CN104918325B

CN104918325B - Positioning guide and parking guide method and device

Info

Publication number: CN104918325B
Application number: CN201510199781.6A
Authority: CN
Inventors: 解霏; 赵青晖; 王彦腾
Original assignee: Xiaomi Inc
Current assignee: Xiaomi Inc
Priority date: 2015-04-23
Filing date: 2015-04-23
Publication date: 2020-04-14
Anticipated expiration: 2035-04-23
Also published as: CN104918325A

Abstract

The disclosure relates to a positioning guiding method, a parking guiding method and a parking guiding device, which are used for improving the positioning accuracy. The positioning guide method comprises the following steps: determining at least one signal strength mean value from at least one wireless transmitting device, the at least one wireless transmitting device being disposed at least one parking space; determining the current position information of the terminal equipment according to the at least one signal intensity mean value; and determining guidance prompt information of the parking position of the vehicle for the user of the terminal equipment according to the current position information and the stored parking position information of the vehicle on the terminal equipment. The technical scheme of the disclosure can provide more real-time positioning guidance for the user, and the positioning precision is higher.

Description

Positioning guide and parking guide method and device

Technical Field

The present disclosure relates to the field of positioning technologies, and in particular, to a method and an apparatus for positioning guidance and parking guidance.

Background

With the complicated topography of the underground parking lot, more and more users cannot find the parking positions of the users in the underground parking lot, and the users get lost when finding the vehicles in the underground parking lot due to the lack of guidance for the users. In the related technology, each Access Point (AP) has a globally unique MAC address, and the location of the AP is relatively fixed, so that when a user starts Wi-Fi of the mobile device, the MAC address broadcasted by the AP can be obtained, the mobile device sends data such as the MAC address capable of identifying the AP to a location server, and the location server searches the location of each AP and calculates the current location of the mobile device according to the signal strength of each AP. In the situation that the number of deployed wireless APs is limited, the related art cannot perform accurate positioning guidance on the user due to the positioning method of the location server.

Disclosure of Invention

In order to overcome the problems in the related art, embodiments of the present disclosure provide a method and an apparatus for location guidance and parking guidance, so as to avoid the defect of low accuracy in locating a terminal device through a location server in the related art.

According to a first aspect of the embodiments of the present disclosure, there is provided a positioning guidance method, applied to a terminal device, including:

determining at least one signal strength mean value from at least one wireless transmitting device, the at least one wireless transmitting device being disposed at least one parking space;

determining the current position information of the terminal equipment according to the at least one signal intensity mean value;

and determining guidance prompt information of the parking position of the vehicle for the user of the terminal equipment according to the current position information and the stored parking position information of the vehicle on the terminal equipment.

In an embodiment, the determining at least one signal strength mean from at least one wireless transmitting device may include:

determining a plurality of signal strength values periodically transmitted by each of at least one wireless transmitting device;

and performing accumulated average calculation on the plurality of signal strength values to obtain a signal strength average value of each wireless transmitting device, wherein the signal strength average value is used as the signal strength average value of each wireless transmitting device.

In an embodiment, the determining the current location information of the terminal device according to the at least one signal strength mean value may include:

determining a corresponding signal strength constant when the terminal equipment is separated from any one of the at least one wireless transmitting equipment by a set distance;

determining at least one distance value between the at least one wireless transmitting device and the terminal device according to the signal strength constant and the at least one signal strength mean value;

and determining the current position information of the terminal equipment according to the at least one distance value and the position coordinate corresponding to the at least one wireless transmitting equipment.

In an embodiment, in the step of determining at least one distance value between the at least one wireless transmitting device and the terminal device according to the signal strength constant and the at least one signal strength mean value, the at least one distance value may be determined by the following equation:

RSSI_i＝A-10nlog(d_i)；

wherein the RSSI_iRepresenting a signal intensity mean value corresponding to an ith wireless transmitting device in the at least one wireless transmitting device, A representing a signal intensity constant corresponding to the ith wireless transmitting device when the ith wireless transmitting device is separated from the terminal device by a set distance, n representing a path attenuation index, d_iRepresents a distance value between an i-th wireless transmitting device of the at least one wireless transmitting device and the terminal device.

In an embodiment, in the step of determining the current location information of the terminal device according to the at least one distance value and the respective corresponding location coordinates of the at least one wireless transmitting device, the current location information of the terminal device may be determined by the following equation:

wherein (x)₁,y₁)、(x₂,y₂)、…、(x_m,y_m) Position coordinates representing each of the at least one wireless transmitting device, m representing the number of at least one wireless transmitting device, (x, y) representing the current position of the terminal device, d₁、d₂、…、d_mRepresents a distance value between the 1 st, 2 … th, m wireless transmitting device of the at least one wireless transmitting device and the terminal device.

In an embodiment, the method may further comprise:

determining at least one occupancy state information of at least one parking position corresponding to the at least one wireless transmitting device;

and correcting the guidance prompt information according to the at least one occupation state information.

According to a second aspect of the embodiments of the present disclosure, there is provided a parking guidance method applied to a terminal device, including:

determining at least one signal strength mean value and at least one occupancy status information from at least one wireless transmitting device, the at least one wireless transmitting device being disposed at least one parking space;

and determining guidance prompt information for the user of the terminal equipment to stop the vehicle according to the current position information and the at least one occupancy state information.

RSSI_i＝A-10nlog(d_i)；

wherein the RSSI_iRepresenting a signal intensity mean value corresponding to an ith wireless transmitting device in the at least one wireless transmitting device, A representing a signal intensity constant corresponding to the ith wireless transmitting device when the ith wireless transmitting device is separated from the terminal device by a set distance, n representing a path attenuation index, d_iRepresenting the at least one wireless transmitterAnd the distance value between the ith wireless transmitting equipment in the transmitting equipment and the terminal equipment.

