WO2020034578A1 - 导航方法、装置、系统、计算机设备和存储介质 - Google Patents

导航方法、装置、系统、计算机设备和存储介质 Download PDF

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Publication number
WO2020034578A1
WO2020034578A1 PCT/CN2019/071828 CN2019071828W WO2020034578A1 WO 2020034578 A1 WO2020034578 A1 WO 2020034578A1 CN 2019071828 W CN2019071828 W CN 2019071828W WO 2020034578 A1 WO2020034578 A1 WO 2020034578A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
parking lot
vehicle position
communication key
parking
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PCT/CN2019/071828
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English (en)
French (fr)
Inventor
蔡之骏
杨波
黄少堂
冯其高
张志德
张莹
Original Assignee
广州汽车集团股份有限公司
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Application filed by 广州汽车集团股份有限公司 filed Critical 广州汽车集团股份有限公司
Publication of WO2020034578A1 publication Critical patent/WO2020034578A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
    • G01C21/3685—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities the POI's being parking facilities
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/04—Key management, e.g. using generic bootstrapping architecture [GBA]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Definitions

  • the present application relates to the technical field of vehicles, and in particular, to a navigation method, device, system, computer device, and storage medium.
  • the car navigation function is already a common function for users traveling by car.
  • the vehicle can first locate the current GPS position, and then send the GPS position to the server of the parking lot.
  • the server for the parking lot provides navigation information based on the GPS of the vehicle, and the vehicle can use Navigate to the parking lot.
  • the GPS position issued by the vehicle may be obtained by other users and used illegally. As a result, important information is leaked during the navigation of the vehicle to the parking lot, and information security cannot be guaranteed.
  • the current navigation method has a problem that information security cannot be guaranteed.
  • a navigation method including:
  • the generating a first communication key includes:
  • the method further includes:
  • the method further includes:
  • the method further includes:
  • Navigation is performed according to the vehicle position in the field.
  • the method before the detecting the vehicle position, the method further includes:
  • a reservation request is sent to the parking lot side for the parking lot side to mark the parking space as a reserved parking space; the parking lot side is used to receive the reserved parking space.
  • the reserved parking spaces will be notified.
  • a navigation method including:
  • Navigation is performed according to the vehicle position in the field.
  • the locating a vehicle position in the field according to the device position and the signal distance includes:
  • the position of the vehicle in the field is obtained according to the position of the intersection.
  • the method before the detecting the positioning signal of the roadside equipment on the parking lot, the method further includes:
  • a candidate roadside device corresponding to the preferred signal strength is determined as the caryard roadside device.
  • the performing navigation based on the vehicle position in the field includes:
  • Navigation is performed according to the on-site navigation route.
  • the obtaining the position of the vehicle in the field according to the position of the intersection includes:
  • the lane information is used to correct the intersection position to obtain the vehicle position in the field.
  • a navigation method including:
  • the vehicle end is used for detecting the vehicle position and generating a first communication key, and using the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position;
  • the second communication key has a correspondence relationship with the first communication key
  • a navigation device includes:
  • Position detection module for detecting the position of the vehicle
  • a first key module configured to generate a first communication key, and use the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position;
  • a position sending module configured to send the encrypted vehicle position to a parking lot end; the parking lot end is used to decrypt the encrypted vehicle position using a second communication key to obtain the vehicle position, and feedback according to the vehicle position Parking lot navigation information; the second communication key has a corresponding relationship with the first communication key;
  • the navigation information receiving module is configured to receive the parking lot navigation information and perform navigation according to the parking lot navigation information.
  • a navigation device includes:
  • a signal detection module for detecting the positioning signals of the roadside equipment of the parking lot
  • An extraction module configured to extract a device position from the positioning signal, and obtain a signal distance of the positioning signal
  • An on-site positioning module for locating a vehicle position in the field according to the equipment position and the signal distance
  • the on-site navigation module is configured to perform navigation according to the vehicle position in the on-site.
  • a navigation device includes:
  • An encrypted position receiving module for receiving the encrypted vehicle position at the vehicle end; the vehicle end is used for detecting the vehicle position and generating a first communication key, and using the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position;
  • a second key module configured to generate a second communication key, and use the second communication key to decrypt the encrypted vehicle position to obtain the vehicle position; the second communication key and the first communication Keys have corresponding relationships;
  • the navigation information generating module is configured to generate parking field navigation information according to the vehicle position, and send the parking field navigation information to the vehicle end.
  • a navigation system includes:
  • the vehicle end is configured to detect a vehicle position, generate a first communication key, and use the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position, and send the encrypted vehicle position to a parking lot end;
  • the parking lot end is configured to receive the encrypted vehicle position of the vehicle end, generate a second communication key, and use the second communication key to decrypt the encrypted vehicle position to obtain the vehicle position and generate the vehicle position based on the vehicle position.
  • the vehicle end is further configured to receive the parking lot navigation information and perform navigation according to the parking lot navigation information.
  • the vehicle end is further configured to detect a positioning signal of a roadside device in a parking lot, extract a device position from the positioning signal, and obtain a signal distance of the positioning signal; according to the device position and The signal distance locates a vehicle position in the field; navigation is performed according to the vehicle position in the field.
  • a computer device includes a memory and a processor.
  • the memory stores a computer program, and is characterized in that the processor implements when the computer program executes:
  • a second communication key has a corresponding relationship with the first communication key;
  • a computer-readable storage medium stores a computer program thereon, and the computer program is implemented when executed by a processor:
  • a first communication key is generated by a vehicle end, and the detected vehicle position is encrypted using the first communication key to obtain an encrypted vehicle position and send the encrypted vehicle position.
  • the parking lot side uses the second communication key corresponding to the first communication key to decrypt the encrypted vehicle position to obtain the vehicle position, and provides the vehicle side navigation information to the vehicle end according to the vehicle position, thereby, When the vehicle side communicates with the parking lot side, the vehicle position of the vehicle side is prevented from being leaked, and the information security of the navigation communication is guaranteed.
  • the communication between the vehicle end and the parking lot is encrypted by using the corresponding communication key to increase the communication range between the vehicle end and the parking lot and improve the communication stability. At the same time, it ensures the information security of V2X communication.
  • FIG. 1 is an application environment diagram of a navigation method according to an embodiment
  • FIG. 2 is a schematic flowchart of a navigation method according to an embodiment
  • FIG. 3 is a schematic diagram of locating a vehicle based on a roadside device according to an embodiment
  • FIG. 4 is a schematic diagram of a user mobile terminal performing communication based on a communication key according to an embodiment
  • FIG. 5 is a schematic flowchart of a navigation method according to another embodiment
  • FIG. 6 is a schematic flowchart of a navigation method according to still another embodiment
  • FIG. 7 is a structural block diagram of a navigation device according to an embodiment
  • FIG. 8 is a structural block diagram of a navigation device according to another embodiment
  • FIG. 9 is a structural block diagram of a navigation device according to still another embodiment.
  • FIG. 10 is a structural block diagram of a navigation system according to an embodiment
  • FIG. 11 is a schematic diagram of a navigation process according to an embodiment
  • FIG. 12 is an internal structural diagram of a computer device according to an embodiment.
  • the navigation method provided in this application can be applied to the application environment shown in FIG. 1.
  • the vehicle end 101 may be specifically an on-board device (OBU, On Board, Unit).
  • the parking lot end 102 may be implemented by an independent server or a server cluster composed of multiple servers.
  • the vehicle terminal 101 can communicate with the parking lot terminal 102 through a network.
  • the vehicle end 101 may be installed with a V2X system.
  • the parking lot terminal 102 may also be installed with a V2X system.
  • the V2X system at both ends the vehicle end 101 and the parking lot end 102 can communicate through V2X signals.
