0 for YOLOv8.The models successfully detect both marked and unmarked empty parking spaces on test data with varying inference speeds and FPS.These models can be efficiently deployed for real-time applications due to their high FPS,inference speed,and lightweight nature.In comparison with other state-of-the-art models,our models outperform them,further demonstrating their effectiveness.展开更多
The lift-and-transverse type parking equipment, with its core advantages such as high space utilization, modular and flexible layout, and intelligent operation, has become an efficient solution to alleviate the urban ...The lift-and-transverse type parking equipment, with its core advantages such as high space utilization, modular and flexible layout, and intelligent operation, has become an efficient solution to alleviate the urban parking problem. However, existing research still lacks a systematic evaluation of its structural performance, particularly in areas such as the fatigue characteristics of steel frame materials, stress distribution under dynamic loads, and resonance risk analysis. The stress amplitude (S) and fatigue life (N) relationship curve of Q235 steel, the material used in the steel frame of the lift-and-transverse type parking equipment, was obtained through fatigue testing methods. The finite element simulation model of the steel frame structure of the lift-and-transverse type parking equipment was established using ABAQUS simulation software. Through static simulation analysis, the deformation and stress distribution under various operating conditions, including full load, partial load, and no load, was obtained. The fatigue life under full load and partial load was determined through FE-Safe fatigue analysis. Modal analysis was conducted to get the natural frequencies of the steel frame structure at various modes, which were compared with the operating frequency of the equipment to avoid resonance. This paper examines the evaluation methods for the structural performance of lift-and-transverse type parking equipment, providing a reliable research basis for the design and fatigue life analysis of this specialized structure.展开更多
Automated valet parking systems based on parking automated guided vehicles(P-AGVs)are effective for improving parking convenience and increasing parking density.The ability of P-AGVs to move towards any position and a...Automated valet parking systems based on parking automated guided vehicles(P-AGVs)are effective for improving parking convenience and increasing parking density.The ability of P-AGVs to move towards any position and attain any orientation simultaneously due to their mecanum wheels makes it convenient to transport vehicles in a parking lot.In this study,a nonlinear disturbance observer-based sliding mode controller for the trajectory tracking problem of a P-AGV is proposed.The kinematic and dynamic models for a P-AGV tracking trajectory are first analyzed in sequence and the influences of disturbing forces considered.Subsequently,a nonlinear disturbance observer(NDO)is designed to estimate the disturbing forces and torques generated by the caster wheels.Based on the designed NDO,a robust nonsingular terminal sliding-mode(NTSM)controller is used to track reference trajectories.The stabilities of the NDO and NDO-NTSM control systems are theoretically verified using their Lyapunov functions.Finally,simulations and experiments are performed to verify the effectiveness of the proposed control scheme.The experimental results show that the proposed NDO-NTSM controller can improve the trajectory tracking stability by 42-68%compared to a traditional NTSM controller.The NDO-based sliding mode controller for trajectory tracking proposed in this study can effectively reduce the impact of disturbances on trajectory tracking accuracy.展开更多
Accurate prediction of parking spaces plays a crucial role in maximizing the efficiency of parking resources and optimizing traffic conditions.However,the majority of earlier research has used models based on past par...Accurate prediction of parking spaces plays a crucial role in maximizing the efficiency of parking resources and optimizing traffic conditions.However,the majority of earlier research has used models based on past parking data or the plethora of variables that influence parking prediction,which not only makes the data more complicated and costs more time to run but can also lead to poor model fits.To solve this problem,a hybrid parking prediction model combining complete ensemble empirical mode decomposition with adaptive noise(CEEMDAN)and gated recurrent unit(GRU)model is proposed to predict the number of parking spaces.In this model,CEEMDAN has the ability to gradually break down time series fluctuations or trends at various scales,producing a sequence of intrinsic mode functions(IMF)with various characteristic scales.Then,by keeping the majority of the original data’s content,removing superfluous information,and enhancing predicted response time,principal component analysis(PCA)decreases the dimensionality of the IMF series.Subsequently,the high-level abstract characteristics are entered into the GRU network,and the network is built,tested,and predicted based on the deep learning framework Keras.The validity of the presented model is verified by making use of real parking datasets from two three-dimensional parking lots.The test results reveal that the model outperforms the baseline model’s predictive accuracy,i.e.,a lower testing error.The real parking time series are most closely modeled by the CEEMDAN-PCA-GRU model.As a result,the method is superior to existing models for parking prediction.展开更多
