CN113947943B - Parking lot vehicle searching method, device, equipment and storage medium - Google Patents
Parking lot vehicle searching method, device, equipment and storage medium Download PDFInfo
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- CN113947943B CN113947943B CN202111202846.XA CN202111202846A CN113947943B CN 113947943 B CN113947943 B CN 113947943B CN 202111202846 A CN202111202846 A CN 202111202846A CN 113947943 B CN113947943 B CN 113947943B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
Abstract
The invention provides a car searching method, a device, equipment and a storage medium for a parking lot, wherein the method is applied to a vehicle terminal, and a first vehicle position number for parking a vehicle is obtained when the vehicle is in a parking and warehousing state; determining a first position according to the first vehicle position number and the high-precision map; when the vehicle is parked, the first vehicle position number and the first position are sent to terminal equipment of a user, so that the terminal equipment detects that the user is seeking the vehicle, the parking position is determined according to the first vehicle position number and the first position, and a vehicle seeking path is determined according to the current position and the parking position of the user; the parking lot is a multi-layer parking lot, and the parking positions comprise parking layers and GPS addresses, so that a user can automatically obtain a first vehicle position number and a first position after parking, the user does not need to actively obtain the parking positions, inconvenience in operation of the user in the vehicle searching process is avoided, and vehicle searching efficiency is improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method, an apparatus, a device, and a storage medium for searching vehicles in a parking lot.
Background
Along with the continuous improvement of the living standard of people, the automobile possession is gradually increased, and correspondingly, the scale of a parking lot is also continuously enlarged so as to meet the parking requirements of users.
When a user is looking for a car, the method generally adopted is as follows: after the user parks, the number of the parked vehicle is photographed in advance, and the position of the vehicle is determined according to the number of the parked vehicle. Meanwhile, the method requires the user to actively shoot the parking space number after getting off, and the user often forgets to shoot, or even though the parking space number is shot, the underground parking garage has the characteristics of large space, more layers and difficult direction resolution, so that the user is inconvenient to operate, and the user still cannot quickly and accurately find the parking position of the vehicle.
Disclosure of Invention
The invention provides a parking lot vehicle searching method, device, equipment and storage medium, which are used for solving the problems of inconvenient operation and low efficiency when a user determines a vehicle parking position.
In a first aspect, the present invention provides a car searching method for a parking lot, which is applied to a vehicle terminal, and the method includes:
when a vehicle is in a parking and warehousing state, a first vehicle position number for parking the vehicle is obtained;
determining a first position according to the first vehicle position number and the high-precision map;
When the vehicle is parked, the first vehicle position number and the first position are sent to terminal equipment of a user, so that the terminal equipment detects that the user is seeking the vehicle, the parking position is determined according to the first vehicle position number and the first position, and a vehicle seeking path is determined according to the current position and the parking position of the user; the parking lot is a multi-layer parking lot, and the parking position comprises a parking layer number and a GPS address.
Optionally, the high-precision map includes a plurality of second bit numbers and corresponding GPS addresses; determining a first position according to the first vehicle position number and the high-precision map, including:
determining a second vehicle position number corresponding to the first vehicle position number in the high-precision map;
and determining the GPS address corresponding to the second vehicle position number as a first position.
Optionally, the acquiring the first vehicle location number of the vehicle parking includes:
starting a shooting function of a vehicle terminal, shooting an image containing a first vehicle position number for parking a vehicle, and determining the first vehicle position number according to the image; or alternatively, the process may be performed,
and sending the first prompt information, starting a voice recording function or a text input box displaying function of the vehicle terminal, receiving voice information or text information sent by a user according to the first prompt information, and determining a first vehicle position number according to the voice information or the text information.
Optionally, the method further comprises:
judging whether the vehicle is in a locked state or not;
if the vehicle is in the locked state, determining that the vehicle is stopped.
Optionally, the sending the first location number and the first position to a terminal device of the user includes:
the wireless communication module of the vehicle is powered by the delay power supply module;
and transmitting the first vehicle position number and the first position to terminal equipment of a user through a wireless communication module.
Optionally, the method further comprises:
acquiring a hand brake state, and determining the position information of the vehicle if the hand brake state is a pull-up state;
and if the position information indicates that the vehicle is in the parking space, determining that the vehicle is completely parked.
Optionally, when the vehicle is in a parking state, acquiring a first vehicle position number of parking the vehicle includes:
acquiring the running speed of the vehicle, and acquiring the running track of the vehicle within a preset duration if the running speed of the vehicle is smaller than a preset speed;
judging whether an intersection point exists between the running track and the boundary of the parking area; the parking area is determined based on a captured image of the surroundings of the vehicle;
if the intersection point exists, the vehicle is determined to be in a parking and warehousing state, and a first vehicle position number for parking the vehicle is obtained.
In a second aspect, the present invention provides a car searching method for a parking lot, applied to a terminal device, the method comprising:
receiving a first vehicle position number and a first position sent by a vehicle; the first vehicle position number and the first position are sent when the vehicle is in a stopped state;
when the user is detected to be in the vehicle searching process, receiving data information of a parking lot sent by road side equipment arranged in the parking lot;
determining a parking position according to the first position, the first vehicle position number and the data information of the parking lot; the parking lot is a multi-layer parking lot, and the parking position comprises a parking layer number and a GPS address;
and acquiring the current position of the user, and determining a vehicle searching path according to the current position of the user, the number of parking layers and the GPS address.
Optionally, determining the parking position according to the first position, the first vehicle position number and the data information of the parking lot includes:
determining a GPS address according to the first position and the data information of the parking lot; the GPS addresses correspond to a plurality of target parking space numbers;
screening the parking space number corresponding to the vehicle from the target parking space numbers according to the first parking space number;
and determining the number of parking layers according to the screened parking space numbers.
