CN112863219A

CN112863219A - Position updating method and device, storage medium and electronic equipment

Info

Publication number: CN112863219A
Application number: CN202011620631.5A
Authority: CN
Inventors: 徐春林
Original assignee: Shenzhen Coolpad Technology Co ltd
Current assignee: Shenzhen Coolpad Technology Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-05-28
Anticipated expiration: 2040-12-30
Also published as: CN112863219B

Abstract

The embodiment of the application discloses a position updating method, a position updating device, a storage medium and electronic equipment, wherein the method comprises the following steps: determining that a vehicle drives into the parking lot, acquiring first position information currently positioned by the vehicle, and acquiring calibration position information corresponding to at least one vehicle sensor and current position sensing information; determining second position information for the vehicle based on the calibrated position information and the position sensing information corresponding to each vehicle sensor, and determining third position information for the vehicle based on the second position information and the first position information; and synchronizing the third position information to the navigation positioning service of the vehicle, wherein the third position information is used for carrying out position updating on the first position information in the navigation positioning service of the vehicle. By adopting the embodiment of the application, the accuracy of vehicle position updating can be improved.

Description

Position updating method and device, storage medium and electronic equipment

Technical Field

The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for location update, a storage medium, and an electronic device.

Background

The increase of the automobile holding capacity promotes the development of large parking lots, the number of the large parking lots is increased, the scale of the parking lots is enlarged day by day, and a vehicle driver usually carries out position updating in daily driving in the parking lots by means of positioning and navigation services of the vehicle, for example, position updating is required when driving the parking lot by means of satellite navigation and positioning services, position updating is required when driving the vehicle to leave the parking lots by means of satellite navigation and positioning services, and the like.

Disclosure of Invention

The embodiment of the application provides a position updating method and device, a storage medium and electronic equipment, which can improve the accuracy of vehicle position updating. The technical scheme of the embodiment of the application is as follows:

in a first aspect, the present application provides a location updating method, applied to a parking control system, where the parking control system includes at least one vehicle sensor, and the vehicle sensor is disposed in a parking lot, where the method includes:

determining that a vehicle drives into the parking lot, acquiring first position information currently positioned by the vehicle, and acquiring calibration position information corresponding to at least one vehicle sensor and current position sensing information;

determining second position information aiming at the vehicle based on the calibration position information and the position induction information corresponding to each vehicle sensor, wherein the precision of the second position information is greater than that of the first position information;

determining third location information for the vehicle based on the second location information and the first location information;

and synchronizing the third position information to the navigation positioning service of the vehicle, wherein the third position information is used for carrying out position updating on the first position information in the navigation positioning service of the vehicle.

In a second aspect, an embodiment of the present application provides a location updating apparatus, where the apparatus includes:

the positioning information acquisition module is used for determining that a vehicle drives into the parking lot, acquiring first position information of the vehicle currently positioned, and acquiring calibration position information corresponding to at least one vehicle sensor and current position sensing information;

a second information determining module, configured to determine second position information for the vehicle based on the calibrated position information and the position sensing information corresponding to each vehicle sensor, where accuracy of the second position information is greater than that of the first position information;

a third information determination module to determine third location information for the vehicle based on the second location information and the first location information;

and the position information synchronization module is used for synchronizing the third position information to the navigation positioning service of the vehicle, and the third position information is used for updating the position of the first position information in the navigation positioning service of the vehicle.

In a third aspect, embodiments of the present application provide a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the above-mentioned method steps.

In a fourth aspect, an embodiment of the present application provides an electronic device, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the above-mentioned method steps.

The beneficial effects brought by the technical scheme provided by some embodiments of the application at least comprise:

in one or more embodiments of the present application, the control system determines second position information for assisting positioning of the vehicle based on the calibrated position information and the position sensing information corresponding to each of the vehicle sensors, wherein the second position information has a higher accuracy than the first position information, and then determines third position information for the vehicle based on the second position information and the first position information; the third position information is synchronized to the navigation positioning service of the vehicle, so that the position updating of the first position information in the navigation positioning service of the vehicle based on the accurate third position information can be realized, the position accuracy and the accuracy of the vehicle position updating in the parking lot environment can be improved, the accurate navigation in the parking lot environment is realized, the real-time performance and the intelligence of the position updating in the parking driving environment are improved, and the problems that the position updating is not timely obtained only by the navigation positioning service (such as satellite navigation service and network navigation service) of the vehicle and the position updating accuracy is low in the related technology can be avoided.

Drawings

In order to more clearly illustrate the embodiments of the present application 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 application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flowchart of a location updating method according to an embodiment of the present application;

fig. 2 is a schematic view of a location update scenario provided in an embodiment of the present application;

fig. 3 is a schematic flowchart of another location updating method provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram of a location updating apparatus according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a positioning information obtaining module according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a sensor determination unit according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a second information determining module according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a third information determining module according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

FIG. 10 is a schematic structural diagram of an operating system and a user space provided in an embodiment of the present application;

FIG. 11 is an architectural diagram of the android operating system of FIG. 9;

FIG. 12 is an architecture diagram of the IOS operating system of FIG. 9.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

In the description of the present application, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present application, it is noted that, unless explicitly stated or limited otherwise, "including" and "having" and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art. Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

The present application will be described in detail with reference to specific examples.

In one embodiment, as shown in fig. 1, a location updating method is proposed, which can be implemented by means of a computer program and can be run on a location updating device based on the von neumann architecture, which can be equipped with a control system comprising at least one vehicle sensor. The computer program may be integrated into the application or may run as a separate tool-like application.

Specifically, the location updating method includes:

step S101: determining that a vehicle drives into the parking lot, acquiring first position information of the vehicle currently positioned, and acquiring calibration position information and current position sensing information corresponding to at least one vehicle sensor.

The application scenario of the present application is generally a parking lot, including but not limited to a plurality of parking spaces and parking lot aisles distributed among the parking spaces; a control system may be configured based on the parking lot for implementing the location update method of the present application, the control system including at least one vehicle sensor configured in the parking lot, the vehicle sensor being deployed at a location of the parking lot including, but not limited to, deployment at each parking space and deployment at a parking lot aisle.

