CN113203421A

CN113203421A - Navigation method and system for searching vehicle, electronic equipment and storage medium

Info

Publication number: CN113203421A
Application number: CN202110509004.2A
Authority: CN
Inventors: 陈广平
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-05-11
Filing date: 2021-05-11
Publication date: 2021-08-03

Abstract

The invention discloses a navigation method, a navigation system, electronic equipment and a storage medium for searching vehicles, and relates to the technical field of vehicle navigation, wherein the navigation method for searching vehicles comprises the following steps: acquiring start and end position data, wherein the start and end position data comprise parking coordinate data of a target vehicle and current position data of a vehicle owner; acquiring reference characteristic coordinate data of characteristic landmarks of the underground parking lot; calculating navigation position data of the current position of the vehicle owner relative to the target vehicle according to the parking coordinate data, the reference feature coordinate data and the current position data; and calculating a navigation direction and a navigation distance according to the navigation position data, and providing recommended navigation instructions according to the navigation direction and the navigation distance. The navigation method for searching the vehicle can realize the navigation for searching the vehicle in the underground garage in real time, intuitively and quickly, and has extremely low cost and easy implementation.

Description

Navigation method and system for searching vehicle, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of vehicle navigation, in particular to a vehicle searching navigation method, a vehicle searching navigation system, electronic equipment and a storage medium.

Background

Parking lots are an indispensable part in every city. With the progress and development of society, traffic jam and even disorder caused by the increase of vehicles in cities bring great inconvenience to lives of people, and under the condition of shortage of land, a plurality of large-scale market parking lots consider to develop underground, so that super-large-area underground parking lots are built. The problem of difficult vehicle searching is generally existed due to the fact that large or complex parking lots have multiple floors, large space, poor signals and difficult direction identification.

At present, the problem of finding vehicles in underground parking lots can be solved by developing complex video and image recognition systems, information storage systems, navigation systems and other modes, but these modes usually require modification of the parking lots, and a large number of hardware devices, such as wireless beacons or a large number of cameras, such as bluetooth, WiFi, ultrasonic waves and the like, are installed, so that the hardware devices and the installation and maintenance costs, and the development and maintenance difficulty of software are high.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the embodiment of the invention provides a navigation method for searching a vehicle, which can intuitively and quickly realize vehicle searching navigation of an underground garage in real time, and is extremely low in cost and easy to implement.

The embodiment of the invention also provides a navigation system for searching the vehicle.

The embodiment of the invention also provides the electronic equipment.

The embodiment of the invention also provides a computer readable storage medium.

The navigation method for searching the vehicle according to the embodiment of the first aspect of the invention comprises the following steps:

acquiring start and end position data, wherein the start and end position data comprise parking coordinate data of a target vehicle and current position data of a vehicle owner;

acquiring reference characteristic coordinate data of characteristic landmarks of the underground parking lot;

calculating navigation position data of the current position of the vehicle owner relative to the target vehicle according to the parking coordinate data, the reference feature coordinate data and the current position data;

and calculating a navigation direction and a navigation distance according to the navigation position data, and providing recommended navigation instructions according to the navigation direction and the navigation distance.

The navigation method for searching the vehicle according to the embodiment of the first aspect of the invention has at least the following beneficial effects: the method comprises the steps of firstly, obtaining start and end position data, wherein the start and end position data comprise parking coordinate data of a target vehicle, position data of a characteristic landmark and current position data of a vehicle owner, then calculating navigation position data of a current position relative to the target vehicle according to the current position data, reference characteristic coordinate data and the current position data of the vehicle owner, finally calculating a navigation direction and a navigation distance according to the navigation position, providing recommended navigation instructions according to the navigation direction and the navigation distance, and achieving vehicle searching navigation of the underground garage in real time, intuitively and quickly, and the method is extremely low in cost and easy to implement.

According to some embodiments of the invention, the method further comprises: acquiring the moving angle, the moving position data and the moving step number of a vehicle owner; calculating offset position data according to the moving angle and the moving step number, and calculating an offset angle according to the moving position data and the current position data; calculating an offset direction and an offset distance according to the offset position data, the offset angle and the navigation position data, and providing a referral navigation instruction according to the offset direction and the offset distance.

According to some embodiments of the invention, the calculating offset position data from the number of moving steps and the moving angle includes: calculating an effective distance according to the moving step number and the moving angle; and obtaining the offset position data according to the effective distance.

