CN114202956A

CN114202956A - Vehicle taking method, vehicle-mounted terminal, user terminal and electronic equipment

Info

Publication number: CN114202956A
Application number: CN202210092325.1A
Authority: CN
Inventors: 刘均; 钟利华
Original assignee: Shenzhen Launch Technology Co Ltd
Current assignee: Shenzhen Launch Technology Co Ltd
Priority date: 2022-01-26
Filing date: 2022-01-26
Publication date: 2022-03-18

Abstract

The application discloses a vehicle taking method, a vehicle-mounted terminal, a user terminal, electronic equipment and a computer readable storage medium. For the vehicle-mounted terminal, when the target identification is identified, the target parking lot is determined, then a map of the target parking lot is called, the map is sent to the user terminal associated with the vehicle-mounted terminal, after the fact that the vehicle is parked in the parking space is detected, a parking space image of the vehicle is obtained, and the parking space image is sent to the user terminal. For the user terminal, the user terminal can receive a map of a target parking lot and a parking space image of a vehicle, which are sent by a vehicle-mounted terminal of the vehicle, then, when a vehicle taking instruction is received, the current position of the user is obtained, the position information of the vehicle is determined according to the map and the parking space image, and finally, navigation information is generated and displayed based on the current position of the user and the position information of the vehicle so as to guide the user to go to the vehicle taking. Through this application scheme, can guide the car owner to reach its parking position department rapidly, solve the difficult problem of car owner's car of getting.

Description

Vehicle taking method, vehicle-mounted terminal, user terminal and electronic equipment

Technical Field

The application belongs to the technical field of navigation, and particularly relates to a car taking method, a vehicle-mounted terminal, a user terminal, electronic equipment and a computer-readable storage medium.

Background

Because the parking lot is large in scale and multiple in vehicles, when a vehicle owner takes a vehicle, the vehicle owner probably forgets where the vehicle is parked, and the vehicle owner needs to spend more time for searching the vehicle.

Although the vehicle-mounted terminal generally has a Global Positioning System (GPS) function, since GPS signals of most indoor parking lots are poor, GPS Positioning is very inaccurate, so that it is difficult for a vehicle owner to obtain accurate parking position information through the GPS function of the vehicle-mounted terminal. That is, even depending on the GPS function of the vehicle-mounted terminal, the vehicle owner still faces the dilemma of difficulty in taking the vehicle.

Disclosure of Invention

The application provides a vehicle taking method, a vehicle-mounted terminal, a user terminal, electronic equipment and a computer readable storage medium, which can guide a vehicle owner to rapidly arrive at a parking position of the vehicle owner and solve the problem that the vehicle owner is difficult to take the vehicle.

In a first aspect, the present application provides a method for picking up a vehicle, which is applied to a user terminal, and includes:

receiving a map of a target parking lot and a parking space image of a vehicle, which are transmitted by a vehicle-mounted terminal of the vehicle;

when a vehicle taking instruction is received, acquiring the current position of a user;

determining the position information of the vehicle according to the map and the parking space image;

and generating and displaying navigation information based on the current position of the user and the position information of the vehicle so as to guide the user to go to pick up the vehicle.

Alternatively, the determining the position information of the vehicle based on the map and the parking space image includes:

determining the type of the target parking lot based on the map;

and determining the position information of the vehicle according to the type, the map and the parking space image.

Optionally, the determining the position information of the vehicle according to the type, the map, and the parking space image includes:

if the type of the target parking lot is a single-layer parking lot, comparing the map with the parking space image;

and determining the parking position of the vehicle according to the comparison result.

if the type of the target parking lot is a multi-storey parking lot, calling an in-floor map of each storey of the target parking lot according to the map;

comparing the parking space image with the map in the field of each floor;

and determining the parking floor and the parking position of the vehicle according to the comparison result.

Optionally, the generating navigation information based on the current location of the user and the location information of the vehicle includes:

determining a target floor where the user is located according to the current position of the user;

determining a target parking lot entrance according to the target floor;

generating first path information according to the target parking lot entrance and the current position of the user;

generating second path information according to the target parking lot entrance, the parking floor of the vehicle and the parking position;

and generating the navigation information according to the first path information and the second path information.

In a second aspect, the present application provides a method for picking up a vehicle, which is applied to a vehicle-mounted terminal, and includes:

when the target mark is identified, determining a target parking lot, wherein the target parking lot is a parking lot into which a vehicle drives;

calling a map of the target parking lot;

sending the map to a user terminal;

acquiring a parking space image of the vehicle after the vehicle is detected to be parked in the parking space;

and sending the parking space image to the user terminal.

Optionally, the determining the target parking lot when the target identifier is identified includes:

when a preset parking mark is recognized, acquiring the positioning position of the vehicle and acquiring an environment image;

according to the positioning position, calling an area map of the area where the vehicle is located;

and searching the regional map based on the environment image to determine the target parking lot.