  • the communication method based on V2X signals can provide extended communication distance and more stable communication signals. Therefore, communication based on V2X signals can improve the communication range and communication stability between the vehicle end and the parking lot end.
  • a navigation method is provided.
  • the method is applied to the vehicle end 101 in FIG. 1 as an example, and includes the following steps:
  • step S210 the vehicle position is detected.
  • the vehicle position is the geographic coordinates of the vehicle where the vehicle end 101 is currently located.
  • the vehicle position may be GPS (Global Positioning System) coordinates.
  • the vehicle end 101 may have a built-in positioning module, and the position of the vehicle is detected by the positioning module to obtain the vehicle position.
  • Step S220 Generate a first communication key, and use the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position.
  • the communication key may be a key used for encrypted communication between the vehicle terminal 101 and the parking lot terminal 102.
  • a key is an algorithm parameter that converts plain text to cipher text or converts cipher text to plain text through a specific encryption algorithm.
  • the encrypted vehicle position may be an encrypted vehicle position.
  • the vehicle end 101 may generate a communication key.
  • the communication key generated by the vehicle end 101 is named the first communication key.
  • the vehicle position is encrypted by using the first communication key to obtain the encrypted vehicle position.
  • the vehicle end 101 can obtain the information such as the engine serial number and model of the vehicle, and calculate the encrypted value of the engine serial number and model by using an encryption algorithm as the communication key.
  • the parking lot terminal 102 may send a specific encryption algorithm to the vehicle terminal 101 in advance, and the vehicle terminal 101 uses the specific encryption algorithm to calculate the encrypted value of the engine serial number and the vehicle model as the aforementioned communication key.
  • Step S230 Send the encrypted vehicle position to the parking lot end; the parking lot end is used to decrypt the encrypted vehicle position using a second communication key to obtain the vehicle position, and feedback the parking area navigation information according to the vehicle position
  • the second communication key has a corresponding relationship with the first communication key.
  • the parking lot navigation information may be a navigation route planned according to a vehicle position and a parking lot position.
  • the vehicle end 101 may send the encrypted vehicle position to the parking lot end 102.
  • the parking lot terminal 102 can generate a communication key.
  • the communication key generated by the parking lot terminal 102 is named the second communication key.
  • the method of generating the second communication key by the parking lot terminal 102 may be the same as or similar to the method of generating the first communication key by the vehicle terminal 101, thereby obtaining a second communication key that is the same as or matches the first communication key.
  • the parking lot terminal 102 may use the second communication key to decrypt the encrypted vehicle position to obtain the vehicle position. Then, the parking lot terminal 102 plans a navigation route according to its stored parking lot location and vehicle location, encrypts the navigation route, uses the encrypted navigation route as parking lot navigation information, and feeds back the parking lot navigation information to the vehicle end 101.
  • Step S240 Receive the parking lot navigation information, and perform navigation according to the parking lot navigation information.
  • the vehicle end 101 may navigate to the parking lot according to the parking lot navigation information.
  • the parking lot terminal 102 may use the second communication key to encrypt the parking lot navigation information, and send the encrypted parking lot navigation information to the vehicle end 101.
  • the vehicle end 101 uses the first communication key to encrypt the encrypted parking lot navigation information Decrypt to get the decrypted parking lot navigation information.
  • the communication information can be encrypted, so that when the vehicle terminal 101 communicates with the parking lot terminal 102, the information exchanged during the communication can be encrypted.
  • the first communication key is generated by the vehicle end, and the detected vehicle position is encrypted using the first communication key to obtain the encrypted vehicle position, and the encrypted vehicle position is sent to the parking lot end,
  • the second communication key corresponding to the first communication key is used to decrypt the encrypted vehicle position to obtain the vehicle position, and provide the parking area navigation information to the vehicle end according to the vehicle position.
  • the communication between the vehicle end and the parking lot is encrypted by using the corresponding communication key to increase the communication range between the vehicle end and the parking lot and improve the communication stability. At the same time, it ensures the information security of V2X communication.
  • the method further includes:
  • the parking space may be related information of each parking space in the parking lot, for example, information about the position of the parking lot to which the parking space belongs, the position of the parking space in the parking lot, the size of the parking space, and the like.
  • the reservation request is used to request a reservation of a specific parking space in a parking lot.
  • the vehicle end 101 may broadcast parking demand information. After the parking lot terminal 102 detects the parking demand information, it can broadcast the currently vacant parking space according to the parking demand information. The vehicle end 101 can detect the parking space broadcasted by the parking lot end 102 and display the parking space to the user for the user to view and select the parking space. There can be one or more parking spaces, and users can choose one or more parking spaces according to their specific parking needs.
  • the vehicle end 101 may generate a reservation request according to the parking space, and send the reservation request to the parking lot side 102.
  • the parking lot end 102 After receiving the reservation request, the parking lot end 102 responds to the reservation request of the vehicle end 101. At the same time, the parking space requested by the reservation request is marked to obtain a reserved parking space.
  • the parking lot terminal 102 may generate a parking space reserved reminder and feedback the reminder to the other vehicle terminal.
  • the parking lot terminal 102 may no longer respond to reservation requests for reserved parking spaces from other vehicle terminals.
  • the parking lot terminal 102 broadcasts a parking space, it can filter out the reserved parking spaces from multiple parking spaces, obtain free parking spaces, and broadcast the free parking spaces. Prevent other vehicles from receiving parking spaces that cannot be reserved.
  • a reservation request is sent to the parking space end for the parking space for the parking space side to mark the parking space as a reserved parking space, so that other vehicles may park the parking space.
  • the parking lot can provide a reminder of the reserved parking space, making it impossible for other vehicles to make reservations and parking for the reserved parking space. Time and energy spent.
  • the generating a first communication key includes:
  • a key can be calculated as a first communication key by using a specific encryption algorithm for vehicle information such as an engine serial number, a vehicle model, and the reserved parking space number stored in the vehicle end 101.
  • encryption algorithms such as MD5 (Message-Digest Algorithm 5, Fifth Edition Digest Algorithm), DES (Data Encryption Standard, Data Encryption Standard).
  • MD5 Message-Digest Algorithm 5, Fifth Edition Digest Algorithm
  • DES Data Encryption Standard, Data Encryption Standard
  • a person skilled in the art may use a variety of information to calculate a key, for example, information such as a driving license, a license plate number, or information such as encrypted information preset for a reserved parking space.
  • information such as a driving license, a license plate number, or information such as encrypted information preset for a reserved parking space.
  • the embodiment of the present application does not limit the specific information used in the encryption calculation.
  • the method further includes:
  • Detecting a positioning signal of a roadside device in a parking lot extracting a device position from the positioning signal, and obtaining a signal distance of the positioning signal; locating a vehicle position in the field based on the device position and the signal distance; according to the Navigation of the vehicle position on the field.
  • the roadside equipment of the parking lot may be a roadside equipment for issuing a positioning signal in a parking lot.
  • Roadside equipment RSU, Road Side Unit
  • the roadside device can send a V2X signal as a positioning signal, and communicate with the vehicle end 101 through the V2X signal.
  • the roadside equipment of the parking lot can be evenly distributed on the edge of the inner lane of the parking lot.
  • the roadside equipment of the parking lot can record the road information of the lane in which it is located, for example, the lane id, and information about the current testing equipment of the parking lot on the left and right sides of the lane.
  • the equipment location may be the location of the roadside equipment in the parking lot in the parking lot.
  • the device location may be GPS coordinates.
  • the signal distance may be the distance between the roadside equipment of the parking lot and the vehicle.