Additionally, in the present application, "at least one vehicle sensor" may be generally expressed in some embodiments as "a plurality of vehicle sensors deployed in a parking lot. That is, in some embodiments, a plurality of vehicle sensors are provided for implementing the location update method of the present application. The "at least one vehicle sensor" is configured as one of the following sensors or as a combination of the following sensors: ultrasonic sensors, radar sensors, infrared sensors, magnetic sensors, radar sensors, pressure sensors, laser sensors, lidar sensors.

For example, a plurality of vehicle sensors, which are arranged on parking spaces of a parking lot and are designed as one of the above-described sensors, are provided. For example, a radar sensor and a magnetic sensor are provided. For example, a combined radar/magnetic sensor is provided. In general, the at least one vehicle sensor is configured as a sensor assembly, which includes one or more of the above-described sensors. The at least one vehicle sensor has, for example, the functionality of one or more of the above-mentioned sensors.

In particular, in some embodiments, vehicle sensors deployed on parking spaces of a parking lot: a vehicle sensor can be laid on each parking lot parking space and used for identifying whether a vehicle is on the parking space or not, so that the occupation state of the parking space is judged, namely whether the parking space is free or not; the occupied state indicates in particular whether the parking space is occupied or unoccupied. In particular, motor vehicles are parked in occupied parking spaces. In particular, no motor vehicle is parked in an unoccupied parking space. Thus, the unoccupied parking space is free of vehicles.

Specifically, in some embodiments, as shown in fig. 2, fig. 2 is a schematic view of a location update scenario according to the present application, where a parking lot is deployed on a vehicle sensor on an aisle of the parking lot: the method comprises the steps that a certain number of vehicle sensors can be arranged on a parking lot passageway and used for identifying the current positions of vehicles on a lane, and in the method, the accurate positions of the current vehicles can be judged based on positioning information positioned by the vehicles through corresponding navigation positioning services and calibration position information of the vehicle sensors; further, vehicle sensors deployed on the parking lot aisles often need to assist in vehicle position information determination, and therefore may need to be frequently triggered, and thus may be set to a normally open state in some embodiments.

In some embodiments, the vehicle sensor may be triggered at a fixed time interval depending on the usage scenario, such as 7: 30-9: 30, 18: 00-21: 00, which may be a peak time of commute, where vehicle ingress and egress is frequent, may be set to trigger recognition every 30 seconds, while other time periods where vehicle start-stop status is relatively stable, may extend the frequency of triggering, such as 23 minutes, or longer.

In a specific embodiment, the control system has a function of monitoring the vehicle driving-in state, the function can be realized based on vehicle sensors arranged on a main road on the periphery side outside the parking lot or at an entrance and an exit of the parking lot, the control system can start the function of monitoring the vehicle driving-in state in real time or periodically, after the monitoring function is started, when the main road on the periphery side outside the parking lot drives into the parking lot, each vehicle sensor can sense the vehicle and report to the control system, and the control system can determine that the vehicle drives into the parking lot;

in a specific implementation mode, the control system can establish an association relationship with the navigation positioning service of the vehicle, the vehicle can acquire the corresponding navigation positioning service by configuring corresponding navigation software or a navigation interface on a vehicle central control system, and the navigation positioning service can be provided by a corresponding server; in some embodiments, after the user of the vehicle starts the navigation and positioning service during use, the corresponding position acquisition technology can be generally used in real time to acquire the current position of the vehicle based on the navigation and positioning service, and then when the user enters the parking lot, vehicle entrance information (which may include entrance time, vehicle information, entrance position, and the like) may be sent to a control system corresponding to the parking lot, and after receiving the vehicle entrance information, the control system may further determine that the vehicle enters the parking lot.

Further, the control system may determine whether the vehicle enters the parking lot by combining with a vehicle sensor disposed on a main road on the peripheral side outside the parking lot or at an entrance and exit of the parking lot, for example, whether an entering position reported by the vehicle sensor is consistent with a position synchronized with the navigation positioning service, whether an entering time reported by the vehicle sensor is consistent with a time synchronized with the navigation positioning service, and the like. It is thus possible to determine that the vehicle enters the parking lot.

Specifically, the control system may acquire first position information where the vehicle is currently located after determining that the vehicle enters the parking lot. The first position information may be obtained by the control system establishing a communication connection with the vehicle, and the control system obtaining the first position information currently located by the vehicle based on the communication connection, for example, the vehicle actively reports the first position information to the control system after the communication connection is established. The first location information may be understood as a location, a occupied place, or a location where the vehicle is located by using a location obtaining technology (e.g., a location obtaining technology corresponding to a navigation and positioning service), and in practical applications, the first location information may generally represent the vehicle location in the form of latitude and longitude, coordinates, a direction, a location, and the like.

The location acquisition techniques include, but are not limited to: wireless location technology, short-range connectivity technology, positional image processing technology, and the like, wherein:

wireless location technologies include, but are not limited to: satellite positioning technology, network positioning mode (such as positioning mode based on base station or Wi-Fi), infrared indoor positioning technology, ultrasonic positioning technology, Bluetooth technology, radio frequency identification technology, ultra wideband technology, ZigBee technology and the like;

in some embodiments, the location acquisition technology is often a satellite positioning technology or a network positioning technology.

One first position information acquisition manner may be: when the vehicle always starts the navigation and positioning service in the driving process, the control system can directly establish communication connection with a provider (such as a server) of the navigation and positioning service so as to request the first position information of the vehicle from the navigation and positioning service, or after the vehicle drives into a parking lot, the provider of the navigation and positioning service actively sends the first position information of the vehicle to the control system.

Further, the control system can also obtain the calibration position information corresponding to at least one vehicle sensor and the current position sensing information.