Steam power systems(SPSs)in industrial parks are the typical utility systems for heat and electricity supply.In SPSs,electricity is generated by steam turbines,and steam is generally produced and supplied at multiple ...Steam power systems(SPSs)in industrial parks are the typical utility systems for heat and electricity supply.In SPSs,electricity is generated by steam turbines,and steam is generally produced and supplied at multiple levels to serve the heat demands of consumers with different temperature grades,so that energy is utilized in cascade.While a large number of steam levels enhances energy utilization efficiency,it also tends to cause a complex steam pipeline network in the industrial park.In practice,a moderate number of steam levels is always adopted in SPSs,leading to temperature mismatches between heat supply and demand for some consumers.This study proposes a distributed steam turbine system(DSTS)consisting of main steam turbines on the energy supply side and auxiliary steam turbines on the energy consumption side,aiming to balance the heat production costs,the distance-related costs,and the electricity generation of SPSs in industrial parks.A mixed-integer nonlinear programming model is established for the optimization of SPSs,with the objective of minimizing the total annual cost(TAC).The optimal number of steam levels and the optimal configuration of DSTS for an industrial park can be determined by solving the model.A case study demonstrates that the TAC of the SPS is reduced by 220.6×10^(3)USD(2.21%)through the arrangement of auxiliary steam turbines.The sub-optimal number of steam levels and a non-optimal operating condition slightly increase the TAC by 0.46%and 0.28%,respectively.The sensitivity analysis indicates that the optimal number of steam levels tends to decrease from 3 to 2 as electricity price declines.展开更多
Hybrid energy storage can enhance the economic performance and reliability of energy systems in industrial parks,while lowering the industrial parks’carbon emissions and accommodating diverse load demands from users....Hybrid energy storage can enhance the economic performance and reliability of energy systems in industrial parks,while lowering the industrial parks’carbon emissions and accommodating diverse load demands from users.However,most optimization research on hybrid energy storage has adopted rulebased passive-control principles,failing to fully leverage the advantages of active energy storage.To address this gap in the literature,this study develops a detailed model for an industrial park energy system with hybrid energy storage(IPES-HES),taking into account the operational characteristics of energy devices such as lithium batteries and thermal storage tanks.An active operation strategy for hybrid energy storage is proposed that uses decision variables based on hourly power outputs from the energy storage of the subsequent day.An optimization configuration model for an IPES-HES is formulated with the goals of reducing costs and lowering carbon emissions and is solved using the non-dominated sorting genetic algorithm Ⅱ(NSGA-Ⅱ).A method using the improved NSGA-Ⅱ is developed for day-ahead nonlinear scheduling,based on configuration optimization.The research findings indicate that the system energy bill and the peak power of the IPES-HES under the optimization-based operational strategy are reduced by 181.4 USD(5.5%)and 1600.3 kW(43.7%),respectively,compared with an operation strategy based on proportional electricity storage on a typical summer day.Overall,the day-ahead nonlinear optimal scheduling method developed in this study offers guidance to fully harness the advantages of active energy storage.展开更多
This study focuses on the ecosystem cultural service quality of Qu County Congren Valley Forest Park from the perspective of tourist perception.Using the Importance-Performance Analysis(IPA)questionnaire survey method...This study focuses on the ecosystem cultural service quality of Qu County Congren Valley Forest Park from the perspective of tourist perception.Using the Importance-Performance Analysis(IPA)questionnaire survey method and SPSS data analysis techniques,we systematically evaluate tourists’cognitive differences and improvement paths regarding the cultural service value of the scenic area.Based on the nonmaterial characteristics of ecosystem cultural services,combined with the unique Congren culture and natural landscape resources of Congren Valley,we designed a five-dimensional scale including natural landscape and ecological protection,cultural display and interpretation services,cultural activity participation and experience,infrastructure and supporting services,and safety management.This covers tourists’evaluations of the importance of elements such as cultural displays,interpretation systems,interactive activities,and facility support,as well as their actual satisfaction feedback.Through descriptive statistical analysis,reliability and validity