In an embodiment, the determining, according to the current location information and the at least one occupancy state information, guidance prompt information for parking the vehicle for the user of the terminal device may include:

determining state information which represents that the parking space is not occupied in the at least one occupancy state information;

determining an unoccupied parking space closest to the vehicle according to the current position information and the unoccupied state information of the parking space;

and determining guidance prompt information for parking of the user of the terminal equipment according to the nearest unoccupied parking space of the vehicle.

According to a third aspect of the embodiments of the present disclosure, there is provided a positioning guidance apparatus, applied to a terminal device, including:

a first determination module configured to determine at least one signal strength mean value from at least one wireless transmission device, the at least one wireless transmission device being disposed at least one parking space;

a second determination module configured to determine current location information of the terminal device according to the at least one signal strength mean value determined by the first determination module;

a third determination module configured to determine guidance prompt information for performing a parking position of the vehicle for a user of the terminal device according to the current position information determined by the second determination module and the parked position information of the vehicle stored on the terminal device.

In an embodiment, the first determining module may include:

a first determining sub-module configured to determine a plurality of signal strength values periodically transmitted by each of at least one wireless transmitting device;

a first calculating sub-module configured to perform cumulative average calculation on the plurality of signal strength values determined by the first determining sub-module to obtain a signal strength average value of each wireless transmitting device as the signal strength average value of each wireless transmitting device.

In an embodiment, the second determining module may include:

a second determining submodule configured to determine a corresponding signal strength constant when the terminal device is spaced from any one of the at least one wireless transmitting device by a set distance;

a third determining submodule configured to determine at least one distance value between the at least one wireless transmitting device and the terminal device according to the signal strength constant and the at least one signal strength mean value determined by the second determining submodule;

a fourth determining submodule configured to determine current location information of the terminal device according to the at least one distance value determined by the third determining submodule and the respective corresponding location coordinates of the at least one wireless transmitting device.

In one embodiment, the third determination submodule may determine the at least one distance value by the following equation:

RSSI_i＝A-10nlog(d_i)；

In an embodiment, the fourth determining sub-module may determine the current location information of the terminal device by the following equation:

In an embodiment, the apparatus may further comprise:

a fourth determining module configured to determine at least one occupancy status information of at least one parking location corresponding to the at least one wireless transmitting device;

a correction module configured to correct the guidance prompt information determined by the third determination module according to the at least one occupancy state information determined by the fourth determination module.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a parking guidance apparatus, applied to a terminal device, including:

a fifth determination module configured to determine at least one signal strength mean value and at least one occupancy status information from at least one wireless transmission device, the at least one wireless transmission device being disposed at least one parking space;

a sixth determining module configured to determine current location information of the terminal device according to the at least one signal strength mean value determined by the fifth determining module;

a seventh determining module configured to determine guidance prompt information for the user of the terminal device to park the vehicle according to the current location information and the at least one occupancy state information determined by the sixth determining module.

In an embodiment, the sixth determining module may include:

a fifth determining submodule configured to determine a corresponding signal strength constant when the terminal device is spaced from any one of the at least one wireless transmitting device by a set distance;

a sixth determining sub-module configured to determine at least one distance value between the at least one wireless transmitting device and the terminal device according to the signal strength constant of the threo search fox determined by the fifth determining sub-module and the at least one signal strength mean value determined by the fifth determining module;

a seventh determining submodule configured to determine current location information of the terminal device according to the at least one distance value determined by the sixth determining submodule and the respective corresponding location coordinates of the at least one wireless transmitting device.

In one embodiment, the sixth determination submodule may determine the at least one distance value by the following equation:

RSSI_i＝A-10nlog(d_i)；

wherein the RSSI_iRepresenting a signal strength mean value corresponding to an ith wireless transmitting device in the at least one wireless transmitting device, a representing a signal strength constant corresponding to the ith wireless transmitting device spaced from the terminal device by a set distance,n denotes the path attenuation exponent, d_iRepresents a distance value between an i-th wireless transmitting device of the at least one wireless transmitting device and the terminal device.

In an embodiment, the seventh determining sub-module may determine the current location information of the terminal device by the following equation:

In an embodiment, the seventh determining module may include:

an eighth determining submodule configured to determine state information indicating that the parking space is not occupied in the at least one occupancy state information determined by the fifth determining module;

a ninth determining submodule configured to determine an unoccupied parking space closest to the vehicle according to the current position information determined by the sixth determining submodule and the unoccupied parking space state information determined by the eighth determining submodule;

a tenth determining submodule configured to determine guidance prompt information for parking the user of the terminal device according to the nearest unoccupied parking space of the vehicle determined by the ninth determining submodule.

According to a fifth aspect of the embodiments of the present disclosure, there is provided a positioning guide device including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

According to a sixth aspect of the embodiments of the present disclosure, there is provided a parking guide apparatus including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the guiding prompt information of the parking position of the vehicle for the user of the terminal equipment is determined according to the current position information of the terminal equipment and the stored parking position information of the vehicle on the terminal equipment, and the RSSI value in the method can change along with the change of the position of the user, so that the positioning of the user changes along with the change of the RSSI value, the positioning guiding of the user is more real-time, and the positioning accuracy is improved; in addition, the positioning and guiding process of the user is implemented through the RSSI positioning method, so that the wireless transmitting equipment is more closely associated with the terminal equipment, and the user can quickly and accurately find the vehicle.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a diagram illustrating a scenario of a wireless transmission device provided in a parking lot according to an exemplary embodiment.

Fig. 2 is a flow diagram illustrating a location guidance method according to an example embodiment.

FIG. 3 is a flow chart illustrating a method of location guidance according to an exemplary embodiment.

Fig. 4 is a flowchart illustrating a location-based guidance method according to an exemplary embodiment.

Fig. 5 is a flowchart illustrating a location guidance method according to an exemplary embodiment.

Fig. 6 is a flowchart illustrating a parking guidance method according to an exemplary embodiment.

FIG. 7 is a flow chart illustrating a method of parking guidance according to an exemplary embodiment.

Fig. 8 is a flowchart illustrating a parking guidance method according to an exemplary embodiment.

FIG. 9 is a block diagram illustrating a positioning guidance device according to an exemplary embodiment.