In the present application, the position accuracy of the calibration position information is much higher than the position accuracy of the first position information. When a control system corresponding to a parking lot is built, at least one vehicle sensor contained in the control system is deployed in the parking lot, and a high-precision position acquisition mode can be adopted to determine the accurate position of the vehicle sensor deployed in the parking lot according to the position of the vehicle sensor in the parking lot during deployment, further, when the position of each vehicle sensor is determined to be positioned, a high-precision parking lot map can be built by combining the actual deployment position of the vehicle sensor and the in-field geographical area distribution of the parking lot, and the accurate position of each vehicle sensor is correspondingly marked on the high-precision parking lot map;

optionally, the high-precision position obtaining manner may be a high-precision map of the parking lot constructed in a high-precision positioning manner based on the laser point cloud, the high-precision map is obtained by statically modeling an environment in a parking lot range and a vehicle sensor deployment position by using a high-precision mapping technique, and the high-precision map and global geographic coordinates are in one-to-one correspondence by combining a high-precision special positioning means (e.g., RTKGPS), where the precision of the high-precision map during modeling can be usually as high as cm, the modeling precision can be usually as high as 10 cm by using a SLAM mapping technique, and the control system can pre-store the high-precision map of the parking lot based on the laser point cloud, and the high-precision map has the characteristics of high map precision and only collecting and recording objects in a static environment of the device, and can be used for high-precision positioning and extracting the static objects GNSS positioning technology) is generally coarse position information (e.g., position coordinates) with a large error, and in this application, the accurate position of the vehicle currently in the parking lot can be determined by combining the high-precision calibrated position information of the vehicle sensor.

The position sensing information is used for representing whether a current vehicle sensor is triggered or not, in practical application, if a vehicle enters a monitoring range of a certain vehicle sensor, a corresponding position sensor can be generated based on the type of the vehicle sensor, sensing states of the vehicle sensor can be represented based on the position sensor, and the sensing states at least comprise a corresponding vehicle sensing state when the vehicle enters the monitoring range and a corresponding idle state when the vehicle is not monitored in the monitoring range.

Further, in the present application, each vehicle sensor may automatically report vehicle sensing information to the control system when sensing a vehicle, and further may report calibrated position information while reporting the vehicle sensing information, and at this time, the control system usually does not store the positions of all the vehicle sensors, and therefore, the vehicle sensors need to be acquired.

Further, in the present application, each vehicle sensor may report vehicle sensing information to the control system in real time or periodically, the control system local end may store all calibration position information corresponding to all vehicle sensors, and the storage form of the calibration position information may be the form of the high-precision map.

Step S102: and determining second position information aiming at the vehicle based on the calibration position information and the position induction information corresponding to each vehicle sensor, wherein the precision of the second position information is greater than that of the first position information.

Wherein the second location information is sensed location information determined based on the location of the vehicle sensor, typically as a location information to assist in determining the final location of the vehicle.

In a specific implementation scenario, after obtaining the calibration position information and the position sensing information corresponding to each vehicle sensor, the control system determines, based on the position sensing information corresponding to each vehicle sensor, a first vehicle sensor that identifies the vehicle, that is, determines, from the at least one vehicle sensor, a first vehicle sensor whose sensing state is a vehicle sensing state based on each position sensing information. The calibrated position information corresponding to the first vehicle sensor is then incorporated by reference, and thus serves as second position information to assist in determining the position of the vehicle in the present application.

Optionally, when the vehicle triggers the first vehicle sensor, the first vehicle sensor is in a vehicle sensing state; for example, a position correction value (which may correspond to the laying time of the vehicle sensor in advance) may be determined by combining the specification of a parking aisle (such as the lane width lane center line) of the parking lot, and the position may be fitted with the calibrated position information based on the position correction value, so as to determine the final second position information for the vehicle.

Optionally, when the vehicle triggers the first vehicle sensor, the first vehicle sensor is in a vehicle sensing state; the number of the first vehicle sensors may be multiple due to objective factors such as a driving speed of the vehicle and a spatial position difference of the vehicle relative to the vehicle sensors (the space occupied by the vehicle sensors is smaller than the space occupied by the vehicle), that is, the vehicle triggers the multiple vehicle sensors at the same time, at this time, the second position information for the vehicle can be determined by fitting the multiple pieces of calibration position information based on the position sensing information and the calibration position information of the multiple vehicle sensors, wherein the position sensing information may be a pressure value, a triggering time length, a magnetic force and the like.

One way of the position fitting may be to determine a weight value of each piece of calibration position information based on position sensing information, and then perform position weighting based on each weight value and calibration position information associated with the weight value to obtain second position information for the vehicle, where generally, the precision of the second position information is greater than that of the first position information.

One way of position fitting may be to train a second position determination model based on a neural network in advance, input the position sensing information of each vehicle sensor into the second position determination model by using the calibration position information, and output the second position information for the vehicle.

The method comprises the steps of obtaining a large amount of sample data containing position sensing information in an actual application environment in advance to calibrate the position information, extracting characteristic information, marking the sample data, and creating an initial second position determination model, wherein the characteristic information contains a plurality of parameters of pressure values, trigger duration, magnetism, calibration positions and the like. The second position determination model may be obtained by training the initial second position determination model using a large amount of sample data, and for example, the second position determination model may be implemented based on one or more of LR (Logistic Regression), SVM (Support Vector Machine), decision tree, naive bayes classifier, CNN (Convolutional Neural Network), RNN (recursive Neural Network), and the like, and the trained second position determination model may be obtained by training the initial second position determination model based on the sample data to which the position label has been labeled.

It should be noted that the second position information obtained at this time may be used as position information for assisting in determining the final position of the vehicle, and in the present application, it is further required to determine whether the confidence of the second position information is higher in combination with the first position information, so as to avoid incorrect recognition and inaccurate result of position update.

Step S103: determining third location information for the vehicle based on the second location information and the first location information.

In the application, after the second position information of the vehicle is determined, on one hand, the situation that the position information directly based on the second position information is not accurate as the position information of the vehicle is avoided from the situations of working failure, false triggering and the like of the parking space sensor; on the other hand, in a parking lot, there may be a plurality of vehicles driving into the parking lot at the same time, and at this time, it is necessary to determine whether the second location information is the location information of the target vehicle indicated by the current control system task, that is, it is necessary to determine the confidence degree for the second location information based on the first location information and the second location information, so as to determine the second location information as the last third location information for the vehicle.