Optionally, the data information of the parking lot includes road information within a preset range of the parking lot; the determining the vehicle searching path according to the current position of the user, the layer number of the parking lot and the GPS address comprises the following steps:
determining a parking area of the vehicle according to the number of parking layers, the GPS address and the data information of the parking lot;
determining a parking access corresponding to the parking position according to the parking area;
generating a vehicle searching path in a map according to the current position of the user, the parking access, the GPS address and road information in a preset range of the parking lot; the seek path includes a first path from a current location to the parking access and a second path from the parking access to the GPS address.
Optionally, when detecting that the user is seeking the car, receiving data information of the car park sent by a road side device arranged in the car park, including:
receiving a vehicle searching instruction sent by a user;
receiving data information of a parking lot sent by road side equipment arranged in the parking lot according to the vehicle searching instruction;
the vehicle searching instruction is generated by a user through a button of a preset page of the trigger terminal equipment; or the vehicle searching instruction is voice which is sent by the user and contains preset vehicle searching information.
In a third aspect, the present invention provides a car searching device for a parking lot, applied to a vehicle terminal, the device comprising:
the acquisition module is used for acquiring a first vehicle position number for parking the vehicle when the vehicle is in a parking and warehousing state;
the first position determining module is used for determining a first position according to the first vehicle position number and the high-precision map;
the sending module is used for sending the first vehicle position number and the first position to the terminal equipment of the user when the vehicle is parked, so that the terminal equipment can determine the parking position according to the first vehicle position number and the first position when detecting that the user is seeking, and determine the vehicle seeking path according to the current position and the parking position of the user; the parking lot is a multi-layer parking lot, and the parking position comprises a parking layer number and a GPS address.
In a fourth aspect, the present invention provides a car searching device for a parking lot, applied to a terminal device, the device comprising:
the receiving module is used for receiving a first vehicle position number and a first position sent by the vehicle; the first vehicle position number and the first position are sent when the vehicle is in a stopped state;
the receiving module is also used for receiving data information of the parking lot sent by road side equipment arranged in the parking lot when the user is detected to be in the vehicle searching process;
The parking position determining module is used for determining a parking position according to the first position, the first vehicle position number and the data information of the parking lot; the parking lot is a multi-layer parking lot, and the parking position comprises the number of layers of the parking lot and a GPS address;
and the vehicle searching path determining module is used for acquiring the current position of the user and determining the vehicle searching path according to the current position of the user, the number of layers of the parking lot and the GPS address.
In a fifth aspect, the present application provides an electronic device comprising: at least one processor and memory;
the memory stores computer-executable instructions; and the at least one processor executes the computer-executed instructions stored in the memory, so that the at least one processor executes the parking lot car searching method.
In a sixth aspect, the present application provides a computer readable storage medium, where computer executable instructions are stored, and when a processor executes the computer executable instructions, the above-mentioned parking lot vehicle searching method is implemented.
According to the parking lot vehicle searching method, device, equipment and storage medium, when a vehicle is in a parking and warehousing state, a first vehicle position number for parking the vehicle is obtained; determining a first position according to the first vehicle position number and the high-precision map; when the vehicle is parked, the first vehicle position number and the first position are sent to terminal equipment of a user, so that the terminal equipment detects that the user is seeking the vehicle, the parking position is determined according to the first vehicle position number and the first position, and a vehicle seeking path is determined according to the current position and the parking position of the user; the parking lot is a multi-layer parking lot, the parking positions comprise parking layers and GPS addresses, the first vehicle position number and the first position are automatically obtained after a user parks, the vehicle searching path is obtained according to the first vehicle position number and the first position during vehicle searching, the user does not need to actively obtain the parking positions, inconvenience in operation of the user in the vehicle searching process is avoided, and vehicle searching efficiency is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is an application scenario diagram of a car searching method in a parking lot provided by an embodiment of the present invention;
fig. 2 is a schematic flow chart of a car searching method in a parking lot according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of another method for searching vehicles in a parking lot according to an embodiment of the present invention;
fig. 4 is a flow chart of another car searching method in a parking lot according to an embodiment of the present invention;
FIG. 5 is a schematic view of parking area division according to an embodiment of the present invention;
fig. 6 is an interface diagram of a terminal device for generating a vehicle-searching path according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a car searching device in a parking lot according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of another car searching device in a parking lot according to an embodiment of the present invention;
fig. 9 is a schematic hardware structure of an electronic device according to an embodiment of the present invention.
Specific embodiments of the present invention have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention.
Fig. 1 is an application scenario diagram of a car searching method in a parking lot, where, as shown in fig. 1, after a user drives a car to a destination, the user needs to park the car in a certain idle parking space in the parking lot, and when the user needs to leave, the user needs to find the car, i.e. find a parking position of the parked car. For example, if the vehicle of the user is A1, the user needs to find a parking position corresponding to the vehicle A1 when the user is outside the parking lot.
Among them, in prior art, when the user is in need of seeking the parking stall, often the user uses to shoot or record the parking stall number when parking the vehicle, however, can exist the user forget to shoot or record the parking stall number, leads to unable quick and accurate finding the parking position. In addition, even if a user can determine the parking position, the parking space is large, the direction is not easy to distinguish, and the parking position cannot be found quickly and accurately under the condition that the parking position is known.
In addition, some users can activate the turn signal lamp of the vehicle to flash by pressing the remote key or the car searching key, or activate the horn of the vehicle to sound, so that the users can determine the parking position according to the flash or the sound of the horn, however, the method can be realized only when the users are close to the vehicle, and the method can not determine the parking position when the users are far away from the vehicle or the signals in the underground parking lot are poor, and the parking lot is multi-layer.
Based on the above problems, the invention provides a car searching method for a parking lot, when a car is parked, a car terminal automatically acquires a first car position number and determines a first position, and before a user leaves a parking space, the determined information is sent to terminal equipment of the user, when the user is in a car searching state, the parking position can be accurately determined based on the information, the parking position contains the number of parking layers, and then a car searching path can be determined, so that the user can find the car according to the car searching path, and the car searching method has the advantages of simplicity in operation and high car searching efficiency.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 2 is a flow chart of a car searching method in a parking lot according to an embodiment of the present invention, where the method in the embodiment may be executed by a vehicle terminal. As shown in fig. 2, the method of the present embodiment may include:
step S201, when the vehicle is in a parking and warehousing state, a first vehicle position number for parking the vehicle is acquired.
