CN108230734A - A kind of outdoor wisdom shutdown system based on V2X communications - Google Patents

Abstract

The present invention is a kind of outdoor wisdom shutdown system based on V2X communications.The system is mainly made of vehicle on-board terminal, parking lot V2X roadside devices, parking lot cloud platform three parts.Vehicle on-board terminal is responsible for foundation and communicates with parking lot V2X roadside devices and cloud platform, realizes and obtains parking lot local map and parking space information, the application functions such as parking stall and parking navigation；Parking lot V2X roadside devices are realized based on vehicle high-precision positioning and the parking position condition monitoring of V2X communication modes, managing parking field parking stall.The functions such as parking lot cloud platform is responsible for acquiring and issues parking position status information, managing parking field local map, managing parking reimbursement of expense, the wisdom parking application for car-mounted terminal provide the essential informations such as parking space state and map.The present invention provides low cost, efficient information service for parking position management, is more easily serviced to stop, looking for vehicle to provide.

Description

An outdoor intelligent parking system based on V2X communication

technical field

The invention belongs to the field of vehicle networking technology and intelligent transportation, and relates to an outdoor intelligent parking system and a management method.

Background technique

With the rapid increase of vehicle ownership in our country, the contradiction between urban vehicles and parking spaces has become increasingly prominent, and indoor parking garages alone cannot meet the needs. In order to alleviate the pressure of urban parking, many outdoor parking lots have been built near some important densely populated places, such as convention and exhibition centers, large commercial centers, railway stations, hospitals and large living areas. The current map software cannot provide high-precision maps and navigation for outdoor parking lots. There is often a lack of guidance signs inside outdoor parking lots. Drivers cannot quickly find vacant parking spaces and have to detour in the parking lot. This makes it difficult for drivers to park and find a car. bring inconvenience. In addition, the outdoor parking lot is different from the indoor parking garage. Environmental factors such as sun and rain have a greater impact on the equipment, and the requirements for sensing and other equipment are high, and the cost of outdoor construction and equipment maintenance is relatively high. Difficult. In the future, the parking lot needs to realize the integrated management of parking space information reminder, parking guidance, intelligent car finding and parking payment, which also brings huge challenges to the efficient management of the parking lot system.

At present, in the smart parking lot management system, the relatively mature one is the video-based parking lot management system, which consists of the high-definition video card-free charging subsystem at the entrance and exit of the parking lot, the parking space guidance and the intelligent car-finding subsystem. The entrance and exit subsystem of the parking lot detects the vehicle by installing a ground sensing coil at the entrance and exit of the parking lot, thereby triggering the high-definition camera to capture the vehicle for license plate recognition, recording and counting vehicle information, and realizing the function of charging without a card; the parking guidance subsystem uses the integrated above the parking space The camera or the ground sensing coil below detects the status of the parking space, which is used to count the remaining vacant parking spaces in the area, and indicates the remaining vacant parking spaces in each area through the LED guide screen in the parking lot, assisting the driver to enter the area with remaining parking spaces conveniently and quickly. Find an empty parking space for parking; the car-finding subsystem completes the vehicle search through the self-service car-finding terminal in the parking lot, and the system automatically plans the optimal car-finding path to assist the driver in quickly finding a car. However, the above-mentioned system needs to deploy a large number of cameras or geomagnetic sensors to monitor the status of the parking spaces. The equipment costs are high, and the outdoor environment sensors are not easy to maintain, and cannot accurately locate and guide the location information of the parking spaces, which makes system management difficult. Therefore, there is an urgent need to find a simple, efficient, easy-to-maintain and easy-to-promote outdoor parking lot management system.

With the development of vehicle-to-vehicle communication technology, short-distance communication based on V2X has been studied in the Internet of Vehicles, such as 802.11P, LTE-V and future 5G communication. In particular, with the development and application of 5G communication technology, vehicle-to-vehicle communication is an inevitable trend and will be widely used. In the future, vehicle-mounted terminals and mobile communication devices will be very convenient to interconnect with roadside devices and cloud platforms. Vehicle-to-vehicle communication technology based on 802.11P or LTE-V and 5G D2D communication technology will also be widely used in our daily life. , to solve a large number of our problems, to achieve a variety of applications.