FIG. 10 is a block diagram illustrating another positioning guidance device according to an exemplary embodiment.

Fig. 11 is a block diagram illustrating a parking guidance apparatus according to an exemplary embodiment.

Fig. 12 is a block diagram illustrating another parking guidance apparatus according to an exemplary embodiment.

FIG. 13 is a block diagram illustrating a suitable positioning and guidance device according to one exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.

Fig. 1 is a diagram illustrating a scenario of a wireless transmission device provided in a parking lot according to an exemplary embodiment; as shown in fig. 1, some parking spaces in the whole parking lot are numbered, a wireless Micro processing Unit (MCU) supporting a BLE protocol stack may be selected as a wireless transmitting device, the number information of the parking spaces is stored in the wireless transmitting device, and the wireless transmitting device is installed in front of the parking spaces, as shown in fig. 1, a wireless transmitting device 121, a wireless transmitting device 122, a wireless transmitting device 123, a wireless transmitting device 124, a wireless transmitting device 125, and a wireless transmitting device 126 are installed in front of the

parking spaces

111, 112, 113, 114, 115, 116. The dashed circles represent wireless signals transmitted by the corresponding wireless transmitting devices.

As shown in fig. 1, through networking by using wireless transmitting devices based on BLE technology as nodes, each wireless transmitting device is configured as a slave node (Peripheral), and meanwhile, each wireless transmitting device continuously broadcasts information to the outside, and the broadcast message may include an identity of each wireless transmitting device and corresponding parking space occupancy state information.

In addition, ultrasonic sensors (not shown) may be disposed in the

parking spaces

111, 112, 113, 114, 115, and 116, and the ultrasonic sensors are connected to the

wireless transmitting devices

121, 122, 123, 124, 125, and 126 via buried lines. When the ultrasonic sensor is not shielded, the ultrasonic sensor does not send an interruption message to the wireless transmitting equipment, when the vehicle is parked in the place, the ultrasonic sensor is shielded, the ultrasonic sensor sends the interruption message to the wireless transmitting equipment, and the wireless transmitting equipment changes the occupation state information of the parking stall in the broadcast information from idle to occupied after receiving the interruption message.

It will be understood by those skilled in the art that the six parking spaces shown in fig. 1 are only an exemplary illustration, the number of parking spaces in the parking lot is determined according to the area size of the parking lot, and the number of parking spaces is not limited by the present disclosure.

Fig. 2 is a flowchart illustrating a positioning guidance method according to an exemplary embodiment, where the positioning guidance method may be applied to a terminal device (e.g., a smart phone, a tablet computer, and an in-vehicle system), and this embodiment is exemplarily described in conjunction with fig. 1, and as shown in fig. 2, the positioning guidance method includes the following steps S101 to S103:

in step S201, at least one signal strength mean value from at least one wireless transmitting device is determined, the at least one wireless transmitting device being arranged at least one parking space.

In an embodiment, a wireless transmitting device arranged on a parking space sends an identity and a Received Signal Strength Indication (RSSI) value to a terminal device in a broadcast message mode, and when the terminal device receives the RSSI for a set number of times from the beginning, the RSSI value for the set number of times is accumulated and calculated to obtain an RSSI average value, which is used as the RSSI average value of the wireless transmitting device. As shown in fig. 1, when a user carries a terminal device to go between a parking space 111 and a parking space 112 in a parking lot, a wireless transmitting device 121, a wireless transmitting device 122, a wireless transmitting device 123, a wireless transmitting device 124, a wireless transmitting device 125, and a wireless transmitting device 126 all send an identity and a Received Signal Strength Indication (RSSI) value to the terminal device in a broadcast message manner, for example, when the terminal device receives RSSI of the wireless transmitting device 121 from the beginning 5 times, the RSSI values of the 5 times are subjected to cumulative mean calculation to obtain an RSSI mean value of the wireless transmitting device 121.

In step S202, current location information of the terminal device is determined according to the at least one signal strength mean value.

In an embodiment, the current location information of the terminal device may be determined based on an RSSI positioning method.

In step S203, guidance and guidance information for the parking position of the vehicle for the user of the terminal device is determined based on the current position information and the information on the parking position of the vehicle stored in the terminal device.

In one embodiment, when the vehicle is parked in the parking space, the parked position information of the vehicle can be reported to the terminal device through the wireless transmitting device, or the parked position information of the vehicle can be manually set on the terminal device. In one embodiment, the user may be guided to prompt based on a change in distance between the current location information and the parked location information, for example, when the distance between the two values becomes larger, the user is far away from the parking position, at this time, the user can be guided to prompt for forbidding forward movement, if the distance between the two becomes smaller, which indicates that the user is walking into the parking position, the user can be prompted to continue guidance, in another embodiment, the user may also be guided through a change in orientation between the two, for example, when the direction deviation between the two is larger and larger, the direction of the user deviating from the parking position is indicated, at this time, a guidance prompt for prohibiting the deviation direction can be given to the user, if the direction deviation between the two is smaller and smaller, the user is moving to the parking position, and the user can be prompted to continue guiding.

In the embodiment, the guidance prompt information of the parking position of the vehicle for the user of the terminal device is determined according to the current position information of the terminal device and the stored parking position information of the vehicle on the terminal device, and as the RSSI value in the disclosure can change along with the change of the position of the user, the location of the user changes along with the change of the RSSI value, so that the location guidance of the user is more real-time, and the location precision is improved; in addition, the positioning and guiding process of the user is implemented through the RSSI positioning method, so that the wireless transmitting equipment is more closely associated with the terminal equipment, and the user can quickly and accurately find the vehicle.