testing,factor analysis,and IPA matrix analysis,we reveal the core contradictions and improvement directions perceived by tourists.The study found that the convenience of facilities such as signage,rest areas,toilets,roads,and the cleanliness of the scenic area are key areas for improvement.Additionally,different age groups perceive differences in the cultural service quality of the Congren Valley Forest Park ecosystem.The study concludes that tourists have a high level of concern for the convenience of scenic infrastructure and sanitary environment.Improving these facilities can help increase tourist satisfaction and the overall service quality of the scenic area.Simultaneously,meeting the needs of segmented markets and constructing a three-in-one service system of“deep excavation of cultural symbols–digital storytelling–immersive scenes”is recommended.展开更多
基金Supported by National Key R&D Program of China (Grant No.2021YFB2501800)National Natural Science Foundation of China (Grant No.52172384)+1 种基金Science and Technology Innovation Program of Hunan Province of China (Grant No.2021RC3048)State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle of China (Grant No.72275004)。
文摘Parking difficulties have become a social issue that people have to solve.Automated parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking accidents.The paper proposes a Lyapunov-based nonlinear model predictive controller embedding an instructable solution which is generated by the modified rear-wheel feedback method(RF-LNMPC)in order to improve the overall path tracking accuracy in parking conditions.Firstly,A discrete-time RF-LNMPC considering the position and attitude of the parking vehicle is proposed to increase the success rate of automated parking effectively.Secondly,the RF-LNMPC problem with a multi-objective cost function is solved by the Interior-Point Optimization,of which the iterative initial values are described as the instructable solutions calculated by combining modified rear-wheel feedback to improve the performance of local optimal solution.Thirdly,the details on the computation of the terminal constraint and terminal cost for the linear time-varying case is presented.The closed-loop stability is verified via Lyapunov techniques by considering the terminal constraint and terminal cost theoretically.Finally,the proposed RF-LNMPC is implemented on a selfdriving Lincoln MKZ platform and the experiment results have shown improved performance in parallel and vertical parking conditions.The Monte Carlo analysis also demonstrates good stability and repeatability of the proposed method which can be applied in practical use in the near future.
文摘The searching of parking burns a lot of barrels of the world’s oil every day. Car parking problem is a major contributor in congestion of traffic and has been, still a major problem with increasing vehicle size in the luxurious segment and also confines parking spaces in urban cities. The rapid growth in the number of vehicles worldwide is intensifying the problem of the lack of parking space. As the global population continues to urbanize, without a well-planned, convenience-driven retreat from the car, these problems will worsen in many countries. The current unmanaged car parks and transportation facilities make it difficult to accommodate the increasing number of vehicles in a proper, convenient manner so it is necessary to have an efficient and smart parking system. Smart parking management systems are capable of providing extreme level of convenience to the drivers. In this paper, a proposed web App system, named “Park Easy” is based on the usage of smart phones, sensors monitoring techniques with a camera which is used as a sensor to take photos to show the occupancy of cars parks. By implementing this system, the utilization of parking spaces will increase. It allocates available parking space to a given driver to park their vehicle, renew the availability of the parking space when the car leaves and compute the charges due. Smart parking App, “Park Easy”, will also enable most important techniques to provide all the possible shortage route for parking from any area of the city mainly, it helps to predict accurately and sense spot/vehicle occupancy in real-time.
文摘As the number of motor vehicles increases rapidly in many populated countries, t he shortage of parking space has become a difficult problem to all cities around the world. The contradiction between the shortage of parking space and the incr easing number of motor vehicles is still growing in the recent years. The utiliz ation of various kinds of mechanical parking facilities is an effective solution to this problem. How to organize a reasonable logistics system in a mechanical parking lot so that as many parking positions as possible can be constructed wit hin a limited space at the lowest cost is a long challenging subject for enginee ring designers. Obviously, it is of great value to approach this subject theoret ically and systematically. Based on the study of the development of different me chanical parking facilities, the features, definitions, classifications and eval uation indexes of mechanical parking logistics systems are discussed in this pap er. The static and dynamic characteristics of different systems are also analyze d.