Contents of the invention

Technical scheme of the present invention is as follows:

An outdoor smart parking system based on V2X communication, which includes: a vehicle-mounted terminal, a parking lot V2X roadside device, and a parking lot cloud platform, wherein,

The vehicle-mounted terminal is composed of two parts, a V2X communication device and a portable mobile device. The V2X communication device is used as the underlying communication module of the vehicle-mounted terminal, and the V2X communication device is mainly responsible for vehicle V2X communication, vehicle high-precision positioning, and human-computer interaction modules. Information interaction; V2X mainly includes people, vehicles, roads, and clouds. Among them, portable mobile devices are used as vehicle-mounted terminal human-computer interaction modules, installed with smart parking APPs, and are mainly responsible for receiving and displaying local maps of parking lots, parking space status signs, parking space applications, and Navigation, reverse car search, parking payment;

The V2X roadside equipment in the parking lot is mainly responsible for on-site management of the parking lot, monitoring of the status of the parking space, uploading the status information of the parking space to the cloud platform, assisting vehicle differential positioning based on V2X communication, and performing information interaction with V2X communication equipment through V2X communication;

The parking lot cloud platform is composed of a parking lot management server and a parking lot local map server. The parking lot management server is mainly responsible for vehicle information services and parking space management in the entire area, collecting and publishing parking space status information, and authorizing parking space applications. , Management fee payment; Among them, the local map server of the parking lot is mainly responsible for the generation and management of the partial map of the parking lot and the release of related map services.

Further, the V2X communication device is connected to the portable mobile device through WiFi, and performs information interaction with the smart parking APP of the portable mobile device through TCP/UDP communication, so as to realize high-precision positioning and navigation of the vehicle;

The V2X communication device first obtains the differential positioning message broadcast by the V2X roadside device, and then calculates according to the differential positioning information and the original GPS observation data of the terminal receiver to obtain a high-precision GPS of the vehicle.

Further, the V2X communication device also periodically broadcasts basic vehicle body safety messages, including vehicle ID, vehicle high-precision GPS, vehicle speed, and vehicle heading angle information.

Further, the portable mobile device is custom-installed with a smart parking APP, and the APP is connected to the Internet through mobile cellular communication, and performs information interaction with the parking lot cloud platform through TCP/UDP, specifically including:

Firstly, realize the reception and display of the partial map of the parking lot. The user selects a parking lot on the map to request parking. The APP accesses the parking management server of the cloud platform according to the number of the parking lot, and obtains the URL of the partial map of the parking lot; then accesses the partial map of the parking lot on the cloud platform. The map server obtains the current partial map of the parking lot according to the URL, loads it into the base layer of the map, and displays the partial map of the parking lot.

Further, the smart parking APP of the portable mobile device realizes the parking space application mainly includes two parking space application methods, one is that the system automatically allocates a free parking space, and the other is that the user selects a free parking space; then the application is submitted to the cloud platform parking lot Management server, the server allocates parking spaces according to the proximity principle or application competition algorithm, and then returns to apply for authorization.

Further, the smart parking APP of the portable mobile device realizes the reverse car search specifically includes: adopting a parking state judgment method based on data fusion, detecting the vehicle stop state through the OBD device or directly through the APP, and recording the parking GPS position; , click the APP to find a car icon, the APP is based on the local map of the parking lot, according to the current GPS location and the parking GPS location, access the path navigation service of the local map server of the cloud platform parking lot, obtain the navigation path of the car, and navigate in real time.

Further, the auxiliary vehicle differential positioning based on V2X communication of the V2X roadside equipment in the parking lot specifically includes:

First, the V2X roadside equipment obtains the differential message of the high-precision GPS base station in real time through the serial port, then encodes the differential message into a V2X user-defined differential message, and broadcasts the differential message through V2X communication;

The vehicle-mounted terminal V2X communication device receives the differential message through V2X communication, and then parses the differential message from the differential message, and then parses the pseudorange correction number and its change rate of each observation satellite from the differential message, which is used to correct the vehicle-mounted terminal. The original GPS observation data received by the machine can be used to obtain high-precision GPS information.