According to some embodiments of the invention, the acquiring parking coordinate data of the target vehicle includes: acquiring a positioning mode of the target vehicle; acquiring longitude parameters, latitude parameters and altitude parameters of the target vehicle according to the positioning mode; and obtaining the parking coordinate data according to the longitude parameter, the latitude parameter and the altitude parameter.

According to some embodiments of the invention, the positioning mode comprises: a first mode; the acquiring longitude parameters, latitude parameters and altitude parameters of the target vehicle according to the positioning mode comprises: and if the positioning mode of the target vehicle is the first mode, performing inertial navigation according to the first mode to obtain the longitude parameter, the latitude parameter and the altitude parameter.

According to some embodiments of the invention, the positioning mode comprises: a second mode; the acquiring longitude parameters, latitude parameters and altitude parameters of the target vehicle according to the positioning mode comprises: if the positioning mode of the target vehicle is the second mode, acquiring a current time point; acquiring ephemeris data according to the current position data and the current time point; and extracting the longitude parameter, the latitude parameter and the altitude parameter according to the ephemeris data.

According to some embodiments of the invention, the positioning mode comprises: a third mode; the acquiring longitude parameters, latitude parameters and altitude parameters of the target vehicle according to the positioning mode comprises: if the positioning mode of the target vehicle is the third mode, ephemeris data is obtained; and extracting the longitude parameter, the latitude parameter and the altitude parameter according to the ephemeris data.

According to a second aspect of the invention, the navigation system for searching vehicles comprises:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring starting and ending position data, and the starting and ending position data comprise parking coordinate data of a target vehicle and current position data of a vehicle owner;

the second acquisition module is used for acquiring reference characteristic coordinate data of the characteristic landmarks of the underground parking lot;

the calculation module is used for calculating navigation position data of the current position of the vehicle owner relative to the target vehicle according to the parking coordinate data, the reference feature coordinate data and the current position data;

and the navigation module is used for calculating a navigation direction and a navigation distance according to the navigation position data and providing recommended navigation instructions according to the navigation direction and the navigation distance.

The navigation system for searching the vehicle according to the embodiment of the second aspect of the invention has at least the following advantages: by executing the navigation method for searching the vehicle, the navigation method for searching the vehicle can intuitively and quickly realize the navigation for searching the vehicle in the underground garage in real time, and is extremely low in cost and easy to implement.

An electronic device according to an embodiment of the third aspect of the invention includes: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions that are executed by the at least one processor, so that the at least one processor, when executing the instructions, implements the car-finding navigation method of the first aspect.

According to the electronic device of the embodiment of the third aspect of the invention, at least the following beneficial effects are achieved: by executing the navigation method for searching the vehicle, the characteristic landmark data of the underground garage can be obtained and the navigation for searching the vehicle can be realized intuitively and quickly in real time, and the method is extremely low in cost and easy to implement.

According to the fourth aspect of the invention, the storage medium stores computer-executable instructions for causing a computer to execute the car-finding navigation method of the first aspect.

The computer-readable storage medium according to the fourth aspect of the present invention has at least the following advantages: by executing the navigation method for searching the vehicle, the navigation method for searching the vehicle can intuitively and quickly realize the navigation for searching the vehicle in the underground garage in real time, and is extremely low in cost and easy to implement. .

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a navigation method for searching a vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic illustration of a calculation of navigation position data of a reference feature landmark relative to a target vehicle based on parking coordinate data and reference feature coordinate data in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of a vehicle seek according to a navigation instruction in an embodiment of the present invention;

FIG. 4 is a schematic diagram of calculating an offset direction and an offset distance according to an embodiment of the present invention;

FIG. 5A is a diagram illustrating an embodiment of calculating offset position data according to effective distance;

FIG. 5B is a diagram illustrating an embodiment of calculating offset position data according to effective distance;

FIG. 5C is a diagram illustrating an embodiment of calculating offset position data according to effective distance;

fig. 6 is a schematic structural diagram of a navigation system for searching vehicles according to an embodiment of the present invention;

fig. 7 is a functional block diagram of an electronic device according to an embodiment of the invention.

Reference numerals:

the system comprises an acquisition module 600, a determination module 610, a calculation module 620, a navigation module 630, a processor 700, a memory 710, a data transmission module 720, a camera 730 and a display screen 740.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 1, a navigation method for vehicle seeking according to an embodiment of a first aspect of the present invention includes:

and step S100, acquiring the start and end position data, wherein the start and end position data comprises parking coordinate data of the target vehicle and current position data of the vehicle owner.