基金funding by the University of Malta’s Internal Research Grants.
文摘The better management of resources and the potential improvement in trafc congestion via reducing the orbiting time for parking spaces is crucial in a smart city,particularly those with an uneven correlation between the increase in vehicles and infrastructure.This paper proposes and analyses a novel green IoT-based Pay-As-You-Go(PAYG)smart parking system by utilizing unused garage parking spaces.The article also presents an intelligent system that offers the most favorable prices to its users by matching private garages’pricing portfolio with a garage’s current demand.Malta,the world’s fourth-most densely populated country,is considered as a case of a smart city for the implementation of the proposed approach.The results obtained conrm that apart from having a high potential system in such countries,the pricing generated correctly forecasts the demand for a particular garage at a specic time of the day and year.The proposed PAYG smart parking system can effectively contribute to the macro solution to trafc congestion by encouraging potential users to use the system’s services and reducing the orbiting time for parking.
基金The research was funded by the School of Information Technology and Engineering,Vellore Institute of Technology,Vellore 632014,Tamil Nadu,India.
文摘In crowded cities,searching for the availability of parking lots is a herculean task as it results in the wastage of drivers’time,increases air pollution,and traffic congestion.Smart parking systems facilitate the drivers to determine the information about the parking lot in real time and book them depending on the requirement.But the existing smart parking systems necessitate the drivers to reveal their sensitive information that includes their mobile number,personal identity,and desired destination.This disclosure of sensitive information makes the existing centralized smart parking systems more vulnerable to service providers’security breaches,single points of failure,and bottlenecks.In this paper,an Improved Asymmetric Consortium Blockchain and Homomorphically Computing Univariate Polynomial-based private information retrieval(IACB-HCUPPIR)scheme is proposed to ensure parking lots’availability with transparency security in a privacy-preserving smart parking system.In specific,an improved Asymmetric Consortium Blockchain is used for achieving secure transactions between different parties interacting in the smart parking environment.It further adopted the method of Homomorphically Computing Univariate Polynomial-based private information retrieval(HCUPPIR)scheme for preserving the location privacy of drivers.The results of IACB-HCUPPIR confirmed better results in terms of minimized computation and communication overload with throughput,latency,and response time with maximized drivers’privacy preservation.Moreover,the proposed fully homomorphic algorithm(FHE)was compared against partial-homomorphic encryption(PHE)and technique without encryption and found that the proposed model has quick communication in allocating the parking slots starting with 24.3 s,whereas PHE starts allocating from 24.7 s and the technique without encryption starts at 27.4 s.Thus,we ensure the proposed model performs well in allocating parking slots with less time and high security with privacy preservation.
文摘Smart parking systems are a crucial component of the “smart city” concept, especially in the age of the Internet of Things (IoT). They aim to take the stress out of finding a vacant parking spot in city centers, due to the increasing number of cars, especially during peak hours. To realize the concept of smart parking, IoT-enabling technologies must be utilized, as the traditional way of developing smart parking solutions entails a lack of scalability, compatibility with IoT-constrained devices, security, and privacy awareness. In this paper, we propose a secure and privacy-preserving framework for smart parking systems. The framework relies on the publish/subscribe communication model for exchanging a huge volume of data with a large number of clients. On one hand, it provides functional services, including parking vacancy detection, real-time information for drivers about parking availability, driver guidance, and parking reservation. On the other hand, it provides security approaches on both the network and application layers. In addition, it supports mutual authentication mechanisms between entities to ensure device/ data authenticity, and provide security protection for users. That makes our proposed framework resilient to various types of security attacks, such as replay, phishing, and man-in-the-middle attacks. Finally, we analyze the performance of our framework, which is suitable for IoT devices, in terms of computation and network overhead.