Alternatively, the determination may be performed based on a position angle included in the position information, and by calculating a first position angle of second position information and an angle difference degree of a second position angle of the first position information, it is determined whether to use the second position information as third position information for the vehicle based on the angle difference degree, that is, the position information determined by the final control system is accurate for the vehicle.

Further, an angle threshold may be set in advance in combination with the actual environment, whether the angle difference is smaller than the angle threshold may be determined, and if the angle difference is smaller than the angle threshold, the second location information may be determined as the third location information for the vehicle.

Alternatively, the determination may be performed based on position coordinates included in the position information, and by calculating a coordinate difference degree between a first position coordinate of the second position information and a second position coordinate of the first position information, it is determined whether to use the second position information as third position information for the vehicle based on the coordinate difference degree, that is, accurate position information for the vehicle determined by the final control system.

Step S104: and synchronizing the third position information to the navigation positioning service of the vehicle, wherein the third position information is used for carrying out position updating on the first position information in the navigation positioning service of the vehicle.

In practical applications, a driver of a vehicle usually performs vehicle navigation, such as vehicle navigation driving, vehicle navigation parking, and the like, during driving based on a navigation positioning service (such as a map navigation service, a satellite navigation service, and the like) carried by the vehicle, so in the present application, an object of position update of a control system is not directly sent to the vehicle, but needs to update an actual accurate navigation position of the vehicle for a current navigation positioning service of the vehicle, that is, the control system synchronizes the third position information to the navigation positioning service of the vehicle, and in general, the navigation positioning service provides a series of services such as position navigation, position positioning, and the like for a reference based on the first position information of the vehicle, so that the synchronized third position information can be used for performing position update on the first position information in the navigation positioning service of the vehicle, therefore, the navigation accuracy of the vehicle in subsequent navigation based on the navigation positioning service is improved.

In a specific implementation scenario, the control system may send the third location information to the vehicle, that is, when the vehicle enters the parking lot, a communication connection with the control system may be established, and the third location information is received based on the communication connection; or, the control system broadcasts the third position information to the outside in a position broadcasting mode, the third position information can carry the identification information (such as the license plate number) of the vehicle, and the vehicle only needs to scan the current channel, so that the third position information broadcasted by the control system can be received, wherein the position broadcasting can be a bluetooth broadcasting mode, a sub-gigahertz communication broadcasting mode, a Zigbee communication broadcasting mode and the like; and the vehicle receives the third position information, so that the first position information of the position reference in the current navigation positioning service is updated, namely the first position information is updated to the third position information.

In a specific implementation scenario, the control system may send the third location information to a provider (e.g., a server) of the navigation and positioning service, where the third location information may carry identification information (e.g., a license plate number) of the vehicle, so as to establish a unique mapping relationship between the third location information and the vehicle, and after the provider (e.g., the server) of the navigation and positioning service receives the third location information, the provider (e.g., the server) of the navigation and positioning service may perform location update on the first location information of the location reference in the current navigation and positioning service, that is, update the first location information to the third location information, so as to synchronize to the vehicle.

In the embodiment of the application, the control system determines second position information for auxiliary positioning of the vehicle based on the calibrated position information and the position sensing information corresponding to each vehicle sensor, wherein the accuracy of the second position information is greater than that of the first position information, and then determines third position information for the vehicle based on the second position information and the first position information; the third position information is synchronized to the navigation positioning service of the vehicle, so that the position of the first position information in the navigation positioning service of the vehicle can be updated based on the accurate third position information, the position precision of the vehicle navigation positioning in the parking lot environment can be improved, the accurate navigation in the parking lot environment is realized, the real-time performance and the intelligence of the position updating in the parking driving environment are improved, and the problems that the position updating is not timely and the position updating precision is low only obtained by the navigation positioning service of the vehicle in the related technology can be solved.

Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a location updating method according to another embodiment of the present disclosure. Specifically, the method comprises the following steps:

step S201: determining that a vehicle enters the parking lot, acquiring first position information where the vehicle is currently located, and determining at least one target sensor arranged on an aisle of the parking lot from all vehicle sensors.

The target sensor is a vehicle sensor that the control system is configured to be disposed on a parking lot aisle, and the target sensor may be a combination of sensors including, but not limited to, an ultrasonic sensor, a radar sensor, an infrared sensor, a magnetic sensor, a radar sensor, a pressure sensor, a laser sensor, and a lidar sensor.

In the present application, after a vehicle enters the parking lot, the vehicle is usually driven on the parking lot aisle for the purpose of positioning the actual business scenario of the vehicle, and thus in order to reduce power consumption of location update and increase the speed of location update, a target sensor disposed on the parking lot aisle may be determined from all vehicle sensors after acquiring first location information to which the vehicle is currently positioned. Further, the target sensors acquired by the control system may not be all vehicle sensors disposed on the aisle of the parking lot, a reference selection range may be determined based on the first position information, and then at least one target sensor included in the reference selection range may be selected.

In a specific implementation scenario, the control system determines a predicted position range of the vehicle in the parking lot based on a preset position prediction rule by taking the first position information as a reference;

wherein the predicted position range is used for predicting that the vehicle is likely to fall into a certain area of the parking lot, and the target sensor can be determined based on the predicted position range

One location prediction rule is: a distance map value is determined with the first position information as a center point, the distance map value may be predetermined, may be determined based on a positioning error of the first position information, and a predicted position range may be determined based on the center point with the distance map value as a radius.

One location prediction rule is: and judging the parking planning region to which the first position information belongs by taking the first position information as a reference, for example, dividing the parking lot into N (positive integers) parking planning regions in advance, and then only judging a target parking planning region in which the first position information falls so as to take the target parking planning region as the predicted position range of the vehicle in the parking lot.

Further, the control system may determine at least one target sensor within the predicted position range, the target sensor being disposed on a parking lot aisle. In specific implementation, all target sensors within the predicted position range are acquired.

