CN106842272B - Method, system and device for generating parking track in parking lot - Google Patents
Method, system and device for generating parking track in parking lot Download PDFInfo
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- CN106842272B CN106842272B CN201710117567.0A CN201710117567A CN106842272B CN 106842272 B CN106842272 B CN 106842272B CN 201710117567 A CN201710117567 A CN 201710117567A CN 106842272 B CN106842272 B CN 106842272B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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Abstract
The invention provides a method, a system and a terminal device for generating parking tracks in a parking lot, wherein the method comprises the following steps: entering an indoor judgment step: receiving vehicle state information sent by a terminal device so as to judge whether a vehicle enters a room, if so, executing a plane track generation step, and if not, continuing to execute an indoor entering judgment step; a plane track generation step: receiving longitude and latitude information sent by a terminal device, and generating plane track information according to the longitude and latitude information, wherein the longitude and latitude information of the terminal device is generated by a gyroscope of the terminal device; a three-dimensional track generation step: and receiving the height information sent by the terminal device, and combining the plane track information and the height information to generate three-dimensional track information. The invention has the beneficial effects that: by the method and the system, the vehicle can be quickly and conveniently found in the multi-layer parking lot, the requirements of users are met, and the popularization and the application of the value are realized.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a method, a system and a device for generating a parking track in a parking lot.
Background
With the improvement of living standard of people, the frequency of using vehicles by people is higher and higher, but because the vehicles are numerous at present, the user often has the position of forgetting to stop the vehicle after parking the vehicle in a parking lot, thereby bringing inconvenience to vehicle finding.
Disclosure of Invention
The invention provides a method for generating parking tracks in a parking lot, which comprises the following steps:
entering an indoor judgment step: receiving vehicle state information sent by a terminal device so as to judge whether a vehicle enters a room, if so, executing a plane track generation step, and if not, continuing to execute an indoor entering judgment step;
a plane track generation step: receiving longitude and latitude information sent by a terminal device, and generating plane track information according to the longitude and latitude information, wherein the longitude and latitude information of the terminal device is generated by a gyroscope of the terminal device;
a three-dimensional track generation step: and receiving the height information sent by the terminal device, and combining the plane track information and the height information to generate three-dimensional track information.
As a further improvement of the present invention, in the entering-room judging step, it is judged whether the vehicle enters the room according to a judgment condition and a time axis, and the judgment condition includes receiving the following information sent by the terminal device:
judging a condition 1 that the vehicle deviates from a road on a map and generating sign 1 information;
judging the condition 2, generating the information of the sign 2 when the GPS information can not be generated;
judging a condition 3, wherein the vehicle running speed is less than the set running speed, and generating mark 3 information;
the vehicle stops and the flag 4 information is generated, judging the condition 4.
As a further improvement of the present invention, in the planar trajectory generating step, latitude and longitude information transmitted by the terminal device is received, and the information of the sign 6 transmitted by the terminal device is received.
As a further improvement of the present invention, the stereoscopic trajectory generating step includes the steps of:
A. a judging step: judging whether the vehicle is on line or not, if so, extracting the parking position of the vehicle and then executing a position extracting step, otherwise, extracting the latest parking position of the vehicle and then executing a position extracting step;
B. a position extraction step: extracting the position of an indoor entrance;
C. extracting track data: extracting track data between an indoor entrance position and a parking position;
D. performing a floor data analysis step and a route data analysis step;
E. data simplification step: simplifying the track data;
F. generating trajectory data;
in the step of analyzing the floor data, analyzing height information of a user from indoor to parking or the last effective position to obtain a height range, wherein the range value of the height needs more than 3 data points for supporting, after the height range is obtained, the range of the height is counted, the change of a floor can be judged every time a falling edge or a rising edge appears in the height data, the number of floors can be counted by accumulating the change times, meanwhile, multipoint comparison needs to be carried out on the falling edge and the rising edge, when certain data is judged to be the falling edge or the rising edge, the subsequent data still needs to be continuously judged, and the data can not be determined to be the falling edge or the rising edge until the level of the data appears;
in the route data analysis step, firstly, the motion track of each layer of the vehicle is counted, then the burr data is removed, and then the track data is subjected to smoothing treatment to ensure that the track line is positioned on the road;
in the data reduction step, the track data is processed, and the data moving in the same direction and within a set distance are sampled, so that the track data is reduced.