The starting and ending position data can be position information between a starting point of car searching and an ending point of the car searching; the target vehicle may be a vehicle that needs to be sought; the parking coordinate data may be parking position information of the target vehicle; the current location data may be information of the current location of the owner of the vehicle. Optionally, the parking position (including longitude, latitude, and altitude) may be obtained through an inertial navigation function, and the relevant position information may be uploaded through a vehicle network, so as to obtain parking coordinate data of the target vehicle. The current position data of the vehicle owner can be acquired and uploaded in real time through the user terminal of the vehicle owner.

And step S110, acquiring reference characteristic coordinate data of the characteristic landmarks of the underground parking lot.

The reference characteristic landmark can be a certain characteristic landmark which is closest to the current position of the car owner in the underground garage, such as an elevator entrance A, an entrance B and an exit C; the reference feature coordinate data of the feature landmark is position data (including longitude, latitude, and altitude) corresponding to the reference feature landmark. When the owner starts to search the vehicle, the nearest characteristic landmark can be automatically selected or manually selected, and the position data of the characteristic landmark is used as the initial position data; for example, a certain characteristic place in the underground garage closest to the car owner is marked as an elevator opening A, the position data of the elevator opening A can be used as the initial position data. In some specific embodiments, the position data of the characteristic landmarks of the underground parking lot can be obtained in advance, the longitude and latitude database of the specific landmarks of the underground parking lot is established according to the position data of the characteristic landmarks, when a vehicle owner starts to search the vehicle, the nearest characteristic landmark can be extracted from the longitude and latitude database of the specific landmark of the underground parking lot, and the position data of the characteristic landmark is used as the initial position data.

And step S120, calculating navigation position data of the current position of the vehicle owner relative to the target vehicle according to the parking coordinate data, the reference characteristic coordinate data and the current position data.

The navigation position data may be navigation information between a start point of the vehicle search and an end point of the vehicle search (i.e., the target vehicle). Alternatively, referring to fig. 2, assuming that the reference feature is labeled as an a-elevator hall, the reference feature coordinate data of the a-elevator hall is a (a1, a2), and the parking coordinate data of the subject vehicle is D (D1, D2), the fence data may be established as shown in fig. 2: according to the longitude and latitude data calculation formula of 2 points on the earth surface, the angle alpha and the linear distance r can be calculated to obtain initial data of the navigation position, namely the navigation direction and the navigation distance.

Step S130, calculating the navigation direction and the navigation distance according to the navigation position data, and providing recommended navigation instructions according to the navigation direction and the navigation distance.

Alternatively, as shown in fig. 2 and fig. 3, a1, a2, A3, a4, a5, and a6 in fig. 3 are positions where car owners are located, respectively, taking the current position of a car owner as a1 point as an example, an elevator entrance a is a reference feature landmark, the navigation direction may be an angle α, and the navigation distance may be a linear distance r from the elevator entrance a to a target vehicle. Namely, the navigation instruction can be provided for the vehicle owner according to the navigation direction alpha and the navigation distance r, and the vehicle owner can be guided to find the target vehicle. Furthermore, the navigation direction and the navigation distance can be calculated in real time according to the change of the position of the vehicle owner, and recommended navigation instructions are provided according to the navigation direction and the navigation distance. And calculating the distance and the direction from the current position of the vehicle owner to the parking point of the target vehicle through a positioning algorithm according to the position data (parking coordinate data) of the known parking of the target vehicle and the position data (reference characteristic coordinate data) of the specific landmark of the underground parking lot, so as to complete navigation of the relative position and realize the vehicle finding function.

The navigation method for searching the vehicle comprises the steps of firstly, obtaining the initial position data of the vehicle owner, wherein the initial position data of the vehicle owner comprises parking coordinate data of a target vehicle and current position data of the vehicle owner, the initial position data of the vehicle owner is determined according to the nearest characteristic landmark position data, then the current position data is refreshed and converted into longitude and latitude according to the angle data and the step number of the moving position of the vehicle owner, the navigation position data relative to the target vehicle is calculated through a longitude and latitude data calculation formula of 2 points on the earth surface, the navigation direction and the navigation distance are calculated according to the navigation position, and the like, so that the vehicle searching navigation of the underground garage can be realized in real time, intuitively and quickly, the cost is extremely low, and the implementation is easy.