In a third aspect, the present application provides a user terminal, including:

the system comprises a receiving module, a storage module and a display module, wherein the receiving module is used for receiving a map of a target parking lot and a parking lot image of a vehicle, which are sent by a vehicle-mounted terminal of the vehicle;

the acquisition module is used for acquiring the current position of the user when a vehicle taking instruction is received;

a position determining module for determining the position information of the vehicle according to the map and the parking space image;

and the navigation module is used for generating and displaying navigation information based on the current position of the user and the position information of the vehicle so as to guide the user to go to pick up the vehicle.

Optionally, the position determining module includes:

a type determination unit configured to determine a type of the target parking lot based on the map;

and a position determining unit for determining position information of the vehicle based on the type, the map, and the parking space image.

Optionally, the position determining unit includes:

a first comparison subunit, configured to compare the map and the parking space image if the type of the target parking lot is a single-layer parking lot;

and the first determining subunit is used for determining the parking position of the vehicle according to the comparison result.

Optionally, the position determining unit includes:

an in-site area retrieving subunit, configured to retrieve, according to the map, an in-site map for each floor of the target parking lot if the type of the target parking lot is a multi-floor parking lot;

the second comparison subunit is used for comparing the parking space image with the in-field map of each floor;

and the second determining subunit is used for determining the parking floor and the parking position of the vehicle according to the comparison result.

Optionally, the navigation module includes:

a floor determining unit, configured to determine a target floor where the user is located according to the current location of the user;

an entrance determining unit for determining an entrance of a target parking lot according to the target floor;

a first path generating unit configured to generate first path information according to the target parking lot entrance and the current position of the user;

a second path generating unit for generating second path information based on the target parking lot entrance, the parking floor of the vehicle, and the parking position;

a navigation information generating unit configured to generate the navigation information based on the first path information and the second path information.

In a fourth aspect, the present application provides a vehicle-mounted terminal, including:

the parking lot determining module is used for determining a target parking lot when the target identification is identified, wherein the target parking lot is a parking lot into which a vehicle drives;

the calling module is used for calling the map of the target parking lot;

the first sending module is used for sending the map to the user terminal;

the acquisition module is used for acquiring a parking space image of the vehicle after the vehicle is detected to be parked in the parking space;

and the second sending module is used for sending the parking space image to the user terminal.

Optionally, the parking lot determining module includes:

a positioning position acquisition unit for acquiring a positioning position of the vehicle when a preset parking mark is recognized;

the environment image acquisition unit is used for acquiring an environment image when a preset parking sign is recognized;

a regional map retrieving unit configured to retrieve a regional map of a region where the vehicle is located, based on the positioning position;

and a parking lot determining unit, configured to perform search based on the environment image in the area map, and determine the target parking lot.

In a fifth aspect, the present application provides an electronic device, where the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to the first aspect when executing the computer program; alternatively, the processor implements the steps of the method according to the second aspect when executing the computer program.

In a sixth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method of the first aspect; alternatively, the computer program as described above, when executed by a processor, performs the steps of the method as described above in the second aspect.

In a seventh aspect, the present application provides a computer program product comprising a computer program which, when executed by one or more processors, performs the steps of the method as described in the first aspect above; alternatively, the computer program as described above, when executed by one or more processors, performs the steps of the method as described above in the second aspect.

Compared with the prior art, the application has the beneficial effects that: after the vehicle-mounted terminal enters the target parking lot and parks in the parking space, the map of the target parking lot and the parking space image of the parking space are sent to the user terminal before flameout, so that the user terminal can store the information related to the current parking of the vehicle. When a user needs to get a vehicle, the user terminal can obtain the current position of the user through positioning on one hand, and can determine the position information of the vehicle according to the map of the parking lot and the image of the parking lot on the other hand, and finally can generate and display navigation information based on the current position of the user and the position information of the vehicle. The user can thus proceed to pick up the car under the direction of the navigation information. The process simplifies the vehicle taking process, saves the vehicle taking time and solves the problem of difficult vehicle taking.

It is to be understood that beneficial effects of the third aspect to the seventh aspect may refer to the description of the beneficial effects, and are not described herein again.

Drawings

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

Fig. 1 is a schematic flow chart illustrating an implementation of a vehicle pickup method according to an embodiment of the present disclosure;

FIG. 2 is a schematic flow chart illustrating another implementation of a pickup method according to an embodiment of the present disclosure;

fig. 3 is a block diagram of a user terminal according to an embodiment of the present disclosure;

fig. 4 is a block diagram of a structure of a vehicle-mounted terminal according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

At present, vehicle-mounted terminals of most vehicles have the function of a GPS, and the vehicles can be tracked and positioned in real time in an open outdoor scene. However, for an indoor parking lot, GPS signals in the parking lot are weak, and even no signal is often generated, so that it is difficult for a user to obtain an accurate parking position of his vehicle by means of GPS when parking indoors. Based on the above, the application provides a car taking method, a user terminal, a vehicle-mounted terminal, an electronic device and a computer readable storage medium, which can guide a car owner to quickly arrive at a parking position of the car owner and solve the problem that the car owner is difficult to take the car. In order to explain the technical solution proposed in the present application, the following description will be given by way of specific examples.