In this step, the vehicle-end device may actively acquire the first vehicle position number at which the vehicle is parked, when the vehicle is parked. Wherein, when the vehicle is in a parking and warehousing state, the vehicle can be indicated to be parked. The specific determination of the state of the vehicle in parking can be detected in various ways. Specifically, the determination may be made by determining the running speed, the running track, and the parking area of the vehicle, based on the vehicle opening the reverse image and the parking area being present in the reverse image.
When the first vehicle position number is acquired, the vehicle position number can be directly acquired through the vehicle end equipment, or indication information can be sent, and information containing the first vehicle position number is received.
And step S202, determining a first position according to the first vehicle position number and the high-precision map.
After the first vehicle position number is acquired, a first position corresponding to the first vehicle position number may be determined. The vehicle is provided with a high-precision map, and the high-precision map contains data information of a parking lot, such as road information, parking space information and corresponding positions of each parking space in the parking lot. Thus, the first location corresponding to the first location number may be determined based on the query for the high-precision map.
Step S203, when the vehicle is parked, the first vehicle position number and the first position are sent to the terminal equipment of the user, so that the terminal equipment detects that the user is seeking the vehicle, the parking position is determined according to the first vehicle position number and the first position, and the vehicle seeking path is determined according to the current position and the parking position of the user; the parking lot is a multi-layer parking lot, and the parking position comprises a parking layer number and a GPS address.
After the first vehicle position number and the first position are determined, when the vehicle state meets the preset condition, the first vehicle position number and the first position can be sent to the terminal equipment of the user, and the terminal equipment of the vehicle can mark the first vehicle position number and the first position as the parking position.
The vehicle state meeting the preset condition means that the vehicle is parked, the parking position corresponding to the vehicle can be determined after the parking is completed, and the information can be sent to the terminal equipment of the user. If the user changes the parking position after parking, the parking position number and the corresponding position can be sent to the terminal equipment of the user each time, and the terminal equipment of the user can determine the parking position of the vehicle according to the last received parking position number and the corresponding position.
Considering that the parking lot is a multi-layer parking lot, the parking positions may be accurately located only according to the first position, for example, a plurality of parking spaces with the same longitude and latitude in different parking layers, and the first position number and the first position need to be acquired. Specifically, when the user terminal receives the first vehicle position number and the first position, the parking position can be determined, and the parking position is a position containing the number of parking layers and the GPS address, so that the vehicle searching path between the current position of the user and the parking position can be determined.
In the embodiment of the vehicle searching method of the parking lot, when a vehicle is in a parking and warehousing state, a first vehicle position number for parking the vehicle is obtained; determining a first position according to the first vehicle position number and the high-precision map; when the vehicle is parked, the first vehicle position number and the first position are sent to the terminal equipment of the user, so that the terminal equipment detects that the user is seeking the vehicle, the parking position is determined according to the first vehicle position number and the first position, and the vehicle seeking path is determined according to the current position and the parking position of the user.
A specific parking lot vehicle searching method is provided below, and each of steps S201 to S203 will be described in detail based on the above embodiments.
Fig. 3 is a flow chart of another vehicle searching method in a parking lot according to an embodiment of the present invention, as shown in fig. 3, the method in this embodiment may include:
step 301, acquiring a running speed of the vehicle, and if the running speed of the vehicle is less than a preset speed, acquiring a running track of the vehicle within a preset duration.
When the vehicle is in parking, the running speed of the vehicle is often smaller than the normal running speed of the vehicle, and therefore, when the running speed of the vehicle is detected to be smaller than the preset speed, the running track of the vehicle in the preset time period can be used for determining.
Step S302, judging whether an intersection point exists between the running track and the boundary of the parking area; the parking area is determined based on the captured image of the surroundings of the vehicle.
The travel track of the vehicle may be determined based on position information of the vehicle within a preset time period. After determining the travel track, it may be determined whether there is an intersection of the travel track with the boundary of the parking area.
Step S303, if the intersection point exists, determining that the vehicle is in a parking and warehousing state.
If the running track of the vehicle and the boundary of the parking area have crossing points, the vehicle is parked and put in storage. The boundaries of the parking area are a plurality of straight lines constituting the parking space.
In addition, another judging mode is that when the vehicle parks in a reversing mode, the vehicle starts a reversing image, and if the reversing image is identified to have a parking area, the vehicle can be determined to be in a parking and warehousing state.
After determining that the vehicle is in the park-in state, a first vehicle position number at which the vehicle is parked may be acquired. The process of acquiring the first location number may be acquired through step S304 or step S305.
Step S304, starting a shooting function of the vehicle terminal, shooting an image containing a first vehicle position number of the vehicle parking, and determining the first vehicle position number according to the image.
In this step, the shooting function of the vehicle terminal may be started to obtain an image including the parking space number, and the first parking space number corresponding to the vehicle may be determined by identifying the image. Alternatively, an imaging device may be further provided in the vehicle, and the vehicle terminal controls the imaging device to acquire an image including the parking space number, wherein the imaging device may be provided in a head area or a tail area of the vehicle.
Step S305, the first prompt information is sent, a voice recording function or a text input box displaying function of the vehicle terminal is started, voice information or text information sent by a user according to the first prompt information is received, and a first vehicle position number is determined according to the voice information or the text information.
In addition, besides the first vehicle position number obtained by taking the picture, the first prompt information can be sent, the first prompt information prompts the user to input the first vehicle position number, and meanwhile, the voice recording function or the text input box display function of the vehicle terminal needs to be started, so that the user can send the first vehicle position number to the vehicle terminal in a voice or text input mode after observing the first vehicle position number.