In an embodiment, determining at least one signal strength mean from at least one wireless transmitting device may comprise:

In an embodiment, determining the current location information of the terminal device according to the at least one signal strength mean value may include:

determining at least one distance value between at least one wireless transmitting device and the terminal device according to the signal strength constant and the at least one signal strength mean value;

RSSI_i＝A-10nlog(d_i)；

wherein the RSSI_iRepresenting the signal intensity mean value corresponding to the ith wireless transmitting device in at least one wireless transmitting device, A representing the signal intensity constant corresponding to the ith wireless transmitting device and the terminal device which are separated by a set distance, n representing a path attenuation index, d_iIndicating at least one wireless transmitterAnd the distance value between the ith wireless transmitting device in the transmitting device and the terminal device.

wherein (x)₁,y₁)、(x₂,y₂)、…、(x_m,y_m) Position coordinates of each of the at least one wireless transmitting device are represented, m represents the number of the at least one wireless transmitting device, (x, y) represents the current position of the terminal device, d₁、d₂、…、d_mIndicating the distance value between the 1 st, 2 nd, … th and m th wireless transmitting devices of the at least one wireless transmitting device and the terminal device.

In an embodiment, the method may further comprise:

determining at least one occupancy state information of at least one parking position corresponding to at least one wireless transmitting device;

and correcting the guiding prompt information according to the at least one occupation state information.

Please refer to the following embodiments for details of how to perform positioning guidance for the user.

Therefore, the method provided by the embodiment of the disclosure has more real-time performance for positioning and guiding the user, improves the positioning accuracy, and enables the wireless transmitting device and the terminal device to be in closer contact through the positioning and guiding process of the user implemented by the RSSI positioning method, so that the user can quickly and accurately find the vehicle.

The technical solutions provided by the embodiments of the present disclosure are described below with specific embodiments.

FIG. 3 is a flow chart illustrating a method of location guidance according to an exemplary embodiment; the present embodiment uses the above method provided by the embodiments of the present disclosure, and takes how to determine the signal strength mean value of each wireless transmitting device as an example and is exemplarily described with reference to fig. 1, as shown in fig. 3, including the following steps:

in step S301, a plurality of signal strength values periodically transmitted by each of at least one wireless transmitting device is determined.

In one embodiment, the RSSI value for each of the at least one wireless transmitting device may be determined by a fading Model (Shadowing Model) as follows:

wherein p (d) represents the signal strength value received by the terminal device when the distance wireless transmitting device d is away, namely the RSSI value, and p (d)₀) Denotes the range transmitter as d₀Power of signal received by the terminal device, d₀Representing the reference distance and n the path loss exponent, from the actual measurement. The more obstacles, the larger the value of n, and the faster the average energy received decreases with increasing distance. X represents a gaussian random variable having an average value of 0 in dBm, and represents a change in received energy when the distance is constant.

In step S302, an accumulated average value calculation is performed on the plurality of signal strength values to obtain a signal strength average value of each wireless transmitting device, which is used as the signal strength average value of each wireless transmitting device.

As shown in fig. 1, when a user carries a terminal device to move between a parking space 111 and a parking space 112 in a parking lot, an identity and a Received Signal Strength Indication (RSSI) value are sent to the terminal device by a broadcast message through the wireless transmitting device 121, the wireless transmitting device 122, the wireless transmitting device 123, the wireless transmitting device 124, the wireless transmitting device 125 and the wireless transmitting device 126, for example, when the terminal device receives the RSSI of the wireless transmitting device 121 from the beginning 5 times, the RSSI values of the 5 times are accumulated and averaged to obtain an RSSI average value of the wireless transmitting device 121.

In step S303, current location information of the terminal device is determined according to the at least one signal strength mean value.

For the description of step S303, refer to the description of step S202 above, and will not be described in detail here.

In step S304, guidance prompt information for the parking position of the vehicle for the user of the terminal device is determined based on the current position information and the already-parked position information of the vehicle already stored on the terminal device.

For the description of step S304, refer to the description of step S203 above, and will not be described in detail here.

On the basis of the beneficial technical effects of the above embodiments, the present embodiment can avoid the uncertainty of the RSSI value due to unstable signals of the wireless transmitting devices by determining the RSSI average value of at least one wireless transmitting device, and ensure the accuracy of positioning based on the RSSI value.

FIG. 4 is a flow diagram illustrating a method of location guidance according to an exemplary embodiment two; in this embodiment, by using the above method provided by the embodiment of the present disclosure, taking how to determine the current location information of the terminal device as an example and taking an example with reference to fig. 1, as shown in fig. 4, the method includes the following steps:

in step S401, at least one signal strength mean value from at least one wireless transmitting device is determined, the at least one wireless transmitting device being arranged at least one parking space.

The description of step S401 may refer to the description of step S201 above, and will not be described in detail here.

In step S402, a signal strength constant corresponding to a case where the terminal device is spaced apart from any one of the at least one wireless transmission device by a set distance is determined.

In one embodiment, the set distance between the wireless transmitting device and the terminal device is 1 meter and X is ignored_dBmWhen is d₀1, the signal strength constant a ═ p (d)₀)]_dBm。

In step S403, at least one distance value between the at least one wireless transmitting device and the terminal device is determined according to the signal strength constant and the at least one signal strength mean value.

In one embodiment, the above-described fade model may be simplified to the following equation:

[p(d)]_dBm＝A-10nlog(d)；

wherein, p (d) represents the RSSI value received by the terminal equipment when the wireless transmitting equipment is d away from the terminal equipment, and the RSSI value is calculated according to the received RSSI value]_dBmReplacing with RSSI to obtain the relation between RSSI and d:

RSSI＝A-10nlog(d)；

therefore, the distance value between the terminal equipment and each wireless transmitting equipment can be determined by calculating the RSSI mean value of each wireless transmitting equipment received by the terminal equipment. Those skilled in the art will appreciate that n and a are related to the hardware used specifically by the wireless transmitting device and the environment of the wireless signal transmission, so that specific values of n and a can be obtained by performing ranging experiments in actual environment.

In step S404, current location information of the terminal device is determined according to the at least one distance value and the respective corresponding location coordinates of the at least one wireless transmitting device.

In one embodiment, the current location information of the terminal device may be determined by the following equation:

In step S405, guidance and guidance information for the parking position of the vehicle for the user of the terminal device is determined based on the current position information and the already-parked position information of the vehicle already stored on the terminal device.