  • Different signal strengths RSSI, Received Signal Strength
  • RSSI Received Signal Strength
  • the V2X signal sent by the roadside equipment of the parking lot the closer the vehicle end 101 is to the roadside equipment of the parking lot, the stronger the signal strength of the received V2X signal.
  • the location of the vehicle in the field may be the geographical coordinates of the vehicle in the parking lot.
  • a navigation method in which a vehicle is positioned by a roadside device in a parking lot, and navigation is performed according to the position of the located vehicle.
  • the vehicle end 101 when the vehicle end 101 detects that the network signal does not meet the signal strength requirements or the network signal is unstable, it may detect the V2X signal of the roadside equipment of the parking lot as a positioning signal.
  • the roadside equipment of the parking lot can add its own equipment location to the V2X signal sent out. Therefore, the vehicle end 101 can extract the device position from the V2X signal.
  • the vehicle end 101 can calculate the distance between the vehicle end 101 and the roadside equipment of the parking lot according to the magnitude of the signal strength of the V2X signal as the signal distance. After the device position and signal distance are obtained, the position of the vehicle in the parking lot can be located to obtain the vehicle position in the field.
  • the vehicle terminal 101 may plan a navigation route between the vehicle position and the parking space position in the venue according to the parking space position of the reserved parking space provided by the parking lot terminal 102, thereby performing navigation.
  • the vehicle by detecting a positioning signal of a roadside device in a parking lot, extracting a device position from the positioning signal, and calculating a signal distance of the positioning signal, according to the device position and the signal distance, the vehicle is Positioning, navigation based on the location of the vehicle in the field. Therefore, even when the network signal in the parking lot is poor, normal navigation can still be performed.
  • the locating a vehicle position in the field according to the device position and the signal distance includes:
  • a plurality of positioning circles are generated with the device position as the center of the circle and the signal distance as the radius; obtaining the positions of the intersections of the plurality of positioning circles; and obtaining the position of the vehicle in the field according to the positions of the intersections.
  • the vehicle position in the field can be located by the three-point positioning method according to the equipment position and signal distance.
  • FIG. 3 is a schematic diagram of locating a vehicle based on a roadside device according to an embodiment of the present application. It can be seen from the figure that the vehicle is driving in the parking lot. On both sides of the lane of the parking lot, a plurality of roadside devices such as RSU_A, RSU_B, RSU_C, and RSU_D are deployed. The vehicle end of the vehicle detects V2X signals from multiple roadside devices, extracts the device position from the V2X signals, and calculates the signal distance based on the signal strength of the V2X signals. With the device position as the center and the signal distance as the circle, multiple positioning circles are obtained. Usually, three positioning circles are selected to determine the intersection point O of the three positioning circles. The position of the intersection point O is the vehicle position in the field.
  • the method before the detecting the positioning signal of the roadside equipment on the parking lot, the method further includes:
  • the vehicle end 101 may simultaneously detect candidate positioning signals of roadside equipment of multiple candidate parking lots.
  • the vehicle end 101 can detect V2X signals of a plurality of roadside devices such as RSU_A, RSU_B, RSU_C, and RSU_D.
  • the vehicle end 101 can select at least three candidate positioning signals with optimal signal strength according to the signal strength of the candidate positioning signals, as the vehicle position positioning Positioning signal. Referring to FIG. 3, when the vehicle end 101 detects that the signal strength of the V2X signals of RSU_A, RSU_C, and RSU_D is large, it performs positioning according to the V2X signals of RSU_A, RSU_C, and RSU_D.
  • the obtaining the position of the vehicle in the field according to the position of the intersection includes:
  • the roadside equipment in the same lane of a parking lot has a stronger signal strength of the positioning signal. Therefore, at least two maximum signal strengths can be determined in the preferred signal strength, and accordingly, the device position corresponding to the maximum signal strength can be determined as the target device position, and the target device position is located in the same lane.
  • the lane where the current vehicle is located can be determined, and the position of the intersection can be corrected based on the lane information of the lane where the vehicle is located, so that the vehicle can be positioned more accurately.
  • the lane where the vehicle is currently located can be determined, and the intersection position can be corrected accordingly to obtain a more accurate on-site vehicle position. Navigation accuracy.
  • the performing navigation based on the vehicle position in the field includes:
  • the parking lot terminal 102 can provide the vehicle terminal 101 to the vehicle terminal 101, and the vehicle terminal 101 can plan a navigation route according to the reserved parking space, the on-site vehicle location, and the vehicle terminal electronic map. Reserve a parking space.
  • the method further includes:
  • the mobile terminal of the user may be a mobile terminal such as a mobile phone or a tablet computer that is carried by the user.
  • the vehicle end 101 may send the first communication key to the user mobile end.
  • the user mobile terminal can continue to perform encrypted communication with the parking lot terminal 102 based on the first communication key. For example, the mobile terminal of the user obtains navigation information from the parking lot terminal 102 to guide the user to leave the parking lot, or the navigation user searches for a vehicle in the parking lot.
  • FIG. 4 provides a schematic diagram of a user mobile terminal performing communication based on a communication key according to an embodiment of the present application. It can be seen from the figure that the vehicle terminal 101 can send the first communication key to the user mobile terminal 103, and the user mobile terminal 103 can perform encrypted communication with the parking lot terminal 102 through the first communication key.
  • the user's mobile terminal by sending the communication key to the user's mobile terminal, the user's mobile terminal can continue to perform encrypted communication with the parking lot terminal, thereby improving the information security of the communication between the user's mobile terminal and the parking lot terminal.
  • the method further includes:
  • the parking completion information is received, the first communication key is deleted; the parking completion information is sent to the parking lot side for the parking lot side to delete the second communication key.
  • the parking completion information may be information generated after the vehicle end 101 detects that the vehicle leaves the parking space.
  • the user can submit a parking completion instruction on the user's mobile terminal.
  • the user's mobile terminal can generate a parking completion message, and the user's mobile terminal sends the parking completion information to the vehicle terminal 101.
  • the local first communication key can be deleted.
  • the vehicle end 101 may send the parking completion information to the parking lot end 102, and after receiving the parking completion information, the parking lot end 102 deletes the local second communication key.
  • the vehicle end 101 may also detect that the vehicle has left the parking space or the parking lot, determine that the current parking is completed, and generate parking completion information.
  • the first communication key is deleted after the parking is completed, and the parking lot side is notified to delete the second communication key, thereby saving the storage space of the vehicle side and the parking lot side.
  • a navigation method is provided.
  • the method is applied to the vehicle end 101 in FIG. 1 as an example, and includes the following steps:
  • Step S510 Detect a positioning signal of a roadside device in a parking lot.
  • the vehicle end 101 may detect the V2X signal of the roadside equipment of the parking lot as a positioning signal.
  • Step S520 extract a device position from the positioning signal, and obtain a signal distance of the positioning signal.
  • the vehicle end 101 can extract the device position from the V2X signal. At the same time, the vehicle end 101 can calculate the distance between the vehicle end 101 and the roadside equipment of the parking lot according to the magnitude of the signal strength of the V2X signal as the signal distance.
  • Step S530 Locate the vehicle position in the field according to the device position and the signal distance.
  • the position of the vehicle in the parking lot can be located to obtain the vehicle position in the field.
  • step S540 navigation is performed according to the vehicle position in the field.
  • the vehicle end 101 can plan a navigation route between the vehicle position and the parking position in the field according to the reserved parking position provided by the parking lot end 102, thereby performing navigation.
  • the vehicle by detecting a positioning signal of a roadside device in a parking lot, extracting a device position from the positioning signal, and calculating a signal distance of the positioning signal, according to the device position and the signal distance, the vehicle is Positioning, navigation based on the location of the vehicle in the field. Therefore, even when the network signal in the parking lot is poor, normal navigation can still be performed.