Step S202: triggering the auxiliary positioning function of each target inductor, and controlling each target inductor to acquire current position induction information;

specifically, the target sensor is independently configured with an auxiliary positioning function in the control system configuration stage, that is, the auxiliary positioning of the vehicle can be autonomously completed without the assistance of the control system. After the auxiliary positioning function is started, each target sensor is controlled to enter a working state, whether a vehicle passes through is sensed, and specifically, after the auxiliary positioning function is started, the control system can control the target sensors to acquire current position sensing information. The position sensing information may be a pressure value, a trigger time, a magnetic force, and the like.

Step S203: and acquiring the position sensing information reported by each target sensor and the stored calibration position information of the target sensor.

In the present application, each target vehicle sensor may automatically report vehicle sensing information to the control system when sensing a vehicle.

Step S204: and determining the vehicle induction state of each vehicle inductor aiming at the vehicle according to the position induction information corresponding to each vehicle inductor.

The position sensing information is used for representing whether a current vehicle sensor is triggered or not, in practical application, if a vehicle enters a monitoring range of a certain vehicle sensor, corresponding position sensing information can be generated based on the type of the vehicle sensor, sensing states of the vehicle sensor can be represented based on the position sensing information, and the sensing states at least comprise corresponding states when the vehicle enters the monitoring range and corresponding idle states when the vehicle is not monitored in the monitoring range.

In the present application, the vehicle sensing state of each target vehicle sensor with respect to the vehicle may be determined based only on the position sensing information corresponding to the target vehicle sensor. And judging whether the target vehicle sensor is in a vehicle sensing state or not according to the position sensing information corresponding to all the target vehicle sensors. And then acquiring a target vehicle sensor with a vehicle sensing state, and taking the target vehicle sensor as a reference sensor.

Step S205: if the vehicle sensing state of a reference sensor exists in each vehicle sensor is a vehicle sensing state, acquiring the calibration position information of the reference sensor, and determining second position information for the vehicle based on the calibration position information.

In the present application, the determination range may be narrowed only based on the target vehicle sensor, that is, only the reference sensor whose vehicle sensing state is the vehicle sensing state exists in each target vehicle sensor may be determined, and if the reference sensor exists, the calibration position information of the reference sensor is taken into reference, so that the second position information for the vehicle, that is, the second position information for auxiliary positioning, is determined based on the calibration position information. Typically, the second location information serves as a location information that assists in determining the final location of the vehicle.

Step S206: determining third location information for the vehicle based on the second location information and the first location information;

in the application, when the vehicle triggers the first vehicle sensor, the first vehicle sensor is in a vehicle sensing state; for example, a position correction value (which may correspond to the laying time of the vehicle sensor in advance) may be determined by combining the specification of a parking aisle (such as the lane width lane center line) of the parking lot, and the position may be fitted with the calibrated position information based on the position correction value, so as to determine the final second position information for the vehicle.

Optionally, when the vehicle triggers the first vehicle sensor, the first vehicle sensor is in a vehicle sensing state; due to objective factors such as the running speed of the vehicle and the spatial position difference of the vehicle relative to the vehicle sensor (the space occupied by the vehicle sensor is smaller than the space occupied by the vehicle), the number of the first vehicle sensors may be multiple, that is, the vehicle triggers multiple vehicle sensors at the same time, at this time, the multiple pieces of calibrated position information may be fitted to determine the second position information accurate to the vehicle based on the position sensing information and the calibrated position information of the multiple vehicle sensors, wherein the position sensing information may be a pressure value, a triggering duration, a magnetic force, and the like.

In a specific implementation scenario, the control system may calculate a confidence level for the second location information for the vehicle, i.e. determine a location confidence level for the second location information based on the first location information.

In a specific implementation, the control system calculates difference position information between the first position information and the second position information, and determines the position confidence of the second position information based on the difference position information.

The differential position information may be differential angle information, differential distance information, differential parking floor information (a parking lot may be multi-story). A position confidence of the second position information is then finally determined based on these difference position information.

Optionally, a mapping relationship between each reference difference position information and the position confidence may be stored in advance, and the mapping relationship may be characterized by a list, a set, and the like. The mapping relationship may be used to determine the position confidence corresponding to the difference position information.

Further, if the position confidence meets a confidence threshold, the second position information is used as third position information for the vehicle.

Step S207: and determining a parking planning area to which the third position information belongs in the parking lot.

The parking planning area is one of a plurality of planning areas determined in advance based on the parking space distribution of the parking lot and the actual geographic environment, and the parking planning area can be used for a user to park a vehicle. In this embodiment, the parking planning area is determined from a plurality of planning areas based on the third position confidence.

Each planned area has a corresponding geographic location and an area boundary. In one example, the region boundary of the planned region may be represented by a set of region boundary points that the planned region has, including all of the region boundary points in the planned region. Each region boundary point has a position coordinate corresponding thereto. The position coordinate may be represented based on a preset coordinate system, and the preset coordinate system may be set according to a specific application scenario or application requirements, for example, the position coordinate system may be a geographic coordinate system based on longitude and latitude, and the like. For example, when the planning region is a quadrilateral region, the region boundary point set includes at least four vertices of the quadrilateral region as region boundary points.

The purpose of determining the parking plan area is to send an area high-precision map corresponding to the parking plan area to the vehicle, so that the target plan area to which the third position information belongs can be determined based on the area ranges corresponding to the plurality of plan areas, and the target plan area can be used as the parking plan area.

Step S208: and acquiring a regional high-precision map of the parking planning region, and synchronizing the regional high-precision map and the third position information to the vehicle so that the vehicle performs position updating on a navigation map in navigation service and the first position information.