Through the various modes, the vehicle terminal can acquire the first vehicle position number, and different implementation modes can be adopted according to the requirements of users.
After the first location number is acquired, the first location may be determined through steps S306 and S307.
Step S306, determining a second vehicle position number corresponding to the first vehicle position number in the high-precision map.
The high-precision map comprises a plurality of second vehicle position numbers and corresponding GPS addresses. After the first vehicle position number is acquired, a second vehicle position number can be determined from the high-precision map, wherein the second vehicle position number is identical to the first vehicle position number.
Step S307, determining the GPS address corresponding to the second bit number as the first location.
In addition, the high-precision map further includes a GPS address corresponding to each second bit number, so that after determining the second bit number, the corresponding GPS address needs to be determined. The GPS address is an address containing latitude and longitude information.
By the method, the first position corresponding to the first vehicle position number can be accurately determined.
And step 308, when the vehicle is parked, the first vehicle position number and the first position are sent to the terminal equipment of the user, so that the terminal equipment detects that the user is seeking the vehicle, determines the parking position according to the first vehicle position number and the first position, and determines the vehicle seeking path according to the current position and the parking position of the user.
In this step, it is necessary to determine whether the vehicle is completely parked. Two specific implementations of determining whether a vehicle is parked are provided below.
Optionally, the method further comprises: judging whether the vehicle is in a locked state or not; if the vehicle is in the locked state, determining that the vehicle is stopped.
In this step, it can be determined by judging whether the vehicle is in the locked state, because the user will get off and lock the vehicle only when the vehicle is stopped. When judging whether the vehicle is in a locked state, whether the vehicle locking instruction sent by the user is received or not can be judged. Alternatively, a door state may be obtained, and if the door is in a locked state, this indicates that the vehicle is in a locked state.
Correspondingly, the terminal device for sending the first vehicle position number and the first position to the user comprises:
the wireless communication module of the vehicle is powered by the delay power supply module; and transmitting the first vehicle position number and the first position to terminal equipment of a user through a wireless communication module.
In this step, since the vehicle is in the locked state, the vehicle terminal can be in the powered-down state under normal conditions. However, in order to complete the transmission of the first vehicle location number and the first location to the terminal device of the user, it is necessary to provide a delay power supply module in the vehicle, continue power supply to the wireless communication module through the delay power supply module, and transmit the first vehicle location number and the first location to the terminal device of the user through the wireless communication module. Specifically, the delay power supply module can be controlled to be in a power supply state within a preset time after the vehicle is in a locked state, so that the wireless communication module is in a usable state. The wireless communication module may be a wireless communication module based on a vehicle network technology, such as a 4G module, a 5G module, a WIFI module, a bluetooth module, and the like.
Optionally, the method further comprises:
Acquiring a hand brake state, and determining the position information of the vehicle if the hand brake state is a pull-up state; and if the position information indicates that the vehicle is in the parking space, determining that the vehicle is completely parked.
In this step, in addition to detecting that the vehicle is in the locked state, the hand brake state may be detected, and when the vehicle is temporarily stopped or parked for a long time, in order to avoid the vehicle from slipping, the hand brake needs to be pulled up. However, it is impossible to determine that the vehicle is completely parked in the parking space by merely determining that the hand brake state is the pulled-up state, and therefore, it is also necessary to acquire position information of the vehicle, and if the vehicle is in the parking space, it indicates that the vehicle is completely parked. When determining the position information of the vehicle, the vehicle terminal can be controlled to have an imaging function by controlling an imaging device arranged in the vehicle, or the vehicle terminal can be used for acquiring an image in a preset range of the position of the vehicle, judging whether the vehicle is in a parking space according to the image, and if a parking area is detected, determining that the vehicle is in the parking space.
By the two methods, whether the vehicle is stopped or not can be determined. The first detection mode has the advantage of simple detection, but the delay power supply module is required to supply power for the wireless communication module; the second detection mode can determine that the vehicle is stopped before the vehicle is locked, a time delay power supply module is not required to be arranged in the vehicle, and the first vehicle position number and the first position can be sent before the vehicle is locked.
Fig. 4 is a flow chart of another parking lot vehicle searching method according to an embodiment of the present invention, where the method of the present embodiment may be executed by a terminal device. As shown in fig. 4, the method of the present embodiment may include:
step S401, receiving a first vehicle position number and a first position sent by a vehicle; the first vehicle position number and the first position are sent when the vehicle is in a stopped state.
In this step, the terminal device may receive a first vehicle location number and a first position transmitted from the vehicle, where the first vehicle location number and the first position are transmitted after the vehicle is stopped. The terminal device receives the first vehicle position number and the first position through the wireless communication module, and the wireless communication module can also be a 4G module, a 5G module, a WIFI module, a Bluetooth module and the like.
Step S402, when the user is detected to be in the vehicle searching process, receiving data information of a parking lot sent by road side equipment arranged in the parking lot.
When the user is detected to be in the vehicle searching process, the data information of the parking lot, which is sent by the road side equipment in the parking lot, can be received. Specifically, when it is detected that the user is seeking, the terminal device may send request information for obtaining data information to the road side device, and after receiving the request information, the road side device may send the data information of the parking lot to the terminal device.
The road side equipment is equipment arranged in different areas of the parking lot, and comprises map information of the parking lot, such as parking space distribution conditions, positions corresponding to the parking spaces, entrances and exits of the parking lot, road information and the like.
Step S403, determining a parking position according to the first position, the first vehicle position number and the data information of the parking lot; the parking lot is a multi-layer parking lot, and the parking position comprises a parking layer number and a GPS address.
After the first position, the first vehicle position number, and the data information of the parking lot are acquired, the parking position may be determined based on the above information. The parking lot is a multi-layer parking lot, and the parking position cannot be accurately determined according to the acquired first position, and the parking position corresponding to the first position and the first vehicle position number needs to be determined based on the data information of the parking lot. The final determined parking position can be accurate to the number of parking floors and the GPS address.