In some embodiments of the present invention, the navigation method for searching vehicles further includes:

and acquiring the moving angle, the moving position data and the moving step number of the vehicle owner. The moving step number can be the walking step number of the vehicle owner in the moving process; the movement location data may be a coordinate location parameter after the vehicle owner moves. Optionally, after the navigation direction and the navigation distance are calculated according to the reference characteristic landmark and the parking coordinate data of the target vehicle, the vehicle owner searches for the vehicle according to the guidance of the navigation direction and the navigation distance. In the moving process of the vehicle owner, the navigation direction and the navigation distance need to be updated in real time according to the movement of the vehicle owner, so that correct navigation is provided for the vehicle owner in real time. Therefore, the moving state of the vehicle owner can be monitored in real time, for example, the moving state parameters of the vehicle owner can be collected according to a preset period (for example, every walking step or every interval of 1 second), for example, the moving angle and the moving position data of the vehicle owner are collected in real time through the magnetic field sensor and the azimuth angle sensor, and the moving step number of the vehicle owner is collected through the vibration sensor and the electronic counter.

And calculating offset position data according to the moving angle and the moving step number, and calculating the offset angle according to the moving position data and the current position data. Alternatively, referring to fig. 4, if the vehicle master slave a1 position moves to the A3 position, the value of the vehicle owner movement angle β may be obtained from the magnetic field sensor and the azimuth angle sensor of the user terminal, the step number (movement step number) may be obtained from the vibration sensor and the electronic counter and estimated as the distance m, and the position data (c1, c2) of the A3 of the terminal may be obtained from the trigonometric functions sin β ═ a '/m and cos β ═ b '/m, where c1 ═ a1+ b ', c2 ═ a2+ a ', and the data (i.e., the offset distance) of r ' may be estimated, that is, the offset position data (c1, c2) and the offset angle β may be obtained.

And calculating an offset direction and an offset distance according to the offset position data, the offset angle and the navigation position data, and providing a recommended navigation instruction according to the offset direction and the offset distance. Alternatively, after acquiring the movement information of the vehicle owner, as shown in fig. 3 and 4, an offset direction (indicated by an arrow pointing at A3 point in fig. 3) from the A3 point to the parking point of the target vehicle and an offset distance r' are calculated from the offset position data (c1, c2) and the offset angle β. And repeating the calculation at 1 step per walking or 1 second interval, and continuing and dotting to form a track until a stopping point D of the target vehicle is reached. By acquiring the movement information of the car owner in real time, updating the navigation direction and the navigation distance in real time according to the movement state of the car owner, calculating the offset direction and the offset distance, and providing recommended navigation indication according to the offset direction and the offset distance, the car searching navigation of the underground garage can be visually and quickly realized, the navigation of the relative position is completed, and the car searching function is realized.

In some embodiments of the present invention, calculating offset position data from the movement angle and the number of movement steps includes:

and calculating the effective distance according to the moving angle and the moving steps. The effective distance may be a straight-line distance from a current position where the vehicle owner is located to a parking point of the target vehicle. Optionally, since the step number is converted into the distance and the azimuth angle obtained by the magnetic induction sensor has a certain error, in order to reduce the error, the linear distance from the current position where the vehicle owner is located to the parking point of the target vehicle, that is, the effective distance, can be calculated. As shown in fig. 5A, 5B, and 5C, the location data (longitude, latitude, and altitude) of the points a and C are known, and E is the location of the owner (it is assumed that the location of the owner is obtained by locating the location of the owner's mobile phone). Starting from point a, passing through points E to C, the mobile phone of the vehicle owner can acquire a current angle α according to the magnetic inductor, and can acquire R according to the step number, the step length m of the vehicle owner, the step number n, and the effective distance is the sum of the linear projections of R in each step on B, that is, B is 0+ B1+ B2+. Taking each step taken by the vehicle owner as an example, in fig. 5A, the starting points a and E coincide with each other, R is 0, and the effective distance is the maximum value, that is, the distance B of the straight line AC; in fig. 5B, the owner steps 1 step, the angle is α 1, R ═ m ×, 1, and then decomposes R, then cos (β - α 1) ═ B1/R, i.e., the effective distance B1 ═ R ═ cos (β - α 1) ═ m ═ cos (β - α 1) in step 1, and the effective distance B ═ 0+ B1 ═ 0+ m ═ cos (β - α 1); in fig. 5C, the owner steps 2, the angle is α 2, R ═ m × 1, and then decomposes R, then cos (β - α 2) ═ b/R, i.e., the effective distance b2 ═ R ═ cos (β - α 2) ═ m ═ cos (β - α 2) in step 2, and the effective distance b0+ b1+ b2 ═ 0+ m ═ cos (β - α 1) + m × (β - α 2). In this analogy, the owner steps up to N, the angle is α N, R ═ m × 1, R is decomposed, then cos (β - α N) ═ b/R, i.e., the effective distance b ═ R ═ cos (β - α N) ═ m ·cos (β - α N) of the nth step, and b ═ b0+ b1+ b2..