  • step S530 includes:
  • a plurality of positioning circles are generated with the device position as the center of the circle and the signal distance as the radius; obtaining the positions of the intersections of the plurality of positioning circles; and obtaining the position of the vehicle in the field according to the positions of the intersections.
  • step S510 the method further includes:
  • the obtaining the position of the vehicle in the field according to the position of the intersection includes:
  • step S540 includes:
  • the lane where the vehicle is currently located can be determined, and the intersection position can be corrected accordingly to obtain a more accurate on-site vehicle position. Navigation accuracy.
  • a navigation method is provided.
  • the method is applied as an example to the parking lot terminal 102 of FIG. 1, and includes the following steps:
  • Step S610 Receive the encrypted vehicle position at the vehicle end; the vehicle end is used for detecting the vehicle position and generating a first communication key, and using the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position.
  • the parking lot end 102 may receive the encrypted vehicle position sent by the vehicle end 101.
  • Step S620 generating a second communication key, and using the second communication key to decrypt the encrypted vehicle position to obtain the vehicle position; the second communication key has a corresponding relationship with the first communication key .
  • the parking lot terminal 102 may generate a communication key.
  • the communication key generated by the vehicle terminal 101 is named the second communication key.
  • the manner in which the parking lot terminal 102 generates the second communication key may be the same as or similar to the manner in which the vehicle terminal 101 generates the first communication key, so that the parking lot terminal 102 obtains a second communication key corresponding to the first communication key.
  • the parking lot end 102 may use the second communication key to decrypt the encrypted vehicle position to obtain the vehicle position.
  • Step S630 Generate parking yard navigation information according to the vehicle position, and send the parking yard navigation information to the vehicle end.
  • the parking lot terminal 102 plans a navigation route based on the stored parking lot location and vehicle location, and encrypts the navigation route.
  • the encrypted navigation route is used as parking lot navigation information, and the parking lot navigation information is fed back to the vehicle end 101. .
  • the parking terminal 102 when the vehicle terminal 101 needs to perform navigation based on the navigation information provided by the parking terminal 102, the parking terminal 102 generates a second communication key corresponding to the first communication key of the vehicle terminal 101, Based on the second communication key, the encrypted vehicle position of the vehicle end 101 is decrypted to obtain the vehicle position.
  • the information of the vehicle end 101 and the parking lot end 102 is avoided. The leak guarantees the information security of navigation communication.
  • the communication between the vehicle end and the parking lot is encrypted by using the corresponding communication key to increase the communication range between the vehicle end and the parking lot and improve the communication stability. At the same time, it ensures the information security of V2X communication.
  • step S620 the method further includes:
  • Broadcast a parking space to a vehicle receive a reservation request from the vehicle for the parking space; mark the parking space as a reserved parking space to make a reserved parking space when receiving other reservation requests for the reserved parking space prompt.
  • the parking lot end 102 may broadcast one or more parking spaces to the vehicle end 101.
  • the parking lot terminal 102 may respond to the reservation request.
  • the parking lot terminal 102 marks the parking space requested by the reservation request, so that the marked parking space is a reserved parking space.
  • the parking lot terminal 102 may generate a parking space reserved reminder and feedback the reminder to the other vehicle terminal.
  • the parking lot terminal after receiving a reservation request for a parking space, marks the parking space as a reserved parking space, so that when other vehicles initiate a reservation request for the parking space, the parking lot terminal The reminder of the reserved parking space can be made, so that other vehicles cannot make reservations and parking for the reserved parking space, avoiding the problem that the parking space is parked by other vehicles when the vehicle arrives at the parking lot, saving the time and energy spent by the user when parking.
  • step S620 the method further includes:
  • the generating a second communication key includes:
  • the vehicle information when the vehicle terminal 101 sends the parking demand information, the vehicle information may be added to the parking demand information, so that the parking lot terminal 102 may receive the vehicle information of the vehicle terminal 101.
  • the parking lot terminal 102 may calculate a key as a second communication key by using a specific encryption algorithm according to the vehicle information and the reserved parking space.
  • the method further includes:
  • the second communication key is deleted.
  • the vehicle end 101 detects that the vehicle has left the parking space or the parking lot, and determines that the current parking is completed. It can generate a parking completion message and send it to the parking lot 102. After the parking lot 102 receives the parking completion information, it deletes the local Second communication key.
  • the second communication key on the parking lot side is deleted, thereby saving the storage space on the parking lot side.
  • a navigation device including: a detection module 710, an encryption module 720, a sending module 730, and a receiving module 740; wherein:
  • a detection module 710 configured to detect a vehicle position
  • An encryption module 720 configured to generate a first communication key, and use the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position;
  • a sending module 730 is configured to send the encrypted vehicle position to a parking lot end; the parking lot end is used to decrypt the encrypted vehicle position using a second communication key to obtain the vehicle position, and feedback the vehicle position according to the vehicle position Parking lot navigation information; the second communication key has a corresponding relationship with the first communication key;
  • the receiving module 740 is configured to receive the parking lot navigation information and perform navigation according to the parking lot navigation information.
  • the encryption module 720 includes:
  • a key calculation submodule is configured to calculate the first communication key according to the vehicle information and the reserved parking space.
  • the method further includes:
  • a key sending module is configured to send the first communication key to a user mobile terminal for the user mobile terminal to use the first communication key to perform encrypted communication with the parking lot terminal.
  • the method further includes:
  • a key deletion module configured to delete the first communication key when the parking completion information is received
  • An information sending module is configured to send the parking completion information to the parking lot end for the parking lot end to delete the second communication key.
  • the method further includes:
  • a parking space receiving module configured to receive a parking space broadcast at the parking lot end
  • the request sending module is configured to send a reservation request to the parking lot side after the user selects the parking space for the parking lot side to mark the parking space as a reserved parking space; the parking lot side is used for When other reservation requests for the reserved parking space are received, a notification of the reserved parking space is made.
  • the method further includes:
  • a signal detection module for detecting the positioning signals of the roadside equipment of the parking lot
  • An extraction module configured to extract a device position from the positioning signal, and calculate a signal distance of the positioning signal
  • a positioning module configured to locate the position of the vehicle in the parking lot according to the position of the device and the signal distance to obtain the position of the vehicle in the field;
  • the on-site navigation module is configured to perform navigation according to the vehicle position in the on-site.
  • the positioning module includes:
  • a positioning circle submodule configured to generate a plurality of positioning circles with the device position as a center and the signal distance as a radius;
  • An intersection sub-module configured to obtain the intersection positions of the plurality of positioning circles
  • the on-site position submodule is configured to obtain the on-site vehicle position according to the intersection position.
  • the method further includes:
  • Candidate signal module for receiving candidate positioning signals of roadside equipment of candidate parking lot
  • a signal strength detection module configured to detect a signal strength of the candidate positioning signal
  • a determining module configured to determine a candidate vehicle roadside device corresponding to the preferred signal strength as the vehicle roadside device.
  • the on-site navigation module includes:
  • the parking position acquisition submodule is used to obtain the parking position of the reserved parking space
  • a route planning sub-module for planning an on-site navigation route between the parking space position and the on-site vehicle position
  • the route navigation submodule is configured to perform navigation according to the on-site navigation route.
  • the on-site location submodule includes:
  • a maximum intensity unit configured to determine a maximum signal intensity in the preferred signal intensity
  • a lane information unit configured to determine the roadside equipment corresponding to the maximum signal strength and the lane information recorded thereon;
  • a position correction unit is configured to correct the position of the intersection using the lane information to obtain the vehicle position in the field.