Further, the V2X roadside device in the parking lot based on the V2X communication monitoring of the parking space status of the parking lot specifically includes: the V2X roadside device tracks the vehicle state in real time based on the V2X communication and high-precision positioning of the vehicle, and establishes the relationship between the vehicle and the parking space. Association, so as to realize the monitoring of the status of the parking lot, the specific implementation method is as follows:

First of all, the local database of the V2X roadside equipment includes the table of active vehicles in the parking lot, the table of parked vehicles, and the information table of the parking space. The roadside equipment receives the BSM message broadcast by the vehicle entering the parking lot through V2X communication. The BSM message includes the vehicle ID and the high-precision GPS of the vehicle. , vehicle speed and message count, and then compare the vehicle position in the BSM message with the current parking lot location range to determine whether the vehicle has entered the parking lot. When the vehicle enters the parking lot, add or update the vehicle information in the active vehicle table of the database; otherwise, directly Discard the BSM message;

The roadside equipment periodically traverses the vehicle speed in the active vehicle table of the database. When an active vehicle is detected to stop, it traverses the free parking spaces in the database, calculates the distance d between the car and each free parking space, and matches until d is the smallest and d<1/2 the parking space The widest parking space is the parking space occupied by the car, update the status of the parking space in the database, and upload it to the cloud platform, and remove the car from the active vehicle table in the database to the parked vehicle table.

Further, the cloud platform stores a partial map of the parking lot, the partial map is a map based on high-precision positioning, the map includes all parking spaces in the parking lot, the color of the parking spaces can be modified, and the parking spaces are marked green when they are not occupied. When the parking space is occupied by an application, it switches to red. The basic attributes of the parking space include the parking lot number, parking space number, parking space position, parking space center point position, and parking space occupancy status, and are stored in the database of the cloud platform.

Further, the local map server of the parking lot includes a map development platform, which can provide map making, map publishing services, path network analysis services and search services, specifically including the following:

First of all, there are two ways to create a high-precision partial map of the parking lot: the first way is to use a high-precision GPS locator to collect GPS points in the parking lot and roads, and then import the GPS points into the map making software to create a partial map of the parking lot Map; the second method is to directly import the CAD design file of the local map of the parking lot into the map making software to generate a partial map of the parking lot;

Publish the map service through the local map server of the parking lot. After the partial map of the parking lot is created, publish the map document to the map server, and the mobile terminal can access the partial map of the parking lot of the server;

Create and publish route network analysis service based on map service, mobile terminal access route network analysis service on the local map server of the parking lot, realize the search for the nearest facilities, the best route for vehicles or fleets, and real-time navigation.

Advantage of the present invention and beneficial effect are as follows:

It is precisely through the above modules of the present invention that the smart parking APP of the vehicle terminal can be used to quickly search for vacant parking spaces, apply for parking spaces and navigate parking spaces; use the V2X roadside equipment in the parking lot to establish the connection between parking spaces and vehicles, realize local management of parking spaces, and reduce parking costs. Park management costs; using the cloud platform-based parking lot local map management technology to realize map and navigation services, real-time collection and release of parking space status information, to provide more convenient parking services. The specific analysis is as follows:

1. In view of the fact that the current map navigation software cannot provide high-precision maps and navigation functions of the parking lot, the present invention realizes a high-precision local map based on the parking lot, which can realize functions such as quickly viewing the parking space information of the parking lot map, parking space navigation, etc., thereby Solve the above-mentioned problems such as difficulty in finding parking spaces in outdoor parking lots, inconvenient parking positioning and navigation, etc., and improve parking efficiency.

2. The parking lot V2X roadside equipment described in the system implements a parking lot status monitoring method based on V2X communication and vehicle high-precision positioning. Compared with the current parking lot status monitoring solution based on cameras or geomagnetic field sensors, this The method realizes the monitoring and management of the parking space status of the entire parking lot through a V2X roadside device, which reduces the deployment of sensors, reduces the cost of equipment, and is more convenient for management and maintenance, improving system efficiency.

3. The differential positioning method based on V2X communication described in the system realizes differential signal transmission of high-precision GPS base stations through V2X communication, and vehicle-mounted terminals can directly receive differential signals for differential positioning. Compared with the current differential signal transmission through digital transmission stations, The deployment of the data transmission station on the vehicle terminal side is omitted, the system is simplified, and the equipment cost is reduced.