In the application, a high-precision map of a parking lot is constructed in a high-precision positioning mode based on laser point cloud, the high-precision map is used for statically modeling the environment in the range of the parking lot and the deployment position of a vehicle sensor by adopting a high-precision mapping technology, the high-precision map and global geographic coordinates are in one-to-one correspondence by combining a high-precision special positioning means (such as RTKGPS), the precision of the high-precision map during modeling can be usually accurate to centimeter, if the SLAM mapping technology is used, the modeling precision can be accurate to within 10 centimeter, a control system can pre-store the high-precision map of the parking lot based on the laser point cloud, and the high-precision map has the characteristics that the map precision is high, only static environment objects of equipment are collected, and the high-precision map can be. In the present application, a complete high-precision map is not usually directly synchronized with a vehicle, and mainly, the complete high-precision map generally has a large memory, and both data transmission and data loading consume a large amount of location update time, so in the present application, a parking planning region to which the third location information belongs in the parking lot can be determined, and then only a regional high-precision map corresponding to the parking planning region is obtained, and it can be understood that the complete parking lot high-precision map includes a plurality of regional high-precision maps, therefore, in a location update synchronization stage, a control system can synchronize the regional high-precision map and the third location information to the vehicle, so that the vehicle performs location update on a navigation map in a navigation service and the first location information.

Further, the control system may record each time the map synchronization of the regional high-precision map is performed, and the control system may first determine whether the regional high-precision map and the third position information are synchronized with the vehicle when the map synchronization is performed next time, that is, determine whether the historical synchronization record for the vehicle is included, and may synchronize the regional high-precision map and the third position information with the vehicle if the historical synchronization record is not included, or may synchronize only the third position information.

In a specific implementation scenario, the control system may further obtain parking space information of the parking lot, where the parking space information includes at least one of space distribution information, regional parking density information, and parking space specification information (which may contain specifications of vehicles, i.e., the length, width, and height of the parking space);

then determining a target parking space for the vehicle from the parking lot based on the parking space information;

alternatively, a parking space determination rule may be that a determination is made based on the closest parking distance, the parking distances to the plurality of vacant parking spaces are calculated, and then the target parking space indicated by the closest parking distance is determined.

And finally, the control system generates parking indication information corresponding to the target parking space, and synchronizes the parking indication information to the navigation positioning service of the vehicle, so that a driver of the vehicle can quickly park the vehicle based on the navigation positioning service. The parking indication information includes parking space information of a target parking position, parking charging information, position coordinates of the parking position and the like.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

Referring to fig. 4, a schematic structural diagram of a location updating apparatus according to an exemplary embodiment of the present application is shown. The location updating means may be implemented as all or part of the apparatus in software, hardware or a combination of both. The device 1 includes a positioning information acquisition module 11, a second information determination module 12, a third information determination module 13, and a position information synchronization module 14.

The positioning information acquisition module 11 is configured to determine that a vehicle enters the parking lot, acquire first position information of the vehicle currently positioned, and acquire calibration position information and current position sensing information corresponding to at least one vehicle sensor;

a second information determining module 12, configured to determine second position information for the vehicle based on the calibrated position information and the position sensing information corresponding to each vehicle sensor, where accuracy of the second position information is greater than that of the first position information;

a third information determination module 13 configured to determine third position information for the vehicle based on the second position information and the first position information;

a location information synchronization module 14, configured to synchronize the third location information to the navigation and positioning service of the vehicle, where the third location information is used to perform location update on the first location information in the navigation and positioning service of the vehicle.

Optionally, as shown in fig. 5, the positioning information obtaining module 11 includes:

a sensor determining unit 111, configured to obtain first position information where the vehicle is currently located, and determine at least one target sensor arranged on a lane of a parking lot from all vehicle sensors;

an induction information obtaining unit 112, configured to trigger an auxiliary positioning function of each target inductor, and control each target inductor to obtain current position induction information;

a positioning information obtaining unit 113, configured to obtain the position sensing information reported by each target sensor and stored calibration position information of the target sensor.

Optionally, as shown in fig. 6, the sensor determining unit 111 includes:

a position range determining subunit 1111, configured to determine, based on a preset position prediction rule, a predicted position range of the vehicle in the parking lot, with the first position information as a reference;

a sensor determination subunit 1112 configured to determine at least one target sensor within the predicted position range, the target sensor being arranged on a parking lot aisle.

Optionally, as shown in fig. 7, the second information determining module 12 includes:

a sensing state determining unit 121, configured to determine a vehicle sensing state of each vehicle sensor for the vehicle according to the position sensing information corresponding to each vehicle sensor,

a second information determining unit 122, configured to, if the vehicle sensing state in which a reference sensor exists in each vehicle sensor is a vehicle sensing state, obtain the calibrated position information of the reference sensor, and determine second position information for the vehicle based on the calibrated position information.

Optionally, as shown in fig. 8, the third information determining module 13 includes:

a confidence determining unit 131 configured to determine a position confidence of the second position information based on the first position information;

a third information determining unit 132, configured to determine the second location information as third location information for the vehicle if the location confidence satisfies a confidence threshold.

Optionally, the confidence determining unit 131 is specifically configured to:

calculating difference position information of the first position information and the second position information, and determining position confidence of the second position information based on the difference position information.

Optionally, the apparatus 1 is specifically configured to:

acquiring parking space information of the parking lot, wherein the parking space information comprises at least one of space distribution information, regional parking density information and parking space specification information;

determining a target parking space for the vehicle from the parking lot based on the parking space information;

and generating parking indication information corresponding to the target parking space, and synchronizing the parking indication information to the navigation positioning service of the vehicle.

Optionally, the location information synchronization module 14 includes:

determining a parking planning area to which the third position information belongs in the parking lot;

and acquiring a regional high-precision map of the parking planning region, and synchronizing the regional high-precision map and the third position information to the vehicle so that the vehicle performs position updating on a navigation map in navigation service and the first position information.

It should be noted that, when the location updating apparatus provided in the foregoing embodiment executes the location updating method, only the division of the functional modules is illustrated, and in practical applications, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the location updating apparatus and the location updating method provided in the above embodiments belong to the same concept, and details of implementation processes thereof are referred to in the method embodiments and are not described herein again.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

An embodiment of the present application further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the location updating method according to the embodiment shown in fig. 1 to 3, and a specific execution process may refer to specific descriptions of the embodiment shown in fig. 1 to 3, which is not described herein again.

The present application further provides a computer program product, where at least one instruction is stored, and the at least one instruction is loaded by the processor and executes the location updating method according to the embodiment shown in fig. 1 to fig. 3, where a specific execution process may refer to specific descriptions of the embodiment shown in fig. 1 to fig. 3, and is not described herein again.