  • a navigation device including: a signal detection module 810, an extraction module 820, a positioning module 830, and an on-site navigation module 840; wherein:
  • a signal detection module 810 configured to detect a positioning signal of a roadside device in a parking lot
  • An extraction module 820 configured to extract a device position from the positioning signal, and calculate a signal distance of the positioning signal
  • a positioning module 830 configured to locate the position of the vehicle in the parking lot according to the position of the device and the signal distance, and obtain the position of the vehicle in the field;
  • the on-site navigation module 840 is configured to perform navigation according to the vehicle position in the on-site.
  • the positioning module 830 includes:
  • a positioning circle submodule configured to generate a plurality of positioning circles with the device position as a center and the signal distance as a radius;
  • An intersection sub-module configured to obtain the intersection positions of the plurality of positioning circles
  • the on-site position submodule is configured to obtain the on-site vehicle position according to the intersection position.
  • the method further includes:
  • Candidate signal module for receiving candidate positioning signals of roadside equipment of candidate parking lot
  • a signal strength detection module configured to detect a signal strength of the candidate positioning signal
  • a determining module configured to determine a candidate vehicle roadside device corresponding to the preferred signal strength as the vehicle roadside device.
  • the on-site navigation module 840 includes:
  • the parking position acquisition submodule is used to obtain the parking position of the reserved parking space
  • a route planning sub-module for planning an on-site navigation route between the parking space position and the on-site vehicle position
  • the route navigation submodule is configured to perform navigation according to the on-site navigation route.
  • the on-site location submodule includes:
  • a maximum intensity unit configured to determine a maximum signal intensity in the preferred signal intensity
  • a lane information unit configured to determine the roadside equipment corresponding to the maximum signal strength and the lane information recorded thereon;
  • a position correction unit is configured to correct the position of the intersection using the lane information to obtain the vehicle position in the field.
  • a navigation device including: an encrypted position receiving module 910, a second key module 920, and a navigation information generating module 930; wherein:
  • the encrypted position receiving module 910 is configured to receive the encrypted vehicle position at the vehicle end; the vehicle end is used to detect the vehicle position and generate a first communication key, and use the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position ;
  • a second key module 920 configured to generate a second communication key, and use the second communication key to decrypt the encrypted vehicle position to obtain the vehicle position; the second communication key and the first communication key
  • the correspondence key has a corresponding relationship;
  • the navigation information generating module 930 is configured to generate parking area navigation information according to the vehicle position, and send the parking area navigation information to the vehicle end.
  • the method further includes:
  • the parking space broadcasting module is used to broadcast the parking space to the vehicle end;
  • a request receiving module configured to receive a reservation request from the vehicle end for the parking space
  • the reserved marking module is configured to mark the parking space as a reserved parking space, so as to prompt the reserved parking space when receiving other reservation requests for the reserved parking space.
  • the method further includes:
  • a vehicle information receiving module configured to receive vehicle information of the vehicle end
  • the second key module 920 includes:
  • a key calculation submodule is configured to calculate the second communication key according to the vehicle information and the reserved parking space.
  • the method further includes:
  • the key deletion module is configured to delete the second communication key when the parking completion information of the vehicle end is received.
  • a navigation system including: a vehicle end 1010 and a parking lot end 1020; wherein:
  • the vehicle end 1010 is configured to detect a vehicle position, generate a first communication key, and use the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position, and send the encrypted vehicle position to the parking lot.
  • the parking lot end 1020 is configured to receive the encrypted vehicle position of the vehicle end 1010, generate a second communication key, and use the second communication key to decrypt the encrypted vehicle position to obtain the vehicle position.
  • Vehicle location navigation information is generated and sent to the vehicle terminal 1010; the second communication key has a corresponding relationship with the first communication key;
  • the vehicle end 1010 is further configured to receive the parking lot navigation information and perform navigation according to the parking lot navigation information.
  • vehicle end 1010 is further configured to:
  • Detecting a positioning signal of a roadside device in a parking lot extracting a device position from the positioning signal, and obtaining a signal distance of the positioning signal; locating a vehicle position in the field based on the device position and the signal distance; according to the Navigation of the vehicle position on the field.
  • vehicle end 1010 is further configured to:
  • a reservation request is sent to the parking lot side for the parking lot side to mark the parking space as a reserved parking space; the parking lot side is used to receive the reserved parking space.
  • the reserved parking spaces will be notified.
  • vehicle end 1010 is further configured to:
  • vehicle end 1010 is further configured to:
  • vehicle end 1010 is further configured to:
  • vehicle end 1010 is further configured to:
  • the position of the vehicle in the field is obtained according to the position of the intersection.
  • vehicle end 1010 is further configured to:
  • a candidate roadside device corresponding to the preferred signal strength is determined as the caryard roadside device.
  • vehicle end 1010 is further configured to:
  • Navigation is performed according to the on-site navigation route.
  • vehicle end 1010 is further configured to:
  • the lane information is used to correct the intersection position to obtain the vehicle position in the field.
  • the parking lot end 1020 is further configured to:
  • the parking lot end 1020 is further configured to:
  • the parking lot end 1020 is further configured to:
  • the second communication key is deleted.
  • Each module in the above-mentioned bit reservation device and parking system can be realized in whole or in part by software, hardware, and a combination thereof.
  • the above-mentioned modules may be embedded in the hardware form or independent of the processor in the computer device, or may be stored in the memory of the computer device in the form of software, so that the processor calls and performs the operations corresponding to the above modules.
  • the navigation device and system provided above can be used to execute the navigation method provided by any of the above embodiments, and have corresponding functions and beneficial effects.
  • FIG. 11 is a schematic diagram of a navigation process according to an embodiment of the present application.
  • the vehicle side broadcasts the parking demand information.
  • the parking lot side queries the parking space that meets the parking demand information and broadcasts the parking space.
  • the vehicle side After the vehicle side receives the parking space, it can display the parking space on the display screen, the user can select the parking space, and the vehicle side sends a reservation request to the parking space side for the selected parking space.
  • the vehicle end can use a specific algorithm to generate a key for the parking space and its stored vehicle information, and use the key to encrypt the detected vehicle position, and send the encrypted vehicle position to the parking lot side.
  • the parking lot can mark the parking space as a reserved parking space.
  • the parking lot can use a specific algorithm to generate a key for the parking space and the vehicle information sent by the vehicle end, and use the key to decrypt the vehicle position sent by the vehicle end, and generate navigation information based on the vehicle position, using the key encryption
  • the navigation information is fed back to the vehicle side for the vehicle side to perform navigation based on the navigation information.
  • the vehicle end can navigate to the parking space in the parking lot for parking.
  • the vehicle can send the key to the user's mobile terminal.
  • the owner can continue to perform encrypted communication with the parking lot through the user's mobile terminal.
  • the parking lot can provide navigation information to the user's mobile terminal to help the owner leave the parking Field, or help the owner find a parking space for the vehicle.
  • the parking lot can use the key to encrypt the navigation information and send the encrypted navigation information to the vehicle end for the vehicle end to leave the parking lot based on the navigation information.
  • the vehicle end can also send parking completion information to the parking lot side, and the parking lot side can delete the key accordingly.
  • a computer device is provided.
  • the computer device may be a server, and its internal structure diagram may be as shown in FIG. 12.
  • the computer device includes a processor, a memory, a network interface, and a database connected through a system bus.
  • the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system, a computer program, and a database.
  • the internal memory provides an environment for running an operating system and computer programs in a non-volatile storage medium.
  • the database of the computer equipment is used to store data of parking spaces, reserved parking spaces, vehicle information, vehicle locations, keys, and the like.
  • the network interface of the computer device is used to communicate with an external terminal through a network connection.
  • the computer program is executed by a processor to implement a parking space reservation method.
  • FIG. 12 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied.