Description of drawings

FIG. 1 is an overall architecture diagram of an outdoor smart parking system based on V2X communication according to a preferred embodiment of the present invention;

Figure 2 is a flow chart of smart parking based on V2X communication;

Figure 3 is a structural diagram of a GPS differential positioning system based on V2X communication;

Fig. 4 is a flow chart of the parking space status monitoring program of the V2X roadside equipment in the parking lot based on V2X communication.

Detailed ways

The technical solutions in the embodiments of the present invention will be described clearly and in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.

The technical scheme that the present invention solves the problems of the technologies described above is:

As shown in Figure 1, the parking lot cloud platform consists of a parking lot management server and a parking lot local map server.

The local map of the parking lot is stored in the cloud platform. The partial map is a map based on high-precision positioning. The map includes all parking spaces in the parking lot. The color of the parking spaces can be modified. The present invention uses a color marking method to indicate the occupancy of the parking spaces: the parking spaces are not occupied When the parking space is occupied, it will be marked in green, and it will switch to red when the parking space is occupied by an application. The basic attributes of the parking space include the parking lot number, the parking space number, the location of the parking space, the location of the center point of the parking space, and the occupancy status of the parking space, and are stored in the database of the cloud platform.

As mentioned above, the local map server of the parking lot includes a map development platform, which can provide map making, map publishing services, path network analysis services, search services, etc. The specific implementation methods are as follows:

First of all, there are two ways to create a high-precision local map of the parking lot: the first way is to use a high-precision GPS locator to collect GPS points in the parking lot and roads, and generally use the GPS at the four vertices of the parking space to describe the geometry of the parking space Shape, use the starting point, end point, and middle point of the road to describe a road, use the inflection point to connect two roads, and then import the GPS points into the map making software through the Excel file to make a partial map of the parking lot. The second method is to directly import the CAD design file of the partial map of the parking lot into the map making software to make a partial map of the parking lot.

Further, the map service is published through the partial map server of the parking lot. After the partial map of the parking lot is created, the map document is published to the map server, and the mobile terminal can access the partial map of the parking lot of the server.

Furthermore, create and release route network analysis service on the basis of map service, the mobile terminal accesses the route network analysis service on the local map server of the parking lot, and the route network analysis service calls the solution program according to the location information provided by the mobile terminal, which can realize the search for the nearest The optimal travel route of facilities, vehicles or fleets, and return the results to the mobile terminal, and the mobile terminal will load the returned route to the corresponding layer of the map for route navigation.

The parking lot management server and the parking lot cloud platform process according to the parking space applied by the vehicle, check whether there is a conflict of application competition, and then return a parking space authorization information. Receive the parking space occupancy or release information uploaded by the roadside equipment, synchronously modify the status of the parking space in the database, and then push it to all vehicle terminals connected to the cloud platform to update the corresponding parking space status of the local map of the parking lot, and initiate a parking payment request for the leaving vehicle.

As shown in Figure 1, the vehicle-mounted terminal is composed of V2X communication equipment and portable mobile equipment. The V2X communication device is connected to the portable mobile device through WiFi, and interacts with the smart parking APP of the portable mobile device through TCP/UDP communication to realize high-precision positioning and navigation of the vehicle.

As mentioned above, the V2X communication device performs information interaction with the V2X roadside device in the parking lot through V2X communication. The V2X communication device first obtains the differential positioning message broadcast by the V2X roadside device, and then performs calculations based on the differential information and the original GPS observation data of the terminal receiver. Get vehicle high precision GPS. V2X communication equipment periodically broadcasts body basic safety messages (BSM), including vehicle ID, vehicle high-precision GPS, vehicle speed, and vehicle heading angle information.

As mentioned above, the portable mobile device is custom-installed with a smart parking APP. The APP is connected to the Internet through mobile cellular communication, and performs information interaction with the parking lot cloud platform through TCP/UDP. It mainly realizes the smart parking business of the vehicle terminal, including the local map of the parking lot. The smart parking functions of reception display, parking space status identification, parking space application, parking space navigation, reverse car search, and parking payment are shown in Figure 2. The specific implementation methods are as follows:

Firstly, the partial map of the parking lot is received and displayed. The user opens the smart parking APP on the mobile phone, and the user selects a parking lot on the map to request parking. The APP accesses the parking management server of the cloud platform according to the number of the parking lot, and obtains the URL of the partial map of the parking lot; Then access the local map server of the parking lot on the cloud platform, obtain the current partial map of the parking lot according to the URL, load it into the basic layer of the map, and use split-screen technology to display the regional commercial navigation map (such as Gaode and Baidu map) and the partial map of the parking lot. .