文摘The traffic accidents, traffic jams and parking problems come to appear, and have caused more and more concerns of people. The automatic parking system can help us a lot to solve these problems. The automatic parking system in this paper includes two sections, environment perception and automatic controller. The median filter and least square method are used to process the laser sensor data. Then, feasible parking space can be displayed by using K-means clustering method. The Matlab fuzzy GUI is used to establish the fuzzy controller. The kinematics equation of car is utilized to simulate the automatic vertical parking in the Matlab/simulation with the different initial path angles. Experiment results show that the environmental perception method has perfect performance and the controlling algorithm of the automatic parking system has good feasibility.
文摘System supported smart parking can reduce traffic by making it stress free to locate empty parking spaces,hence lowering the risk of unfocussed driving.In this study,we propose a smart parking system using deep learning and an application-based approach.This system has two modules,one module detects and recognizes a license plate(LP),and the other selects a parking space;both modules use deep learning techniques.We used two modules that work independently to detect and recognize an LP by using an image of the vehicle.To detect parking space,only deep learning techniques were used.The two modules were compared with other state-of-the-art solutions.We utilized the You Only Look Once(YOLO)architecture to detect and recognize an LP because its performance in the context of Saudi Arabian LP numbers was superior to that of other solutions.Compared with existing state-of-the-art solutions,the performance of the proposed solution was more effective.The solution can be further improved for use in the city and large organizations that have priority parking spaces.A dataset of LP-annotated images of vehicles was used.The results of this study have considerable implications for smart parking,particularly in universities;in addition,they can be utilized for smart cities.
文摘With the development of automatic driving and fuzzy theory, people pay more and more attention to the application of fuzzy logic in engineering technology. The automatic parking module in the automatic driving system has always been the focus of research. Automatic parking modules can greatly assist drivers in parking operations, greatly reduce parking difficulties and make people more convenient and fast parking. In this paper, an automatic parking system based on the fuzzy controller is proposed. The fuzzy controller of automatic parking system is constructed by using fuzzy theory, and the robustness of the whole system is examined by fuzzy logic. Firstly, the vehicle motion rules and trajectory changes are analyzed in detail, and the real parking lot model is simulated. Then, the input and output variables of the whole system are analyzed by fuzzy theory and the membership function is constructed. Based on the experience of human experts, the parking rules are tested and summarized, and a reasonable and practical rule base is established. Finally, MATLAB is used to code, build the visual interface of parking lot and vehicles, and draw the cyclic iterative function to detect the vehicle position and direction angle, so as to act as a sensor. The results show that using a fuzzy controller to construct an automatic parking system can effectively improve the parking level.
文摘With a surge in the university’s student and staff population, parking problems and congestion have rapidly intensified. The recent inclusion of women drivers, particularly during official working hours, has exacerbated these challenges. This pressing issue underscores the critical necessity for a structured approach to managing university entries and overseeing parking at the gates. The proposed smart parking management system aims to address these concerns by introducing a design concept that restricts unauthorized access and provides exclusive parking privileges to authorized users. Through image processing, the system identifies available parking spaces, relaying real-time information to users via a mobile application. This comprehensive solution also generates detailed reports (daily, weekly, and monthly), aiding university safety authorities in future gate management decisions.
基金The National Natural Science Foundation of China(No.52302388)the Natural Science Foundation of Jiangsu Province(No.BK20230853).
文摘To adapt to the unique demand-supply features of accessory parking lots at passenger transport hubs,a mixed parking demand assignment method based on regression modeling is proposed.First,an optimal model aiming to minimize total time expenditure is constructed.It incorporates parking search time,walking time,and departure time,focusing on short-term parking features.Then,the information dimensions that the parking lot can obtain are evaluated,and three assignment strategies based on three types of regression models-linear regression(LR),extreme gradient boosting(XGBoost),and multilayer perceptron(MLP)-are proposed.A parking process simulation model is built using the traffic simulation package SUMO to facilitate data collection,model training,and case studies.Finally,the performance of the three strategies is com-pared,revealing that the XGBoost-based strategy performs the best in case parking lots,which reduces time expendi-ture by 29.3%and 37.2%,respectively,compared with the MLP-based strategy and LR-based strategy.This method offers diverse options for practical parking manage-ment.