As a further improvement of the invention, an indoor judgment step, a plane track generation step and a three-dimensional track generation step are executed through an intelligent terminal or a background server; when the intelligent terminal is adopted, the intelligent terminal can display the three-dimensional track information; when the background server is adopted, the intelligent terminal can call and display the three-dimensional track information of the background server.
The invention also provides a system for generating parking tracks in a parking lot, which comprises:
entering an indoor judgment module: the system comprises a terminal device, a plane track generation step and an indoor entering judgment step, wherein the terminal device is used for receiving vehicle state information sent by the terminal device so as to judge whether a vehicle enters the indoor or not;
a plane trajectory generation module: the system comprises a terminal device, a gyroscope, a control module and a display module, wherein the terminal device is used for receiving longitude and latitude information sent by the terminal device and generating plane track information according to the longitude and latitude information;
a three-dimensional trajectory generation module: and the height information is used for receiving the height information sent by the terminal device and combining the plane track information and the height information to generate three-dimensional track information.
As a further improvement of the present invention,
judging a condition 1 that the vehicle deviates from a road on a map and generating sign 1 information;
judging the condition 2, generating the information of the sign 2 when the GPS information can not be generated;
judging a condition 3, wherein the vehicle running speed is less than the set running speed, and generating mark 3 information;
the vehicle stops and the flag 4 information is generated, judging the condition 4.
As a further improvement of the present invention, in the plane trajectory generation module, latitude and longitude information transmitted by the terminal device is received, and information of the sign 6 transmitted by the terminal device is received.
As a further improvement of the present invention, the stereoscopic trajectory generation module includes:
a judging module: judging whether the vehicle is on line or not, if so, extracting the parking position of the vehicle and then executing a position extracting module, and if not, extracting the latest parking position of the vehicle and then executing a position extracting module;
an extraction position module: extracting the position of an indoor entrance;
a track data extraction module: extracting track data between an indoor entrance position and a parking position;
the system comprises an execution floor data analysis module and a route data analysis module;
a data simplifying module: simplifying the track data;
a generation module: generating trajectory data;
in the floor data analysis module, analyzing height information of a user from indoor to parking or the last effective position to obtain a height range, wherein the range value of the height needs more than 3 data points for supporting, after the height range is obtained, the range of the height is counted, the change of a floor can be judged every time a falling edge or a rising edge appears in the height data, the number of floors can be counted by accumulating the change times, meanwhile, multipoint comparison needs to be carried out on the falling edge and the rising edge, when certain data is judged to be the falling edge or the rising edge, the subsequent data still needs to be continuously judged, and the data can not be determined to be the falling edge or the rising edge until the level of the data appears;
in the route data analysis module, firstly, the motion track of each layer of the vehicle is counted, then, burr data are removed, and then, the track data are subjected to smoothing treatment to ensure that a track line is positioned on a road;
in the data reduction module, the track data is processed, and the data moving in the same direction and within a set distance is sampled, so that the reduction of the track data is realized.
As a further improvement of the invention, the intelligent terminal or the background server executes the indoor judgment module, the plane track generation module and the three-dimensional track generation module; when the intelligent terminal is adopted, the intelligent terminal can display the three-dimensional track information; when the background server is adopted, the intelligent terminal can call and display the three-dimensional track information of the background server.
The present invention also provides a terminal device, including:
an altitude sensor for providing altitude information;
the GPS module is used for providing navigation information;
the gyroscope is used for providing longitude and latitude information;
and the communication module is used for transmitting data information to the background server or the intelligent terminal.
As a further improvement of the present invention, the terminal device further includes:
the power supply management module is used for being responsible for power supply of the terminal device and standby management of the power supply;
the central processing module is used for taking charge of the work coordination of all modules of the terminal device and the standby power supply logic program;
and the vibration detection module is used for being responsible for the vibration detection of the terminal device.