Referring to fig. 9, a block diagram of an electronic device according to an exemplary embodiment of the present application is shown. The electronic device in the present application may comprise one or more of the following components: a processor 110, a memory 120, an input device 130, an output device 140, and a bus 150. The processor 110, memory 120, input device 130, and output device 140 may be connected by a bus 150.

Processor 110 may include one or more processing cores. The processor 110 connects various parts within the overall electronic device using various interfaces and lines, and performs various functions of the electronic device 100 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 120 and calling data stored in the memory 120. Alternatively, the processor 110 may be implemented in hardware using at least one of Digital Signal Processing (DSP), field-programmable gate Array (FPGA), and Programmable Logic Array (PLA). The processor 110 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 110, but may be implemented by a communication chip.

The Memory 120 may include a Random Access Memory (RAM) or a read-only Memory (ROM). Optionally, the memory 120 includes a non-transitory computer-readable medium. The memory 120 may be used to store instructions, programs, code sets, or instruction sets. The memory 120 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like, and the operating system may be an Android (Android) system, including a system based on Android system depth development, an IOS system developed by apple, including a system based on IOS system depth development, or other systems. The data storage area may also store data created by the electronic device during use, such as phone books, audio and video data, chat log data, and the like.

Referring to fig. 10, the memory 120 may be divided into an operating system space, where an operating system is run, and a user space, where native and third-party applications are run. In order to ensure that different third-party application programs can achieve a better operation effect, the operating system allocates corresponding system resources for the different third-party application programs. However, the requirements of different application scenarios in the same third-party application program on system resources are different, for example, in a local resource loading scenario, the third-party application program has a higher requirement on the disk reading speed; in the animation rendering scene, the third-party application program has a high requirement on the performance of the GPU. The operating system and the third-party application program are independent from each other, and the operating system cannot sense the current application scene of the third-party application program in time, so that the operating system cannot perform targeted system resource adaptation according to the specific application scene of the third-party application program.

In order to enable the operating system to distinguish a specific application scenario of the third-party application program, data communication between the third-party application program and the operating system needs to be opened, so that the operating system can acquire current scenario information of the third-party application program at any time, and further perform targeted system resource adaptation based on the current scenario.

Taking an operating system as an Android system as an example, programs and data stored in the memory 120 are as shown in fig. 11, and a Linux kernel layer 320, a system runtime library layer 340, an application framework layer 360, and an application layer 380 may be stored in the memory 120, where the Linux kernel layer 320, the system runtime library layer 340, and the application framework layer 360 belong to an operating system space, and the application layer 380 belongs to a user space. The Linux kernel layer 320 provides underlying drivers for various hardware of the electronic device, such as a display driver, an audio driver, a camera driver, a bluetooth driver, a Wi-Fi driver, power management, and the like. The system runtime library layer 340 provides a main feature support for the Android system through some C/C + + libraries. For example, the SQLite library provides support for a database, the OpenGL/ES library provides support for 3D drawing, the Webkit library provides support for a browser kernel, and the like. Also provided in the system runtime library layer 340 is an Android runtime library (Android runtime), which mainly provides some core libraries that can allow developers to write Android applications using the Java language. The application framework layer 360 provides various APIs that may be used in building an application, and developers may build their own applications by using these APIs, such as activity management, window management, view management, notification management, content provider, package management, session management, resource management, and location management. At least one application program runs in the application layer 380, and the application programs may be native application programs carried by the operating system, such as a contact program, a short message program, a clock program, a camera application, and the like; or a third-party application developed by a third-party developer, such as a game application, an instant messaging program, a photo beautification program, a location update program, and the like.

Taking an operating system as an IOS system as an example, programs and data stored in the memory 120 are shown in fig. 12, and the IOS system includes: a Core operating system Layer 420(Core OS Layer), a Core Services Layer 440(Core Services Layer), a Media Layer 460(Media Layer), and a touchable Layer 480(Cocoa Touch Layer). The kernel operating system layer 420 includes an operating system kernel, drivers, and underlying program frameworks that provide functionality closer to hardware for use by program frameworks located in the core services layer 440. The core services layer 440 provides system services and/or program frameworks, such as a Foundation framework, an account framework, an advertisement framework, a data storage framework, a network connection framework, a geographic location framework, a motion framework, and so forth, as required by the application. The media layer 460 provides audiovisual related interfaces for applications, such as graphics image related interfaces, audio technology related interfaces, video technology related interfaces, audio video transmission technology wireless playback (AirPlay) interfaces, and the like. Touchable layer 480 provides various common interface-related frameworks for application development, and touchable layer 480 is responsible for user touch interaction operations on the electronic device. Such as a local notification service, a remote push service, an advertising framework, a game tool framework, a messaging User Interface (UI) framework, a User Interface UIKit framework, a map framework, and so forth.

In the framework illustrated in FIG. 12, the framework associated with most applications includes, but is not limited to: a base framework in the core services layer 440 and a UIKit framework in the touchable layer 480. The base framework provides many basic object classes and data types, provides the most basic system services for all applications, and is UI independent. While the class provided by the UIKit framework is a basic library of UI classes for creating touch-based user interfaces, iOS applications can provide UIs based on the UIKit framework, so it provides an infrastructure for applications for building user interfaces, drawing, processing and user interaction events, responding to gestures, and the like.

The Android system can be referred to as a mode and a principle for realizing data communication between the third-party application program and the operating system in the IOS system, and details are not repeated herein.

The input device 130 is used for receiving input instructions or data, and the input device 130 includes, but is not limited to, a keyboard, a mouse, a camera, a microphone, or a touch device. The output device 140 is used for outputting instructions or data, and the output device 140 includes, but is not limited to, a display device, a speaker, and the like. In one example, the input device 130 and the output device 140 may be combined, and the input device 130 and the output device 140 are touch display screens for receiving touch operations of a user on or near the touch display screens by using any suitable object such as a finger, a touch pen, and the like, and displaying user interfaces of various applications. Touch displays are typically provided on the front panel of an electronic device. The touch display screen may be designed as a full-face screen, a curved screen, or a profiled screen. The touch display screen can also be designed to be a combination of a full-face screen and a curved-face screen, and a combination of a special-shaped screen and a curved-face screen, which is not limited in the embodiment of the present application.