And obtaining offset position data according to the effective distance. Alternatively, as shown in fig. 5A, 5B, and 5C and the above-mentioned effective distance calculation method, incremental accumulation and conversion to the effective distance (projected to the linear distance) in each step may be adopted, so as to obtain the offset position data and reduce the error accumulation. In some specific embodiments, the partial schematic calculation is simplified to a plane triangle calculation manner, and may be calculated by using a sphere calculation method on the sphere surface, so as to further improve the accuracy.

In some embodiments of the present invention, acquiring parking coordinate data of a target vehicle includes:

and acquiring a positioning mode of the target vehicle. The positioning mode may be a manner in which the target vehicle is used to achieve the positioning of the parking spot. Optionally, different target vehicles correspond to different positioning modes, and if the vehicle-mounted machine system of the target vehicle has the rapid positioning capability and the inertial navigation function, the positioning mode of the target vehicle can be set to be the first mode; if the vehicle-machine system of the target vehicle is an android system but does not have the rapid positioning capability and the inertial navigation function, the positioning mode of the target vehicle can be set to be a second mode; if the vehicle-mounted machine system of the target vehicle is a non-android system and does not have the rapid positioning capability and the inertial navigation function, the positioning mode of the target vehicle can be set to be the third mode.

And acquiring longitude parameters, latitude parameters and altitude parameters of the target vehicle according to the positioning mode. Alternatively, the coordinates of the parking spot of the target vehicle may be determined by establishing a three-dimensional coordinate system. If the positioning mode of the target vehicle is the first mode, the longitude parameter, the latitude parameter and the altitude parameter of the target vehicle can be directly obtained through the inertial navigation function; if the positioning mode of the target vehicle is the second mode, the low-cost realization speed can be realized through the semi-independent external module, namely the longitude parameter, the latitude parameter and the altitude parameter of the target vehicle are obtained through the USB port, the Bluetooth, the WiFi and other interfaces of the target vehicle and the android system; if the positioning mode of the target vehicle is the third mode, the longitude parameter, the latitude parameter and the altitude parameter of the target vehicle can be acquired through the independent external module leading to the self-contained network function and the inertial navigation function. In some specific embodiments, the reference feature coordinate data of the reference feature landmark may also be obtained by the above method, and the reference feature coordinate data also includes a longitude parameter, a latitude parameter, and an altitude parameter.

And obtaining parking coordinate data according to the longitude parameter, the latitude parameter and the altitude parameter. Optionally, a three-dimensional coordinate system may be established according to the longitude parameter, the latitude parameter, and the altitude parameter of the parking spot of the target vehicle, so as to obtain parking coordinate data of the target vehicle. In some specific embodiments, the number of underground layers in which the target vehicle is parked may be determined by an altitude parameter: according to the position D points (D1, D2 and D3) reported after the target vehicle stops, the altitude D3 can be obtained, and the number of layers of the target vehicle in parking can be determined by comparing the characteristic landmarks of the underground garage. While the position data can be simplified from three dimensions (longitude, latitude, altitude) to two dimensions (longitude, latitude) in order to calculate the navigation position data of the target vehicle. The parking coordinate data of the target vehicle is acquired according to the situation of the positioning mode of the target vehicle, second-level quick positioning can be achieved even in a cold starting state, performance is high, and second-level positioning is achieved.

In some embodiments of the invention, the positioning mode comprises: a first mode. Wherein, the first mode can be: the vehicle-mounted machine system of the target vehicle has the rapid positioning capability and the inertial navigation function.

Acquiring longitude parameters, latitude parameters and altitude parameters of the target vehicle according to the positioning mode, wherein the method comprises the following steps:

and if the positioning mode of the target vehicle is the first mode, carrying out inertial navigation according to the first mode to obtain a longitude parameter, a latitude parameter and an altitude parameter. Optionally, if the target vehicle can achieve second-level cold start positioning, the requirements of rapid positioning and vehicle finding are met, so that coordinate data of a parking spot can be directly obtained through an inertial navigation function, longitude parameters, latitude parameters and altitude parameters of the parking spot of the target vehicle are obtained, the longitude parameters, the latitude parameters and the altitude parameters are uploaded through a vehicle-mounted machine system of the target vehicle, second-level positioning is achieved, and vehicle finding efficiency is improved.