  • the specific computer equipment may be Include more or fewer parts than shown in the figure, or combine certain parts, or have a different part arrangement.
  • a computer device including a memory and a processor.
  • the memory stores a computer program
  • the processor implements the following steps when the computer program is executed:
  • the processor also executes the following steps when executing a computer program:
  • the processor also executes the following steps when executing a computer program:
  • the processor also executes the following steps when executing a computer program:
  • the processor also executes the following steps when executing a computer program:
  • Navigation is performed according to the vehicle position in the field.
  • the processor also executes the following steps when executing a computer program:
  • a reservation request is sent to the parking lot side for the parking lot side to mark the parking space as a reserved parking space; the parking lot side is used to receive the reserved parking space.
  • the reserved parking spaces will be notified.
  • the processor also executes the following steps when executing a computer program:
  • the position of the vehicle in the field is obtained according to the position of the intersection.
  • the processor also executes the following steps when executing a computer program:
  • a candidate roadside device corresponding to the preferred signal strength is determined as the caryard roadside device.
  • the processor also executes the following steps when executing a computer program:
  • Navigation is performed according to the on-site navigation route.
  • the processor also executes the following steps when executing a computer program:
  • the lane information is used to correct the intersection position to obtain the vehicle position in the field.
  • the processor also executes the following steps when executing a computer program:
  • the vehicle end is used for detecting the vehicle position and generating a first communication key, and using the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position;
  • the second communication key has a correspondence relationship with the first communication key
  • a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by a processor, the following steps are implemented:
  • the computer program when executed by the processor also implements the following steps:
  • the computer program when executed by the processor also implements the following steps:
  • the computer program when executed by the processor also implements the following steps:
  • the computer program when executed by the processor also implements the following steps:
  • Navigation is performed according to the vehicle position in the field.
  • the computer program when executed by the processor also implements the following steps:
  • a reservation request is sent to the parking lot side for the parking lot side to mark the parking space as a reserved parking space; the parking lot side is used to receive the reserved parking space.
  • the reserved parking spaces will be notified.
  • the computer program when executed by the processor also implements the following steps:
  • Navigation is performed according to the vehicle position in the field.
  • the computer program when executed by the processor also implements the following steps:
  • the position of the vehicle in the field is obtained according to the position of the intersection.
  • the computer program when executed by the processor also implements the following steps:
  • a candidate roadside device corresponding to the preferred signal strength is determined as the caryard roadside device.
  • the computer program when executed by the processor also implements the following steps:
  • Navigation is performed according to the on-site navigation route.
  • the computer program when executed by the processor also implements the following steps:
  • the lane information is used to correct the intersection position to obtain the vehicle position in the field.
  • the computer program when executed by the processor also implements the following steps:
  • the vehicle end is used for detecting the vehicle position and generating a first communication key, and using the first communication key to encrypt the vehicle position to obtain an encrypted vehicle position;
  • the second communication key has a correspondence relationship with the first communication key
  • Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory can include random access memory (RAM) or external cache memory.
  • RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM dual data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous chain Synchlink DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

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Abstract

一种车位导航方法、装置、系统、计算机设备和存储介质。方法包括：检测车辆位置（S210）；生成第一通讯密钥，并采用第一通讯密钥加密车辆位置，得到加密车辆位置（S220）；发送加密车辆位置至停车场端（S230）；接收车场导航信息，并根据车场导航信息进行导航（S240）。在车辆端与停车场端进行通讯时，避免车辆端的车辆位置被泄露，保证了导航通讯的信息安全性。

Description

导航方法、装置、系统、计算机设备和存储介质 技术领域
本申请涉及车辆技术领域，特别是涉及一种导航方法、装置、系统、计算机设备和存储介质。
背景技术
车辆导航功能已经是用户驾车出行较为常用的功能。在利用导航功能查找停车场的应用场景中，车辆首先可以定位当前的GPS位置，然后发出该GPS位置至停车场的服务器，供停车场的服务器根据车辆的GPS提供导航信息，供车辆根据导航信息导航至停车场。
然而，车辆发出的GPS位置可能会被其他用户所获取并被非法利用。由此，导致了车辆在导航至停车场的过程中，重要信息被泄露，信息安全无法得到保障。
因此，目前的导航方法存在着无法保证信息安全性的问题。
发明内容
基于此，有必要针对上述技术问题，提供一种导航方法、装置、系统、计算机设备和存储介质。
一种导航方法，包括：
检测车辆位置；
生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
发送所述加密车辆位置至停车场端；所述停车场端用于采用第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，并根据所述车辆位置反馈车场导航信息；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
接收所述车场导航信息，并根据所述车场导航信息进行导航。
在另一个实施例中，所述生成第一通讯密钥，包括：
获取车辆信息和已预约车位；
根据所述车辆信息和所述已预约车位，计算所述第一通讯密钥。
在另一个实施例中，还包括：
发送所述第一通讯密钥至用户移动端，供所述用户移动端采用所述第一通讯密钥与所述停车场端进行加密通讯。
在另一个实施例中，还包括：
当接收到停车完毕信息，删除所述第一通讯密钥；
发送所述停车完毕信息至所述停车场端，供所述停车场端删除所述第二通讯密钥。
在另一个实施例中，还包括：
检测车场路侧设备的定位信号；
在所述定位信号中提取设备位置，以及，计算所述定位信号的信号距离；
根据所述设备位置和所述信号距离，定位车辆在停车场内的位置，得到场内车辆位置；
根据所述场内车辆位置进行导航。
在另一个实施例中，在所述检测车辆位置之前，还包括：
接收所述停车场端广播的停车位；
当用户选定所述停车位后，发送预约请求至所述停车场端，供所述停车场端标记所述停车位为已预约车位；所述停车场端用于在接收对所述已预约车位的其他预约请求时，进行车位已预约提示。
一种导航方法，包括：
检测车场路侧设备的定位信号；
在所述定位信号中提取设备位置，以及，获取所述定位信号的信号距离；
根据所述设备位置和所述信号距离，定位场内车辆位置；
根据所述场内车辆位置进行导航。
在另一个实施例中，所述根据所述设备位置和所述信号距离，定位场内车辆位置，包括：
以所述设备位置为圆心，以所述信号距离为半径，生成多个定位圆；
获取所述多个定位圆的交点位置；
根据所述交点位置，得到所述场内车辆位置。
在另一个实施例中，在所述检测车场路侧设备的定位信号之前，还包括：
接收候选车场路侧设备的候选定位信号；
检测所述候选定位信号的信号强度；
筛选出优选信号强度；
确定所述优选信号强度对应的候选车场路侧设备，作为所述车场路侧设备。
在另一个实施例中，所述根据所述场内车辆位置进行导航，包括：
获取已预约车位的车位位置；
规划所述车位位置与所述场内车辆位置之间的场内导航路线；
根据所述场内导航路线进行导航。
在另一个实施例中，所述根据所述交点位置，得到所述场内车辆位置，包括：
在所述优选信号强度中，确定最大信号强度；
确定所述最大信号强度对应的车场路侧设备及其所记录的车道信息；
采用所述车道信息，校正所述交点位置，得到所述场内车辆位置。
一种导航方法，包括：
接收车辆端的加密车辆位置；所述车辆端用于检测车辆位置和生成第一通讯密钥，采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端。
一种导航装置，包括：
位置检测模块，用于检测车辆位置；
第一密钥模块，用于生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
位置发送模块，用于发送所述加密车辆位置至停车场端；所述停车场端用于采用第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，并根据所述车辆位置反馈车场导航信息；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
导航信息接收模块，用于接收所述车场导航信息，并根据所述车场导航信息进行导航。
一种导航装置，包括：
信号检测模块，用于检测车场路侧设备的定位信号；
提取模块，用于在所述定位信号中提取设备位置，以及，获取所述定位信号的信号距离；
场内定位模块，用于根据所述设备位置和所述信号距离，定位场内车辆位置；
场内导航模块，用于根据所述场内车辆位置进行导航。
一种导航装置，包括：
加密位置接收模块，用于接收车辆端的加密车辆位置；所述车辆端用于检测车辆位置和生成第一通讯密钥，采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
第二密钥模块，用于生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
导航信息生成模块，用于根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端。
一种导航系统，包括：
车辆端和停车场端；
所述车辆端，用于检测车辆位置，生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置，发送所述加密车辆位置至停车场端；
所述停车场端，用于接收车辆端的加密车辆位置，生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
所述车辆端，还用于接收所述车场导航信息，并根据所述车场导航信息进行导航。
在另一个实施例中，所述车辆端还用于检测车场路侧设备的定位信号，在所述定位信号中提取设备位置，以及，获取所述定位信号的信号距离；根据所述设备位置和所述信号距离，定位场内车辆位置；根据所述场内车辆位置进行导航。
一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现：
检测车辆位置；
生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
发送所述加密车辆位置至停车场端；所述停车场端用于采用第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，并根据所述车辆位置反馈车场导航信息；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
接收所述车场导航信息，并根据所述车场导航信息进行导航。
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现：
检测车辆位置；
生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
发送所述加密车辆位置至停车场端；所述停车场端用于采用第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，并根据所述车辆位置反馈车场导航信息；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
接收所述车场导航信息，并根据所述车场导航信息进行导航。
上述导航方法、装置、系统、计算机设备和存储介质，通过车辆端生成第一通讯密钥，采用该第一通讯密钥对检测到的车辆位置进行加密，得到加密车辆位置，并发送加密车辆位置至停车场端，供停车场端采用与第一通讯密钥对应的第二通讯密钥，对加密车辆位置进行解密，得到车辆位置，并根据车辆位置向车辆端提供车场导航信息，从而，在车辆端与停车场端进行通讯时，避免车辆端的车辆位置被泄露，保证了导航通讯的信息安全性。
针对车辆端与停车场端基于V2X进行通讯的场景，通过车辆端与停车场端采用对应的通讯密钥对加密通讯，在实现车辆端与停车场端之间的通讯范围增大和通讯稳定性提升的同时，保证了V2X通讯的信息安全性。
附图说明
图1是一个实施例的一种导航方法的应用环境图；
图2是一个实施例的一种导航方法的流程示意图；
图3是一个实施例的一种基于路侧设备定位车辆位置的示意图；
图4是一个实施例的一种用户移动端基于通讯密钥进行通讯的示意图；
图5是另一个实施例的一种导航方法的流程示意图；
图6是又一个实施例的一种导航方法的流程示意图；
图7是一个实施例的一种导航装置的结构框图；
图8是另一个实施例的一种导航装置的结构框图；
图9是又一个实施例的一种导航装置的结构框图；
图10是一个实施例的一种导航系统的结构框图；
图11是一个实施例的一种导航流程的示意图；
图12是一个实施例的一种计算机设备的内部结构图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
本申请提供的导航方法，可以应用于如图1所示的应用环境中。
车辆端101可以具体为车载设备(OBU，On Board Unit)。停车场端102可以用独立的服务器或者是多个服务器组成的服务器集群来实现。
车辆端101可以通过网络与停车场端102进行通讯。其中，车辆端101可以安装有V2X系统。相应地，停车场端102也可以安装有V2X系统。通过两端的V2X系统，车辆端101与停车场端102之间可以通过V2X信号进行通讯。需要说明的是，相比起传统的3G-LTE(Long Term Evolution，长期演进)、4G-LTE等的通讯方式，基于V2X信号的通讯方式，可提供扩展的通讯距离和更稳定的通讯信号。因此，基于V2X信号进行通讯，可以提升车辆端与停车场端之间的通讯范围和通讯稳定性。