On the basis of having the beneficial technical effects of the above embodiment, the embodiment realizes the positioning guiding process for the user through the position coordinate of at least one wireless transmitting device and the current position information of the terminal device, so that the wireless transmitting device and the terminal device are more closely connected, and the user can quickly and accurately find the vehicle.

FIG. 5 is a flow diagram illustrating a method of location guidance according to an exemplary embodiment; in this embodiment, by using the above method provided by the embodiment of the present disclosure, how to correct the guidance prompt information is taken as an example and exemplarily described with reference to fig. 1, as shown in fig. 5, the method includes the following steps:

in step S501, at least one signal strength mean value from at least one wireless transmitting device and at least one occupancy status information of at least one parking position corresponding to the at least one wireless transmitting device are determined, and the at least one wireless transmitting device is disposed at least one parking space.

In an embodiment, the at least one occupancy status information corresponding to the at least one wireless transmitting device includes occupied parking space and unoccupied parking space, for example, as shown in fig. 1, when a user carries a terminal device to move between the parking space 111 and the parking space 112 in the parking lot, the wireless transmitting device 121, the wireless transmitting device 122, the wireless transmitting device 123, the wireless transmitting device 124, the wireless transmitting device 125, and the wireless transmitting device 126 all send the occupancy status information of the parking space to the terminal device in a broadcast message manner, for example, the parking space 111 and the parking space 112, the wireless transmitting device 124 is unoccupied, and the wireless transmitting device 123, the wireless transmitting device 125, and the wireless transmitting device 126 are occupied.

In step S502, current location information of the terminal device is determined according to the at least one signal strength mean value.

The description of step S502 may refer to the description of step S202 above, and will not be described in detail here.

In step S503, guidance and guidance information for the parking position of the vehicle for the user of the terminal device is determined based on the current position information and the information on the parking position of the vehicle stored in the terminal device.

The description of step S503 may refer to the description of step S203, and will not be described in detail here.

In step S504, the guidance prompt information is corrected according to the at least one occupancy state information.

For example, when the guidance prompt information guides the user to the parking space 114 corresponding to the wireless transmitting device 124, since the occupied state information sent to the terminal device by the wireless transmitting device 124 indicates that the parking space is not occupied, the user needs to find the occupied parking space to find the vehicle, in this case, the guidance prompt information may be corrected, and the user of the terminal device may be re-positioned and guided.

On the basis of having the beneficial technical effects of the above embodiment, the embodiment corrects the guidance prompt information in time through the occupation state information, and ensures that accurate positioning guidance is achieved for the user.

Fig. 6 is a flowchart illustrating a parking guidance method according to an exemplary embodiment, where the parking guidance method may be applied to a terminal device (e.g., a smart phone, a tablet computer, and an in-vehicle system), and this embodiment is exemplarily described in conjunction with fig. 1, and as shown in fig. 6, the parking guidance method includes the following steps S601-S603:

in step S601, at least one signal strength mean value and at least one occupancy status information from at least one wireless transmitting device, which is disposed at least one parking space, are determined.

In an embodiment, the at least one occupancy status information corresponding to the at least one wireless transmitting device includes occupied parking space and unoccupied parking space, for example, as shown in fig. 1, when a user carries a terminal device to move between the parking space 111 and the parking space 112 in the parking lot, the wireless transmitting device 121, the wireless transmitting device 122, the wireless transmitting device 123, the wireless transmitting device 124, the wireless transmitting device 125, and the wireless transmitting device 126 all send the occupancy status information of the parking space to the terminal device in a broadcast message manner, for example, the parking space 111 and the parking space 112, the wireless transmitting device 124 is unoccupied, and the wireless transmitting device 123, the wireless transmitting device 125, and the wireless transmitting device 126 are occupied. The implementation of at least one signal strength mean value may refer to the above embodiments, and is not described in detail herein.

In step S602, current location information of the terminal device is determined according to the at least one signal strength mean value.

The description of step S602 may refer to the description of step S202 above, and will not be described in detail here.

In step S603, guidance prompt information for the user of the terminal device that the vehicle needs to be parked is determined according to the current position information and the at least one occupancy state information.

In an embodiment, a parking space that is not occupied by a parking space in the at least one occupancy state information may be determined, and then a distance value between the unoccupied parking space and the current position information of the terminal device may be determined, so as to make an unoccupied parking space suitable for the user.

As an exemplary scenario, as shown in fig. 1, when a user drives a car to enter a parking lot, the wireless transmitting device 121, the wireless transmitting device 122, the wireless transmitting device 123, the wireless transmitting device 124, the wireless transmitting device 125, and the wireless transmitting device 126 all transmit occupancy status information of parking spaces to the terminal device in a broadcast message manner, for example, the

parking spaces

111, 112, and 124 are not occupied, and the

wireless transmitting device

123, 125, and 126 are occupied, at this time, it may be determined that distance values between the

parking spaces

111, 112, and 124 and the terminal device are occupied, and guidance prompt information suitable for the unoccupied parking spaces of the user is made.

In this embodiment, according to the current position information and at least one occupation state information, the guidance prompt information that the vehicle needs to be parked is determined for the user of the terminal device, and since the RSSI mean value in the disclosure can be changed along with the change of the user position, the location of the user is changed along with the change of the RSSI mean value, so that the guidance prompt information of the user has more real-time performance, the user can quickly and accurately find a proper unoccupied parking space, and the parking of the user is facilitated.

RSSI_i＝A-10nlog(d_i)；

wherein the RSSI_iRepresenting the signal intensity mean value corresponding to the ith wireless transmitting device in at least one wireless transmitting device, A representing the signal intensity constant corresponding to the ith wireless transmitting device and the terminal device which are separated by a set distance, n representing a path attenuation index, d_iIndicating a distance value between the ith radio transmitting device of the at least one radio transmitting device and the terminal device.