The following explains the car taking method provided in the embodiment of the present application, and the car taking method is applied to the user terminal. Referring to fig. 1, the method for picking up a vehicle includes:

step 101, receiving a target parking lot map and a vehicle parking lot image transmitted by a vehicle-mounted terminal of a vehicle.

The user terminal used by the user can establish communication connection with the vehicle-mounted terminal of the vehicle in advance. In some examples, the vehicle-mounted terminal and the user terminal used by the user may be associated in advance; then, after each time a user gets on the vehicle and ignites, the vehicle-mounted terminal can automatically establish communication connection with the associated user terminal; similarly, the in-vehicle terminal may automatically disconnect the communication connection with the associated user terminal after the user turns off. Wherein, the communication connection is usually a wireless communication connection, for example, a bluetooth communication connection; alternatively, the communication connection may be a wireless lan communication connection, and the communication connection is not limited herein.

For example only, the user terminal may be a smart phone, and the vehicle terminal may be a Telematics Control Unit (TCU).

For convenience of understanding, in the embodiment of the present application, a parking lot in which a vehicle is parked is referred to as a target parking lot. After the vehicle enters the target parking lot and parks in the parking space, the vehicle-mounted terminal can acquire the map of the target parking lot and the parking space image of the vehicle, and the parking space image can be understood as the information record of the parking space where the vehicle parks. The vehicle-mounted terminal can then send the map and the parking space image to the user terminal through the established communication connection, so that the user terminal can receive and obtain the map of the target parking lot and the parking space image of the vehicle. It can be understood that the map and the parking space image lay a foundation for subsequent car taking navigation.

The process of acquiring the map and the parking space image by the vehicle-mounted terminal is described later, and is not described herein again.

And 102, acquiring the current position of the user when the vehicle taking instruction is received.

After parking, the user can go to the vicinity of the target parking lot for work. When the user finishes work and prepares to return to the target parking lot to pick up the vehicle and leave, the user can send a vehicle picking-up instruction to the user terminal. Generally, when the user sends a car taking instruction, the user does not return to the target parking lot, so that the GPS function of the user terminal can be normally used. Of course, the ue may also locate itself by other means, such as base station location, and the like, and the location manner of the ue is not limited herein. It is understood that since the user terminal is being used by the user and the user usually holds the user terminal at all times in today's society, the current location of the user terminal can be considered equivalent to the current location of the user.

In some examples, the user may issue the car taking instruction to the user terminal in a voice manner, for example, the user says "prepare to take a car" or similar sentence to the user terminal, that is, issues the car taking instruction to the user terminal; alternatively, the user may issue a car-taking instruction to the user terminal by clicking on the user terminal, for example, the user terminal may display a virtual button "car-taking" on the designated interface after step 101, and the user clicks the virtual button, that is, the car-taking instruction is issued to the user terminal.

And step 103, determining the position information of the vehicle according to the map and the parking space image.

In addition to the position information of each parking space, the feature information of each parking space is recorded in the map of the parking lot. The parking space image transmitted from the in-vehicle terminal also includes characteristic information of the parking space in which the vehicle is currently parked. The user terminal can search in the map according to the parking space image to determine the position information of the vehicle, namely, the position information of the parking space where the vehicle is currently parked.

And 104, generating and displaying navigation information based on the current position of the user and the position information of the vehicle so as to guide the user to go to pick up the vehicle.

The process of taking a car by a user can be divided into two stages: the first stage is that a user goes to a target parking lot; and the second stage is that the user enters the target parking lot and then goes to the parking space where the vehicle is parked. Generally, the parking lot is a normal city street environment, so that the user can navigate based on a normal city map when traveling from the current position to the target parking lot. In view of the fact that a user's office location is not generally too far from a target parking lot in the context of a user's driving office, the user's current location may be considered to be in the same area as the target parking lot. Based on this, the user terminal may also autonomously retrieve a regional map of the area (that is, a regional map of an area where the target parking lot is located, and also a regional map of an area where the current position is located), and generate navigation information based on the current position of the user and the position information of the vehicle with the assistance of the regional map and the map of the parking lot.

The navigation information typically includes a planned route. The user terminal can obtain the real-time position of the user in the moving process through real-time positioning after planning the path, and guides the user to move through voice broadcasting, text display and/or dynamic graph examples based on the real-time position and the planned path, so that the path moved by the user follows the planned path as much as possible, and the aim of reaching the parking space where the vehicle stops is achieved as soon as possible.