And step S404, acquiring the current position of the user, and determining a vehicle searching path according to the current position of the user, the number of parking layers and the GPS address.
After all the information is acquired, a vehicle searching path can be determined, and after the vehicle searching path is determined, a user can be guided to determine the vehicle position according to the vehicle searching path.
In the embodiment of the parking lot vehicle searching method provided by the invention, a first vehicle position number and a first position sent by a vehicle are received, wherein the first vehicle position number and the first position are sent when the vehicle is in a parking finished state; when the user is detected to be in the vehicle searching process, receiving data information of a parking lot sent by road side equipment arranged in the parking lot, and determining a parking position according to the first position, the first vehicle position number and the data information of the parking lot; the parking lot is a multi-layer parking lot, the parking positions comprise parking layers and GPS addresses, the current positions of users are taken, the vehicle searching paths are determined according to the current positions of the users, the parking layers and the GPS addresses, the parking positions can be determined by the users based on terminal equipment by acquiring the first vehicle position numbers and the first positions sent by the vehicle end equipment, the vehicle searching paths can be generated, and the vehicle searching device has the advantage of being high in vehicle searching efficiency.
The following describes in detail the determination of the parking position and the determination of the vehicle-finding path based on the above-described embodiments.
Optionally, determining the parking position according to the first position, the first vehicle position number and the data information of the parking lot includes:
determining a GPS address according to the first position and the data information of the parking lot; the GPS addresses correspond to a plurality of target parking space numbers; screening the parking space number corresponding to the vehicle from the target parking space numbers according to the first parking space number; and determining the number of parking layers according to the screened parking space numbers.
Wherein the data information of the parking lot includes position information, and after the first position is acquired, a GPS address corresponding to the first position may be determined based on the data information of the parking lot. If the first position is longitude and latitude information, a GPS address corresponding to the longitude and latitude information can be determined on a map according to the data information of the parking lot. Whereas for a multi-level parking lot, one GPS address corresponds to a plurality of target parking space numbers, for example, three levels of parking space, one GPS address may correspond to three target parking space numbers of 11023 of the first level, 21023 of the second level, and 31023 of the third level. After determining a plurality of target parking space numbers, a first parking space number can be selected from the target parking space numbers, and if the first parking space number is 11023, the selected parking space number is 11023. The corresponding parking layer number can be determined according to the screened parking position number.
Based on the method, the parking position comprising the GPS address and the parking level can be accurately determined.
Optionally, the data information of the parking lot includes road information within a preset range of the parking lot; the determining the vehicle searching path according to the current position of the user, the layer number of the parking lot and the GPS address comprises the following steps:
determining a parking area of the vehicle according to the number of parking layers, the GPS address and the data information of the parking lot; determining a parking access corresponding to the parking position according to the parking area; generating a vehicle searching path in a map according to the current position of the user, the parking access, the GPS address and road information in a preset range of the parking lot; the seek path includes a first path from a current location to the parking access and a second path from the parking access to the GPS address.
In this case, the parking area of the vehicle can be determined first when determining the vehicle-finding path. The spatial range to which the parking area of the vehicle belongs may be first determined, for example, the spatial area in which the parking area of the vehicle is located is determined according to the number of parking floors, and when the number of parking floors is the first floor, the parking area is determined from the spatial range of the first floor. In practice, the spatial range of the first layer may be divided into a plurality of parking areas, and fig. 5 is a schematic diagram of parking area division according to an embodiment of the present invention. As shown in fig. 5, the space range of the first floor is divided into four areas, namely a parking area a, a parking area B, a parking area C and a parking area D, where each area corresponds to a plurality of parking spaces with GPS address space numbers. Thus, the parking area may be determined based on the GPS address. The GPS address corresponding to the parking area a is an address range consisting of four GPS addresses. Comparing the GPS address with four GPS addresses for each parking area, the parking area corresponding to the GPS address can be determined.
The parking access opening corresponding to the parking area may be determined according to the parking area, and the parking access opening may be the nearest parking access opening to the parking area.
When the vehicle searching path is generated, a first path between the current position of the user and the position of the parking entrance can be generated according to the current position of the user and the position of the parking entrance, further, a second path from the parking entrance to the GPS address can be generated, and the generation process of the path can be determined based on road information in a preset range of the parking lot.
By the method, the parking access can be determined based on the parking area of the vehicle, so that a vehicle searching path with a short distance can be conveniently searched.
Fig. 6 is an interface diagram of a terminal device for generating a vehicle-searching path according to an embodiment of the present invention. As shown in fig. 6, after the vehicle searching path is generated, the vehicle searching path is displayed on an interface of the terminal device, and the user can find the parking position according to the vehicle searching path.
In the process of generating the vehicle searching path, the parking area of the vehicle is determined, the information of the parking entrance can be determined, and the vehicle searching path can be determined more quickly based on the information of the parking entrance.
The process of determining whether the user is seeking a car will be described.
Optionally, when detecting that the user is seeking the car, receiving data information of the car park sent by a road side device arranged in the car park, including:
receiving a vehicle searching instruction sent by a user; receiving data information of a parking lot sent by road side equipment arranged in the parking lot according to the vehicle searching instruction; the vehicle searching instruction is generated by a user through a button of a preset page of the trigger terminal equipment; or the vehicle searching instruction is voice which is sent by the user and contains preset vehicle searching information.
The method comprises the steps that when whether a user searches for a car or not is detected, whether the car searching instruction of the user is received or not can be determined, wherein the car searching instruction can be obtained by triggering a button arranged on a terminal device for the user, voice information of the user can be collected for the terminal device, when the preset car searching information is determined to be contained based on analysis of the voice information, the voice information is the car searching instruction, and if the information such as 'I want to go home' or 'I want to search for a car' is collected, the car searching instruction sent by the user is received.