In an embodiment, determining guidance prompt information for parking the vehicle for the user of the terminal device according to the current position information and the at least one occupancy state information may include:

determining state information which represents that the parking space is not occupied in at least one occupied state information;

and determining guidance prompt information for parking the user of the terminal equipment according to the nearest unoccupied parking space of the vehicle.

Please refer to the following embodiments for details of how to implement parking guidance.

Therefore, the method provided by the embodiment of the disclosure has more real-time performance on the guidance prompt information of the user, so that the user can quickly and accurately find the appropriate unoccupied parking space, and the user can park conveniently.

FIG. 7 is a flow chart illustrating a method of parking guidance according to an exemplary embodiment; in this embodiment, by using the above method provided by the embodiment of the present disclosure, taking how to determine the current location information of the terminal device as an example and taking an example with reference to fig. 1, as shown in fig. 7, the method includes the following steps:

in step S701, at least one signal strength mean value and at least one occupancy status information from at least one wireless transmitting device, which is disposed at least one parking space, are determined.

The description of step S701 may specifically refer to the description of step S601, and is not detailed here.

In step S702, a signal strength constant corresponding to a distance between the terminal device and any one of the at least one wireless transmission device is determined.

The description of step S702 may refer to the description of step S601, and will not be described in detail here.

In step S703, at least one distance value between the at least one wireless transmitting device and the terminal device is determined according to the signal strength constant and the at least one signal strength mean value.

The description of step S703 may refer to the description of step S402, and is not detailed here.

In step S704, current location information of the terminal device is determined according to the at least one distance value and the respective corresponding location coordinates of the at least one wireless transmitting device.

The description of step S704 may specifically refer to the description of step S403, and will not be described in detail here.

In step S705, guidance prompt information for the user of the terminal device that requires parking of the vehicle is determined based on the current location information and the at least one occupancy state information.

The description of step S705 can refer to the description of step S603, and is not detailed here.

On the basis of having the beneficial technical effects of the above embodiment, the present embodiment realizes the positioning and guiding process for the user through the position coordinate of at least one wireless transmitting device and the current position information of the terminal device, so that the wireless transmitting device and the terminal device are more closely associated, and the user can quickly and accurately find the parking space closest to the position of the user.

FIG. 8 is a flow chart illustrating a parking guidance method according to an exemplary embodiment two; in this embodiment, by using the above method provided by the embodiment of the present disclosure, how to correct the guidance prompt information is taken as an example and exemplarily described with reference to fig. 1, as shown in fig. 8, the method includes the following steps:

in step S801, at least one signal strength mean value and at least one occupancy status information from at least one wireless transmitting device, which is disposed at least one parking space, are determined.

The description of step S801 may refer to the description of step S601, and will not be described in detail here.

In step S802, current location information of the terminal device is determined according to the at least one signal strength mean value.

The description of step S802 may specifically refer to the description of step S202, and will not be described in detail here.

In step S803, status information indicating that the parking space is not occupied in the at least one occupancy status information is determined.

In an embodiment, the terminal device may parse the at least one occupancy status information, and determine that the wireless transmitting device in the at least one occupancy status information is in an unoccupied status.

In step S804, an unoccupied parking space closest to the vehicle is determined according to the current position information and the unoccupied status information of the parking space.

In step S805, guidance prompt information for parking the user of the terminal device is determined based on the nearest unoccupied parking space of the vehicle.

As an exemplary scenario, as shown in fig. 1, when a user drives a car to enter a parking lot, the wireless transmitting device 121, the wireless transmitting device 122, the wireless transmitting device 123, the wireless transmitting device 124, the wireless transmitting device 125, and the wireless transmitting device 126 all transmit occupancy status information of parking spaces to a terminal device by means of a broadcast message, for example, the

parking spaces

111, 112, and 124 are not occupied, and the

wireless transmitting device

parking spaces

111, 112, and 124 and the terminal device are occupied, and guidance prompt information to an unoccupied parking space closest to current position information of the user is made.

On the basis of having the beneficial technical effects of the above-mentioned embodiment, this embodiment determines the guidance prompt information that needs to park of vehicle to the user of terminal equipment according to current position information and at least one occupation state information, because RSSI mean value in this disclosure can change along with the change of user's position, consequently changes along with the change of RSSI mean value to the location of user, and then has more real-time to user's guidance prompt information, makes the user can be fast accurate look for oneself from the nearest unoccupied parking stall of vehicle, convenience of customers parks.

Fig. 9 is a block diagram illustrating a positioning guide apparatus according to an exemplary embodiment, as shown in fig. 9, the positioning guide apparatus including:

a first determining module 91 configured to determine at least one signal strength mean value from at least one wireless transmitting device, the at least one wireless transmitting device being disposed at least one parking space;

a second determining module 92 configured to determine current location information of the terminal device according to the at least one signal strength mean value determined by the first determining module 91;

and a third determining module 93 configured to determine guidance prompt information for a parking position of the vehicle for a user of the terminal device based on the current position information determined by the second determining module 92 and the parked position information of the vehicle already stored on the terminal device.

Fig. 10 is a block diagram illustrating another positioning and guiding device according to an exemplary embodiment, and as shown in fig. 10, based on the embodiment shown in fig. 9, in an embodiment, the first determining module 91 may include:

a first determining submodule 911 configured to determine a plurality of signal strength values periodically transmitted by each of at least one wireless transmitting device;

a first calculating sub-module 912 configured to perform an accumulated mean calculation on the plurality of signal strength values determined by the first determining sub-module 911 to obtain a mean signal strength value of each wireless transmitting device as a mean signal strength value of each wireless transmitting device.

In one embodiment, the second determination module 92 may include:

a second determining sub-module 921 configured to determine a corresponding signal strength constant when the terminal device is spaced from any one of the at least one wireless transmitting device by a set distance;

a third determining submodule 922 configured to determine at least one distance value between the at least one wireless transmitting device and the terminal device according to the signal strength constant and the at least one signal strength mean value determined by the second determining submodule 921;

a fourth determining submodule 923 configured to determine current location information of the terminal device according to the at least one distance value determined by the third determining submodule 922 and the respective corresponding location coordinates of the at least one wireless transmitting device.