Through the embodiment of the application, the user terminal can acquire and store the information related to the current parking of the vehicle after the user parks the vehicle, wherein the information comprises the image of the parking space, the map of the parking lot and the like. When a user needs to get a vehicle, the user terminal can obtain the current position of the user through positioning on one hand, and can determine the position information of the vehicle according to the map of the parking lot and the image of the parking lot on the other hand, and finally can generate and display navigation information based on the current position of the user and the position information of the vehicle. The user can thus go to the parking space where the vehicle is parked under the guidance of the navigation information to pick up the vehicle. The process simplifies the vehicle taking process, saves the vehicle taking time and solves the problem of difficult vehicle taking.

In some embodiments, in order to deal with application scenarios of different parking lots, step 103 specifically includes:

and A1, determining the type of the target parking lot based on the map.

According to the actual scene, the embodiment of the application divides the parking lot into two categories:

one type is a single-deck parking lot. The parking lot is characterized in that: the upper part is free from buildings and is directly built on the ground, and the outdoor scene is usually adopted. By way of example only, garden parks, square parks, roadside parks, and the like are ground parks.

The other is a multi-storey car park. The parking lot is characterized in that: there is usually a building above, usually an indoor scene, and the building location is not limited (it may be built on the ground, underground and/or above ground). Considering that the representation forms of the non-ground parking lots are various, and the representation forms of the ground parking lots are single, it can be considered that: all the parking lots are not ground parking lots.

The characteristics of the target parking lot can be quickly determined by simply analyzing the map of the parking lot, so that the type of the target parking lot is judged. For example, if the map of the parking lot contains a multi-floor map, it can be determined that it is a multi-floor parking lot; if the map of the parking lot displays that the personnel entrance and exit directly lead to the inside of a certain building, the parking lot can be determined to be a multi-storey parking lot; if the map of the parking lot shows that the person access passage is a corridor, the parking lot can be determined to be a multi-storey parking lot. For another example, if the map of the parking lot shows environmental elements such as a flower bed or lawn, it may be determined to be a single-story parking lot.

A2, determining the position information of the vehicle according to the type, the map and the parking space image.

At present, for the user to remember its parking position, most parking area operators have also made certain improvement and optimization to the parking area that it operated, and the concrete expression is: and a parking space number is set for each parking space in the parking lot. The parking space number is generally sprayed on the ground of the parking space. In addition, for multi-storey car parks, the current storey is painted on the wall, ground or pillar of each storey. Since the parking space image is obtained by the vehicle-mounted terminal after the vehicle finishes parking, the acquired parking space image can include the information of the parking space number and the information of the parking floor (the parking floor is the floor where the vehicle parks in the target parking lot) through the optimization of the vehicle-mounted terminal, and the process is described later, and is not repeated herein.

In this way, it is possible for the user terminal to process the parking space image based on various image processing means (e.g., object recognition, etc.).

If the target parking lot is a single-layer parking lot, the map actually only comprises one layer of map, and the number of the parking spaces of each parking space is recorded in the one layer of map. The user terminal can compare the parking space image with the map, and specifically comprises the following steps: obtaining information of a parking space number contained in the parking space image through processing the parking space image; the information of the parking space number is matched with the parking space number of each parking space recorded in the map, and the user terminal can find out the parking position of the vehicle.

If the target parking lot is a multi-floor parking lot, the map thereof actually contains at least two in-floor maps, which refer to a map of one floor of the target parking lot. It can be understood that each in-field map records information of the parking space number of each parking space of the layer. The user terminal can compare the parking space image with the map in the field of each floor, and specifically comprises the following steps: obtaining the information of the parking space number and the information of the parking floor contained in the parking space image through processing the parking space image; the user terminal can determine an in-field map corresponding to the parking floor from at least two in-field maps; through the information with this parking stall serial number and the parking stall serial number of each parking stall of record in this scene map match, the parking position of vehicle can be found out to user terminal.

Therefore, no matter the target parking lot has several layers, the specific position where the vehicle stops can be determined through the related mode of image processing, and a basis is provided for subsequent navigation.

Generally, it is considered that the complexity of the single-layer parking lot is low and the complexity of the multi-layer parking lot is high. The following describes the navigation means of the user terminal when facing different types of target parking lots:

when the target parking lot is a single-layer parking lot, due to the characteristics that the target parking lot is single-layer and has no building above and is directly built on the ground, the user can move on a ground road when going to the parking lot where the vehicle is parked without going upstairs or downstairs. Thus, the two phases of the user's car taking (the first phase is the user going to the target parking lot, and the second phase is the user entering the target parking lot and going to the parking space where the vehicle is parked) described above can be combined into one large phase and considered as a whole. In contrast, the user terminal may directly plan path information and generate navigation information according to the path information, where the path information is: a path from the current position of the user to the parking position. Specifically, the map range corresponding to the target parking lot in the area map can be basically considered to be equivalent to the map of the parking lot; that is, in the case where the accuracy of the area map is high, the map of the parking lot can be considered as a part of the area map; alternatively, in the case where the accuracy of the area map is low, the area map and the map of the parking lot may be fused so that a road section outside the target parking lot is planned based on the area map and a road section inside the target parking lot is planned based on the map of the parking lot. Therefore, a path from the current position of the user to the parking position on the plane, namely a first path, can be planned.

