CN106595648B

CN106595648B - Navigation method and terminal

Info

Publication number: CN106595648B
Application number: CN201610964142.9A
Authority: CN
Inventors: 李端; 李�瑞; 黄雪妍
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2016-11-04
Filing date: 2016-11-04
Publication date: 2020-04-21
Anticipated expiration: 2036-11-04
Also published as: CN106595648A

Abstract

The embodiment of the invention discloses a navigation method and a terminal, the method comprises the steps that when the terminal detects that a vehicle bound with the terminal accords with a preset parking state, the current position is used as an initial position to represent the position of the vehicle, a moving track of the terminal with the initial position as a starting point is generated according to information detected by a sensor of the terminal, when a vehicle finding instruction is obtained, a reverse track is displayed, the reverse track takes the initial position as a terminal point and is obtained according to the moving track, the direction of a route of the reverse track is opposite to that of the route of the moving track, the position of the terminal relative to the reverse track is further determined according to the information detected by the sensor, prompt information is displayed according to the position relative to the reverse track to prompt navigation information from the position relative to the reverse track to the initial position, and the method does not depend on data signals and positioning signals, the navigation system can guide a user to navigate and find a vehicle in an environment without a positioning signal.

Description

Navigation method and terminal

Technical Field

The invention relates to the field of computer internet, in particular to a navigation method and a terminal.

Background

A terminal, such as a smart phone, can help a user to navigate and find a car, and a general method is as follows: the terminal obtains the parking position through a Positioning System, such as a Global Positioning System (GPS), and obtains the map through a data network, when a user needs to find a car, the terminal obtains the current position through the GPS, and navigates to the parking position through the GPS according to a route provided by the map.

However, most parking lots are located in underground or indoor environments, and usually, positioning signals, such as GPS signals, in the underground or indoor parking lots are weak or even no signals, and at this time, the terminal cannot perform positioning navigation, and thus cannot perform navigation to find a vehicle.

Disclosure of Invention

The technical problem to be solved by the embodiments of the present invention is to provide a navigation method and a terminal, which do not rely on data signals and positioning signals, and can guide a user to perform navigation and vehicle finding in an environment without positioning signals.

In a first aspect, an embodiment of the present invention discloses a navigation method, including: when detecting that a vehicle bound with the terminal accords with a preset parking state, the terminal takes the current position as an initial position, the initial position is used for representing the position where the vehicle stops, a moving track of the terminal with the initial position as a starting point is generated according to information detected by a sensor of the terminal, when a vehicle finding instruction is obtained, the terminal displays a reverse track, the reverse track is obtained according to the moving track, the direction of a route of the reverse track is opposite to that of a route of the moving track, the reverse track takes the initial position as an end point, the position of the terminal relative to the reverse track is determined according to the information detected by the sensor, and prompt information is displayed according to the position relative to the reverse track so as to guide a user of the terminal to navigate information from the position relative to the reverse track to the initial position.

In the technical scheme, when a terminal detects that a vehicle bound with the terminal accords with a preset parking state, the current position is used as an initial position, the initial position is used for representing the position where the vehicle is parked, a moving track of the terminal with the initial position as a starting point is generated according to information detected by a sensor of the terminal, when a vehicle finding instruction is obtained, the terminal displays a reverse track, the reverse track is obtained according to the moving track, the direction of the route of the reverse track is opposite to that of the route of the moving track, the reverse track takes the initial position as an end point, the position of the terminal relative to the reverse track is determined according to the information detected by the sensor, prompt information is displayed according to the position relative to the reverse track to prompt navigation information from the position relative to the reverse track to the initial position, and the method does not depend on data signals and positioning signals, the navigation system can guide a user to navigate and find a vehicle in an environment without a positioning signal.

With reference to the first aspect, in a first implementation of the first aspect, the moving trajectory does not include a closed portion, so as to reasonably reduce a route of a reverse trajectory, help a user to find a vehicle more quickly, and improve user experience.

With reference to the first aspect or the first implementation of the first aspect, in a second implementation of the first aspect, the displaying, by the terminal, the prompt message according to the position relative to the reverse track may include: the terminal determines the intersection point position of a spherical surface and the reverse track according to the position relative to the reverse track and the reverse track, wherein the spherical surface takes the position relative to the reverse track as a spherical center and takes a preset distance as a radius; and then determining a target intersection point position which is closest to the initial position along the reverse track in the intersection point positions, and displaying guide information for guiding a user of the terminal to move to the target intersection point position.

In the technical scheme, when the target intersection point position closest to the initial position along the reverse track exists in the preset distance radius range, a selectable navigation mode is provided, the user of the terminal is guided to move to the target intersection point position, and the user of the terminal is helped to return to the initial position where the vehicle stops more quickly.

With reference to the first aspect, the first implementation manner of the first aspect, or the second implementation manner of the first aspect, in a third implementation manner of the first aspect, the displaying, by the terminal, the prompt message according to the position relative to the reverse track may further include: the terminal judges whether the position relative to the reverse track deviates from the reverse track, and if so, the terminal displays guide information for guiding the user of the terminal back to the reverse track.

In the technical scheme, when the situation that the user of the terminal deviates from the moving track is detected, the terminal displays and displays the guide information for guiding the user of the terminal to return to the reverse track, and the user of the terminal is helped to return to the reverse track.

With reference to the first aspect or any one of the first to third implementation manners of the first aspect, in a fourth implementation manner of the first aspect, the sensor includes a gyroscope sensor and an acceleration sensor; the specific method for generating the movement track of the terminal with the initial position as the starting point according to the information detected by the sensor of the terminal by the terminal may include: and the terminal generates the moving track according to the information of the moving direction of the terminal, which is detected by the gyroscope sensor, the change information of the moving speed of the terminal, which is detected by the acceleration sensor, and the initial position.

With reference to the first aspect or any one of the first to the fourth implementation manners of the first aspect, in a fifth implementation manner of the first aspect, the sensor further includes an air pressure sensor, and the acquiring, by the terminal according to information detected by the sensor of the terminal, a moving trajectory of the terminal, which takes the initial position as a starting point, may further include: the terminal determines altitude information of the terminal according to the atmospheric pressure information detected by the atmospheric pressure sensor, and then generates an upstairs track for indicating a user of the terminal to upstairs or a downstairs track for indicating the user of the terminal to downstairs when the altitude change of the terminal is greater than a preset altitude threshold, wherein the moving track comprises the upstairs track or the downstairs track.

In the technical scheme, the altitude change of the terminal is detected in an auxiliary manner through the air pressure sensor, so that the obtained movement track of the terminal is more accurate, and the track of the user of the terminal going upstairs or downstairs can be displayed more clearly in the movement track.

With reference to the fifth implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the method may further include: when the change of the altitude of the terminal is larger than a preset height threshold value, the terminal marks the current position as a stair or the position where the elevator is located so as to prompt a user of the terminal of the position where the elevator or the stair is located.

With reference to the first aspect or any one of the first to sixth implementation manners of the first aspect, in a seventh implementation manner of the first aspect, an embodiment of generating, by the terminal, a moving track of the terminal starting from an initial position according to information detected by a sensor of the terminal may include: the terminal records the movement data of the terminal according to the information detected by the sensor of the terminal, and when the terminal positioning signal is detected, the current position is taken as the end position, and a movement track with the initial position as the starting point and the end position as the end point is generated according to the movement data of the terminal.

In the technical scheme, when the terminal detects a positioning signal, such as a GPS signal, the recording of the mobile data is stopped, and the mobile track is generated, so that the time for the terminal to record the mobile data through the sensor is shortened, and the energy consumption of the terminal is reduced.

With reference to the seventh implementation manner of the first aspect, in an eighth implementation manner of the first aspect, the terminal may further obtain map data of the ending location, determine a location of the ending location in the map according to the map data of the ending location, obtain the map data of the current location, which includes the ending location, when the vehicle finding instruction is obtained, and further generate and display a return track using the current location as a starting point and using the ending location as an ending point according to the map data including the ending location.

According to the technical scheme, when the vehicle finding instruction is obtained, the user of the terminal is guided to return to the end position of the moving track, and then the user of the terminal is guided to return to the initial position where the vehicle stops from the end position.

With reference to the first aspect or any one of the first to the eighth implementation manners of the first aspect, in a ninth implementation manner of the first aspect, the terminal may further obtain parking lot map data and location information of a location of which the location information is known, record movement data of the terminal according to information detected by a sensor of the terminal, and when it is detected that the vehicle bound to the terminal conforms to a preset parking state, determine the location information of the initial location according to the movement data of the terminal and the location information of the location of which the location information is known, and further, a manner of displaying a reverse trajectory by the terminal may be: the terminal determines the position of the reverse track on the parking lot map according to the position information of the initial position and the parking lot map data, displays the parking lot map, and displays the reverse track on the parking lot map according to the position of the reverse track on the parking lot map.

With reference to the first aspect or any one of the first to the eighth implementation manners of the first aspect, in a ninth implementation manner of the first aspect, the terminal may further obtain parking lot map data and location information of a location in the reverse trajectory, where the location information is known; furthermore, the way that the terminal displays the reverse track may be: the terminal determines the position of the reverse track on the parking lot map according to the position information of the position known by the position information and the parking lot map data, displays the parking lot map, and displays the reverse track on the parking lot map according to the position of the reverse track on the parking lot map, so that the position point of the moving track corresponds to the position point on the parking lot map one by one, and a user of the terminal can know the actual route of the reverse track in the parking lot more clearly.

In a second aspect, an embodiment of the present invention further provides a terminal, where the terminal includes:

the processing unit is used for taking the current position as an initial position when detecting that the vehicle bound with the terminal accords with a preset parking state, wherein the initial position is used for representing the position where the vehicle stops; generating a movement track of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal;

the acquisition unit is used for acquiring a vehicle finding instruction;

the display unit is used for displaying the reverse track when the acquisition unit acquires the vehicle finding instruction, the reverse track is obtained according to the moving track, the direction of the route of the reverse track is opposite to the direction of the route of the moving track, and the reverse track takes the initial position as a terminal point;

the processing unit is further used for determining the position of the terminal relative to the reverse track according to the information detected by the sensor; the processing unit is further used for enabling the display unit to display prompt information according to the position relative to the reverse track.

In the technical scheme, when a terminal detects that a vehicle bound with the terminal accords with a preset parking state, the current position is used as an initial position, the initial position is used for representing the position where the vehicle stops, a moving track of the terminal with the initial position as a starting point is generated according to a sensor of the terminal, when a vehicle finding instruction is obtained, the terminal displays a reverse track, the reverse track is obtained according to the moving track, the direction of the route of the reverse track is opposite to that of the route of the moving track, the reverse track takes the initial position as an end point, the position of the terminal relative to the reverse track is further determined according to the sensor, prompt information is displayed according to the position relative to the reverse track to prompt navigation information from the position relative to the reverse track to the initial position, the method does not depend on data signals and positioning signals, and can be realized under the environment without positioning signals, and guiding the user to navigate and find the car.

With reference to the second aspect, in a first implementation of the second aspect, the movement trajectory does not include a closed portion.

With reference to the second aspect or the first implementation of the second aspect, in a second implementation of the second aspect, the processing unit is further configured to cause the display unit to display a prompt message according to the position relative to the reverse trajectory, where the prompt message includes:

the processing unit is further to: determining the intersection point position of a spherical surface and the reverse track according to the position relative to the reverse track and the reverse track, wherein the spherical surface takes the position relative to the reverse track as a spherical center and takes a preset distance as a radius; determining a target intersection point position which is closest to the initial position along the reverse track in the intersection point positions;

the display unit is further configured to display guidance information for guiding a user of the terminal to move to the target intersection position.

With reference to the second aspect, the first implementation manner of the second aspect, or the second implementation manner of the second aspect, in a third implementation manner of the second aspect, the causing the display unit to display a prompt message according to the position relative to the reverse track includes:

the processing unit is further to: determining whether the position relative to the reverse trajectory deviates from the reverse trajectory;

and when the position relative to the reverse track deviates from the reverse track, the display unit is made to display guide information for guiding the user of the terminal back to the reverse track.

With reference to the second aspect or any one of the first to third implementation manners of the second aspect, in a fourth implementation manner of the second aspect, the sensor includes a gyroscope sensor and an acceleration sensor; the processing unit is configured to generate a movement track of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal, and the movement track includes:

the processing unit is configured to: detecting information of a moving direction of the terminal according to the gyro sensor,

and generating the movement track according to the change information of the movement speed of the terminal detected by the acceleration sensor and the initial position.

With reference to the second aspect or any one of the first to fourth implementation manners of the second aspect, in a fifth implementation manner of the second aspect, the sensor further includes an air pressure sensor; the processing unit is configured to generate a movement track of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal, and the movement track includes:

the processing unit is configured to: according to the air pressure information detected by the air pressure sensor, determining the altitude information of the terminal;

when the change of the altitude of the terminal is larger than a preset altitude threshold value, generating an upstairs track for indicating the user of the terminal to upstairs or a downstairs track for indicating the user of the terminal to downstairs, wherein the moving track comprises the upstairs track or the downstairs track.

With reference to the fifth implementation manner of the second aspect, in a sixth implementation manner of the second aspect, the processing unit is further configured to: when the change of the altitude of the terminal is larger than a preset height threshold value, marking the current position as the position of the stairs or the elevator.

With reference to the second aspect or any one of the first to sixth implementation manners of the second aspect, in a seventh implementation manner of the second aspect, the generating, by the processing unit, a movement trajectory of the terminal starting from the initial position according to information detected by a sensor of the terminal includes:

the processing unit is configured to: recording the mobile data of the terminal according to the information detected by the sensor of the terminal;

and when the end point positioning signal is detected, generating the movement track with the initial position as a starting point and the end position as an end point according to the movement data of the terminal by taking the current position as the end position.

With reference to the seventh implementation manner of the second aspect, in an eighth implementation manner of the second aspect, the terminal further includes:

the acquisition unit is further configured to: acquiring map data of the termination position;

the processing unit is further to: determining the position of the termination position in a map according to the map data of the termination position;

the acquisition unit is further configured to: when a vehicle finding instruction is obtained, obtaining map data of the current position, wherein the map data comprises the ending position;

the processing unit is further to: generating a return track according to the map data including the termination position, wherein the return track comprises a track taking the current position as a starting point and the termination position as an end point;

the display unit is further configured to: and displaying the return track.

With reference to the second aspect or any one of the first to eight implementation manners of the second aspect, in a ninth implementation manner of the second aspect, the obtaining unit is further configured to: acquiring parking lot map data and position information of a position of which the position information is known;

the processing unit is further to: recording the mobile data of the terminal according to the information detected by the sensor of the terminal; when the fact that the vehicle bound with the terminal accords with a preset parking state is detected, determining position information of the initial position according to the movement data of the terminal and the position information of the position of which the position information is known; determining the position of the reverse track on the parking lot map according to the position information of the initial position and the parking lot map data;

the display unit is further configured to: displaying the parking lot map;

the processing unit is further to: and enabling the display unit to display the reverse track on the parking lot map according to the position of the reverse track on the parking lot map.

With reference to the second aspect or any one of the first to eight implementation manners of the second aspect, in a ninth implementation manner of the second aspect, the obtaining unit is further configured to: acquiring parking lot map data and position information of a position in the reverse track, wherein the position information is known;

the processing unit is further to: determining the position of the reverse track on the parking lot map according to the position information of the position with known position information and the parking lot map data;

the display unit is further configured to: displaying the parking lot map;

In a third aspect, the present invention also provides a terminal, including a processor, a memory, a sensor, an input device, and an output device, where the processor is connected to the memory, the sensor, the input device, and the output device, for example, the processor may be connected to the memory, the sensor, the input device, and the output device through a bus. The input device is used for receiving instructions or information, the output device is used for outputting and displaying a moving track and a reverse track, the memory is used for storing the program codes of the navigation method, and the processor is used for calling the program codes in the memory and executing part or all of the process of the first aspect.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a system architecture diagram of navigation provided by an embodiment of the present invention;

FIG. 2 is a flow chart of a navigation method according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an initial position setting interface provided by the present invention;

FIG. 4 is a schematic structural diagram of a display interface of a moving track according to the present invention;

FIG. 5 is a schematic diagram illustrating a mobile data optimization method according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a display interface with a reverse track according to an embodiment of the present invention;

FIG. 7 is a flowchart illustrating an embodiment of a reverse navigation method according to the present invention;

FIG. 8 is a schematic diagram illustrating an embodiment of a reverse navigation method according to an embodiment of the present invention;

FIG. 9 is a schematic diagram illustrating one embodiment of guiding a user of a terminal when the terminal deviates from a reverse trajectory, according to an embodiment of the present invention;

fig. 10 is a structural framework diagram of a terminal according to an embodiment of the present invention;

fig. 11 is a structural framework diagram of another terminal according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiments of the present invention may be implemented based on a single terminal, or may be implemented based on the architecture diagram of the navigation system provided in the embodiment of the present invention shown in fig. 1, and the navigation system may include a terminal 11, a vehicle 12, a parking lot device 13, a server 14, and the like. The terminal 11, the vehicle 12, and the parking lot device 13 may communicate with each other through a Wireless Network, such as bluetooth, Wireless Local Area Network (Wireless LAN, also referred to as WiFi), Near Field Communication (NFC), ZigBee, and the like. The terminal 11 and the server 14 may previously communicate via a mobile network, WiFi, or the like. The terminal 11 includes at least one sensor capable of detecting own movement information, and the mobile terminal may be a mobile terminal, such as a smart phone, a tablet computer, a smart watch, a smart glasses and other wearable devices; the vehicle 12 includes a communication module, such as a bluetooth module, a WiFi module, etc., the parking lot device 13 is a device that includes a communication module and can acquire the geographic location of the parking lot device, for example, the parking lot device 13 may be an NFC tag, a plurality of NFC tags may be set in different areas in the parking lot, the NFC tag may store geographic location information of the parking lot device and a parking lot map in advance, and may be in communication connection with the terminal 11 having an NFC function to send the stored geographic location information and the parking lot map to the terminal 11.

Referring to fig. 2, fig. 2 is a schematic flow chart of a navigation method according to an embodiment of the present invention, including the following steps:

step S210: and when the fact that the vehicle bound with the terminal accords with a preset parking state is detected, taking the current position as an initial position, wherein the initial position is used for representing the position where the vehicle is parked.

The preset parking state is a state that a bound vehicle of the terminal stops moving, and a user of the terminal needs to leave the vehicle, and the method for the terminal to detect whether the vehicle bound with the terminal meets the preset parking state may be: the terminal and the vehicle are in a Bluetooth connection state, when the distance between the terminal and the vehicle is larger than the distance of Bluetooth communication connection, the terminal can be disconnected with the vehicle through Bluetooth, the fact that the user and the terminal leave the vehicle is indicated, namely when the terminal detects that the terminal is disconnected with the vehicle through Bluetooth, the vehicle is determined to be in accordance with a preset parking state; otherwise, the vehicle is determined not to be in accordance with the preset parking state. The method for the terminal to detect whether the vehicle bound with the terminal accords with the preset parking state can also be as follows: the vehicle detects the working state of the engine or the electric system, and sends the detection result to the terminal, and when the engine or the electric system stops working, the vehicle is determined to be in accordance with the preset parking state; otherwise, the vehicle is determined not to be in accordance with the preset parking state. The method for the terminal to detect whether the vehicle bound with the terminal accords with the preset parking state can also be as follows: a user of the terminal can subjectively judge whether the vehicle accords with the preset parking state or not, and input parking confirmation operation on the terminal, and the terminal receives the input parking confirmation operation and determines that the vehicle accords with the preset parking state; otherwise, the vehicle is determined not to be in accordance with the preset parking state.

The initial position may be a relative position coordinate, and when it is detected that the vehicle bound to the terminal conforms to the preset parking state, any one spatial coordinate point that may be set by the terminal is the initial position, such as (0, 0, 0), indicating the relative position where the vehicle is parked; the initial position may also be actual position information such as (longitude, latitude, altitude).

The method for determining the position information of the initial position by the terminal may include that the terminal acquires parking lot map data and position information of a position of which the position information is known, records movement data of the terminal according to information detected by a sensor of the terminal, and determines the position information of the initial position according to the recorded movement data of the terminal and the position information of the position of which the position information is known when it is detected that a vehicle bound with the terminal conforms to a preset parking state. Specifically, before entering a parking lot, the terminal may be connected to a mobile network and receive a positioning signal, the terminal may obtain parking lot map data through the mobile network, may also load parking lot map data cached by the terminal, and may obtain position information of a certain position through a positioning System, such as a GPS, a BeiDou Navigation Satellite System (BDS), and the like, where the position information of the position may be obtained through the positioning System. Preferably, the location is the last location at which location information was obtained by the positioning system. The terminal takes the position of which the position information is known as a starting point, records the mobile data of the terminal according to the information detected by the sensor of the terminal, sets the current position recorded by the terminal as an initial position when the terminal detects that the vehicle bound with the terminal accords with a preset parking state, and calculates the position information of the initial position according to the recorded mobile data of the terminal and the position information of the position of which the position information is known.

The terminal may determine the location information of the initial location by setting a plurality of parking lot devices in the parking lot, where the parking lot devices may store the parking lot map data and the location information of the parking lot devices, for example, the parking lot devices may be NFC (near Field communication) tags, and the terminal may be close to the NFC tags, establish a communication connection with the NFC tags, and transmit data. The terminal establishes communication connection with the parking lot equipment and sends a position acquisition request to the parking lot equipment, so that the parking lot equipment sends the stored parking lot map data and the position information of the parking lot equipment to the terminal after receiving the position acquisition request, and the terminal can set the position information of the parking lot equipment as initial coordinates.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an initial position setting interface according to the present invention, the initial position setting interface may include a vehicle state prompting area 310, a floor indicating area 320, and a moving track display area 330 shown by dashed boxes, where a first icon 321 represents a current floor. When the terminal detects that the vehicle bound with the terminal accords with the preset parking state, an initial position is set in the moving track display area 330, the parking place of the vehicle is marked, and prompt information is displayed in the vehicle state prompt area 310. Alternatively, when the terminal has acquired the parking lot map data, the parking lot map may be displayed on the initial position setting interface.

Step S220: and generating a movement track of the terminal by taking the initial position as a starting point according to the information detected by the sensor of the terminal.

Specifically, the terminal may be provided with a plurality of sensors for detecting movement data such as information on a movement direction and a change in movement speed of the terminal, and the terminal may generate a movement trajectory of the terminal starting from the initial position based on the detected movement data of the terminal.

The mobile data of the terminal can be recorded by the terminal through information detected by a sensor of the terminal in real time until a vehicle finding instruction is received; when a car finding instruction is received, the current position of the terminal is used as the termination position of the moving track; the terminal can also take the current position as the termination position when detecting a positioning signal, such as a GPS signal; the terminal may take the current position of the terminal as the end position when receiving the address information of the parking lot device transmitted by the parking lot communication device and the stop tracking operation input by the user of the terminal, and the position information of the end position may be the address information of the parking lot device. And generating a movement track with the initial position as a starting point and the end position as an end point according to the movement data of the terminal, wherein the end position of the movement track is the initial position of the reverse track.

It is understood that the position on the movement trace may be a relative position, i.e., a position relative to the initial position, or may be actual position information of the terminal, such as longitude, latitude, altitude, and the like. When the position information of any position on the movement track of the terminal, such as the initial position and the ending position, is known, the position information of each position on the movement track can be calculated through the recorded movement data, and when the parking lot map data can be acquired, the movement track can be displayed in combination with the parking lot, and at this time, the recorded movement data comprises the direction information acquired through the magnetic force sensor.

The method for determining the position information of the termination position by the terminal may be that the terminal may be connected to a mobile network after exiting a parking lot, and receive a positioning signal, the terminal takes the current position as the termination position, acquires map data of the termination position, and determines the position of the termination position in the map by a positioning system such as a GPS according to the map data of the termination position. The method for determining the position information of the termination position by the terminal may also be that, after the terminal leaves the parking lot, the terminal may also establish a communication connection with a parking lot device, such as an NFC tag, and send a position acquisition request to the parking lot device, so that the parking lot device sends the stored position information of the parking lot device and parking lot map data to the terminal after receiving the position acquisition request, and the terminal takes the acquired position information of the parking lot device as the position information of the current position and the current position as the termination position of the movement trajectory.

Optionally, the sensor comprises a gyroscope sensor and an acceleration sensor; step S220 may specifically include: the terminal detects information of the moving direction of the terminal according to the gyroscope sensor and detects change information of the moving speed of the terminal according to the acceleration sensor, the terminal can assume that the initial speed of the terminal when the terminal is located at the initial position is 0, and then the moving track of the terminal is calculated according to the detected information of the moving direction and the change information of the moving speed. It can be understood that the terminal may also assist to detect information of a moving direction of the terminal, change information of a moving speed of the terminal, change information of a relative displacement, and the like through other sensors, such as a gravity sensor, an image sensor (e.g., a camera), a distance sensor, a magnetic sensor, and the like, so that the generated moving track is closer to an actual moving track of the terminal. For example, the image sensor may acquire image information of an environment around the terminal, and may also acquire movement data such as speed information, direction change information, movement distance information, and the like of movement of the terminal by analyzing the image information, or the distance sensor may be a laser ranging device that detects change information of relative displacement of the terminal during movement of the terminal.

Optionally, the sensor may also include an air pressure sensor; step S220 may further include: the terminal determines altitude information of the terminal according to barometric information detected by the barometric sensor, where the altitude information may be used to assist the terminal in determining a movement track, or when a change in altitude of the terminal is detected to be greater than a preset altitude threshold, for example, when a difference between a maximum value and a minimum value in altitude information detected in a preset time period (for example, 2s) is greater than a preset altitude threshold, for example, 0.5m, it is indicated that a user of the terminal is going upstairs or downstairs, optionally, the terminal may also determine that the user of the terminal is going upstairs or downstairs when the change in altitude of the terminal is detected to be greater than the preset altitude threshold and the change in detected horizontal distance is less than a preset distance threshold, for example, 1m, the terminal may further determine that the user of the terminal is going upstairs or downstairs according to an increasing or decreasing rule of the detected altitude information The terminal may generate an upstairs trajectory for indicating that the user of the terminal upstairs or a downstairs trajectory for indicating that the user of the terminal downstairs, in which case the movement trajectory includes an upstairs trajectory or a downstairs trajectory.

Optionally, when the terminal detects that the change in the altitude of the terminal is greater than the preset altitude threshold, it indicates that the terminal is ascending or descending, and the current position is a stair or an elevator position, and the terminal may mark the current position as the position of the stair or the elevator.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a moving track display interface according to the present invention, where a first icon 321 is used to indicate a floor where a terminal is currently located; a second icon 322 for indicating a floor where the parking position is located, and a third icon 323 for indicating other floors; a fourth icon 340 is used to indicate where the stairs and/or elevators are located and a fifth icon 350 is used to indicate the current location of the terminal. And prompting the distance of the current moving track. Optionally, the moving track display interface may set different colors for the moving tracks on different floors to be displayed simultaneously, or may set different layers for the moving tracks on different floors to display the moving track of the current floor, and the moving tracks of different floors may be switched, for example, by clicking the first icon 321, the current interface is switched to the display interface of the moving track in the floor specified by the first icon 321.

It can be understood that, during the process of recording the movement data of the terminal through the sensor tracking, the terminal may detect that the terminal passes through the same position for 2 times or more, and at this time, the movement track generated according to the movement data includes a closed part, which causes redundancy of the movement track. Optionally, while performing step S220, or after step S220 and before step S230, the terminal may optimize the movement data so that the movement trajectory does not include a closed part. Referring to fig. 5, fig. 5 is a schematic diagram of a principle of a mobile data optimization method according to an embodiment of the present invention, specifically, a terminal may detect whether a mobile track 501 generated by mobile data before optimization includes a closed part (indicated by a dotted line), and if so, remove the mobile data of the closed part, and form a mobile track 502 according to the remaining mobile data.

Step S230: and when a vehicle finding instruction is acquired, displaying the reverse track. Wherein the reverse track is obtained according to the moving track, the direction of the route of the reverse track is opposite to the direction of the route of the moving track, and the reverse track takes the initial position as an end point.

Specifically, the terminal may obtain a click operation input by the user for a "find car with me" button in the movement trajectory display interface shown in fig. 4, trigger generation of a car finding instruction, and generate a reverse trajectory in a reverse direction of the route of the movement trajectory. It is understood that when the positions on the moving track are relative positions, the positions on the reverse track are also relative positions; when the position information of each position on the movement trajectory is known, the position information of each position on the reverse trajectory is known.

Alternatively, if the terminal has acquired the parking lot map data and determined the position information of the initial position or the end position, the terminal may further determine the position of the movement trajectory on the parking lot map according to the position information of the initial position or the position information of the end position and the parking lot map data, and may further determine the position of the reverse trajectory on the parking lot map, at this time, the movement data of the terminal includes direction information detected by the magnetic sensor, so that the movement trajectory may be matched with the parking lot map. The method of displaying the reverse track by the terminal may be that the terminal may display a parking lot map and display the reverse track on the parking lot map according to a position of the reverse track on the parking lot map.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a display interface of a reverse track according to an embodiment of the present invention, where the display interface may display a reverse track 602 in combination with a parking lot map 601 (a line diagram shown by a thin line), where the parking lot map data may also be parking lot map data cached offline by a terminal, parking lot map data acquired through a mobile network, or parking lot map data sent by a receiving parking lot device. The parking lot map may be synthesized according to movement tracks uploaded through the respective terminals, and at this time, the position information of at least one position in the movement tracks uploaded by the terminals is known.

It should be noted that the display interface of the moving track or the display interface of the reverse track may set different colors for the moving tracks or the reverse tracks on different floors to be displayed simultaneously, or may set different layers for the moving tracks or the reverse tracks on different floors to display the moving track or the reverse track of the current floor, and the moving tracks or the reverse tracks of different floors may be switched. Similarly, different colors can be set for the parking lot maps on different floors to be displayed simultaneously, different layers can be set for the parking lot maps on different floors to display the parking lot map on the floor where the current parking lot map is located, and the parking lot maps on different floors can be switched. It will be appreciated that the parking lot map may also label the location of the stairs or elevators.

Step S240: and determining the position of the terminal relative to the reverse track according to the information detected by the sensor, and displaying prompt information according to the position relative to the reverse track.

Specifically, the terminal can record the movement data of the terminal through the information detected by the sensor, and determine the current position of the terminal relative to the reverse track according to the recorded movement data. The prompt message is used to guide the user of the terminal to return to the initial position of the movement trajectory, i.e., the parking position, from the position relative to the reverse trajectory.

Optionally, please refer to fig. 7, fig. 7 is a flowchart illustrating an implementation manner of a reverse navigation method according to an embodiment of the present invention, and fig. 8 is a schematic diagram illustrating a principle of an implementation manner of a reverse navigation method according to an embodiment of the present invention. Specifically, an embodiment in which the terminal navigates back to the initial position according to the movement track through the information detected by the sensor may include the following steps:

step S241: and determining the intersection point position of a spherical surface and the reverse track 800 according to the position 801 relative to the reverse track and the reverse track 800, wherein the spherical surface takes the position 801 relative to the reverse track as a spherical center and takes a preset distance as a radius.

In particular, the terminal may preset the radius of the spherical surface, i.e. a preset distance, which may be 10m, for example. As shown in fig. 8, determining the intersection position of the spherical surface and the inverted trajectory 800 may include a first intersection 8021, a second intersection 8022, and a third intersection 8031 according to the position 801 relative to the inverted trajectory and the inverted trajectory 800. Assuming that the first intersection point 8021 and the second intersection point 8022 are located on the same floor, the third intersection point 8031 and the current position of the terminal are located on the same floor, and the circular cross section 802 shown by the dotted line in fig. 8 is a cross section parallel to the horizontal plane where the first intersection point 8021 and the second intersection point 8022 where the preset spherical surface intersects with the reverse trajectory 800 are located; a circular section 803 shown by a solid line in fig. 8 is a section parallel to a horizontal plane where a first intersection 8031 where the predetermined spherical surface intersects with the inverted trajectory 800 is located.

Step S242: and determining the target intersection point position which is closest to the initial position along the reverse track in the intersection point positions.

As shown in fig. 8, the second intersection point 8022 is closest to the initial position along the path of the moving track, and is located at the coordinate of the target intersection point.

Step S243: and displaying guide information for guiding the user of the terminal to move to the target intersection point position.

Specifically, the terminal may display guidance information for guiding the user of the terminal to move to the target intersection position, and provide a selectable navigation mode for the user of the terminal, and after the user selects the navigation mode, the terminal may guide the user of the terminal to return to the target intersection position first, and then guide the user of the terminal to move to the initial position.

It is understood that the reverse navigation embodiment shown in fig. 7 can also be used as an alternative navigation method for the user to select a navigation line.

Optionally, the terminal may further determine whether the position relative to the reverse trajectory deviates from the reverse trajectory; and when the position relative to the reverse track deviates from the reverse track, displaying guide information for guiding the user of the terminal back to the reverse track.

Referring to fig. 9, fig. 9 is a schematic diagram illustrating an embodiment of guiding a user of a terminal when the terminal deviates from a reverse trajectory according to the present invention.

Specifically, the terminal guides a user of the terminal to return to a parking position through a reverse track, records movement data of the terminal through information detected by a sensor, and in the process of navigating to an initial position in a reverse direction according to the movement track, whether a position 901 relative to the reverse track deviates from the reverse track 902 can be judged, if so, a direction from the position 901 relative to the reverse track to a position 903 which is closest to the position 901 relative to the reverse track in the reverse track is taken as a guiding direction 904, and the user of the terminal is guided to return to the reverse track 902; otherwise, the terminal continues to guide the user of the terminal back to the parking position. The method for determining whether the position 901 corresponding to the reverse trajectory deviates from the reverse trajectory 902 may be to determine whether a shortest distance between the position 901 corresponding to the reverse trajectory and the reverse trajectory 902 is greater than a preset threshold, for example, 3m, and if so, determine that the coordinate of the position 901 corresponding to the reverse trajectory deviates from the reverse trajectory 902.

It will be appreciated that the position 901 relative to the reverse trajectory is on the same floor as the position 903 in the reverse trajectory which is closest to the position 901 relative to the reverse trajectory.

Optionally, when the position information of the termination position of the movement trajectory of the terminal is known, an embodiment in which the terminal guides the user of the terminal to return to the parking position may also be that, first, the terminal acquires map data of the termination position, and determines the position of the termination position in the map according to the map data of the termination position; when a vehicle finding instruction is acquired, acquiring map data of a current position, which comprises the termination position, and generating a return track according to the map data comprising the termination position, wherein the return track comprises a track taking the current position as a starting point and the termination position as a terminal point; secondly, the terminal displays the return track and displays guide information for guiding the user of the terminal to return the value from the current position to the end position, navigation can be carried out through a GPS in the process of guiding the user of the terminal to return to the end position, and movement data of the terminal can be detected through information detected by a sensor of the terminal so as to determine the position of the current position of the terminal on the return track, wherein the movement data comprises direction information detected by a magnetic sensor; and finally, after the terminal returns to the termination position, recording the movement data of the terminal through the information detected by the sensor of the terminal, and guiding the user of the terminal to return to the initial position, namely the parking position according to the reverse track.

In the embodiment of the invention, when detecting that a vehicle bound with a terminal accords with a preset parking state, the terminal takes a current position as an initial position, the initial position is used for representing the position where the vehicle is parked, and generates a moving track of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal, when a vehicle finding instruction is obtained, the terminal displays a reverse track, the reverse track is obtained according to the moving track, the direction of the route of the reverse track is opposite to that of the route of the moving track, the reverse track takes the initial position as an end point, further according to the sensor, the position of the terminal relative to the reverse track is determined, and prompt information is displayed according to the position relative to the reverse track to prompt navigation information from the position relative to the reverse track to the initial position, the method does not depend on data signals and positioning signals, and can be realized under the environment without positioning signals, and guiding the user to navigate and find the car.

In addition, the moving track can be optimized by removing the closed part in the moving track, the path of the reverse track is reduced, and a user is helped to find the vehicle more quickly. Moreover, the user of the terminal may be guided back onto the reverse trajectory when the user of the terminal deviates from the reverse trajectory.

Referring to fig. 10, fig. 10 is a structural framework diagram of a terminal according to an embodiment of the present invention, where the terminal shown in fig. 10 includes: a processing unit 1010, an acquisition unit 1020, and a display unit 1030, wherein,

the processing unit 1010 is used for taking the current position as an initial position when detecting that the vehicle bound with the terminal accords with a preset parking state, wherein the initial position is used for representing the position where the vehicle is parked; generating a movement track of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal;

an obtaining unit 1020, configured to obtain a vehicle finding instruction;

a display unit 1030, configured to display the reverse track when the obtaining unit 1020 obtains the vehicle finding instruction, where the reverse track is obtained according to the moving track, a direction of a route of the reverse track is opposite to a direction of a route of the moving track, and the reverse track takes the initial position as an end point;

the processing unit 1010 is further configured to determine a position of the terminal relative to the reverse trajectory according to information detected by the sensor; the processing unit 1010 is further configured to cause the display unit 1030 to display a prompt message according to the position relative to the reverse trajectory.

Optionally, the movement trajectory does not contain a closed part.

In this embodiment of the present invention, the processing unit 1010 is further configured to, according to the position relative to the reverse trajectory, cause the display unit 1030 to display a prompt message, where the prompt message includes:

the processing unit 1010 is further configured to: determining the intersection point position of a spherical surface and the reverse track according to the position relative to the reverse track and the reverse track, wherein the spherical surface takes the position relative to the reverse track as a spherical center and takes a preset distance as a radius; determining a target intersection point position which is closest to the initial position along the reverse track in the intersection point positions;

the display unit 1030 is further configured to display guidance information for guiding a user of the terminal to move to the target intersection position.

the processing unit 1010 is further configured to: determining whether the position relative to the reverse trajectory deviates from the reverse trajectory;

when the position relative to the reverse trajectory deviates from the reverse trajectory, the display unit 1030 is caused to display guidance information for guiding the user of the terminal back on the reverse trajectory.

In the embodiment of the invention, the sensor comprises a gyroscope sensor and an acceleration sensor; the processing unit 1010 is configured to generate a movement trajectory of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal, and includes:

the processing unit 1010 is configured to: detecting information of a moving direction of the terminal according to the gyro sensor,

In the embodiment of the invention, the sensor further comprises an air pressure sensor; the processing unit 1010 is configured to generate a movement trajectory of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal, and includes:

the processing unit 1010 is configured to: according to the air pressure information detected by the air pressure sensor, determining the altitude information of the terminal;

In this embodiment of the present invention, the processing unit 1010 is further configured to: when the change of the altitude of the terminal is larger than a preset height threshold value, marking the current position as the position of the stairs or the elevator.

In this embodiment of the present invention, the processing unit 1010 is configured to generate, according to information detected by a sensor of the terminal, a movement track of the terminal with the initial position as a starting point, where the movement track includes:

the processing unit 1010 is configured to: recording the mobile data of the terminal according to the information detected by the sensor of the terminal;

In this embodiment of the present invention, the obtaining unit 1020 is further configured to: acquiring map data of the termination position;

the processing unit 1010 is further configured to: determining the position of the termination position in a map according to the map data of the termination position;

the obtaining unit 1020 is further configured to: when a vehicle finding instruction is obtained, obtaining map data of the current position, wherein the map data comprises the ending position;

the processing unit 1010 is further configured to: generating a return track according to the map data including the termination position, wherein the return track comprises a track taking the current position as a starting point and the termination position as an end point;

the display unit 1030 is further configured to: and displaying the return track.

In this embodiment of the present invention, the obtaining unit 1020 is further configured to: acquiring parking lot map data and position information of a position of which the position information is known;

the processing unit 1010 is further configured to: recording the mobile data of the terminal according to the information detected by the sensor of the terminal; when the fact that the vehicle bound with the terminal accords with a preset parking state is detected, determining position information of the initial position according to the movement data of the terminal and the position information of the position of which the position information is known; determining the position of the reverse track on the parking lot map according to the position information of the initial position and the parking lot map data;

the display unit 1030 is further configured to: displaying the parking lot map;

the processing unit 1010 is further configured to: and according to the position of the reverse track on the parking lot map, the display unit 1030 is enabled to display the reverse track on the parking lot map.

In this embodiment of the present invention, the obtaining unit 1020 is further configured to: acquiring parking lot map data and position information of a position in the reverse track, wherein the position information is known;

the processing unit 1010 is further configured to: determining the position of the reverse track on the parking lot map according to the position information of the position with known position information and the parking lot map data;

the display unit 1030 is further configured to: displaying the parking lot map;

It can be understood that the functions of the units in the terminal shown in fig. 10 can be specifically implemented according to the method in the navigation vehicle finding method embodiment shown in fig. 2, and are not described herein again.

In the embodiment of the invention, when detecting that a vehicle bound with a terminal accords with a preset parking state, the terminal takes a current position as an initial position, the initial position is used for representing the position where the vehicle stops, a moving track of the terminal with the initial position as a starting point is generated according to a sensor of the terminal, when a vehicle finding instruction is obtained, the terminal displays a reverse track, the reverse track is obtained according to the moving track, the direction of a route of the reverse track is opposite to that of a route of the moving track, the reverse track takes the initial position as an end point, the position of the terminal relative to the reverse track is further determined according to the sensor, prompt information is displayed according to the position relative to the reverse track to prompt navigation information from the position relative to the reverse track to the initial position, the method does not depend on data signals and positioning signals, and can be realized under the environment without positioning signals, and guiding the user to navigate and find the car.

Referring to fig. 11, fig. 11 is a structural framework diagram of another terminal according to an embodiment of the present invention. The terminal may comprise at least one processor 1101, at least one memory 1102, at least one sensor 1103, an input device 1104, an output device 1105 and a communication module 1106, wherein the processor 1101 is connected to the memory 1102, the sensor 1103, the input device 1104 and the output device 1105, e.g. the processor 1101 may be connected to the memory 1102, the sensor 1103, the input device 1104 and the output device 1105 via a bus.

The memory 1102 may be used to store computer programs and modules, and the processor 1101 executes various functional applications and data processing by operating the computer programs and modules stored in the memory 1102. The memory 1102 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to the use of the terminal (such as a parking lot map, a geographical position, and the like described in the embodiment of the present invention), and the like. Further, the memory 1102 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 1102 may also include a memory controller to provide the processor 1101 and the input device 1104 access to the memory 1102.

The terminal may further include at least one sensor 1103, such as at least one of a gyro sensor, an acceleration sensor, an air pressure sensor, a magnetic force sensor, a gravity sensor, an image sensor, a distance sensor, and the like, wherein the gyro sensor is used to detect information of a moving direction of the terminal; the acceleration sensor is used for detecting the change information of the moving speed of the terminal; the air pressure sensor is used for detecting the altitude information of the terminal; the magnetic sensor is used for assisting in detecting information of the moving direction of the terminal, so that the detected moving data of the terminal can be matched with a parking lot map; the gravity sensor can be used for assisting in detecting information of the moving direction of the terminal; the image sensor can be used for acquiring image information of the surrounding environment of the terminal; the distance sensor can be a laser distance measuring device, an acoustic distance measuring device, an image distance measuring device and the like, and can be used for detecting the mobile position information and the like of the terminal; other sensors such as a hygrometer, a thermometer and an infrared sensor which can be configured on the terminal are not described in detail herein.

The input device 1104 may be used to receive entered numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control. In particular, input devices 1104 may include a touch-sensitive surface 11041 as well as other input devices 11042. The touch-sensitive surface 11041, also referred to as a touch display panel or touch pad, may collect user touch operations on or near the touch-sensitive surface 11041 (e.g., user operations on or near the touch-sensitive surface 11041 using a finger, a stylus, or any other suitable object or attachment), and drive the corresponding connection devices according to a predetermined program. Alternatively, the touch sensitive surface 11041 may include two portions, a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 1101, and can receive and execute commands sent by the processor 1101. In addition, the touch-sensitive surface 11041 may be implemented in a variety of types, including resistive, capacitive, infrared, and surface acoustic wave. The input devices 1104 may include other input devices in addition to the touch-sensitive surface 11041. In particular, other input devices 11042 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like. Although fig. 11 shows the input device 1104, it is understood that it does not belong to the essential constitution of the terminal, and may be omitted entirely as needed within the scope not changing the essence of the invention.

The output device 1105 may be used to display information input by or provided to the user and various graphical user interfaces of the terminal (such as the movement trace display interface described in embodiments of the present invention, etc.) that may be made up of graphics, text, icons, video, and any combination thereof. The output device 1105 may include a display panel 11051, and optionally, the display panel 11051 may be configured in the form of a Liquid Crystal Display (LCD), an organic light-emitting diode (OLED), or the like. Further, the touch-sensitive surface 11041 may overlay the display panel 11051 and, upon detecting a touch operation on or near the touch-sensitive surface 11041, communicate to the processor 1101 to determine the type of touch event, whereupon the processor 1101 provides a corresponding visual output on the display panel 11051 in accordance with the type of touch event. Although in FIG. 11 the touch sensitive surface 11041 and the display panel 11051 are shown as two separate components to implement input and output functions, in some embodiments the touch sensitive surface 11041 may be integrated with the display panel 11051 to implement input and output functions. Although fig. 11 shows the output device 1105, it is understood that it does not belong to the essential constitution of the terminal, and may be omitted entirely as needed within the scope not changing the essence of the invention.

Optionally, the terminal may further include a communication module 1106, and the communication module 1106 is configured to establish a communication channel, enable the terminal to connect to a correspondent node through the communication channel, and interact data with the correspondent node through the communication channel. For example, in the embodiment of the present invention, the terminal establishes a communication connection with other terminals (such as a vehicle, a parking lot device, and the like), a server, and the like through the communication module 1106, which may be a bluetooth module, an NFC module, a mobile communication module, a WiFi module, a positioning module (such as a GPS module), and the like. NFC, WiFi, and bluetooth all belong to short-range wireless transmission technologies, and the terminal can help a user send and receive e-mails, browse webpages, access streaming media, and the like through the communication module 1106, for example, in the embodiment of the present invention, a parking lot map is obtained through the communication module 1106, which provides wireless internet access for the user. Although fig. 11 shows the communication module 1106, it is understood that it does not belong to the essential constitution of the terminal, and may be omitted entirely as needed within the scope not changing the essence of the invention.

The processor 1101 is a control center of the terminal, connects various parts of the entire terminal using various interfaces and lines, and performs various functions of the terminal and processes data by operating or executing computer programs and/or modules stored in the memory 1102 and calling data stored in the memory 1102, thereby performing overall monitoring of the terminal. Optionally, processor 1101 may include one or more processing cores; preferably, the processor 1101 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 1101.

Specifically, in this embodiment of the present invention, the output device 1105 (or the input device 1104) of the terminal is a touch screen display, the terminal further includes a memory 1102, a processor 1101, and one or more computer programs, where the one or more computer programs are stored in the memory 1102, and the processor 1101 is configured to call the program code stored in the memory 1102 (non-volatile memory) to perform the following steps:

when the fact that the vehicle bound with the terminal accords with a preset parking state is detected, taking the current position as an initial position, wherein the initial position is used for representing the position where the vehicle stops;

generating a movement track of the terminal with the initial position as a starting point according to information detected by a sensor 1103 of the terminal;

when a vehicle finding instruction is acquired through the input device 1104, the reverse track is displayed through the output device 1105, the reverse track is acquired according to the moving track, the direction of the route of the reverse track is opposite to the direction of the route of the moving track, and the reverse track takes the initial position as an end point;

the position of the terminal relative to the reverse trajectory is determined based on the information detected by the sensor 1103 and a prompt is displayed via the output device 1105 based on the position relative to the reverse trajectory.

Optionally, the movement trajectory does not contain a closed part.

Optionally, when the processor 1101 performs the step of displaying the prompt information according to the position relative to the reverse trajectory, the processor is further configured to perform:

determining the intersection point position of a spherical surface and the reverse track according to the position relative to the reverse track and the reverse track, wherein the spherical surface takes the position relative to the reverse track as a spherical center and takes a preset distance as a radius; determining a target intersection point position which is closest to the initial position along the reverse track in the intersection point positions;

guidance information for guiding the user of the terminal to move to the target intersection position is displayed through the output device 1105.

determining whether the position relative to the reverse trajectory deviates from the reverse trajectory;

when the position relative to the reverse trajectory deviates from the reverse trajectory, guidance information for guiding the user of the terminal back to the reverse trajectory is displayed through the output device 1105.

Optionally, the sensors 1103 include a gyroscope sensor and an acceleration sensor; when the processor 1101 executes the step of generating the movement track of the terminal with the initial position as the starting point according to the information detected by the sensor 1103 of the terminal, the processor 1101 is further configured to execute:

and generating the movement track according to the information of the movement direction of the terminal detected by the gyroscope sensor, the change information of the movement speed of the terminal detected by the acceleration sensor and the initial position.

Optionally, the sensor 1103 further comprises an air pressure sensor; when the processor 1101 executes the step of generating the movement track of the terminal with the initial position as the starting point according to the sensor 1103 of the terminal, the processor 1101 is further configured to execute:

according to the altitude information detected by the air pressure sensor, determining the altitude information of the terminal;

Optionally, the processor 1101 is further configured to perform: when the change in altitude of the terminal is greater than a preset altitude threshold, the current location is marked as the location of a staircase or elevator via input device 1104.

Optionally, when the processor 1101 executes the step of generating the movement track of the terminal with the initial position as the starting point according to the information detected by the sensor 1103 of the terminal, the processor 1101 is further configured to execute:

recording the movement data of the terminal through an input device 1104 according to the information detected by a sensor 1103 of the terminal;

when a positioning signal is detected by the communication module 1106, the current position is taken as an end position, and the movement track with the initial position as a start point and the end position as an end point is generated according to the movement data of the terminal.

Optionally, the processor 1101 is further configured to perform:

acquiring the map data of the termination position through a communication module 1106, and determining the position of the termination position in a map according to the map data of the termination position;

when a vehicle finding instruction is acquired through the input device 1104, acquiring map data of a current position, including the termination position;

generating a return track according to the map data including the termination position, wherein the return track comprises a track taking the current position as a starting point and the termination position as an end point;

the return trajectory is displayed via output device 1105.

Optionally, the processor 1101 is further configured to perform:

acquiring parking lot map data and location information of a location whose location information is known by a communication module 1106;

recording the movement data of the terminal according to the information detected by the sensor 1103 of the terminal;

when the fact that the vehicle bound with the terminal accords with a preset parking state is detected, determining position information of the initial position according to the movement data of the terminal and the position information of the position of which the position information is known;

when the processor 1101 performs the step of displaying the reverse trajectory, it is further configured to perform: determining the position of the reverse track on the parking lot map according to the position information of the initial position and the parking lot map data; displaying the parking lot map via an output device 1105; and displaying, via an output device 1105, the reverse trajectory on the parking lot map according to the location of the reverse trajectory on the parking lot map.

Optionally, the processor 1101 is further configured to perform:

acquiring parking lot map data and position information of a position in the movement track, where the position information is known, through a communication module 1106;

when the processor 1101 performs the step of displaying the reverse trajectory, it is further configured to perform: determining the position of the reverse track on the parking lot map according to the position information of the position with known position information and the parking lot map data; displaying the parking lot map via an output device 1105; and displaying, via an output device 1105, the reverse trajectory on the parking lot map according to the location of the reverse trajectory on the parking lot map.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.

Claims

1. A navigation method, comprising:

generating a movement track of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal;

when a vehicle finding instruction is acquired, displaying a reverse track, wherein the reverse track is acquired according to the moving track, the direction of the route of the reverse track is opposite to that of the route of the moving track, and the reverse track takes the initial position as a terminal point;

determining a position of the terminal relative to the reverse trajectory based on information detected by the sensor,

and displaying guide information for guiding the user of the terminal to move to the target intersection point position.

2. The method of claim 1, wherein the movement trajectory does not include a closed portion.

3. The method of claim 1, wherein said displaying a prompt message based on said position relative to said reverse trajectory comprises:

and when the position relative to the reverse track deviates from the reverse track, displaying guide information for guiding the user of the terminal back to the reverse track.

4. The method of claim 1, wherein the sensors comprise a gyroscope sensor and an acceleration sensor; the generating, according to information detected by a sensor of the terminal, a movement trajectory of the terminal starting from the initial position includes:

and generating the movement track according to the information of the movement direction of the terminal, which is detected by the gyroscope sensor, the change information of the movement speed of the terminal, which is detected by the acceleration sensor, and the initial position.

5. The method of any one of claims 1 to 4, wherein the sensor further comprises an air pressure sensor; the generating, according to information detected by a sensor of the terminal, a movement trajectory of the terminal starting from the initial position includes:

according to the air pressure information detected by the air pressure sensor, determining the altitude information of the terminal;

6. The method of claim 5, wherein the method further comprises:

when the change of the altitude of the terminal is larger than a preset height threshold value, marking the current position as the position of the stairs or the elevator.

7. The method according to any one of claims 1-4 and 6, wherein the generating a movement track of the terminal starting from the initial position according to the information detected by the sensor of the terminal comprises:

recording the mobile data of the terminal according to the information detected by the sensor of the terminal;

and when the positioning signal is detected, generating the movement track with the initial position as a starting point and the end position as an end point according to the movement data of the terminal by taking the current position as the end position.

8. The method of claim 7, wherein the method further comprises:

acquiring map data of the termination position, and determining the position of the termination position in a map according to the map data of the termination position;

when a vehicle finding instruction is obtained, obtaining map data of the current position, wherein the map data comprises the ending position;

and displaying the return track.

9. The method of any of claims 1-4, 6, 8, further comprising:

acquiring parking lot map data and position information of a position of which the position information is known;

the displaying the reverse trajectory includes: determining the position of the reverse track on the parking lot map according to the position information of the initial position and the parking lot map data;

displaying the parking lot map;

and displaying the reverse track on the parking lot map according to the position of the reverse track on the parking lot map.

10. The method of any one of claims 1-4, 6, and 8, further comprising:

acquiring parking lot map data and position information of a position of which the position information is known in the moving track;

the displaying the reverse trajectory comprises: determining the position of the reverse track on the parking lot map according to the position information of the position with known position information and the parking lot map data;

displaying the parking lot map;

11. A terminal, applied to vehicle navigation, comprising:

the processing unit is used for taking the current position as an initial position when the fact that the vehicle bound with the terminal accords with a preset parking state is detected, and the initial position is used for representing the position where the vehicle stops; generating a movement track of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal;

the acquisition unit is used for acquiring a vehicle finding instruction;

the display unit is used for displaying a reverse track when the acquisition unit acquires the vehicle finding instruction, wherein the reverse track is acquired according to the moving track, the direction of the route of the reverse track is opposite to that of the route of the moving track, and the reverse track takes the initial position as a terminal point;

the processing unit is further to: determining the position of the terminal relative to the reverse track according to the information detected by the sensor; determining the intersection point position of a spherical surface and the reverse track according to the position relative to the reverse track and the reverse track, wherein the spherical surface takes the position relative to the reverse track as a spherical center and takes a preset distance as a radius; determining a target intersection point position which is closest to the initial position along the reverse track in the intersection point positions;

the display unit is further configured to: and displaying guide information for guiding the user of the terminal to move to the target intersection point position.

12. The terminal of claim 11, wherein the movement trace does not include a closed portion.

13. The terminal of claim 11, wherein the processing unit is further configured to cause the display unit to display a prompt message based on the position relative to the reverse trajectory, comprising:

14. The terminal of claim 11, wherein the sensors include a gyroscope sensor and an acceleration sensor; the processing unit is configured to generate a movement track of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal, and the movement track includes:

the processing unit is configured to: and according to the information of the movement direction of the terminal detected by the gyroscope sensor, the change information of the movement speed of the terminal and the initial position are detected by the acceleration sensor, and the movement track is generated.

15. A terminal as claimed in any one of claims 11 to 14, wherein the sensor further comprises an air pressure sensor; the processing unit is configured to generate a movement track of the terminal with the initial position as a starting point according to information detected by a sensor of the terminal, and the movement track includes:

the processing unit is configured to: according to the air pressure information detected by the air pressure sensor, determining and detecting the altitude information of the terminal;

16. The terminal of claim 15, wherein the processing unit is further configured to:

and the marking unit is used for marking the current position as the position of the staircase or the elevator when the change of the altitude of the terminal is greater than a preset height threshold value.

17. The terminal according to any one of claims 11-14 and 16, wherein the processing unit is configured to generate a movement track of the terminal starting from the initial position according to information detected by a sensor of the terminal, and the movement track includes:

18. The terminal of claim 17, wherein the terminal further comprises:

the processing unit is further to: and displaying the return track.

19. The terminal according to any of claims 11-14, 16, 18,

the acquisition unit is further used for acquiring parking lot map data and position information of a position with known position information;

the display unit is further configured to: displaying the parking lot map;

20. The terminal according to any of claims 11-14, 16, 18, wherein the terminal further comprises:

the acquisition unit is further configured to: acquiring parking lot map data and position information of a position in the reverse track, wherein the position information is known;

the display unit is further configured to: displaying the parking lot map;