Further, the parking space identification of the local map of the parking lot is realized. Since each parking space in the local map of the parking lot has its own state, this method uses different colors to mark the free and occupied state of the parking space. The state of the parking space is stored in the parking lot cloud platform database, so After the above local map loading is completed, it is necessary to initialize the parking space color of the local map. The APP first accesses the cloud platform parking lot management server, requests to query the current status information of the parking lot, and then sets the status of the local map parking space according to the query results. Green means free, red means occupied or applied, and monitors the status information of the parking space actively pushed by the cloud platform. , to update the status of the parking space on the map in real time.

Further, to realize the parking space application, the present invention provides two parking space application methods, one is that the system automatically allocates free parking spaces, and the other is that the user selects free parking spaces. After completing the color identification of the above-mentioned parking spaces on the map, the system first prompts through voice whether it needs to automatically allocate parking spaces, and the system makes a judgment after the voice answers. and vehicle location information, allocate a free parking space based on the principle of proximity, and return it to the APP; if the answer is "no" or "no", the user needs to click on the desired free parking space and submit the application to the cloud platform parking lot management server, The server checks whether there is an application competition conflict, and returns the application authorization.

Further, to realize parking space navigation, after the APP obtains the parking space applied for above, based on the local map of the parking lot, according to the current GPS position of the vehicle and the GPS position of the authorized target parking space, access the path navigation service of the local map server of the cloud platform parking lot to obtain the parking navigation path , and navigate in real time.

Further, to realize reverse car search, the present invention adopts a parking state judging method based on data fusion, detects the vehicle stop state through OBD equipment or directly through APP, and records the parking GPS position; The local map of the parking lot, according to the current GPS location and the parking GPS location, accesses the path navigation service of the cloud platform parking lot partial map server, obtains the car-finding navigation path, and navigates in real time.

Finally, parking payment is realized. When the vehicle finishes parking and leaves the parking space, the APP receives the parking payment request sent by the cloud platform management server, and the user executes the payment.

As shown in Figure 1, the V2X drive test equipment in the parking lot mainly realizes the differential positioning of auxiliary vehicles based on V2X communication and the status monitoring of parking spaces in the parking lot.

As mentioned above, the vehicle differential positioning system, whether it is the vehicle positioning and navigation based on the local map of the parking lot, or the monitoring of the parking space status of the parking lot based on V2X communication, is based on high-precision positioning. Therefore, the present invention proposes a system based on The vehicle differential positioning system for V2X communication, as shown in Figure 3, includes high-precision GPS base stations, V2X roadside equipment, and vehicle-mounted terminals. The specific implementation methods are as follows:

First, the V2X roadside equipment obtains the differential message of the high-precision GPS base station in real time through the serial port, then encodes the differential message into a V2X user-defined differential message, and broadcasts the differential message through V2X communication.

Further, the vehicle-mounted terminal V2X communication device receives the differential message through V2X communication, then parses the differential message from the differential message, and then parses the pseudorange correction number and its change rate of each observation satellite from the differential message, which is used to correct the vehicle-mounted The original GPS observation data received by the terminal receiver can obtain high-precision GPS information.

As mentioned above, based on V2X communication-based parking lot status monitoring, V2X roadside devices track the vehicle status in real time based on V2X communication and high-precision vehicle positioning, and establish the association between the vehicle and the parking space, so as to realize the monitoring of the status of the parking lot. Monitoring, as shown in Figure 4, the specific implementation method is as follows:

First of all, the local database of V2X roadside equipment includes the parking lot active vehicle table, parked vehicle table and parking space information table. The roadside equipment receives the BSM message broadcast by the vehicle entering the parking lot through V2X communication. The BSM message includes the vehicle ID, vehicle high-precision GPS, vehicle speed and message count, and then compares the vehicle position in the BSM message with the current parking lot position range to judge Whether the vehicle enters the parking lot, when the vehicle enters the parking lot, add or update the vehicle information in the active vehicle table of the database; otherwise, directly discard the BSM message.