The user terminal can generate navigation information based on the path information, and the user can be guided to pick up the vehicle in the application scene of the single-layer parking lot.

When the target parking lot is a multi-story parking lot, the user is likely to go upstairs and downstairs when going to the parking lot where the vehicle is parked due to the characteristic that the building and the building location are not limited above the target parking lot. Therefore, the user terminal may perform path planning based on the two phases of vehicle pickup by the user as described above, and the process may specifically be:

firstly, a target floor where a user is located is determined according to the current position of the user. Then, a target parking lot entrance is determined according to the target floor. Then, first path information is generated according to the target parking lot entrance and the current position of the user. And then generating second path information according to the entrance of the target parking lot, the parking floor of the vehicle and the parking position. Finally, navigation information can be generated according to the first path information and the second path information.

The user terminal may first determine a target floor and a parking floor in view of possible going-up and going-down processes. The target floor refers to a floor where the current location is located, and is, for example only, usually one floor when the current location of the user is outdoors, but may be other floors, which is not limited herein. The parking floor is a floor where a parking space where the vehicle is parked is located, and is determined by information of the parking floor included in the parking space image, which has been described above and is not described herein again.

After the target floor is determined, the user terminal may determine a target parking lot entrance according to the target floor. It should be noted that, in consideration of safety, the entrance and exit of a general parking lot are separated from the entrance and exit of a vehicle, and the target parking lot entrance is referred to as a parking lot entrance where a person walks. Considering that the user easily gets out of direction in the target parking lot when the target parking lot is a multi-story parking lot, the entrance of the target parking lot may be the entrance of the parking lot closest to the parking space (i.e., parking position) of the vehicle. Of course, the target parking lot entrance may also be the parking lot entrance closest to the user (i.e., the current location); or, the target parking lot entrance may also be a parking lot entrance with the smallest corresponding cost among all parking lot entrances of the target parking lot, where the cost corresponding to a certain parking lot entrance is: the sum of the distance of the parking lot entrance from the user and the distance of the parking lot entrance from the parking space of the vehicle. The manner of determining the entrance of the target parking lot is not limited herein.

Based on the above proposed concept, the first phase, that is, the phase when the user goes to the target parking lot, is entered first, and specifically, the user may move from the current location to the target parking lot entrance. Based on the stage, path information from the current position to the entrance of the target parking lot, that is, the first path information, can be correspondingly planned. Specifically, since the phase only involves route planning outside the parking lot, the first route information can be planned only by depending on the area map, that is, the first route information can be directly planned based on the area map.

And after the target parking lot entrance is reached, entering a second stage, namely a stage that the user enters the parking lot and then goes to the parking space where the vehicle is parked. Based on this stage, a path moving from the target parking lot entrance to the parking position of the parking floor can be correspondingly planned, thereby obtaining second path information. Specifically, since the phase only involves path planning in the parking lot, the second path information can be planned only by relying on the map of the parking lot, that is, the second path information can be directly planned based on the map of the parking lot.

The user terminal can generate navigation information based on the first path information and the second path information, and vehicle taking navigation of a user is achieved in an application scene of a multi-layer parking lot. The method can be understood that the vehicle taking process is divided into different stages in order, and path planning is carried out on the different stages respectively, so that a user can reasonably refer to paths corresponding to the different stages to go to parking spaces where vehicles stop to take the vehicles.

The following explains a car pickup method provided in the embodiment of the present application, and the car pickup method is applied to a vehicle-mounted terminal. Referring to fig. 2, the method for picking up a vehicle includes:

step 201, when the target identification is recognized, determining a target parking lot.

When the vehicle-mounted terminal identifies the target identification, the vehicle-mounted terminal can preliminarily determine that the current vehicle is ready to drive into a parking lot, and the parking lot is the target parking lot. That is, the target parking lot refers to a parking lot into which a vehicle is driven. In some examples, if the on-board unit is able to receive a stable and high quality GPS signal, the target parking lot may be accurately determined based directly on GPS upon identification of the target identification; conversely, if the on-board unit cannot receive a stable and high quality GPS signal, the GPS may be combined with other means to determine the target parking lot upon identification of the target identification.

Step 202, a map of the target parking lot is retrieved.

After determining the target parking lot, the on-board unit may access a server of an operator of the target parking lot to retrieve a map of the target parking lot. If the target parking lot is a single-layer parking lot, the map actually only comprises one layer of map, and the parking space number of each parking space is recorded in the one layer of map. If the target parking lot is a multi-floor parking lot, the map actually comprises at least two layers of maps, namely at least two in-floor maps, and the in-floor maps record the parking space numbers of the parking spaces of the corresponding floors.