The invention has the beneficial effects that: by the method and the system, the vehicle can be quickly and conveniently found in the multi-layer parking lot, the requirements of users are met, and the popularization and the application of the value are realized.
Drawings
FIG. 1 is a schematic block diagram of the system of the present invention.
Fig. 2 is a three-dimensional track information diagram of the present invention.
Fig. 3 is a flow chart of the stereoscopic trajectory generation step of the present invention.
Detailed Description
The invention discloses a terminal device, comprising:
an altitude sensor for providing altitude information;
the GPS module is used for providing navigation information;
the gyroscope is used for providing longitude and latitude information;
the communication module is used for transmitting data information to the background server or the intelligent terminal;
the power supply management module is used for being responsible for power supply of the terminal device and standby management of the power supply;
the central processing module is used for taking charge of the work coordination of all modules of the terminal device and the standby power supply logic program;
and the vibration detection module is used for being responsible for the vibration detection of the terminal device.
The intelligent terminal can receive data information sent by the terminal device, and generates and displays the three-dimensional track information through the intelligent terminal, and the background server is not needed; the background server can also receive data information sent by the terminal device, the stereoscopic track information is generated through the background server, and the stereoscopic track information of the background server can be called and displayed through the intelligent terminal; the intelligent terminal comprises a smart phone, a tablet computer and the like.
As the preferred embodiment of the invention, a mode of matching the intelligent terminal, the background server and the terminal device is adopted.
The invention discloses a method for generating parking tracks in a parking lot, which comprises the following steps:
entering an indoor judgment step: receiving vehicle state information sent by a terminal device so as to judge whether a vehicle enters a room, if so, executing a plane track generation step, and if not, continuing to execute an indoor entering judgment step;
a plane track generation step: receiving longitude and latitude information sent by a terminal device, and generating plane track information according to the longitude and latitude information, wherein the longitude and latitude information of the terminal device is generated by a gyroscope of the terminal device;
a three-dimensional track generation step: and receiving the height information sent by the terminal device, and combining the plane track information and the height information to generate three-dimensional track information.
In the step of judging whether the vehicle enters the room or not according to a judgment condition and a time axis, wherein the judgment condition comprises the following information sent by the terminal device:
judging a condition 1 that the vehicle deviates from a road on a map and generating sign 1 information;
judging the condition 2, generating the information of the sign 2 when the GPS information can not be generated;
judging a condition 3, wherein the vehicle running speed is less than the set running speed, and generating mark 3 information;
judging a condition 4, stopping the vehicle, and generating mark 4 information;
and (4) performing derivation judgment by adding a time axis according to the judgment conditions so as to judge whether the vehicle enters the room, wherein the result is used as the information of the mark 5.
The set driving speed may be 20 km per hour.
In the plane track generation step, when there is no GPS information, the gyroscope performs deduction calculation according to the original longitude and latitude information to generate longitude and latitude information, and at this time, the terminal device generates the flag 6 information indicating that the gyroscope is currently calculating the longitude and latitude information.
When the vehicle enters the room, the vehicle still transmits corresponding longitude and latitude data to the background. And when the user looks for the vehicle, the background feeds back the processed track data to the user. The background needs to perform certain data analysis before showing the trajectory data for the user, including floor data analysis, route data analysis and data simplification.