In some embodiments of the invention, the positioning mode comprises: and a second mode. Wherein, the second mode may be: the vehicle-mounted machine system of the target vehicle is an android system, but does not have the functions of quick positioning and inertial navigation.

and if the positioning mode of the target vehicle is the second mode, acquiring the current time point. The current time point may be a time point when the target vehicle is located. Optionally, if the target vehicle does not have the cold-start second-level quick positioning capability (the minimum cold-start time is 30 seconds), but the vehicle-mounted machine system is an android system, the cold-start second-level quick positioning can be realized at low cost through the semi-independent external module. The current time point can be obtained through interfaces of the vehicle, such as a USB port, Bluetooth and WiFi.

And acquiring ephemeris data according to the current position data and the current time point. Optionally, the current time point and the current position data may be acquired through a network of an original vehicle system of the target vehicle, and the ephemeris data may be acquired from the server.

And extracting longitude parameters, latitude parameters and altitude parameters according to the ephemeris data. Optionally, ephemeris data may be acquired through interfaces such as a USB port, bluetooth, and WiFi of the vehicle itself by means of a system setup-developer mode-simulated position mode of the android system, so as to analyze information of the satellite signal and the inertial navigation module, acquire a longitude parameter, a latitude parameter, and an altitude parameter of a parking spot of the target vehicle, and upload the longitude parameter, the latitude parameter, and the altitude parameter through a vehicle-mounted system of the target vehicle. The current time and the current place are obtained through the network, the ephemeris is obtained from the server and written into the vehicle positioning module, second-level quick positioning can be achieved even in a cold starting state, and vehicle searching efficiency is improved.

In some embodiments of the invention, the positioning mode comprises: and a third mode. Wherein, the third mode may be: the vehicle-mounted machine system of the target vehicle is a non-android system and does not have the rapid positioning capability and the inertial navigation function.

and if the positioning mode of the target vehicle is the third mode, acquiring ephemeris data. Optionally, if the target vehicle does not have the cold-start second-level fast positioning capability, and the vehicle is not an android system, the ephemeris data may be acquired from the server through the network and the positioning function of the independent external positioning module with the network function and the inertial navigation function.

And extracting longitude parameters, latitude parameters and altitude parameters according to the ephemeris data. Optionally, ephemeris data can be acquired from the server through the network and the positioning function of the independent external positioning module, the ephemeris data is written into the external module, second-level quick positioning is realized in a cold start state, longitude parameters, latitude parameters and altitude parameters of a parking spot of a target vehicle are acquired, the longitude parameters, the latitude parameters and the altitude parameters are uploaded through the network of the external positioning module, and vehicle searching efficiency is improved.

The following describes the procedure of the car-finding navigation method according to an embodiment of the present invention in detail. It is to be understood that the following description is only exemplary, and not a specific limitation of the invention.

The navigation method for searching the vehicle executes the following steps:

first, the position data of the parking spot is obtained.

The parking position (longitude, latitude and altitude) is acquired through the inertial navigation module, and the relevant position information is transmitted to the user terminal through the vehicle network. Specifically, the method comprises the following steps: (1) if the vehicle-mounted machine system of the vehicle has the rapid positioning capability and the inertial navigation function, the parking point data (longitude, latitude and altitude) is obtained through the inertial navigation module, and the relevant information is transmitted through the vehicle-mounted machine system of the vehicle; (2) if the vehicle-mounted machine system of the vehicle is an android system but does not have the functions of quick positioning and inertial navigation, the vehicle-mounted machine system can be quickly realized at low cost through a semi-independent external module, namely through interfaces such as a USB port, Bluetooth and WiFi of the vehicle, by means of a system setting-developer mode-simulated position mode of the android system, parking point data (longitude, latitude and altitude) can be obtained, and relevant information can be transmitted through the vehicle-mounted machine system of the vehicle; (3) if the vehicle-mounted machine system of the vehicle is a non-android system and does not have the rapid positioning capability and the inertial navigation function, the vehicle-mounted machine system can be communicated with an independent external module to obtain the parking data (longitude, latitude and altitude) through the self-contained network function and the inertial navigation function, and relevant information is transmitted. The resulting vehicle's parking spot location data includes longitude, latitude, and altitude. In some specific embodiments, the number of underground layers in which the vehicle is parked may be determined by an altitude parameter: according to the position D points (D1, D2 and D3) reported after the vehicle stops, the altitude D3 can be obtained, and the number of the parking layers of the vehicle can be determined by comparing the characteristic landmarks of the underground garage. While the position data can be simplified from three dimensions (longitude, latitude, altitude) to two dimensions (longitude, latitude) in order to calculate the navigation direction and navigation distance of the vehicle.