In addition, those skilled in the art will appreciate that the configurations of the electronic devices illustrated in the above-described figures do not constitute limitations on the electronic devices, which may include more or fewer components than illustrated, or some components may be combined, or a different arrangement of components. For example, the electronic device further includes a radio frequency circuit, an input unit, a sensor, an audio circuit, a wireless fidelity (WiFi) module, a power supply, a bluetooth module, and other components, which are not described herein again.

In the embodiment of the present application, the main body of execution of each step may be the electronic device described above. Optionally, the execution subject of each step is an operating system of the electronic device. The operating system may be an android system, an IOS system, or another operating system, which is not limited in this embodiment of the present application.

The electronic device of the embodiment of the application can also be provided with a display device, and the display device can be various devices capable of realizing a display function, for example: a cathode ray tube display (CR), a light-emitting diode display (LED), an electronic ink panel, a Liquid Crystal Display (LCD), a Plasma Display Panel (PDP), and the like. A user may utilize a display device on the electronic device 101 to view information such as displayed text, images, video, and the like. The electronic device may be a smartphone, a tablet computer, a gaming device, an AR (Augmented Reality) device, an automobile, a data storage device, an audio playback device, a video playback device, a notebook, a desktop computing device, a wearable device such as an electronic watch, an electronic glasses, an electronic helmet, an electronic bracelet, an electronic necklace, an electronic garment, or the like.

In the electronic device shown in fig. 9, where the electronic device may be a terminal, the processor 110 may be configured to call the location updating application stored in the memory 120, and specifically perform the following operations:

the parking control system comprises at least one vehicle sensor, wherein the vehicle sensor is arranged in a parking lot;

In an embodiment, when the obtaining of the first position information where the vehicle is currently located, the obtaining of the calibration position information corresponding to at least one vehicle sensor, and the current position sensing information are performed, the processor 110 specifically performs the following operations:

acquiring first position information to which the vehicle is currently positioned, and determining at least one target sensor arranged on a parking lot passageway from all vehicle sensors;

triggering the auxiliary positioning function of each target inductor, and controlling each target inductor to acquire current position induction information;

and acquiring the position sensing information reported by each target sensor and the stored calibration position information of the target sensor.

In one embodiment, the processor 110, when executing the determining of at least one target sensor arranged on the aisle of the parking lot from all vehicle sensors, specifically performs the following operations:

determining a predicted position range of the vehicle in the parking lot based on a preset position prediction rule by taking the first position information as a reference;

determining at least one target sensor within the predicted location range, the target sensor being disposed on a parking lot aisle.

In one embodiment, the processor 110 specifically performs the following operations when determining the second position information for the vehicle based on the calibrated position information and the position sensing information corresponding to each of the vehicle sensors is performed:

determining the vehicle sensing state of each vehicle sensor aiming at the vehicle according to the position sensing information corresponding to each vehicle sensor,

if the vehicle sensing state of a reference sensor exists in each vehicle sensor is a vehicle sensing state, acquiring the calibration position information of the reference sensor, and determining second position information for the vehicle based on the calibration position information.

In one embodiment, the processor 110 specifically performs the following operations when determining the third position information for the vehicle based on the second position information and the first position information:

determining a location confidence for the second location information based on the first location information;

and if the position confidence coefficient meets a confidence coefficient threshold value, taking the second position information as third position information aiming at the vehicle.

In an embodiment, when performing the determining the position confidence of the second position information, the processor 110 specifically performs the following operations:

In one embodiment, the processor 110, when executing the location updating method, further performs the following operations:

In one embodiment, the processor 110 specifically performs the following operations when executing the synchronization of the third location information to the vehicle navigation positioning service, where the third location information is used for location update of the first location information in the vehicle navigation positioning service:

In the embodiment of the application, the electronic device determines second position information for auxiliary positioning of the vehicle based on the calibrated position information and the position sensing information corresponding to each vehicle sensor, wherein the accuracy of the second position information is greater than that of the first position information, and then determines third position information for the vehicle based on the second position information and the first position information; the third position information is synchronized to the navigation positioning service of the vehicle, so that the position of the first position information in the navigation positioning service of the vehicle can be updated based on the accurate third position information, the position precision of the vehicle navigation positioning in the parking lot environment can be improved, the accurate navigation in the parking lot environment is realized, the real-time performance and the intelligence of the position updating in the parking driving environment are improved, and the problems that the position updating is not timely and the position updating precision is low only obtained by the navigation positioning service of the vehicle in the related technology can be solved.

It is clear to a person skilled in the art that the solution of the present application can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, where the hardware may be, for example, a Field-ProgrammaBLE Gate Array (FPGA), an Integrated Circuit (IC), or the like.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some service interfaces, devices or units, and may be an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program, which is stored in a computer-readable memory, and the memory may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The above description is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure should not be limited thereby. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure are intended to be included within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. A location updating method applied to a parking control system including at least one vehicle sensor disposed in a parking lot, the method comprising:

2. The method of claim 1, wherein the obtaining first position information where the vehicle is currently located, obtaining calibration position information corresponding to at least one vehicle sensor, and obtaining current position sensing information comprises:

3. The method of claim 2, wherein said determining at least one target sensor from among all vehicle sensors disposed on a parking lot aisle comprises:

4. The method of claim 1, wherein determining second position information for the vehicle based on the calibrated position information and the position sensing information for each of the vehicle sensors comprises:

5. The method of claim 1, wherein the determining third location information for the vehicle based on the second location information and the first location information comprises:

6. The method of claim 5, wherein determining the location confidence of the second location information comprises:

7. The method of claim 1, further comprising:

8. The method of claim 1, wherein the synchronizing the third location information into the navigational positioning service of the vehicle, the third location information for location updating the first location information in the navigational positioning service of the vehicle comprises:

9. A computer storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to carry out the method steps according to any one of claims 1 to 8.

10. An electronic device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1 to 8.