Further, the roadside device periodically traverses the vehicle speed in the active vehicle table of the database. When an active vehicle is detected to stop, it traverses the free parking spaces in the database, calculates the distance d between the car and each free parking space, and matches until d is the smallest and d<1/ The parking space with a width of 2 parking spaces is the parking space occupied by the car. The status of the parking space in the database is updated and uploaded to the cloud platform, and the car is removed from the active vehicle table in the database to the parked vehicle table.

Further, the roadside device periodically traverses the vehicle speed in the parked vehicle table in the database, and when it detects that the parked vehicle starts, then calculates the distance d between the vehicle and the parking space, and judges that d gradually increases, that is, the vehicle has left the parking space, and updates the database parking space status, upload it to the cloud platform, and delete the car from the parked vehicle table in the database.

Further, the roadside device traverses the BSM message count in the active vehicle table of the database periodically, and when it detects that the BSM message count of a certain vehicle has not been updated, it considers that the vehicle has left the parking lot, and deletes the vehicle from the active vehicle table in the database.

The above embodiments should be understood as only for illustrating the present invention but not for limiting the protection scope of the present invention. After reading the contents of the present invention, skilled persons can make various changes or modifications to the present invention, and these equivalent changes and modifications also fall within the scope defined by the claims of the present invention.

Claims (10)