And secondly, acquiring specific landmark position data of the reference landmarks in the underground parking lot.

The method comprises the steps of acquiring position data of a specific landmark in the underground parking lot at low cost through an inertial navigation module and a driving track file, wherein the specific landmark can be an entrance, an exit, an elevator entrance and the like of the underground parking lot, transmitting the position data of the specific landmark through a network, and establishing a longitude and latitude database of the specific landmark in the underground parking lot. The position data of a specific landmark may be acquired with reference to the manner in which the parking position data is acquired in the first step, for example: (1) if the car machine system of the vehicle has the rapid positioning capability and the inertial navigation function, the longitude, the latitude and the altitude of a specific landmark (such as an A elevator entrance) of the underground parking lot are acquired at low cost through an inertial navigation module and a driving track file (such as an x. klm file), and the longitude, the latitude and the altitude of the A elevator entrance are acquired; (2) if the vehicle-mounted machine system of the vehicle is an android system, but does not have the functions of quick positioning and inertial navigation, the vehicle-mounted machine system can be quickly realized at low cost through an external module, namely, through interfaces such as a USB port, Bluetooth and WiFi of the vehicle, by means of a system setting-developer mode-simulated position mode of the android system, satellite signals and information of the inertial navigation module are acquired and analyzed, the longitude, the latitude and the altitude of a specific landmark of an underground parking lot are acquired, and the longitude, the latitude and the altitude of the specific landmark are acquired; (3) if the vehicle machine system of the vehicle is a non-android system and does not have the rapid positioning capability and the inertial navigation function, the vehicle machine system can access to an external module with the network function and the inertial navigation function to acquire the position data of the landmark specific in the underground parking lot. The longitude and latitude database of the specific landmark of the underground parking lot is established in the mode, the specific landmark closest to the current position of the vehicle owner is extracted from the longitude and latitude database of the specific landmark of the underground parking lot according to the current position of the vehicle owner, the specific landmark closest to the current position of the vehicle owner is used as a reference landmark, and the position data (longitude, latitude and altitude) of the reference landmark is obtained to obtain the position data of the specific landmark. In some specific embodiments, the number of layers where the vehicle is parked is determined by altitude, while the location data may be simplified from three dimensions (longitude, latitude, altitude) to two dimensions (longitude, latitude) in order to calculate the navigation direction and navigation distance of the vehicle.

And thirdly, calculating the relative positions of the vehicle owner and the vehicle and realizing navigation.

Knowing the position data (longitude, latitude and altitude) of the vehicle parking and the position data (longitude, latitude and altitude) of the reference landmark of the underground parking lot, displaying the distance and the direction from the current position to the vehicle position on the user terminal through a user terminal positioning algorithm (detailed below), completing navigation of the relative position, and realizing the vehicle finding function. Specifically, the navigation instruction of the navigation direction and the navigation distance may be calculated in real time in the manner as shown in fig. 2, 4, 5A, 5B, 5C and related calculation methods, so as to obtain the schematic diagram of the vehicle finding according to the navigation instruction as shown in fig. 3. The owner of the vehicle can follow up for the vehicle in real time according to the navigation instruction shown in fig. 3 until reaching the stopping point D of the target vehicle.

The navigation method for searching the vehicle can realize the navigation for searching the vehicle in the underground garage in real time, intuitively and quickly, and has the advantages of extremely low cost, high performance and easy implementation.

Referring to fig. 6, a navigation system for searching for a vehicle according to a second aspect of the present invention includes:

a first obtaining module 600, configured to obtain start and end position data, where the start and end position data includes parking coordinate data of a target vehicle and current position data of a vehicle owner;

the second obtaining module 610 is used for obtaining reference characteristic coordinate data of the characteristic landmarks of the underground parking lot;

the calculation module 620 is used for calculating navigation position data of the current position of the vehicle owner relative to the target vehicle according to the parking coordinate data, the reference characteristic coordinate data and the current position data;

the navigation module 630 is configured to calculate a navigation direction and a navigation distance according to the navigation position data, and provide a recommended navigation instruction according to the navigation direction and the navigation distance.