Step 203, sending the map to the user terminal.

The specific process of the vehicle-mounted terminal having previously established the communication connection with the user terminal has been described in the previous embodiment, and is not described herein again. Thus, the in-vehicle terminal can transmit the map of the target parking lot to the user terminal after retrieving the map.

And step 204, acquiring a parking space image of the vehicle after the vehicle is detected to be parked in the parking space.

After the vehicle enters the target parking lot, the vehicle-mounted terminal can detect whether the vehicle is parked in the parking space. Once the fact that the vehicle is parked in the parking space is detected, the image of the parking space can be collected through a preset first camera device. It should be noted that the number of the parking space images is not limited in the present application, that is, the parking space image may be one image, or may be two or more images (which may form a video stream). Meanwhile, the number of cameras of the first camera device is not limited in the application.

By way of example only, the first camera device may only include one super-wide-angle camera, and the installation position of the super-wide-angle camera is adjusted in advance, so that after the vehicle is parked in the parking space, the ground of the parking space (usually painted with the parking space number, and possibly also painted with the floor where the vehicle is currently located) and the wall and/or the pillar near the parking space (usually painted with the floor where the vehicle is currently located, that is, the parking floor) are both within the field angle range of the super-wide-angle camera.

Or, this first camera device can include two or more ordinary cameras, and one of them camera is towards ground for the ground of parking stall (usually the air brushing has the parking stall serial number, still can air brushing the floor of locating at present) is in the angle of field scope of this camera, and other cameras are towards the not equidirectional of vehicle, make near the wall and/or the post (usually the air brushing has the floor of locating at present, also parking floor) of this parking stall in the angle of field scope of this other camera.

Step 205, sending the parking space image to the user terminal.

After the vehicle-mounted terminal collects the parking space image, the parking space image can be sent to the user terminal before the user puts out the vehicle.

It can be understood that the vehicle-mounted terminal may send the parking space image and the map to the user terminal after the vehicle is parked in the parking space and before the vehicle is turned off. Or the vehicle-mounted terminal can also send the map to the user terminal immediately after the map is retrieved, and send the parking space image to the user terminal after the vehicle is parked in the parking space and before the vehicle is shut down. That is, there is no strict execution sequence between step 203 and step 205, and the in-vehicle terminal may be configured to ensure that step 203 is executed after step 202, and step 205 is executed after step 204.

According to the embodiment of the application, after the vehicle-mounted terminal enters the target parking lot and parks in the parking space, the map of the target parking lot and the parking space image of the vehicle are sent to the user terminal before flameout, so that the user terminal can store the information related to the current parking of the vehicle, and a foundation is laid for subsequent vehicle taking navigation of the user terminal.

In some embodiments, the following describes the process of determining the target parking lot by considering that GPS is more universal and can be applied to a variety of different application scenarios:

and B1, acquiring the positioning position of the vehicle and acquiring an environment image when the preset stop sign is recognized.

The target identifier may be a preset stop sign (i.e., a blue-bottom P-shaped sign). In general, an operator of a parking lot sets the parking sign near a vehicle entrance of the parking lot to indicate that a driver is present with the parking lot. Considering that most parking lots are provided with an access gate at a vehicle entrance and exit for safety and cost, users generally have to slow down or even temporarily verify parking when driving vehicles into the parking lots. In this case, a second camera device for capturing images of the exterior of the vehicle can be provided in the vehicle. The vehicle-mounted terminal can perform target recognition on the real-time picture captured by the second camera device.

When a preset parking sign (i.e., a blue-bottom P-shaped sign) is recognized in the real-time picture, it is known that the vehicle is located at the vehicle entrance of the target parking lot, i.e., the vehicle is ready to enter the target parking lot. At this time, since the vehicle is not yet inside the target parking lot, the GPS function thereof can be normally used, and the positioning can be performed by the GPS to obtain the positioning position. In addition, the vehicle-mounted terminal can acquire an environment image through a preset third camera device, and the environment image can be considered to reflect the environment near the vehicle entrance of the target parking lot due to the fact that the vehicle is located at the vehicle entrance.

B2, according to the positioning position, calling an area map of the area where the vehicle is located.

The vehicle-mounted terminal can determine the area where the vehicle is located according to the positioning position, and the area can be a large range, for example, the area can be an area within 1 kilometer of the positioning position. Then, by accessing a preset server, an area map of the area is retrieved. It can be understood that, at this time, since the vehicle has not completely entered the parking lot, the network of the vehicle-mounted terminal has not been greatly affected, and at this time, data interaction with each server can be normally performed.

And B3, searching in the regional map based on the environment image, and determining the target parking lot.