As shown in fig. 3, the stereoscopic trajectory generating step includes the steps of:
A. a judging step: judging whether the vehicle is on line or not, if so, extracting the parking position of the vehicle and then executing a position extracting step, otherwise, extracting the latest parking position of the vehicle and then executing a position extracting step;
B. a position extraction step: extracting the position of an indoor entrance;
C. extracting track data: extracting track data between an indoor entrance position and a parking position;
D. performing a floor data analysis step and a route data analysis step;
E. data simplification step: simplifying the track data;
F. generating trajectory data;
in the step of analyzing the floor data, analyzing height information of a user from entering a room to parking or a last effective position to obtain a height range, wherein the range value of the height needs more than 3 data points for supporting, burr data is avoided, after the height range is obtained, the range of the height is counted, the change of a floor can be judged when a falling edge or a rising edge occurs in the height data, the number of the floors can be counted by accumulating the times of the change, meanwhile, multi-point comparison needs to be carried out on the falling edge and the rising edge, when a certain data is judged to be the falling edge or the rising edge, the subsequent data still needs to be continuously judged, and the data can be determined to be the falling edge or the rising edge until the level of the data occurs;
in the route data analysis step, considering that the vehicle positioning information can drift, firstly, calculating the motion track of each layer of the vehicle, then removing the burr data, and then, smoothing the track data to ensure that the track line is positioned on the road;
in the data reduction step, theoretically, 2 points can determine a straight line, the trajectory line is composed of a plurality of straight lines, other data on the straight line cannot influence the trend of the straight line, and the data belongs to redundant data, so that the trajectory data needs to be processed, and data moving in the same direction and within a set distance (for example, the distance is closer) needs to be sampled, so that the trajectory data is reduced. The length of the simplified data needs to be kept within at least 10 meters, and overlarge errors are avoided.
In the invention, an indoor entering judgment step, a plane track generation step and a three-dimensional track generation step are executed through an intelligent terminal or a background server; when the intelligent terminal is adopted, the intelligent terminal can display the three-dimensional track information; when the background server is adopted, the intelligent terminal can call and display the three-dimensional track information of the background server.
The specific introduction of the step of generating the three-dimensional trajectory: the vehicle obtains height information through the height sensor in the driving process, the terminal device sends the height information to the background server, the background server determines that the vehicle enters a second floor through accurate calculation by combining track information from the beginning when the vehicle enters the room, and the background server generates three-dimensional track information according to the plane track information and the floor information.
The invention also discloses a system for generating parking tracks in the parking lot, which comprises:
entering an indoor judgment module: the system comprises a terminal device, a plane track generation step and an indoor entering judgment step, wherein the terminal device is used for receiving vehicle state information sent by the terminal device so as to judge whether a vehicle enters the indoor or not;
a plane trajectory generation module: the system comprises a terminal device, a gyroscope, a control module and a display module, wherein the terminal device is used for receiving longitude and latitude information sent by the terminal device and generating plane track information according to the longitude and latitude information;
a three-dimensional trajectory generation module: and the height information is used for receiving the height information sent by the terminal device and combining the plane track information and the height information to generate three-dimensional track information.
In the indoor entering judgment module, whether the vehicle enters the room is judged according to a judgment condition and a time axis, wherein the judgment condition comprises the following information sent by a terminal device:
judging a condition 1 that the vehicle deviates from a road on a map and generating sign 1 information;
judging the condition 2, generating the information of the sign 2 when the GPS information can not be generated;
judging a condition 3, wherein the vehicle running speed is less than the set running speed, and generating mark 3 information;
the vehicle stops and the flag 4 information is generated, judging the condition 4.
In the plane trajectory generation module, latitude and longitude information sent by the terminal device is received, and mark 6 information sent by the terminal device is received.
The stereoscopic track generation module includes:
a judging module: judging whether the vehicle is on line or not, if so, extracting the parking position of the vehicle and then executing a position extracting module, and if not, extracting the latest parking position of the vehicle and then executing a position extracting module;
an extraction position module: extracting the position of an indoor entrance;
a track data extraction module: extracting track data between an indoor entrance position and a parking position;
the system comprises an execution floor data analysis module and a route data analysis module;
a data simplifying module: simplifying the track data;
a generation module: generating trajectory data;
in the floor data analysis module, analyzing height information of a user from indoor to parking or the last effective position to obtain a height range, wherein the range value of the height needs more than 3 data points for supporting, after the height range is obtained, the range of the height is counted, the change of a floor can be judged every time a falling edge or a rising edge appears in the height data, the number of floors can be counted by accumulating the change times, meanwhile, multipoint comparison needs to be carried out on the falling edge and the rising edge, when certain data is judged to be the falling edge or the rising edge, the subsequent data still needs to be continuously judged, and the data can not be determined to be the falling edge or the rising edge until the level of the data appears;
in the route data analysis module, firstly, the motion track of each layer of the vehicle is counted, then, burr data are removed, and then, the track data are subjected to smoothing treatment to ensure that a track line is positioned on a road;
in the data reduction module, the track data is processed, and the data moving in the same direction and within a set distance is sampled, so that the reduction of the track data is realized.