By executing the navigation method for searching the vehicle in the embodiment of the first aspect of the invention, the navigation system for searching the vehicle can intuitively and quickly realize the navigation for searching the vehicle in the underground garage in real time, and has extremely low cost and easy implementation.

Referring to fig. 7, an embodiment of the third aspect of the present invention further provides a functional module diagram of an electronic device, including: at least one processor 700, and a memory 710 communicatively coupled to the at least one processor 700; the system also comprises a data transmission module 720, a camera 730 and a display screen 740.

The processor 700 is configured to execute the car-finding navigation method in the first embodiment by calling the computer program stored in the memory 710. In some specific embodiments, the electronic equipment can be used for acquiring landmark coordinate data of the underground parking lot features.

The data transmission module 720 is connected to the processor 700, and is configured to implement data interaction between the data transmission module 720 and the processor 700.

The camera 730 may include a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera 730 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The display 740 may be used to display information entered by the user or provided to the user. The Display panel 740 may include a Display panel, and optionally, the Display panel may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like. Further, the touch panel may cover the display panel, and when the touch panel detects a touch operation thereon or nearby, the touch panel transmits the touch operation to the processor 700 to determine the type of the touch event, and then the processor 700 provides a corresponding visual output on the display panel according to the type of the touch event. In some embodiments, the touch panel may be integrated with the display panel to implement input and output functions.

The memory, as a non-transitory storage medium, may be used to store a non-transitory software program and a non-transitory computer executable program, such as the navigation method for vehicle seeking in the embodiment of the first aspect of the present invention. The processor implements the car-finding navigation method in the first embodiment by executing the non-transitory software program and the instructions stored in the memory.

The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store a navigation method for performing the car search in the embodiment of the first aspect. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The non-transitory software program and instructions required to implement the car-finding navigation method in the first aspect embodiment described above are stored in a memory, and when executed by one or more processors, perform the car-finding navigation method in the first aspect embodiment described above.

Embodiments of the fourth aspect of the present invention also provide a computer-readable storage medium storing computer-executable instructions for: the navigation method for vehicle seeking in the embodiment of the first aspect is performed.

In some embodiments, the storage medium stores computer-executable instructions, which are executed by one or more control processors, for example, by one of the processors in the electronic device of the third aspect, and may cause the one or more processors to execute the car-searching navigation method in the first aspect.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

The above described system embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. The navigation method for searching the vehicle is characterized by comprising the following steps:

2. The method of claim 1, further comprising:

acquiring the moving angle, the moving position data and the moving step number of a vehicle owner;

calculating offset position data according to the moving angle and the moving step number, and calculating an offset angle according to the moving position data and the current position data;

calculating an offset direction and an offset distance according to the offset position data, the offset angle and the navigation position data, and providing a referral navigation instruction according to the offset direction and the offset distance.

3. The method according to claim 2, wherein the calculating offset position data from the movement step count and the movement angle includes:

calculating an effective distance according to the moving step number and the moving angle;

and obtaining the offset position data according to the effective distance.

4. The method according to any one of claims 1 to 3, wherein the acquiring parking coordinate data of the target vehicle includes:

acquiring a positioning mode of the target vehicle;

acquiring longitude parameters, latitude parameters and altitude parameters of the target vehicle according to the positioning mode;

and obtaining the parking coordinate data according to the longitude parameter, the latitude parameter and the altitude parameter.

5. The method of claim 4, wherein the positioning mode comprises: a first mode;

the acquiring longitude parameters, latitude parameters and altitude parameters of the target vehicle according to the positioning mode comprises:

and if the positioning mode of the target vehicle is the first mode, performing inertial navigation according to the first mode to obtain the longitude parameter, the latitude parameter and the altitude parameter.

6. The method of claim 4, wherein the positioning mode comprises: a second mode;

if the positioning mode of the target vehicle is the second mode, acquiring a current time point;

acquiring ephemeris data according to the current position data and the current time point;

and extracting the longitude parameter, the latitude parameter and the altitude parameter according to the ephemeris data.

7. The method of claim 4, wherein the positioning mode comprises: a third mode;

if the positioning mode of the target vehicle is the third mode, ephemeris data is obtained;

8. Seek navigation of car, its characterized in that includes:

9. An electronic device, comprising:

at least one processor, and,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions for execution by the at least one processor to cause the at least one processor, when executing the instructions, to implement the vehicle-finding navigation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that the storage medium stores computer-executable instructions for causing a computer to execute the car-finding navigation method according to any one of claims 1 to 7.