1. An outdoor smart parking system based on V2X communication, characterized in that it includes: a vehicle-mounted terminal, a parking lot V2X roadside device, and a parking lot cloud platform, wherein, The vehicle-mounted terminal is composed of two parts, a V2X communication device and a portable mobile device. The V2X communication device is used as the underlying communication module of the vehicle-mounted terminal, and the V2X communication device is mainly responsible for vehicle V2X communication, vehicle high-precision positioning, and human-computer interaction modules. Information interaction; V2X mainly includes people, vehicles, roads, and clouds. Among them, portable mobile devices are used as vehicle-mounted terminal human-computer interaction modules, installed with smart parking APPs, and are mainly responsible for receiving and displaying local maps of parking lots, parking space status signs, parking space applications, and Navigation, reverse car search, parking payment; The V2X roadside equipment in the parking lot is mainly responsible for on-site management of the parking lot, monitoring of the status of the parking space, uploading the status information of the parking space to the cloud platform, assisting vehicle differential positioning based on V2X communication, and performing information interaction with V2X communication equipment through V2X communication; The parking lot cloud platform is composed of a parking lot management server and a parking lot local map server. The parking lot management server is mainly responsible for vehicle information services and parking space management in the entire area, collecting and publishing parking space status information, and authorizing parking space applications. , Management fee payment; Among them, the local map server of the parking lot is mainly responsible for the generation and management of the partial map of the parking lot and the release of related map services. 2. The outdoor smart parking system based on V2X communication according to claim 1, wherein the V2X communication device is connected to the portable mobile device through WiFi, and communicates with the smart parking APP of the portable mobile device through TCP/UDP communication. Carry out information interaction to realize high-precision vehicle positioning and navigation; The V2X communication device first obtains the differential positioning message broadcast by the V2X roadside device, and then calculates according to the differential positioning information and the original GPS observation data of the terminal receiver to obtain a high-precision GPS of the vehicle. 3. The outdoor smart parking system based on V2X communication according to claim 2, wherein the V2X communication device also periodically broadcasts basic safety messages of the vehicle body, including vehicle ID, vehicle high-precision GPS, vehicle speed, and vehicle heading corner information. 4. The outdoor smart parking system based on V2X communication according to claim 2, characterized in that, the portable mobile device is customized with a smart parking APP installed, and the APP is connected to the Internet through mobile cellular communication, and through TCP/UDP Information interaction with the parking lot cloud platform, including: Firstly, realize the reception and display of the partial map of the parking lot. The user selects a parking lot on the map to request parking. The APP accesses the parking management server of the cloud platform according to the number of the parking lot, and obtains the URL of the partial map of the parking lot; then accesses the partial map of the parking lot on the cloud platform. The map server obtains the current partial map of the parking lot according to the URL, loads it into the base layer of the map, and displays the partial map of the parking lot. 5. The outdoor smart parking system based on V2X communication according to claim 4, characterized in that, the smart parking APP of the portable mobile device implements parking space application mainly includes two parking space application methods, one is automatically allocated by the system The other is that the user selects a free parking space; then submits the application to the cloud platform parking lot management server, and the server allocates the parking space according to the principle of proximity or the application competition algorithm, and then returns the application for authorization. 6. The outdoor smart parking system based on V2X communication according to claim 1, wherein the smart parking APP of the portable mobile device realizes reverse car search specifically comprising: adopting a parking state judgment method based on data fusion, Detect the parking status of the vehicle through the OBD device or directly through the APP, and record the parking GPS location; when looking for a car, click the APP to find a car icon, the APP is based on the local map of the parking lot, and according to the current GPS location and the parking GPS location, access the local parking lot on the cloud platform The route navigation service of the map server obtains the car finding navigation route and performs real-time navigation. 7. The outdoor intelligent parking system based on V2X communication according to claim 1, wherein the V2X roadside equipment in the parking lot based on the auxiliary vehicle differential positioning based on V2X communication specifically includes: First, the V2X roadside equipment obtains the differential message of the high-precision GPS base station in real time through the serial port, then encodes the differential message into a V2X user-defined differential message, and broadcasts the differential message through V2X communication; The vehicle-mounted terminal V2X communication device receives the differential message through V2X communication, and then parses the differential message from the differential message, and then parses the pseudorange correction number and its change rate of each observation satellite from the differential message, which is used to correct the vehicle-mounted terminal. The original GPS observation data received by the machine can be used to obtain high-precision GPS information. 8. The outdoor intelligent parking system based on V2X communication according to claim 1, wherein the monitoring of the parking space status of the parking lot by V2X roadside equipment based on V2X communication in the parking lot specifically includes: V2X roadside equipment based on V2X Communication and vehicle high-precision positioning, real-time tracking of vehicle status, and establishment of association between vehicles and parking spaces, so as to realize monitoring of parking lot status. The specific implementation methods are as follows: First of all, the local database of the V2X roadside equipment includes the table of active vehicles in the parking lot, the table of parked vehicles, and the information table of the parking space. The roadside equipment receives the BSM message broadcast by the vehicle entering the parking lot through V2X communication. The BSM message includes the vehicle ID and the high-precision GPS of the vehicle. , vehicle speed and message count, and then compare the vehicle position in the BSM message with the current parking lot location range to determine whether the vehicle has entered the parking lot. When the vehicle enters the parking lot, add or update the vehicle information in the active vehicle table of the database; otherwise, directly Discard the BSM message; The roadside equipment periodically traverses the vehicle speed in the active vehicle table of the database. When an active vehicle is detected to stop, it traverses the free parking spaces in the database, calculates the distance d between the car and each free parking space, and matches until d is the smallest and d<1/2 the parking space The widest parking space is the parking space occupied by the car, update the status of the parking space in the database, and upload it to the cloud platform, and remove the car from the active vehicle table in the database to the parked vehicle table. 9. The outdoor smart parking system based on V2X communication according to claim 1, wherein the cloud platform stores a partial map of the parking lot, the partial map is a map based on high-precision positioning, and the map includes All the parking spaces in the parking lot, the color of the parking space can be modified. When the parking space is not occupied, it is marked as green, and when the parking space is occupied by an application, it switches to red. The basic attributes of the parking space include the parking lot number, parking number, parking space position, parking space center point position, parking space The occupancy state is stored in the database of the cloud platform. 10. The outdoor smart parking system based on V2X communication according to claim 1, wherein the local map server of the parking lot includes a map development platform, which can provide map making, map publishing services, and path network analysis services and search services, including the following: First of all, there are two ways to create a high-precision partial map of the parking lot: the first way is to use a high-precision GPS locator to collect GPS points in the parking lot and roads, and then import the GPS points into the map making software to create and generate a partial map of the parking lot Map; the second method is to directly import the CAD design file of the partial map of the parking lot into the map making software to make and generate a partial map of the parking lot; Publish the map service through the local map server of the parking lot. After the partial map of the parking lot is created, publish the map document to the map server, and the mobile terminal can access the partial map of the parking lot of the server; Create and publish route network analysis service based on map service, mobile terminal access route network analysis service on local map server of parking lot, realize finding the nearest facility, best route of vehicle or fleet, and real-time navigation.