文摘The construction of“park cities”requires a systematic thinking to coordinate the networked development of park system and break through the limitation of emphasizing scale and grade and neglecting dynamic correlation in traditional planning.Taking Haidian District of Beijing as an example,the social network analysis method is introduced to construct the network model of park green spaces.Through indicators such as clustering coefficient,network density and node centrality,the characteristics of its spatial structure and hierarchical relationship are analyzed.It is found that the network integrity presents the characteristics of“highly local concentration and global fragmentation”,fragmented park green space network and missing spatial connection,isolated clusters and collaborative failure,as well as the spatial mismatch between population and resource supply and demand.Hierarchical issues include“structural imbalance and functional disorder”,disorder between network hierarchy and park level,misalignment of functional hierarchy leading to weakened network risk resistance capacity,and a relatively dense distribution of core nodes,etc.In response to the above problems,a multi-level spatial intervention strategy should be adopted to solve the overall problem of the network.Meanwhile,it is needed to clarify the positioning of a park itself and improve the hierarchical system,so as to construct a multi-level and multi-scale park green space network,contribute to the construction of a park city,and provide residents with more diverse activity venues.
文摘Integrating autonomous vehicles (AVs) and autonomous parking spaces (APS) marks a transformative development in urban mobility and sustainability. This paper reflects on these technologies’ historical evolution, current interdependence, and future potential through the lens of environmental, social, and economic sustainability. Historically, parking systems evolved from manual designs to automated processes yet remained focused on convenience rather than sustainability. Presently, advancements in smart infrastructure and vehicle-to-infrastructure (V2I) communication have enabled AVs and APS to operate as a cohesive system, optimizing space, energy, and transportation efficiency. Looking ahead, the seamless integration of AVs and APS into broader smart city ecosystems promises to redefine urban landscapes by repurposing traditional parking infrastructure into multifunctional spaces and supporting renewable energy initiatives. These technologies align with global sustainability goals by mitigating emissions, reducing urban sprawl, and fostering adaptive land uses. This reflection highlights the need for collaborative efforts among stakeholders to address regulatory and technological challenges, ensuring the equitable and efficient deployment of AVs and APS for smarter, greener cities.
基金supports this paper.Project Nos.NSTC-112-2221-E-324-003 MY3,NSTC-111-2622-E-324-002 and NSTC-112-2221-E-324-011-MY2.
文摘Unlike the detection of marked on-street parking spaces,detecting unmarked spaces poses significant challenges due to the absence of clear physical demarcation and uneven gaps caused by irregular parking.In urban cities with heavy traffic flow,these challenges can result in traffic disruptions,rear-end collisions,sideswipes,and congestion as drivers struggle to make decisions.We propose a real-time detection system for on-street parking spaces using YOLO models and recommend the most suitable space based on KD-tree search.Lightweight versions of YOLOv5,YOLOv7-tiny,and YOLOv8 with different architectures are trained.Among the models,YOLOv5s with SPPF at the backbone achieved an F1-score of 0.89,which was selected for validation using k-fold cross-validation on our dataset.The Low variance and standard deviation recorded across folds indicate the model’s generalizability,reliability,and stability.Inference with KD-tree using predictions from the YOLO models recorded FPS of 37.9 for YOLOv5,67.2 for YOLOv7-tiny,and 67.0 for YOLOv8.The models successfully detect both marked and unmarked empty parking spaces on test data with varying inference speeds and FPS.These models can be efficiently deployed for real-time applications due to their high FPS,inference speed,and lightweight nature.In comparison with other state-of-the-art models,our models outperform them,further demonstrating their effectiveness.
文摘The lift-and-transverse type parking equipment, with its core advantages such as high space utilization, modular and flexible layout, and intelligent operation, has become an efficient solution to alleviate the urban parking problem. However, existing research still lacks a systematic evaluation of its structural performance, particularly in areas such as the fatigue characteristics of steel frame materials, stress distribution under dynamic loads, and resonance risk analysis. The stress amplitude (S) and fatigue life (N) relationship curve of Q235 steel, the material used in the steel frame of the lift-and-transverse type parking equipment, was obtained through fatigue testing methods. The finite element simulation model of the steel frame structure of the lift-and-transverse type parking equipment was established using ABAQUS simulation software. Through static simulation analysis, the deformation and stress distribution under various operating conditions, including full load, partial load, and no load, was obtained. The fatigue life under full load and partial load was determined through FE-Safe fatigue analysis. Modal analysis was conducted to get the natural frequencies of the steel frame structure at various modes, which were compared with the operating frequency of the equipment to avoid resonance. This paper examines the evaluation methods for the structural performance of lift-and-transverse type parking equipment, providing a reliable research basis for the design and fatigue life analysis of this specialized structure.