In the embodiment of the method for searching the vehicles in the parking lot, the first vehicle position number and the first position are received, the data information of the parking lot is received, the parking position is determined, the vehicle searching path is further determined based on the current position and the parking position, the vehicle searching path when a plurality of layers of parking spaces exist can be accurately determined only by means of the terminal equipment, the operation of a user is simple and convenient, and the vehicle searching path can be rapidly determined; in addition, the number of parking layers of the vehicle can be determined through the first position and the first vehicle position number, and when the vehicle searching path is determined, a parking entrance can be determined based on the parking area of the vehicle, so that the vehicle searching path with a shorter distance can be conveniently found.
Fig. 7 is a schematic structural diagram of a car searching device in a parking lot, which is provided in an embodiment of the present invention, the device is applied to a vehicle terminal, as shown in fig. 7, and the car searching device 70 in a parking lot includes:
an obtaining module 701, configured to obtain a first vehicle location number of a vehicle when the vehicle is in a parking state;
a first position determining module 702, configured to determine a first position according to the first vehicle position number and a high-precision map;
a sending module 703, configured to send the first location number and the first location to a terminal device of a user when the vehicle is parked, so that the terminal device detects that the user determines a parking location according to the first location number and the first location when seeking, and determines a seeking path according to a current location of the user and the parking location; the parking lot is a multi-layer parking lot, and the parking position comprises a parking layer number and a GPS address.
Optionally, the high-precision map includes a plurality of second bit numbers and corresponding GPS addresses; the first location determining module 702 is specifically configured to:
determining a second vehicle position number corresponding to the first vehicle position number in the high-precision map;
and determining the GPS address corresponding to the second vehicle position number as a first position.
Optionally, the acquiring module 701 is specifically configured to, when acquiring the first vehicle position number of the vehicle parking:
starting a shooting function of a vehicle terminal, shooting an image containing a first vehicle position number for parking a vehicle, and determining the first vehicle position number according to the image; or alternatively, the process may be performed,
and sending the first prompt information, starting a voice recording function or a text input box displaying function of the vehicle terminal, receiving voice information or text information sent by a user according to the first prompt information, and determining a first vehicle position number according to the voice information or the text information.
Optionally, the apparatus further comprises a detection module for: judging whether the vehicle is in a locked state or not; if the vehicle is in the locked state, determining that the vehicle is stopped.
Optionally, the sending module 703 is specifically configured to: the wireless communication module of the vehicle is powered by the delay power supply module; and transmitting the first vehicle position number and the first position to terminal equipment of a user through a wireless communication module.
Optionally, the detection module is further configured to:
acquiring a hand brake state, and determining the position information of the vehicle if the hand brake state is a pull-up state; and if the position information indicates that the vehicle is in the parking space, determining that the vehicle is completely parked.
Optionally, the obtaining module 701 is further configured to:
acquiring the running speed of the vehicle, and acquiring the running track of the vehicle within a preset duration if the running speed of the vehicle is smaller than a preset speed;
judging whether an intersection point exists between the running track and the boundary of the parking area; the parking area is determined based on a captured image of the surroundings of the vehicle;
if the intersection point exists, the vehicle is determined to be in a parking and warehousing state, and a first vehicle position number for parking the vehicle is obtained.
The parking lot vehicle searching device provided by the embodiment of the invention can realize the parking lot vehicle searching method of the embodiment shown in fig. 2 and 3, and the implementation principle and the technical effect are similar, and are not repeated here.
Fig. 8 is a schematic structural diagram of another car searching device in a parking lot provided in an embodiment of the present invention, where the device is applied to a terminal device, as shown in fig. 8, and the car searching device 80 in a parking lot includes:
a receiving module 801, configured to receive a first vehicle location number and a first position sent by a vehicle; the first vehicle position number and the first position are sent when the vehicle is in a stopped state;
the receiving module 801 is further configured to receive data information of a parking lot sent by a road side device disposed in the parking lot when detecting that a user is seeking a car;
A parking position determining module 802, configured to determine a parking position according to the first position, the first vehicle position number, and data information of the parking lot; the parking lot is a multi-layer parking lot, and the parking position comprises the number of layers of the parking lot and a GPS address;
the vehicle-seeking path determining module 803 is configured to obtain a current location of the user, and determine a vehicle-seeking path according to the current location of the user, the number of layers of the parking lot, and the GPS address.
Optionally, the parking position determining module 802 is specifically configured to:
determining a GPS address according to the first position and the data information of the parking lot; the GPS addresses correspond to a plurality of target parking space numbers;
screening the parking space number corresponding to the vehicle from the target parking space numbers according to the first parking space number;
and determining the number of parking layers according to the screened parking space numbers.
Optionally, the vehicle-seeking path determining module 803 is specifically configured to: determining a parking area of the vehicle according to the number of parking layers, the GPS address and the data information of the parking lot; determining a parking access corresponding to the parking position according to the parking area; generating a vehicle searching path in a map according to the current position of the user, the parking access, the GPS address and road information in a preset range of the parking lot; the seek path includes a first path from a current location to the parking access and a second path from the parking access to the GPS address.
Optionally, when the receiving module 801 detects that the user is seeking, the receiving module is specifically configured to:
receiving a vehicle searching instruction sent by a user; receiving data information of a parking lot sent by road side equipment arranged in the parking lot according to the vehicle searching instruction; the vehicle searching instruction is generated by a user through a button of a preset page of the trigger terminal equipment; or the vehicle searching instruction is voice which is sent by the user and contains preset vehicle searching information.
The parking lot vehicle searching device provided by the embodiment of the invention can realize the parking lot vehicle searching method of the embodiment shown in fig. 4 to 6, and the implementation principle and the technical effect are similar, and are not repeated here.
Fig. 9 is a schematic hardware structure of an electronic device according to an embodiment of the present invention. As shown in fig. 9, the electronic device provided in this embodiment includes: at least one processor 901 and a memory 902. The processor 901 and the memory 902 are connected by a bus 903.