The intelligent terminal or the background server executes the indoor entering judgment module, the plane track generation module and the three-dimensional track generation module; when the intelligent terminal is adopted, the intelligent terminal can display the three-dimensional track information; when the background server is adopted, the intelligent terminal can call and display the three-dimensional track information of the background server.
And the background server receives the data information of the intelligent terminal and the terminal device and is responsible for generating the plane track information and the three-dimensional track information.
The intelligent terminal comprises the following functions:
downloading data, such as tracks and 3D images, from a background server through an APP;
sending an instruction to the terminal device through the APP, such as waking up the terminal device;
and sending information, such as client information and longitude and latitude information, to the background server through the APP.
According to the invention, the GPS is combined with the map data to judge that the terminal device enters an indoor parking factory, after the terminal device enters the indoor, inertial navigation information is generated by combining a gyroscope, after the terminal device enters the indoor, a height sensor transmits the height information to a background server, the background server generates three-dimensional track information (3D three-dimensional parking map) through calculation, and when the mobile phone APP judges that the terminal device enters the indoor through calculation, the 3D three-dimensional parking map is directly opened from the background server.
By the method and the system, the vehicle can be quickly and conveniently found in the multi-layer parking lot, the requirements of users are met, and the popularization and the application of the value are realized.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (4)
1. A method of generating a parking trajectory within a parking lot, comprising the steps of:
entering an indoor judgment step: receiving vehicle state information sent by a terminal device so as to judge whether a vehicle enters the room, if so, executing a plane track generation step, otherwise, continuing to execute an indoor entering judgment step;
a plane track generation step: receiving longitude and latitude information sent by a terminal device, and generating plane track information according to the longitude and latitude information, wherein the longitude and latitude information of the terminal device is generated by a gyroscope of the terminal device;
a three-dimensional track generation step: receiving height information sent by a terminal device, and combining the plane track information and the height information to generate three-dimensional track information;
in the step of judging whether the vehicle enters the room or not according to a judgment condition and a time axis, wherein the judgment condition comprises the following information sent by the terminal device:
judging a condition 1 that the vehicle deviates from a road on a map and generating sign 1 information;
judging the condition 2, generating the information of the sign 2 when the GPS information can not be generated;
judging a condition 3, wherein the vehicle running speed is less than the set speed per hour, and generating mark 3 information;
judging a condition 4, stopping the vehicle, and generating mark 4 information;
in the plane track generation step, longitude and latitude information sent by a terminal device is received, and mark 6 information sent by the terminal device is received, wherein the mark 6 information shows that the gyroscope calculates the longitude and latitude information at present;
the stereoscopic track generating step includes the steps of:
A. a judging step: judging whether the vehicle is on line or not, if so, extracting the parking position of the vehicle and then executing a position extracting step, otherwise, extracting the latest parking position of the vehicle and then executing a position extracting step;
B. a position extraction step: extracting the position of an indoor entrance;
C. extracting track data: extracting track data between an indoor entrance position and a parking position;
D. performing a floor data analysis step and a route data analysis step;
E. data simplification step: simplifying the track data;
F. generating trajectory data;
in the step of analyzing the floor data, analyzing height information of a user from indoor to parking or the last effective position to obtain a height range, wherein the range value of the height needs more than 3 data points for supporting, after the height range is obtained, the range of the height is counted, the change of a floor can be judged every time a falling edge or a rising edge appears in the height data, the number of floors can be counted by accumulating the change times, meanwhile, multipoint comparison needs to be carried out on the falling edge and the rising edge, when certain data is judged to be the falling edge or the rising edge, the subsequent data still needs to be continuously judged, and the data can not be determined to be the falling edge or the rising edge until the level of the data appears;
in the route data analysis step, firstly, the motion track of the vehicle on each layer is counted, then, burr data are removed, and then, the track data are subjected to smoothing treatment to ensure that a track line is positioned on a road;
in the data reduction step, the track data is processed, and the data moving in the same direction and within a set distance is sampled, so that the track data is reduced.