基金Supported by National Key R&D Program of China(Grant No.2018YFB0105102)Anhui Provincial Natural Science Foundation(Grant No.2208085QE153).
文摘Automated valet parking systems based on parking automated guided vehicles(P-AGVs)are effective for improving parking convenience and increasing parking density.The ability of P-AGVs to move towards any position and attain any orientation simultaneously due to their mecanum wheels makes it convenient to transport vehicles in a parking lot.In this study,a nonlinear disturbance observer-based sliding mode controller for the trajectory tracking problem of a P-AGV is proposed.The kinematic and dynamic models for a P-AGV tracking trajectory are first analyzed in sequence and the influences of disturbing forces considered.Subsequently,a nonlinear disturbance observer(NDO)is designed to estimate the disturbing forces and torques generated by the caster wheels.Based on the designed NDO,a robust nonsingular terminal sliding-mode(NTSM)controller is used to track reference trajectories.The stabilities of the NDO and NDO-NTSM control systems are theoretically verified using their Lyapunov functions.Finally,simulations and experiments are performed to verify the effectiveness of the proposed control scheme.The experimental results show that the proposed NDO-NTSM controller can improve the trajectory tracking stability by 42-68%compared to a traditional NTSM controller.The NDO-based sliding mode controller for trajectory tracking proposed in this study can effectively reduce the impact of disturbances on trajectory tracking accuracy.
基金the National Natural Science Foundation of China(No.52062027)the Key Research and Development Project of Gansu Province(No.22YF7GA142)+3 种基金the Soft Science Special Project of Gansu Basic Research Plan(No.22JR4ZA035)the Gansu Provincial Science and Technology Major Special Project-Enterprise Innovation Consortium Project(Nos.22ZD6GA010 and 21ZD3GA002)the Natural Science Foundation of Gansu Province(No.22JR5RA343)the Gansu Provincial Education Technology Innovation Project(No.2023CXZX-582)。
文摘Accurate prediction of parking spaces plays a crucial role in maximizing the efficiency of parking resources and optimizing traffic conditions.However,the majority of earlier research has used models based on past parking data or the plethora of variables that influence parking prediction,which not only makes the data more complicated and costs more time to run but can also lead to poor model fits.To solve this problem,a hybrid parking prediction model combining complete ensemble empirical mode decomposition with adaptive noise(CEEMDAN)and gated recurrent unit(GRU)model is proposed to predict the number of parking spaces.In this model,CEEMDAN has the ability to gradually break down time series fluctuations or trends at various scales,producing a sequence of intrinsic mode functions(IMF)with various characteristic scales.Then,by keeping the majority of the original data’s content,removing superfluous information,and enhancing predicted response time,principal component analysis(PCA)decreases the dimensionality of the IMF series.Subsequently,the high-level abstract characteristics are entered into the GRU network,and the network is built,tested,and predicted based on the deep learning framework Keras.The validity of the presented model is verified by making use of real parking datasets from two three-dimensional parking lots.The test results reveal that the model outperforms the baseline model’s predictive accuracy,i.e.,a lower testing error.The real parking time series are most closely modeled by the CEEMDAN-PCA-GRU model.As a result,the method is superior to existing models for parking prediction.
基金Financial support from the National Natural Science Foundation of China under Grant(22393954 and 22078358)is gratefully acknowledged.