In a specific implementation process, at least one processor 901 executes computer-executable instructions stored in the memory 902, so that the at least one processor 901 executes the parking lot vehicle searching method in the above method embodiment.
The specific implementation process of the processor 901 may refer to the above-mentioned method embodiment, and its implementation principle and technical effects are similar, and this embodiment will not be described herein again.
In the embodiment shown in fig. 9, it should be understood that the processor may be a central processing unit (english: central Processing Unit, abbreviated as CPU), or may be other general purpose processors, digital signal processors (english: digital Signal Processor, abbreviated as DSP), application specific integrated circuits (english: application Specific Integrated Circuit, abbreviated as ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
The memory may comprise high speed RAM memory or may further comprise non-volatile storage NVM, such as at least one disk memory.
The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or to one type of bus.
The embodiment of the invention also provides a computer readable storage medium, wherein computer execution instructions are stored in the computer readable storage medium, and when a processor executes the computer execution instructions, the parking lot car searching method of the method embodiment is realized.
The computer readable storage medium described above may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. A readable storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. In the alternative, the readable storage medium may be integral to the processor. The processor and the readable storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC for short). The processor and the readable storage medium may reside as discrete components in a device.
The embodiment of the application also provides a computer program product, which comprises a computer program, and the computer program realizes the parking lot vehicle searching method of the method embodiment when being executed by a processor.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (11)
1. A car searching method for a parking lot, which is applied to a vehicle terminal, the method comprising:
acquiring the running speed of the vehicle, and acquiring the running track of the vehicle within a preset duration if the running speed of the vehicle is smaller than a preset speed;
judging whether an intersection point exists between the running track and the boundary of the parking area; the parking area is determined based on a captured image of the surroundings of the vehicle;
if the intersection point exists, determining that the vehicle is in a parking and warehousing state, starting a shooting function of a vehicle terminal, shooting an image containing a first vehicle position number for parking the vehicle, and determining the first vehicle position number according to the image;
determining a first position according to the first vehicle position number and the high-precision map;
when the vehicle is parked, the first vehicle position number and the first position are sent to terminal equipment of a user, so that the terminal equipment detects that the user is seeking the vehicle, GPS addresses corresponding to a plurality of target vehicle position numbers are determined according to the first position and the data information of a parking lot, the vehicle position numbers corresponding to the vehicle are screened out from the plurality of target vehicle position numbers according to the first vehicle position number, the number of parking layers is determined according to the screened vehicle position numbers, and the parking area of the vehicle is determined according to the number of parking layers, the GPS addresses and the data information of the parking lot; determining a parking access corresponding to the parking position according to the parking area; generating a vehicle searching path in a map according to the current position of the user, the parking access, the GPS address and road information in a preset range of the parking lot; the vehicle-seeking path includes a first path from a current location to the parking access and a second path from the parking access to the GPS address; the parking lot is a multi-layer parking lot, and the data information of the parking lot comprises road information in a preset range of the parking lot.
2. The method of claim 1, wherein the high-precision map includes a plurality of second bit numbers and corresponding GPS addresses; determining a first position according to the first vehicle position number and the high-precision map, including:
determining a second vehicle position number corresponding to the first vehicle position number in the high-precision map;
and determining the GPS address corresponding to the second vehicle position number as a first position.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
judging whether the vehicle is in a locked state or not;
if the vehicle is in the locked state, determining that the vehicle is stopped.
4. A method according to claim 3, characterized in that transmitting the first location number and the first position to a terminal device of a user comprises:
the wireless communication module of the vehicle is powered by the delay power supply module;
and transmitting the first vehicle position number and the first position to terminal equipment of a user through a wireless communication module.
5. The method according to claim 1 or 2, characterized in that the method further comprises:
acquiring a hand brake state, and determining the position information of the vehicle if the hand brake state is a pull-up state;
And if the position information indicates that the vehicle is in the parking space, determining that the vehicle is completely parked.
6. A car searching method for a parking lot, which is applied to a terminal device, the method comprising:
receiving a first vehicle position number and a first position sent by a vehicle; the first vehicle position number and the first position are sent when the vehicle is in a stopped state; the first vehicle position number is obtained by starting a shooting function of the vehicle terminal when the vehicle terminal of the vehicle is in a parking and warehousing state, and shooting an image containing the first vehicle position number for parking the vehicle;
when the user is detected to be in the vehicle searching process, receiving data information of a parking lot sent by road side equipment arranged in the parking lot; determining a parking position according to the first position, the first vehicle position number and the data information of the parking lot; the parking lot is a multi-layer parking lot, and the parking position comprises a parking layer number and a GPS address;
acquiring the current position of a user, and determining a vehicle searching path according to the current position of the user, the number of parking layers and the GPS address;
determining a parking position according to the first position, the first vehicle position number and the data information of the parking lot, wherein the method comprises the following steps:
determining a GPS address according to the first position and the data information of the parking lot; the GPS addresses correspond to a plurality of target parking space numbers;
Screening the parking space number corresponding to the vehicle from the target parking space numbers according to the first parking space number;
determining the number of parking layers according to the screened parking space numbers;
the data information of the parking lot comprises road information in a preset range of the parking lot; the determining the vehicle searching path according to the current position of the user, the layer number of the parking lot and the GPS address comprises the following steps:
determining a parking area of the vehicle according to the number of parking layers, the GPS address and the data information of the parking lot;
determining a parking access corresponding to the parking position according to the parking area;
generating a vehicle searching path in a map according to the current position of the user, the parking access, the GPS address and road information in a preset range of the parking lot; the seek path includes a first path from a current location to the parking access and a second path from the parking access to the GPS address.
7. The method of claim 6, wherein receiving the data information of the parking lot transmitted by the roadside apparatus provided in the parking lot when the user is detected to be seeking, comprises:
receiving a vehicle searching instruction sent by a user;
receiving data information of a parking lot sent by road side equipment arranged in the parking lot according to the vehicle searching instruction;
The vehicle searching instruction is generated by a user through a button of a preset page of the trigger terminal equipment; or the vehicle searching instruction is voice which is sent by the user and contains preset vehicle searching information.