With the development of urbanization, there is a high probability that more than one parking lot is located in the area where the vehicle is located. Because the positioning position obtained by the GPS positioning may have a deviation, the vehicle-mounted terminal may identify the name of a shop and/or a landmark building near the entrance of the vehicle from the environment image, and then perform an accurate search in a regional map according to the name of the shop and/or the landmark building, thereby determining a parking lot, i.e., a target parking lot, where the vehicle enters this time.

In some embodiments, when the target parking lot has a plurality of vehicle entrances and exits, the in-vehicle terminal may further identify the target vehicle entrance and exit, that is, identify which vehicle entrance and exit the vehicle enters the target parking lot, through step B3. In addition, the map of the parking lot may also include status information of each parking space, which indicates whether the corresponding parking space is occupied (a vehicle is parked). The vehicle-mounted terminal can send the map I of the target vehicle entrance and exit and the parking lot to the user terminal, so that the user can quickly know which parking spaces are free in the target parking lot through the map I of the target parking lot, and the user terminal is controlled to plan the parking path based on the free parking spaces and the target vehicle entrance and exit. Therefore, the user can drive the vehicle to go to the idle parking space for parking according to the parking path, and the time for finding the parking space can be greatly saved.

In some embodiments, the in-vehicle terminal may determine whether the vehicle has been parked in the parking space by:

the gear of the vehicle is detected. When the fact that the vehicle is in reverse gear is detected, the fact that the vehicle is backing up and entering a garage is considered, namely that a user is parking more probably at present. At the moment, the data collected by the reversing radar and/or the reversing camera can be analyzed to judge whether the vehicle is parked in the parking space.

Or, after the vehicle is parked in the parking space, the user usually pulls the hand brake first and then extinguishes the vehicle, so that whether the vehicle is parked in the parking space can be judged according to the condition that whether the hand brake is pulled up or not.

It should be noted that the first image capturing device, the second image capturing device, and the third image capturing device proposed in the embodiment of the present application may be the same image capturing device or different image capturing devices, and may be determined according to the arrangement situation of the vehicle, and are not limited herein.

Corresponding to the car taking method applied to the user terminal, the embodiment of the application further provides the user terminal. As shown in fig. 3, the user terminal 300 includes:

a receiving module 301, configured to receive a map of a target parking lot and a parking space image of a vehicle, which are sent by a vehicle-mounted terminal of the vehicle;

the obtaining module 302 is configured to obtain a current location of a user when a vehicle taking instruction is received;

a position determining module 303, configured to determine position information of the vehicle according to the map and the parking space image;

and the navigation module 304 is configured to generate and display navigation information based on the current location of the user and the location information of the vehicle, so as to guide the user to go to pick up the vehicle.

Optionally, the position determining module 303 includes:

Optionally, the position determining unit includes:

Optionally, the navigation module 304 includes:

Therefore, according to the embodiment of the application, the user terminal can acquire and store the information related to the current parking of the vehicle after the user parks the vehicle, wherein the information includes the image of the parking space, the map of the parking space and the like. When a user needs to pick up a car, the user terminal can obtain the current position of the user through positioning on one hand, and can determine the position information of the car according to the map of the parking lot and the image of the parking lot on the other hand, and finally can generate and display navigation information based on the current position of the user and the position information of the car, so that the user can go to pick up the car under the guidance of the navigation information. The process simplifies the vehicle taking process, saves the vehicle taking time and solves the problem of difficult vehicle taking.

Corresponding to the vehicle taking method applied to the vehicle-mounted terminal, the embodiment of the application further provides the vehicle-mounted terminal. As shown in fig. 4, the in-vehicle terminal 400 includes:

a parking lot determining module 401, configured to determine a target parking lot when the target identifier is identified, where the target parking lot is a parking lot into which a vehicle enters;

a retrieving module 402, configured to retrieve a map of the target parking lot;

a first sending module 403, configured to send the map to a user terminal;

an acquisition module 404, configured to acquire a parking space image of the vehicle after detecting that the vehicle is parked in the parking space;

a second sending module 405, configured to send the parking space image to the user terminal.

Optionally, the parking lot determining module 401 includes:

Therefore, according to the embodiment of the application, after the vehicle-mounted terminal enters the target parking lot and parks in the parking space, the map of the target parking lot and the parking space image of the vehicle are sent to the user terminal before flameout, so that the user terminal can store the information related to the current parking of the vehicle, and a foundation is laid for subsequent vehicle taking navigation of the user terminal.

Corresponding to the car taking method provided above, the embodiment of the application further provides an electronic device. Referring to fig. 5, an electronic device 5 in the embodiment of the present application includes: a memory 501, one or more processors 502 (only one shown in fig. 5), and a computer program stored on the memory 501 and executable on the processor 502. Wherein: the memory 501 is used for storing software programs and units, and the processor 502 executes various functional applications and data processing by running the software programs and units stored in the memory 501, so as to acquire resources corresponding to preset events.