文摘Steam power systems(SPSs)in industrial parks are the typical utility systems for heat and electricity supply.In SPSs,electricity is generated by steam turbines,and steam is generally produced and supplied at multiple levels to serve the heat demands of consumers with different temperature grades,so that energy is utilized in cascade.While a large number of steam levels enhances energy utilization efficiency,it also tends to cause a complex steam pipeline network in the industrial park.In practice,a moderate number of steam levels is always adopted in SPSs,leading to temperature mismatches between heat supply and demand for some consumers.This study proposes a distributed steam turbine system(DSTS)consisting of main steam turbines on the energy supply side and auxiliary steam turbines on the energy consumption side,aiming to balance the heat production costs,the distance-related costs,and the electricity generation of SPSs in industrial parks.A mixed-integer nonlinear programming model is established for the optimization of SPSs,with the objective of minimizing the total annual cost(TAC).The optimal number of steam levels and the optimal configuration of DSTS for an industrial park can be determined by solving the model.A case study demonstrates that the TAC of the SPS is reduced by 220.6×10^(3)USD(2.21%)through the arrangement of auxiliary steam turbines.The sub-optimal number of steam levels and a non-optimal operating condition slightly increase the TAC by 0.46%and 0.28%,respectively.The sensitivity analysis indicates that the optimal number of steam levels tends to decrease from 3 to 2 as electricity price declines.
基金supported by National Key Research and Development Program of China(2022YFB4201003)the National Natural Science Foundation of China(52278104 and 52108076)the Science and Technology Innovation Program of Hunan Province(2023RC1042).
文摘Hybrid energy storage can enhance the economic performance and reliability of energy systems in industrial parks,while lowering the industrial parks’carbon emissions and accommodating diverse load demands from users.However,most optimization research on hybrid energy storage has adopted rulebased passive-control principles,failing to fully leverage the advantages of active energy storage.To address this gap in the literature,this study develops a detailed model for an industrial park energy system with hybrid energy storage(IPES-HES),taking into account the operational characteristics of energy devices such as lithium batteries and thermal storage tanks.An active operation strategy for hybrid energy storage is proposed that uses decision variables based on hourly power outputs from the energy storage of the subsequent day.An optimization configuration model for an IPES-HES is formulated with the goals of reducing costs and lowering carbon emissions and is solved using the non-dominated sorting genetic algorithm Ⅱ(NSGA-Ⅱ).A method using the improved NSGA-Ⅱ is developed for day-ahead nonlinear scheduling,based on configuration optimization.The research findings indicate that the system energy bill and the peak power of the IPES-HES under the optimization-based operational strategy are reduced by 181.4 USD(5.5%)and 1600.3 kW(43.7%),respectively,compared with an operation strategy based on proportional electricity storage on a typical summer day.Overall,the day-ahead nonlinear optimal scheduling method developed in this study offers guidance to fully harness the advantages of active energy storage.
基金“Chongqing Graduate Student Scientific Research Innovation Project”(YKJCX2420813)。
文摘This study focuses on the ecosystem cultural service quality of Qu County Congren Valley Forest Park from the perspective of tourist perception.Using the Importance-Performance Analysis(IPA)questionnaire survey method and SPSS data analysis techniques,we systematically evaluate tourists’cognitive differences and improvement paths regarding the cultural service value of the scenic area.Based on the nonmaterial characteristics of ecosystem cultural services,combined with the unique Congren culture and natural landscape resources of Congren Valley,we designed a five-dimensional scale including natural landscape and ecological protection,cultural display and interpretation services,cultural activity participation and experience,infrastructure and supporting services,and safety management.This covers tourists’evaluations of the importance of elements such as cultural displays,interpretation systems,interactive activities,and facility support,as well as their actual satisfaction feedback.Through descriptive statistical analysis,reliability and validity testing,factor analysis,and IPA matrix analysis,we reveal the core contradictions and improvement directions perceived by tourists.The study found that the convenience of facilities such as signage,rest areas,toilets,roads,and the cleanliness of the scenic area are key areas for improvement.Additionally,different age groups perceive differences in the cultural service quality of the Congren Valley Forest Park ecosystem.The study concludes that tourists have a high level of concern for the convenience of scenic infrastructure and sanitary environment.Improving these facilities can help increase tourist satisfaction and the overall service quality of the scenic area.Simultaneously,meeting the needs of segmented markets and constructing a three-in-one service system of“deep excavation of cultural symbols–digital storytelling–immersive scenes”is recommended.