8. A car-seeking device for a parking lot, which is applied to a vehicle terminal, the device comprising:
the acquisition module is used for acquiring the running speed of the vehicle, and acquiring the running track of the vehicle within a preset duration if the running speed of the vehicle is smaller than a preset speed; judging whether an intersection point exists between the running track and the boundary of the parking area; the parking area is determined based on a captured image of the surroundings of the vehicle; if the intersection point exists, determining that the vehicle is in a parking and warehousing state, starting a shooting function of a vehicle terminal, shooting an image containing a first vehicle position number for parking the vehicle, and determining the first vehicle position number according to the image;
the first position determining module is used for determining a first position according to the first vehicle position number and the high-precision map;
the sending module is used for sending the first vehicle position number and the first position to terminal equipment of a user when the vehicle is parked, so that the terminal equipment can determine GPS addresses corresponding to a plurality of target vehicle position numbers according to the first position and the data information of a parking lot when the user is detected to find a vehicle, screen the vehicle position numbers corresponding to the vehicle from the plurality of target vehicle position numbers according to the first vehicle position number, determine the number of parking layers according to the screened vehicle position numbers, and determine the parking area of the vehicle according to the number of parking layers, the GPS addresses and the data information of the parking lot; determining a parking access corresponding to the parking position according to the parking area; generating a vehicle searching path in a map according to the current position of the user, the parking access, the GPS address and road information in a preset range of the parking lot; the vehicle-seeking path includes a first path from a current location to the parking access and a second path from the parking access to the GPS address; the parking lot is a multi-layer parking lot, and the data information of the parking lot comprises road information in a preset range of the parking lot.
9. A car-seeking device for a parking lot, applied to a terminal apparatus, the device comprising:
the receiving module is used for receiving a first vehicle position number and a first position sent by the vehicle; the first vehicle position number and the first position are sent when the vehicle is in a stopped state; the first vehicle position number is obtained by starting a shooting function of the vehicle terminal when the vehicle terminal of the vehicle is in a parking and warehousing state, and shooting an image containing the first vehicle position number for parking the vehicle;
the receiving module is also used for receiving data information of the parking lot sent by road side equipment arranged in the parking lot when the user is detected to be in the vehicle searching process;
the parking position determining module is used for determining a parking position according to the first position, the first vehicle position number and the data information of the parking lot; the parking lot is a multi-layer parking lot, and the parking position comprises the number of layers of the parking lot and a GPS address;
the vehicle searching path determining module is used for acquiring the current position of the user and determining a vehicle searching path according to the current position of the user, the number of layers of the parking lot and the GPS address;
the parking position determining module is specifically used for determining a GPS address according to the first position and the data information of the parking lot; the GPS addresses correspond to a plurality of target parking space numbers;
Screening the parking space number corresponding to the vehicle from the target parking space numbers according to the first parking space number;
determining the number of parking layers according to the screened parking space numbers;
the data information of the parking lot comprises road information in a preset range of the parking lot; the vehicle searching path determining module is specifically used for determining a parking area of a vehicle according to the number of parking layers, the GPS address and data information of a parking lot; determining a parking access corresponding to the parking position according to the parking area; generating a vehicle searching path in a map according to the current position of the user, the parking access, the GPS address and road information in a preset range of the parking lot; the seek path includes a first path from a current location to the parking access and a second path from the parking access to the GPS address.
10. An electronic device, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing computer-executable instructions stored in the memory, causing the at least one processor to perform the parking lot vehicle locating method of any one of claims 1-5 or 6-7.
11. A computer readable storage medium having stored therein computer executable instructions which, when executed by a processor, implement the car park locating method of any one of claims 1-7.
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| CN114554391A (en) * | 2022-02-18 | 2022-05-27 | 北京百度网讯科技有限公司 | Parking lot vehicle searching method, device, equipment and storage medium |
| CN114582160A (en) * | 2022-02-25 | 2022-06-03 | 阿里巴巴（中国）有限公司 | Vehicle searching method, device, equipment, storage medium and program for parking lot |
| CN114708749A (en) * | 2022-03-17 | 2022-07-05 | 重庆长安汽车股份有限公司 | Parking space memory reminding method and related device |
| CN115273518A (en) * | 2022-06-20 | 2022-11-01 | 重庆长安汽车股份有限公司 | Vehicle searching and guiding method and device for vehicle in parking lot |
| CN117373276A (en) * | 2022-07-01 | 2024-01-09 | 华为技术有限公司 | Parking interaction method, device and system |
| CN115171073A (en) * | 2022-07-01 | 2022-10-11 | 华为技术有限公司 | Vehicle searching method and device and electronic equipment |
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| CN106652533A (en) * | 2016-11-22 | 2017-05-10 | 浙江宇视科技有限公司 | Reverse vehicle search method and apparatus thereof |
| CN106846876A (en) * | 2017-03-14 | 2017-06-13 | 广东数相智能科技有限公司 | A kind of car searching method based on video identification and Quick Response Code, system and device |
| WO2019095234A1 (en) * | 2017-11-16 | 2019-05-23 | 深圳市小猫信息技术有限公司 | Reverse car finding method, device, computer device and computer readable storage medium |
| CN108510786A (en) * | 2018-04-18 | 2018-09-07 | 西安艾润物联网技术服务有限责任公司 | Parking lot car searching method, apparatus and computer readable storage medium |
| CN109035859A (en) * | 2018-09-07 | 2018-12-18 | 北京车联天下信息技术有限公司 | A kind of parking position localization method and device |
| CN111951602A (en) * | 2020-08-06 | 2020-11-17 | 广东飞翔云计算有限公司 | Parking lot vehicle searching method and device, electronic equipment and storage medium |
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