In one embodiment, the third determination submodule 922 may determine the at least one distance value by the following equation:

RSSI_i＝A-10nlog(d_i)；

In an embodiment, the fourth determining sub-module 923 may determine the current location information of the terminal device by the following equation:

wherein (x)₁,y₁)、(x₂,y₂)、…、(x_m,y_m) Position coordinates of each of the at least one wireless transmitting device are represented, m represents the number of the at least one wireless transmitting device, (x, y) represents the current position of the terminal device, d₁、d₂、…、d_mRepresenting the 1 st, 2 … m wireless transmitting devices in at least one wireless transmitting deviceAnd the distance value between the device and the terminal equipment.

In an embodiment, the apparatus may further comprise:

a fourth determining module 94 configured to determine at least one occupancy status information of at least one parking location corresponding to at least one wireless transmitting device;

a correction module 95 configured to correct the guidance prompt information determined by the third determination module 93 according to the at least one occupancy state information determined by the fourth determination module 94.

Fig. 11 is a block diagram illustrating a parking guidance apparatus according to an exemplary embodiment, and as shown in fig. 11, the positioning guidance apparatus includes:

a fifth determining module 21 configured to determine at least one signal strength mean value and at least one occupancy status information from at least one wireless transmitting device, the at least one wireless transmitting device being disposed at least one parking space;

a sixth determining module 22 configured to determine the current location information of the terminal device according to the at least one signal strength mean value determined by the fifth determining module 21;

a seventh determining module 23 configured to determine guidance prompt information for the user of the terminal device to park the vehicle according to the current position information and the at least one occupancy state information determined by the sixth determining module 22.

Fig. 12 is a block diagram of another parking guidance apparatus according to an exemplary embodiment, and based on the embodiment shown in fig. 11, in an embodiment, the sixth determining module 22 may include:

a fifth determining submodule 221, configured to determine a corresponding signal strength constant when the terminal device is spaced from any one of the at least one wireless transmitting device by a set distance;

a sixth determining submodule 222, configured to determine at least one distance value between at least one wireless transmitting device and the terminal device according to the signal strength constant of the threo search fox determined by the fifth determining submodule 221 and the at least one signal strength average determined by the fifth determining module 21;

a seventh determining submodule 223 configured to determine current location information of the terminal device according to the at least one distance value determined by the sixth determining submodule 222 and the respective corresponding location coordinates of the at least one wireless transmitting device.

In one embodiment, the sixth determination submodule 222 may determine the at least one distance value by the following equation:

RSSI_i＝A-10nlog(d_i)；

In one embodiment, the seventh determining sub-module 223 may determine the current location information of the terminal device by the following equation:

wherein (x)₁,y₁)、(x₂,y₂)、…、(x_m,y_m) Position coordinates of each of the at least one wireless transmitting device are represented, m represents the number of the at least one wireless transmitting device, (x, y) represents the current position of the terminal device, d₁、d₂、…、d_mIndicating a distance value between the 1 st, 2 … th, m wireless transmitting device of the at least one wireless transmitting device and the terminal device.

In an embodiment, the seventh determining module 23 may include:

an eighth determining submodule 231 configured to determine state information indicating that the parking space is not occupied, from among the at least one occupancy state information determined by the fifth determining module;

a ninth determining submodule 232 configured to determine an unoccupied parking space closest to the vehicle according to the current position information determined by the sixth determining submodule 22 and the unoccupied parking space state information determined by the eighth determining submodule 231;

a tenth determination submodule 233 configured to determine guidance prompt information for parking the user of the terminal device according to the nearest unoccupied parking space of the vehicle determined by the ninth determination submodule 232.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

FIG. 13 is a block diagram illustrating a suitable positioning and guidance device according to one exemplary embodiment. For example, apparatus 1300 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and so forth.

Referring to fig. 13, the apparatus 1300 may include one or more of the following components: processing component 1302, memory 1304, power component 1306, multimedia component 1308, audio component 1313, input/output (I/O) interface 1312, sensor component 1314, and communications component 1316.

The processing component 1302 generally controls overall operation of the device 1300, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing element 1302 may include one or more processors 1320 to execute instructions to perform all or part of the steps of the method described above. Further, the processing component 1302 can include one or more modules that facilitate interaction between the processing component 1302 and other components. For example, the processing component 1302 may include a multimedia module to facilitate interaction between the multimedia component 1308 and the processing component 1302.

The memory 1304 is configured to store various types of data to support operation at the device 1300. Examples of such data include instructions for any application or method operating on device 1300, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 1304 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

Power component 1306 provides power to the various components of device 1300. The power components 1306 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the apparatus 1300.

The multimedia component 1308 includes a screen between the device 1300 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1308 includes a front facing camera and/or a rear facing camera. The front-facing camera and/or the back-facing camera may receive external multimedia data when the device 1300 is in an operational mode, such as a capture mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 1313 is configured to output and/or input audio signals. For example, the audio component 1313 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 1300 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 1304 or transmitted via the communication component 1316. In some embodiments, audio component 1313 also includes a speaker for outputting audio signals.

The I/O interface 1312 provides an interface between the processing component 1302 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 1314 includes one or more sensors for providing various aspects of state assessment for the device 1300. For example, the sensor assembly 1314 may detect an open/closed state of the device 1300, the relative positioning of components, such as a display and keypad of the apparatus 1300, the sensor assembly 1314 may also detect a change in position of the apparatus 1300 or a component of the apparatus 1300, the presence or absence of user contact with the apparatus 1300, orientation or acceleration/deceleration of the apparatus 1300, and a change in temperature of the apparatus 1300. The sensor assembly 1314 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 1314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1314 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 1316 is configured to facilitate communications between the apparatus 1300 and other devices in a wired or wireless manner. The apparatus 1300 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1316 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communications component 1316 also includes a Near Field Communications (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 1300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions, such as the memory 1304 comprising instructions, executable by the processor 1320 of the apparatus 1300 to perform the method described above is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A positioning guiding method is applied to terminal equipment, and is characterized in that the method comprises the following steps:

determining at least one signal intensity mean value from at least one wireless transmitting device, wherein one wireless transmitting device is correspondingly arranged at one parking space;

determining the current position information of the terminal equipment according to the signal strength constant and the at least one signal strength mean value;

and determining guidance prompt information for positioning and guiding the user of the terminal equipment according to the current position information and the stored parked position information of the vehicle on the terminal equipment.