2. The method according to claim 1, wherein the step of entering indoor judgment, the step of generating a planar trajectory and the step of generating a stereoscopic trajectory are executed by an intelligent terminal or a background server; when the intelligent terminal is adopted, the intelligent terminal can display the three-dimensional track information; when the background server is adopted, the intelligent terminal can call and display the three-dimensional track information of the background server.
3. A system for generating a parking trajectory within a parking lot, comprising:
entering an indoor judgment module: the system comprises a plane track generation module, an indoor judgment module and a terminal device, wherein the plane track generation module is used for generating a plane track;
a plane trajectory generation module: the system comprises a terminal device, a gyroscope, a control module and a display module, wherein the terminal device is used for receiving longitude and latitude information sent by the terminal device and generating plane track information according to the longitude and latitude information;
a three-dimensional trajectory generation module: the height information is used for receiving the height information sent by the terminal device, and the plane track information and the height information are combined to generate three-dimensional track information;
in the indoor entering judgment module, whether the vehicle enters the room is judged according to a judgment condition and a time axis, wherein the judgment condition comprises the following information sent by a terminal device:
judging a condition 1 that the vehicle deviates from a road on a map and generating sign 1 information;
judging the condition 2, generating the information of the sign 2 when the GPS information can not be generated;
judging a condition 3, wherein the vehicle running speed is less than the set speed per hour, and generating mark 3 information;
judging a condition 4, stopping the vehicle, and generating mark 4 information;
in the plane track generation module, receiving longitude and latitude information sent by a terminal device, and receiving mark 6 information sent by the terminal device, wherein the mark 6 information shows that the gyroscope calculates the longitude and latitude information at present;
the stereoscopic track generation module includes:
a judging module: judging whether the vehicle is on line or not, if so, extracting the parking position of the vehicle and then operating the position extraction module, and if not, extracting the latest parking position of the vehicle and then operating the position extraction module;
an extraction position module: extracting the position of an indoor entrance;
a track data extraction module: extracting track data between an indoor entrance position and a parking position;
the system comprises a floor data analysis module and a route data analysis module;
a data simplifying module: simplifying the track data;
a generation module: generating trajectory data;
in the floor data analysis module, analyzing height information of a user from indoor to parking or the last effective position to obtain a height range, wherein the range value of the height needs more than 3 data points for supporting, after the height range is obtained, the range of the height is counted, the change of a floor can be judged every time a falling edge or a rising edge appears in the height data, the number of floors can be counted by accumulating the times of the change, meanwhile, multipoint comparison needs to be carried out on the falling edge and the rising edge, when a certain data is judged to be the falling edge or the rising edge, the subsequent data still needs to be continuously judged, and the data can not be determined to be the falling edge or the rising edge until the level of the data appears;
in the route data analysis module, firstly, the motion track of the vehicle on each layer is counted, then, burr data are removed, and then, the track data are subjected to smoothing treatment to ensure that a track line is positioned on a road;
in the data reduction module, the track data is processed, and the data moving in the same direction and within a set distance is sampled so as to achieve the reduction of the track data.
4. The system of claim 3, wherein the indoor judgment module, the plane trajectory generation module and the three-dimensional trajectory generation module are operated by the intelligent terminal or the background server; when the intelligent terminal is adopted, the intelligent terminal can display the three-dimensional track information; when the background server is adopted, the intelligent terminal can call and display the three-dimensional track information of the background server.
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| CN110132266B (en) * | 2019-05-05 | 2020-06-30 | 深圳市荣盛智能装备有限公司 | Floor discrimination method and device, electronic equipment and storage medium |
| CN112229411B (en) * | 2020-10-15 | 2021-12-07 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device |
| CN112950980B (en) * | 2021-01-15 | 2023-01-24 | 惠州市德赛西威汽车电子股份有限公司 | Intelligent car searching method for parking lot based on car body CAN data and terminal application |
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