Specifically, in an application scenario where the electronic device is a user terminal, the processor 502 implements the following steps by running the above computer program stored in the memory 501:

In a second possible embodiment based on the first possible embodiment, the determining of the position information of the vehicle from the map and the parking space image includes:

determining the type of the target parking lot based on the map;

In a third possible embodiment provided based on the second possible embodiment, the determining the position information of the vehicle based on the type, the map, and the parking space image includes:

In a fourth possible embodiment based on the second possible embodiment, the determining the position information of the vehicle based on the type, the map, and the parking space image includes:

comparing the parking space image with the map in the field of each floor;

In a fifth possible embodiment based on the fourth possible embodiment, the generating navigation information based on the current position of the user and the position information of the vehicle includes:

determining the parking floor where the user is located according to the current position of the user;

determining a target parking lot entrance according to the parking floor;

Specifically, in an application scenario where the electronic device is an in-vehicle terminal, the processor 502 implements the following steps by running the above-mentioned computer program stored in the memory 501:

calling a map of the target parking lot;

sending the map to a user terminal;

and sending the parking space image to the user terminal.

Assuming that the above is the first possible implementation manner, in a second possible implementation manner provided on the basis of the first possible implementation manner, the determining a target parking lot when the target identifier is recognized includes:

It should be understood that in the embodiments of the present Application, the Processor 502 may be a Central Processing Unit (CPU), and the Processor may be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor, or may be any conventional processor or the like.

Memory 501 may include both read-only memory and random access memory and provides instructions and data to processor 502. Some or all of the memory 501 may also include non-volatile random access memory. For example, the memory 501 may also store device class information.

Therefore, according to the embodiment of the application, the user terminal can acquire and store the information related to the current parking of the vehicle after the user parks the vehicle, wherein the information includes the parking space image, the map in the parking place and the like. When the user needs to get the car, the user terminal can generate navigation information according to the current position, the map in the field and the parking space image after acquiring the current position of the user, and the user can go to the parking space where the car is parked under the guidance of the navigation information to get the car. The process simplifies the vehicle taking process, saves the vehicle taking time and solves the problem of difficult vehicle taking. For the vehicle-mounted terminal, after a vehicle enters a target parking lot and parks in a parking space, the vehicle-mounted terminal sends a map of the target parking lot and a parking space image of the vehicle to the user terminal before flameout, so that the user terminal can store information related to the current parking of the vehicle and lay a foundation for subsequent vehicle taking navigation of the user terminal.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

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

Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of external device software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the above-described modules or units is only one logical functional division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

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

The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the above-described computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer readable Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc. It should be noted that the computer readable storage medium may contain other contents which can be appropriately increased or decreased according to the requirements of the legislation and the patent practice in the jurisdiction, for example, in some jurisdictions, the computer readable storage medium does not include an electrical carrier signal and a telecommunication signal according to the legislation and the patent practice.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. The car taking method is applied to a user terminal and comprises the following steps:

receiving a map of a target parking lot and a parking space image of a vehicle, which are sent by a vehicle-mounted terminal of the vehicle;

2. The method of claim 1, wherein the determining the location information of the vehicle based on the map and the parking space image comprises:

determining a type of the target parking lot based on the map;

3. The method of claim 2, wherein the determining the location information of the vehicle based on the type, the map, and the parking space image comprises:

4. The method of claim 2, wherein the determining the location information of the vehicle based on the type, the map, and the parking space image comprises:

if the type of the target parking lot is a multi-layer parking lot, calling an in-field map of each floor of the target parking lot according to the map;

comparing the parking space image with the map in the field of each floor;

5. The method of picking up a vehicle of claim 4, wherein the generating navigation information based on the current location of the user and the location information of the vehicle comprises:

determining a target parking lot entrance according to the target floor;

generating second path information according to the target parking lot entrance, the parking floor and the parking position of the vehicle;

6. The vehicle taking method is applied to a vehicle-mounted terminal and comprises the following steps:

when the target identification is identified, determining a target parking lot, wherein the target parking lot is a parking lot into which a vehicle drives;

calling a map of the target parking lot;

sending the map to a user terminal;

and sending the parking space image to the user terminal.

7. The method of claim 6, wherein determining the target parking lot upon identifying the target identification comprises:

when a preset parking mark is identified, acquiring a positioning position of the vehicle and acquiring an environment image;

according to the positioning position, calling an area map of an area where the vehicle is located;

and searching based on the environment image in the area map, and determining the target parking lot.

8. A user terminal, comprising:

the position determining module is used for determining the position information of the vehicle according to the map and the parking space image;

9. A vehicle-mounted terminal characterized by comprising:

the calling module is used for calling a map of the target parking lot;

the first sending module is used for sending the map to a user terminal;

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 5 when executing the computer program; alternatively, the computer program, when executed by a processor, implements the method of any of claims 6 to 7.