2. The method of claim 1, wherein the determining at least one signal strength average from at least one wireless transmitting device comprises:

3. The method of claim 1, wherein determining the current location information of the terminal device according to the signal strength constant and the at least one signal strength mean value comprises:

4. The method according to claim 3, wherein in the step of determining at least one distance value between the at least one wireless transmitting device and the terminal device according to the signal strength constant and the at least one signal strength mean, the at least one distance value is determined by the following equation:

wherein the content of the first and second substances,

represents the at least oneThe signal intensity average value corresponding to the ith wireless transmitting device in the wireless transmitting devices, A represents the corresponding signal intensity constant when the ith wireless transmitting device is separated from the terminal device by a set distance, n represents a path attenuation index, d_iRepresents a distance value between an i-th wireless transmitting device of the at least one wireless transmitting device and the terminal device.

5. The method of claim 3, wherein in the step of determining the current location information of the terminal device according to the at least one distance value and the respective corresponding location coordinates of the at least one wireless transmitting device, the current location information of the terminal device is determined by the following equation:

wherein (x)₁,y₁)、(x₂,y₂)、…、(x_m,y_m) Position coordinates representing each of the at least one wireless transmitting device, m representing the number of at least one wireless transmitting device, (x, y) representing the current position of the terminal device, d₁、d₂、…、d_mRepresents a distance value between the 1 st, 2 nd, … th, m-th wireless transmitting device of the at least one wireless transmitting device and the terminal device.

6. The method of claim 1, further comprising:

7. A parking guidance method is applied to a terminal device, and is characterized by comprising the following steps:

determining at least one signal intensity mean value and at least one occupancy state information from at least one wireless transmitting device, wherein one wireless transmitting device is correspondingly arranged at one parking space;

8. The method of claim 7, wherein determining the current location information of the terminal device according to the signal strength constant and the at least one signal strength mean value comprises:

9. The method according to claim 8, wherein in the step of determining at least one distance value between the at least one wireless transmitting device and the terminal device according to the signal strength constant and the at least one signal strength mean, the at least one distance value is determined by the following equation:

wherein the content of the first and second substances,

representing a signal intensity mean value corresponding to an ith wireless transmitting device in the at least one wireless transmitting device, A representing a signal intensity constant corresponding to the ith wireless transmitting device when the ith wireless transmitting device is separated from the terminal device by a set distance, n representing a path attenuation index, d_iRepresents a distance value between an i-th wireless transmitting device of the at least one wireless transmitting device and the terminal device.

10. The method of claim 8, wherein in the step of determining the current location information of the terminal device according to the at least one distance value and the respective corresponding location coordinates of the at least one wireless transmitting device, the current location information of the terminal device is determined by the following equation:

11. The method of claim 7, wherein determining guidance prompt information for parking the vehicle for the user of the terminal device according to the current location information and the at least one occupancy status information comprises:

12. A positioning guide apparatus, applied to a terminal device, the apparatus comprising:

the system comprises a first determination module, a second determination module and a control module, wherein the first determination module is configured to determine at least one signal strength mean value from at least one wireless transmitting device, and one wireless transmitting device is correspondingly arranged at one parking space;

a second determining module, including a second determining submodule, configured to determine a corresponding signal strength constant when the terminal device is spaced from any one of the at least one wireless transmitting device by a set distance; the second determination module is configured to determine current location information of the terminal device according to the signal strength constant and the at least one signal strength mean value determined by the first determination module;

a third determination module configured to determine guidance prompt information for positioning guidance of a user of the terminal device according to the current position information determined by the second determination module and the parked position information of the vehicle stored on the terminal device.

13. The apparatus of claim 12, wherein the first determining module comprises:

14. The apparatus of claim 12, wherein the second determining module further comprises:

15. The apparatus of claim 14, wherein the third determination submodule determines the at least one distance value by:

wherein the content of the first and second substances,

16. The apparatus of claim 14, wherein the fourth determining sub-module determines the current location information of the terminal device according to the following equation:

17. The apparatus of claim 12, further comprising:

18. A parking guidance apparatus applied to a terminal device, the apparatus comprising:

the fifth determining module is configured to determine at least one signal strength mean value and at least one occupancy state information from at least one wireless transmitting device, and one wireless transmitting device is correspondingly arranged at least one parking space;

a sixth determining module, including a fifth determining submodule configured to determine a corresponding signal strength constant when the terminal device is spaced from any one of the at least one wireless transmitting device by a set distance; the sixth determining module is configured to determine current location information of the terminal device according to the signal strength constant and the at least one signal strength mean value determined by the fifth determining module;

a seventh determining module configured to determine guidance prompt information for the user of the terminal device to park the vehicle according to the current position information and the at least one occupancy state information determined by the sixth determining module.

19. The apparatus of claim 18, wherein the sixth determining module further comprises:

a sixth determining sub-module configured to determine at least one distance value between the at least one wireless transmitting device and the terminal device according to the signal strength constant determined by the fifth determining sub-module and the at least one signal strength mean value determined by the fifth determining module;

20. The apparatus of claim 19, wherein the sixth determination submodule determines the at least one distance value by:

wherein the content of the first and second substances,

21. The apparatus of claim 19, wherein the seventh determining sub-module determines the current location information of the terminal device by:

22. The apparatus of claim 18, wherein the seventh determining module comprises:

23. A positioning guide apparatus, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

24. A parking guide apparatus, characterized in that the apparatus comprises:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to: