CN109637177A - Vehicle positioning method, device, equipment and storage medium - Google Patents
Vehicle positioning method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN109637177A CN109637177A CN201811552310.9A CN201811552310A CN109637177A CN 109637177 A CN109637177 A CN 109637177A CN 201811552310 A CN201811552310 A CN 201811552310A CN 109637177 A CN109637177 A CN 109637177A
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- China
- Prior art keywords
- vehicle
- location information
- parking lot
- information
- car
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
- G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
Abstract
The present invention provides a kind of vehicle positioning method, device, equipment and storage medium, this method, comprising: the location information of car-mounted terminal acquisition parking lot map and vehicle；The location information is loaded on the parking lot map by the car-mounted terminal；The car-mounted terminal sends the parking lot map for being loaded with the location information to terminal device, and the parking lot map for being loaded with the location information is for positioning the vehicle.The method of the embodiment of the present invention improves user and searches the experience of vehicle in complicated parking lot, reduces the time cost of user.
Description
Technical field
The present invention relates to field of intelligent transportation technology more particularly to a kind of vehicle positioning method, device, equipment and storage to be situated between
Matter.
Background technique
With the development of economy, private car ownership is increasing, while to public places such as market, hospital, schools
Parking demand is consequently increased, large parking lot rapid growth, but corresponding auxiliary facility is not perfect, so that trip of driving
The vehicle that user finds oneself in parking lot is very inconvenient.
Since in large parking lot, layout is complicated, recognizable mark is not significant.If therefore user is without accurate
Remember parking position region, parking the information such as bit number and parking lot layout, then be difficult it is quick, accurately find oneself
Vehicle.
Summary of the invention
The present invention provides a kind of vehicle positioning method, device, equipment and storage medium, to realize that user conveniently seeks
Look for the vehicle of oneself.
In a first aspect, the present invention provides a kind of vehicle positioning method, comprising:
The location information of car-mounted terminal acquisition parking lot map and vehicle；The car-mounted terminal loads the location information
On to the parking lot map；The car-mounted terminal sends the parking lot map for being loaded with the location information to terminal device,
The parking lot map for being loaded with the location information is for positioning the vehicle.
Second aspect, the present invention provide a kind of vehicle positioning method, comprising:
Terminal device receives the parking lot map for being loaded with the location information of vehicle；
The terminal device obtains the current location information of user；
The terminal device generates navigation information, institute according to the current location information of the user and the parking lot map
It states navigation information and positions the vehicle for user.
The third aspect, the present invention provide a kind of vehicle locating device, comprising:
Module is obtained, for obtaining the location information of parking lot map and vehicle；
Processing module, for the location information to be loaded onto the parking lot map；
Sending module, it is described to be loaded with for sending the parking lot map for being loaded with the location information to terminal device
The parking lot map of the location information is for positioning the vehicle.
Fourth aspect, the present invention provide a kind of vehicle locating device, comprising:
Receiving module, for receiving the parking lot map for the location information for being loaded with vehicle；
Module is obtained, for obtaining the current location information of user；
Processing module, for generating navigation information according to the current location information of the user and the parking lot map,
The navigation information positions the vehicle for user.
5th aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
It is realized when the computer program is executed by processor in a first aspect, and method described in any one of second aspect.
6th aspect, the embodiment of the present invention provide a kind of car-mounted terminal, comprising:
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to execute described in any one of first aspect via the executable instruction is executed
Method.
6th aspect, the embodiment of the present invention provide a kind of car-mounted terminal, comprising:
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to execute described in any one of first aspect via the executable instruction is executed
Method.
7th aspect, the embodiment of the present invention provide a kind of terminal device, comprising:
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to execute described in any one of second aspect via the executable instruction is executed
Method.
Vehicle positioning method, device, equipment and storage medium provided by the invention, car-mounted terminal obtain parking lot map and
Location information；The location information is loaded on the parking lot map by the car-mounted terminal；The car-mounted terminal is to terminal
Equipment sends the parking lot map for being loaded with the location information, and terminal device receives the parking for being loaded with the location information of vehicle
Place figure；The terminal device obtains the current location information of user；The terminal device position current according to the user
Information and the parking lot map generate navigation information, and user can be according to being loaded with the parking lot map of the location information to vehicle
It is positioned, and is navigated according to the current location information of user, to find the vehicle, greatly improved user and exist
The experience of vehicle is searched in complicated parking lot, reduces the time cost of user.
Detailed description of the invention
Technical solution in the prior art in order to illustrate the embodiments of the present invention more clearly to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the application scenario diagram that one embodiment of the invention provides；
Fig. 2 is the flow diagram of one embodiment of vehicle positioning method provided by the invention；
Fig. 3 is the flow diagram of another embodiment of vehicle positioning method provided by the invention；
Fig. 4 is that the parking space diagram of one embodiment of vehicle positioning method provided by the invention is intended to；
Fig. 5 is the structural schematic diagram of one embodiment of vehicle locating device provided by the invention；
Fig. 6 is the structural schematic diagram of another embodiment of vehicle locating device provided by the invention；
Fig. 7 is the structural schematic diagram of car-mounted terminal embodiment provided by the invention；
Fig. 8 is the structural schematic diagram of terminal device embodiment provided by the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
The application scenarios of the method for the present invention are introduced first:
The method of the embodiment of the present invention is stopped applied to the positioning and lookup of vehicle in parking lot with promoting user in complexity
The experience of vehicle is searched in parking lot, reduces the time cost of user.
In the related technology, some manufacturers configure camera above each parking stall, according to each parking stall by transformation parking lot
The license board information that camera takes determines which parking stall vehicle is parked in.Aforesaid way higher cost.
Fig. 1 is the application scenario diagram that one embodiment of the invention provides, optionally, as shown in Figure 1, including in the application scenarios
Server 11, car-mounted terminal 12 and terminal device 13；The car-mounted terminal 12 can be the car-mounted terminal on vehicle, terminal device 13
It can be the terminal device of user.Wherein, parking lot map has been can store in server 11.
Wherein, car-mounted terminal 12 and server 11 and car-mounted terminal 12 and terminal device 13 can by network connection,
Such as the communication networks such as 3G, 4G or Wireless Fidelity (Wireless Fidelity, WIFI).
Method provided by the invention can execute corresponding software code realization by such as processor of car-mounted terminal 12, can also be by this
Car-mounted terminal 12 is realized by carrying out data interaction with server 11, is such as serviced while executing corresponding software code
The operation of device execution part executes vehicle positioning method to control car-mounted terminal.
Method provided by the invention can also execute corresponding software code realization by such as processor of terminal device 13, can also be by
The terminal device 13 is realized by carrying out data interaction with server 11, is such as taken while executing corresponding software code
Business device execution part operation, carrys out controlling terminal equipment 13 and executes vehicle positioning method, and interact with user.
Wherein, it is equal to can be smart phone, wearable device and plate apparatus such as computer, the following examples for terminal device
It is illustrated by executing subject of electronic equipment.
Technical solution of the present invention is described in detail with specific embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 2 is the flow diagram of one embodiment of vehicle positioning method provided by the invention.The execution of the embodiment of the present invention
Main body is vehicle locating device, which is arranged in car-mounted terminal.As shown in Fig. 2, method provided in this embodiment, comprising:
Step 201, car-mounted terminal obtain the location information of parking lot map and vehicle.
Specifically, parking lot map refers generally to the plane map in parking lot, divided comprising parking stall, parking area, road
The information such as mark, road direction, entrance.Parking lot can be shown with multiple plan views.
Wherein, car-mounted terminal obtains parking lot map, comprising:
According to the image data in the parking lot of acquisition, the fisrt feature information in parking lot is extracted；The fisrt feature
Information includes at least one of the following: guideboard mark, ground line, parking space information；
According to the characteristic information generative semantics map；The semanteme map includes the characteristic information and location information.
Further, further includes:
According to the basic map in the parking lot, second feature information is extracted；The second feature information includes below extremely
One item missing: parking space information, site of road and direction, entrance, parking area classification, floor information；
The second feature information extracted according to the basic map is modified the semantic map.
Specifically, the foundation of parking lot map is based on looking around camera data, the feature object in progress parking lot first is known
Not, such as guideboard mark, ground line, parking space information (parking stall position, parking stall number)；Then collected characteristic information, benefit are utilized
With instant positioning and map structuring (Simultaneous Location And Mapping, abbreviation SLAM), exercise recovery structure
The 3D semanteme map that (Structure from Motion, abbreviation SFM) method or multi-sensor fusion technology generate.In map
Comprising characteristic information (such as guideboard mark, ground line, parking space information) and its location information, it can be used for subsequent location navigation.
The foundation of parking lot map includes two kinds of situations of offline building and online building.Offline building refers to that same vehicle exists
All image data acquirings that parking lot is completed during one acquisition, then disposably complete map structuring, map structuring can
It is carried out on car-mounted terminal, data can also be exported and completed on other computing devices.Online situation refers to same vehicle or different vehicles
The partial data in acquisition parking lot estimates that the position and attitude of vehicle is constituted in car-mounted terminal extract real-time characteristic information every time
Track, then upload server completes the Match merging of the basic map in local message and parking lot in server end.
In the case where basic map (such as CAD data) in existing parking lot, parking stall, road, discrepancy can be therefrom extracted
The information such as mouth are for map reconstruction, and such as parking stall position and parking stall number, site of road direction, entrance, parking area classification is (such as
Region A, B etc.), garage floor information etc., the semantic map that can be established by matching basic map and algorithm is established more accurate
Map, correction algorithm builds figure error, and the semantic information that may be omitted.
For the parking lot comprising more floors, floor information is the important information in map datum, can help contracting of navigating
Small range quickly positions.If parking lot includes this type of information, need for these information to be included in map, in map
Semantic information is layered.
When vehicle enters parking lot, the available parking lot map of car-mounted terminal, such as obtained from cloud server,
Alternatively, itself is generated according to the design drawing in parking lot；Can also further obtain the location information of vehicle, for example, can according to
The GPS of the terminal device at family, the bluetooth of terminal device, the camera of terminal device and vehicle body sensor obtain the positioning of vehicle
Information obtains the parking position of vehicle；It wherein, specifically can be using such as according to the location information that vehicle body sensor obtains vehicle
Under type:
A kind of mode is that car-mounted terminal according to the information that vehicle body sensor is got generates image around vehicle body, according to vehicle body
Surrounding Extraction of Image vehicle body peripheral information, such as parking bit number, parking area.Image can be taken the photograph from forward sight around vehicle body
As head, look around the image that camera and reverse image system synthesize.According to character recognition algorithm, from being mentioned in image around vehicle body
Take parking bit number (such as 321), parking area (such as F5) information.
Another way are as follows:
The car-mounted terminal obtains the location information of the vehicle according to onboard sensor and the parking lot map.
Using existing onboard sensor such as Inertial Measurement Unit (Inertial Measurement Unit, abbreviation IMU),
Wheeled odometer, direction sensor, it is vehicle-mounted look around camera etc., in conjunction with the parking lot map of downloading, carry out the vehicle in parking lot
Location navigation, determines vehicle in the location information in parking lot according to last position location.This mode is not especially suitable for having
There is the parking lot of significant parking bit number or number serious wear.
Location information is loaded on the map of parking lot by step 202, car-mounted terminal.
Step 203, car-mounted terminal send the parking lot map for being loaded with location information to terminal device, are loaded with positioning letter
The parking lot map of breath is for positioning vehicle.
Specifically, location information is loaded on the map of parking lot by car-mounted terminal, such as by the location information mark of the vehicle
Note is on the map of parking lot, or parking stall label is plotted on the map of parking lot and highlights this vehicle parking area.Vehicle-mounted end
The parking lot map for sending to terminal device and being loaded with location information is held, is loaded with the parking lot map of location information for user
It finds and positions vehicle.
When user finds vehicle, the terminal device load of user is labelled with the parking lot map of location information, and according to
The current location of the terminal device positioning user of user, the position both can use the terminal device GPS of user, bluetooth, WIFI,
The modes such as camera position, and can also allow user voluntarily in the parking lot map of car-mounted terminal or the parking space of terminal device
It is marked on figure.User current location and vehicle location position on according to the map generate the navigation road that user leads to parking position
Diameter.Guidance path guides user to go to parking position.In navigation procedure, the sensor information of the terminal device according to user is continuous
Customer position information is updated, and corrects guidance path.The update method of user location can taking the photograph by the terminal device of user
As the mark information that head is shot, mark information is such as obtained according to the image on the parking stall of camera shooting, parking area, identification is used
Family present position.The update method of user location can also be according to information such as the GPS of the terminal device of user, bluetooth, WIFI
Directly position user location.
The method of the embodiment of the present invention, car-mounted terminal obtain parking lot map and location information；The car-mounted terminal is by institute
Location information is stated to be loaded on the parking lot map；The car-mounted terminal is loaded with the location information to terminal device transmission
Parking lot map, be loaded with the parking lot map of the location information for positioning the vehicle, user can be according to being loaded with
The parking lot map of the location information is positioned to vehicle and is searched the vehicle, greatly improves user in complicated parking lot
The experience for searching vehicle, reduces the time cost of user.
On the basis of the above embodiments, further, the method for the present embodiment, car-mounted terminal obtain the positioning letter of vehicle
Breath, can specifically be accomplished in that
Surrounding's image of car-mounted terminal acquisition vehicle；
Car-mounted terminal is according to the location information of surrounding's image capturing vehicle of vehicle；
Wherein, the parking information of vehicle includes: the parking stall numbering of vehicle and/or the mark of vehicle place parking area.
Specifically, car-mounted terminal can obtain image around the vehicle body of vehicle according to vehicle body sensor, and according to shadow around
Location information as obtaining vehicle, the mark of parking area as where the parking stall numbering of vehicle, vehicle, wherein parking where vehicle
Number etc. of the mark in region for example including parking area.It specifically can be according to character recognition algorithm, from around vehicle body in image
Extract mark (such as F5) information of parking stall numbering (such as 321), parking area.
Further, the location information for the vehicle that car-mounted terminal can will acquire is sent to terminal device, car-mounted terminal
Image around vehicle body (or related data including surrounding image) can also be sent to terminal device.
When user finds vehicle, the terminal device of user shows location information, and user on terminal device according to showing
Location information voluntarily finds parking position, or is guided according to parking lot and find parking position, or position that can be current according to user
It sets and the location information of vehicle passes through navigation searching parking position.
The method of the embodiment of the present invention, car-mounted terminal obtain surrounding's image of vehicle；Car-mounted terminal according to vehicle around
The location information of image capturing vehicle, user can position vehicle according to the parking lot map for being loaded with the location information
And the vehicle is searched, user is greatly improved in complicated parking lot and searches the experience of vehicle, reduces the time cost of user.
Fig. 3 is the flow diagram of another embodiment of vehicle positioning method provided by the invention.The embodiment of the present invention is held
Row main body is vehicle locating device, which is arranged in the terminal device of user.As shown in Fig. 2, side provided in this embodiment
Method, comprising:
Step 301, terminal device receive the parking lot map for being loaded with the location information of vehicle；
Step 302, terminal device obtain the current location information of user；
Step 303, terminal device generate navigation letter according to the current location information of the user and the parking lot map
Breath, the navigation information position the vehicle for user.
Optionally, terminal device obtains the current location information of user, comprising:
The terminal device obtains the use by least one of global position system GPS, bluetooth or camera
The current location information in family.
Specifically, car-mounted terminal obtains the location information of vehicle, such as can GPS according to the terminal device of user, end
The bluetooth of end equipment, the camera of terminal device and vehicle body sensor obtain the location information of vehicle, that is, obtain stopping for vehicle
Truck position；
Location information is loaded on the map of parking lot by car-mounted terminal, such as the location information of the vehicle is labeled in parking
On the figure of place, car-mounted terminal sends the parking lot map for being loaded with location information to terminal device, is loaded with stopping for location information
Parking lot map is found for user and positions vehicle.
When user finds vehicle, the terminal device load of user is labelled with the parking lot map of location information, and according to
The current location of the terminal device positioning user of user both can use terminal device GPS, bluetooth, WIFI, the camera of user
Etc. modes position, can also allow user voluntarily in the parking lot map of car-mounted terminal or the parking lot map subscript of terminal device
Note.Terminal device obtains the current location information of user, according to the map on user current location and vehicle location information, it is raw
Lead to the navigation information of parking position, such as guidance path at user.Guidance path guides user to go to parking position.Navigation procedure
In, the sensor information of the terminal device according to user constantly updates customer position information, and corrects guidance path.User location
The mark information that the acquisition of information and update method can be shot by the camera of the terminal device of user, such as according to camera
The parking stall of shooting, the image of parking area obtain mark information, identify user's present position.Customer position information obtains
User location can also directly be positioned according to information such as the GPS of the terminal device of user, bluetooth, WIFI with update method by taking.
Further, the method for the present embodiment can also include the following steps:
The terminal device obtains the location information of the vehicle, and the location information of the vehicle includes: the vehicle
The mark of parking area where parking stall numbering and/or the vehicle；
The terminal device shows the location information of the navigation information and the vehicle.
Specifically, car-mounted terminal can obtain image around the vehicle body of vehicle according to vehicle body sensor, and according to shadow around
Location information as obtaining vehicle, the mark of parking area as where the parking stall numbering of vehicle, vehicle, wherein parking where vehicle
Number etc. of the mark in region for example including parking area.Further, the positioning for the vehicle that car-mounted terminal can will acquire
Information is sent to terminal device, and car-mounted terminal can also send out image around vehicle body (or related data including surrounding image)
Give terminal device.
Terminal device gets the location information of vehicle, can show on the terminal device, user is according on terminal device
The location information of display voluntarily finds parking position, or is guided according to parking lot and find parking position, or can worked as according to user
The location information of preceding position and vehicle finds parking position by navigation, can also show navigation information on terminal device.
As shown in figure 4, location information and the user of the vehicle that is shown on the terminal device shown in Fig. 4 for user
Current location information, the parking position of vehicle are B point, and the current location of user is A point, and user can initiate navigation and search out use
The vehicle at family.The parking lot map for being loaded with location information is shown in the operation interface of the terminal device of Fig. 4.Similarly, vehicle-mounted
The operation interface of terminal can also show the parking lot map for being loaded with location information.The operation interface of car-mounted terminal can also be shown
Show surrounding's image of vehicle.
The method of the embodiment of the present invention, terminal device receive the parking lot map for being loaded with the location information of vehicle；It is described
Terminal device obtains the current location information of user；The terminal device is according to the current location information of the user and described stops
Parking lot map generates navigation information, and the navigation information positions the vehicle for user, and user can be described fixed according to being loaded with
The parking lot map of position information positions vehicle, and according to user, current location information navigates, to find this
Vehicle greatly improves user in complicated parking lot and searches the experience of vehicle, reduces the time cost of user.
Fig. 5 is the structure chart of one embodiment of vehicle locating device provided by the invention, as shown in figure 5, the vehicle of the present embodiment
Positioning device is arranged in car-mounted terminal, which includes:
Module 501 is obtained, for obtaining the location information of parking lot map and vehicle；
Processing module 502, for the location information to be loaded onto the parking lot map；
Sending module 502, for sending the parking lot map for being loaded with the location information, the load to terminal device
There is the parking lot map of the location information for positioning the vehicle.
Optionally, module 501 is obtained, is specifically used for:
Obtain surrounding's image of the vehicle；
According to the location information of vehicle described in surrounding's image capturing of the vehicle；
Wherein, the location information of the vehicle includes: parking stall numbering and/or the vehicle place parking area of the vehicle
The mark in domain.
Optionally, sending module 503 are specifically used for:
The surrounding's image for stating vehicle is sent to terminal device, and/or, the location information of the vehicle.
Optionally, module 501 is obtained, is specifically used for:
According to the image data in the parking lot of acquisition, the fisrt feature information in parking lot is extracted；The fisrt feature
Information includes at least one of the following: guideboard mark, ground line, parking space information；
According to the characteristic information generative semantics map；The semanteme map includes the characteristic information and location information.
Optionally, processing module 502 are specifically used for:
According to the basic map in the parking lot, second feature information is extracted；The second feature information includes below extremely
One item missing: parking space information, site of road and direction, entrance, parking area classification, floor information；
The second feature information extracted according to the basic map is modified the semantic map.
Optionally, module 501 is obtained, is specifically used for:
According to onboard sensor and the parking lot map, the location information of the vehicle is obtained.
The device of the present embodiment can be used for executing the technical solution of embodiment of the method shown in above-mentioned Fig. 2, realization principle
Similar with technical effect, details are not described herein again.
Fig. 6 is the structure chart of one embodiment of vehicle locating device provided by the invention, as shown in fig. 6, the vehicle of the present embodiment
Positioning device is arranged in terminal device, which includes:
Receiving module 601, for receiving the parking lot map for the location information for being loaded with vehicle；
Module 602 is obtained, for obtaining the current location information of user；
Processing module 603, for generating navigation letter according to the current location information of the user and the parking lot map
Breath, the navigation information position the vehicle for user.
Optionally, module 602 is obtained, is specifically used for:
The current position of the user is obtained by least one of global position system GPS, bluetooth or camera
Information.
Optionally, receiving module 601 are also used to:
The location information for the vehicle that car-mounted terminal is sent is received, the location information of the vehicle includes: the vehicle
Parking stall numbering and/or the vehicle where parking area mark；
Further include:
Display module 604, for showing the location information of the navigation information and the vehicle.
The device of the present embodiment can be used for executing the technical solution of embodiment of the method shown in above-mentioned Fig. 3, realization principle
Similar with technical effect, details are not described herein again.
Fig. 7 is the structure chart of car-mounted terminal embodiment provided by the invention, as shown in fig. 7, the car-mounted terminal includes:
Processor 701, and, the memory 702 of the executable instruction for storage processor 701.
It optionally, further include communication interface 703, for being communicated with other equipment.
It can also include: display screen, for showing information.
Wherein, processor 701 is configured to execute via the executable instruction is executed corresponding in preceding method embodiment
Method, specific implementation process may refer to preceding method embodiment, and details are not described herein again.
Fig. 8 is the structure chart of terminal device embodiment provided by the invention, as shown in figure 8, the terminal device includes:
Processor 801, and, the memory 802 of the executable instruction for storage processor 801.
It optionally, further include communication interface 803, for being communicated with other equipment.
It can also include: display screen, for showing information.
Wherein, processor 801 is configured to execute via the executable instruction is executed corresponding in preceding method embodiment
Method, specific implementation process may refer to preceding method embodiment, and details are not described herein again.
In addition, the embodiment of the present application also provides a kind of computer readable storage medium, deposited in computer readable storage medium
Computer executed instructions are contained, when at least one of mobile unit or terminal device processor execute the computer executed instructions
When, mobile unit or terminal device execute above-mentioned various possible methods.
Wherein, computer-readable medium includes computer storage media and communication media, and wherein communication media includes being convenient for
From a place to any medium of another place transmission computer program.Storage medium can be general or specialized computer
Any usable medium that can be accessed.A kind of illustrative storage medium is coupled to processor, to enable a processor to from this
Read information, and information can be written to the storage medium.Certainly, storage medium is also possible to the composition portion of processor
Point.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.The present invention is directed to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claims are pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by appended claims
System.
Claims (13)
1. a kind of vehicle positioning method characterized by comprising
The location information of car-mounted terminal acquisition parking lot map and vehicle；
The location information is loaded on the parking lot map by the car-mounted terminal；
The car-mounted terminal sends to terminal device and is loaded with the parking lot map of the location information, it is described be loaded with it is described fixed
The parking lot map of position information is for positioning the vehicle.
2. the method according to claim 1, wherein car-mounted terminal obtains the location information of vehicle, comprising:
The car-mounted terminal obtains surrounding's image of the vehicle；
The location information of car-mounted terminal vehicle according to surrounding's image capturing of the vehicle；
Wherein, the location information of the vehicle includes: the parking stall numbering and/or vehicle place parking area of the vehicle
Mark.
3. method according to claim 1 or 2, which is characterized in that car-mounted terminal obtains parking lot map, comprising:
The car-mounted terminal extracts the fisrt feature information in parking lot according to the image data in the parking lot of acquisition；It is described
Fisrt feature information includes at least one of the following: guideboard mark, ground line, parking space information；
The car-mounted terminal is according to the characteristic information generative semantics map；The semanteme map includes the characteristic information and position
Confidence breath.
4. according to the method described in claim 3, it is characterized by further comprising:
The car-mounted terminal extracts second feature information according to the basic map in the parking lot；The second feature packet
It includes at least one of following: parking space information, site of road and direction, entrance, parking area classification, floor information；
The second feature information that the car-mounted terminal is extracted according to the basic map is modified the semantic map.
5. the method according to claim 1, wherein car-mounted terminal obtains the location information of vehicle, comprising:
The car-mounted terminal obtains the location information of the vehicle according to onboard sensor and the parking lot map.
6. a kind of vehicle positioning method characterized by comprising
Terminal device receives the parking lot map for being loaded with the location information of vehicle；
The terminal device obtains the current location information of user；
The terminal device generates navigation information according to the current location information of the user and the parking lot map, described to lead
Information of navigating positions the vehicle for user.
7. according to the method described in claim 6, it is characterized in that, the terminal device obtains the current location information of user,
Include:
The terminal device obtains the user by least one of global position system GPS, bluetooth or camera and works as
Preceding location information.
8. method according to claim 6 or 7, which is characterized in that further include:
The terminal device receives the location information for the vehicle that car-mounted terminal is sent, and the location information of the vehicle includes:
The mark of parking area where the parking stall numbering of the vehicle and/or the vehicle；
The terminal device shows the location information of the navigation information and the vehicle.
9. a kind of vehicle locating device characterized by comprising
Module is obtained, for obtaining the location information of parking lot map and vehicle；
Processing module, for the location information to be loaded onto the parking lot map；
Sending module is loaded with the parking lot map of the location information for sending to terminal device, it is described be loaded with it is described
The parking lot map of location information is for positioning the vehicle.
10. a kind of vehicle locating device characterized by comprising
Receiving module, for receiving the parking lot map for the location information for being loaded with vehicle；
Module is obtained, for obtaining the current location information of user；
Processing module, it is described for generating navigation information according to the current location information of the user and the parking lot map
Navigation information positions the vehicle for user.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
Claim 1-8 described in any item methods are realized when being executed by processor.
12. a kind of car-mounted terminal characterized by comprising
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to require 1-5 described in any item via executing the executable instruction and carry out perform claim
Method.
13. a kind of terminal device characterized by comprising
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to require 6-8 described in any item via executing the executable instruction and carry out perform claim
Method.
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| CN201811552310.9A CN109637177A (en) | 2018-12-19 | 2018-12-19 | Vehicle positioning method, device, equipment and storage medium |
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| CN201811552310.9A CN109637177A (en) | 2018-12-19 | 2018-12-19 | Vehicle positioning method, device, equipment and storage medium |
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| CN201811552310.9A Pending CN109637177A (en) | 2018-12-19 | 2018-12-19 | Vehicle positioning method, device, equipment and storage medium |
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