在一个实施例中，如图2所示，提供了一种导航方法，以该方法应用于图1中的车辆端101为例进行说明，包括以下步骤：
步骤S210，检测车辆位置。
其中，车辆位置是车辆端101所在车辆当前所处的地理坐标。例如，车辆位置可以为GPS(Global Positioning System，全球定位系统)坐标。
具体实现中，车辆端101可以内置定位模块，通过定位模块检测车辆的位置，得到车辆位置。
步骤S220，生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置。
其中，通讯密钥可以为用于车辆端101与停车场端102进行加密通讯所使用的密钥。密钥是通过特定加密算法将明文转换为密文或将密文转换为明文的算法参数。
其中，加密车辆位置可以为经过加密的车辆位置。
具体实现中，车辆端101可以生成一个通讯密钥。为了区分说明，将车辆端101生成的通讯密钥，命名为第一通讯密钥。然后，采用第一通讯密钥对车辆位置进行加密，得到加密车辆位置。
生成通讯密钥的方式可以有多种，例如，车辆端101可以获取车辆的发动机序列号、车型等信息，通过某个加密算法计算发动机序列号、车型的加密值，作为上述的通讯密钥。又例如，停车场端102可以预先发送一个特定的加密算法至车辆端101，车辆端101通过该特定的加密算法计算发动机序列号、车型的加密值，作为上述的通讯密钥。
步骤S230，发送所述加密车辆位置至停车场端；所述停车场端用于采用第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，并根据所述车辆位置反馈车场导航信息；所述第二通讯密钥与所述第一通讯密钥具有对应关系。
其中，车场导航信息可以为根据车辆位置和停车场位置规划的导航路线。
具体实现中，车辆端101可以发送该加密车辆位置至停车场端102。停车场端102可以生成一个通讯密钥。为了区分说明，将停车场端102生成的通讯密钥，命名为第二通讯密钥。
停车场端102生成第二通讯密钥的方式可以与车辆端101生成第一通讯密钥的方式相同或相似，从而，得到与第一通讯密钥相同或匹配的第二通讯密钥。停车场端102在接收到加密车辆位置之后，可以采用第 二通讯密钥，对加密车辆位置进行解密，得到车辆位置。然后，停车场端102根据其所存储的停车场位置与车辆位置，规划一条导航路线，并将导航路线加密，将加密的导航路线作为车场导航信息，反馈该车场导航信息至车辆端101。
步骤S240，接收所述车场导航信息，并根据所述车场导航信息进行导航。
具体实现中，车辆端101在接收到车场导航信息之后，可以根据车场导航信息，导航至停车场。
实际应用中，停车场端102可以采用第二通讯密钥对车场导航信息进行加密，将加密的车场导航信息发送至车辆端101，车辆端101采用第一通讯密钥对加密的车场导航信息进行解密，以得到解密的车场导航信息。
实际应用中，车辆端101与停车场端102之间进行通讯时，可能还会对如车辆端101的车辆ID、车主身份、停车场某个车位的车位位置等的信息进行交互。因此，在通讯过程中，可以对通讯的信息均进行加密，从而在车辆端101与停车场端102通讯时，可以对通讯时所交互的信息进行加密。
根据本申请实施例的技术方案，通过车辆端生成第一通讯密钥，采用该第一通讯密钥对检测到的车辆位置进行加密，得到加密车辆位置，并发送加密车辆位置至停车场端，供停车场端采用与第一通讯密钥对应的第二通讯密钥，对加密车辆位置进行解密，得到车辆位置，并根据车辆位置向车辆端提供车场导航信息，从而，在车辆端与停车场端进行通讯时，避免车辆端的车辆位置被泄露，保证了导航通讯的信息安全性。
针对车辆端与停车场端基于V2X进行通讯的场景，通过车辆端与停车场端采用对应的通讯密钥对加密通讯，在实现车辆端与停车场端之间的通讯范围增大和通讯稳定性提升的同时，保证了V2X通讯的信息安全性。
在另一个实施例中，所述方法还包括：
接收停车场端广播的停车位；当用户选定所述停车位后，发送预约请求至所述停车场端，供所述停车场端标记所述停车位为已预约车位；所述停车场端用于在接收对所述已预约车位的其他预约请求时，进行车位已预约提示。
其中，停车位可以为停车场中各个停车位的相关信息，例如，停车位所属停车场的位置、停车位在停车场内的位置、停车位的大小等信息。
其中，预约请求用于请求预约停车场中的特定车位。
具体实现中，车辆端101可以广播停车需求信息。停车场端102检测到停车需求信息之后，可以针对该停车需求信息，广播当前空闲的停车位。车辆端101则可以检测到停车场端102广播的停车位，并向用户展示该停车位，供用户查看、选择停车位。停车位可以为一个或多个，用户可以根据其具体的停车需求，选定其中一个或多个停车位。
在用户选定停车位之后，车辆端101可以根据该停车位，生成预约请求，并发送该预约请求至停车场端102。
停车场端102在接收到预约请求后，响应车辆端101的预约请求。同时，针对该预约请求所请求的停车位进行标记，得到已预约车位。当有其他车辆的车辆端，针对已预约车位发起预约请求时，停车场端102可以生成车位已预约提示，反馈该提示至其他车辆端。
实际应用中，停车场端102也可以不再响应其他车辆端对已预约车位的预约请求。停车场端102在广播停车位时，可以从多个停车位中，过滤掉已预约车位，得到空闲的停车位，并广播空闲的停车位。避免其他车辆端接收到无法被预约的停车位。
需要说明的是，由于车辆的增多，停车难已经成为较为严峻的问题。为了寻找合适的停车位，车主可以通过手机地图寻找附近的停车场，查询各个停车场的停车位，在确定某个停车场有可用的停车位时，则导航至该停车场。然而，由于信息的滞后性，经常会出现车辆到达该停车场时，原本可用的停车位已经被其他车辆停放，导致车主需要重新寻找停车场进行停车，浪费了车主停车的时间和精力。
根据本申请实施例的技术方案，通过在用户选定停车位之后，针对停车位发送预约请求至停车场端， 供停车场端标记该停车位为已预约车位，从而，在其他车辆对该停车位发起预约请求时，停车场端可以进行车位已预约提示，使得其他车辆无法针对已预约车位进行预约和停放，避免了车辆到达停车场时停车位被其他车辆停放的问题，节省了用户停车所耗费的时间和精力。
在另一个实施例中，所述生成第一通讯密钥，包括：
获取车辆信息和已预约车位；根据所述车辆信息和所述已预约车位，计算所述第一通讯密钥。
例如，可以针对车辆端101所存储的如发动机序列号、车型等的车辆信息，以及已预约车位的车位编号，通过特定的加密算法，计算出一个密钥，作为第一通讯密钥。
实际应用中，本领域技术人员可以采用加密算法计算密钥，例如，MD5(Message-Digest Algorithm 5，第五版摘要算法)、DES(Data Encryption Standard，数据加密标准算法)等的加密算法。本申请实施例对具体的加密算法不作限制。
实际应用中，本领域技术人员可以采用多种信息计算密钥，例如，驾驶执照、车牌号等的信息、或针对已预约车位预设的加密信息等信息。本申请实施例对加密计算所使用的具体信息不作限制。
在另一个实施例中，所述方法还包括：
检测车场路侧设备的定位信号；在所述定位信号中提取设备位置，以及，获取所述定位信号的信号距离；根据所述设备位置和所述信号距离，定位场内车辆位置；根据所述场内车辆位置进行导航。
其中，车场路侧设备可以为停车场内用于发出定位信号的路侧设备。路侧设备(RSU，Road Side Unit)可以与车辆端101的车载设备OBU进行通讯。路侧设备可以发出V2X信号作为定位信号，通过该V2X信号，与车辆端101进行通讯。车场路侧设备可以均匀分布在停车场的内车道边缘。车场路侧设备可以记录有自身所在车道的道路信息，例如，车道id，当前车场路测设备在车道左侧、右侧等信息。
其中，设备位置可以为车场路侧设备在停车场中所处的位置。例如，设备位置可以为GPS坐标。
其中，信号距离可以为车场路侧设备与车辆之间的距离。定位信号的不同信号强度(RSSI，Received Signal Strength Indicator)与信号距离有关联。例如，车场路侧设备所发出V2X信号，车辆端101与车场路侧设备越近，接收的V2X信号的信号强度越大。
其中，场内车辆位置可以为车辆在停车场内所处的地理坐标。
首先需要说明的是，车辆端101可以通过传统的3G-LTE、4G-LTE等网络进行导航。但是，当停车场内的网络信号太弱或者不稳定时，车辆端101无法通过网络信号进行导航。因此，在本申请实施例中，提供了一种导航方法，通过停车场内的车场路侧设备，对车辆进行定位，并根据定位的车辆位置进行导航。
具体实现中，车辆端101在检测到网络信号不符合信号强度需求或者网络信号不稳定时，可以检测车场路侧设备的V2X信号，作为定位信号。车场路侧设备在发出的V2X信号中，可以添加自身的设备位置。由此，车辆端101可以在V2X信号中提取到设备位置。
同时，车辆端101可以根据V2X信号的信号强度的大小，计算出车辆端101与车场路侧设备之间的距离，作为信号距离。在获取到设备位置和信号距离之后，则可以对车辆在停车场内的位置进行定位，得到场内车辆位置。车辆端101可以根据停车场端102所提供已预约车位的车位位置，规划场内车辆位置与车位位置之间的导航路线，由此进行导航。
根据本申请实施例的技术方案，通过检测停车场内的路侧设备的定位信号，在该定位信号中提取设备位置，并计算该定位信号的信号距离，根据设备位置和信号距离，对车辆进行定位，根据定位得到的场内车辆位置进行导航。由此，即使在停车场内网络信号不佳的情况下，仍然可以正常导航。
在另一个实施例中，所述根据所述设备位置和所述信号距离，定位场内车辆位置，包括：
以所述设备位置为圆心，以所述信号距离为半径，生成多个定位圆；获取所述多个定位圆的交点位置；根据所述交点位置，得到所述场内车辆位置。
具体实现中，可以通过三点定位法，根据设备位置和信号距离定位场内车辆位置。
图3是本申请实施例的一种基于路侧设备定位车辆位置的示意图。从图中可见，车辆在停车场内行驶，停车场的车道两侧，分别部署有RSU_A、RSU_B、RSU_C和RSU_D等多个路侧设备。车辆上的车辆端 检测多个路侧设备发出的V2X信号，并在该V2X信号中提取出设备位置，并根据V2X信号的信号强度，计算出信号距离。以设备位置为圆心，以信号距离作圆，得到多个定位圆。通常选取其中的三个定位圆，确定该三个定位圆的交点O，该交点O的位置，即为场内车辆位置。
在另一个实施例中，在所述检测车场路侧设备的定位信号之前，还包括：
接收候选车场路侧设备的候选定位信号；检测所述候选定位信号的信号强度；筛选出优选信号强度；确定所述优选信号强度对应的候选车场路侧设备，作为所述车场路侧设备。
具体实现中，车辆端101可以同时检测到多个候选车场路侧设备的候选定位信号。参考图3，车辆端101可以检测到RSU_A、RSU_B、RSU_C和RSU_D等多个路侧设备的V2X信号。
由于进行定位需要至少三个车场路侧设备的定位信号，因此，车辆端101可以根据候选定位信号的信号强度，筛选出最优信号强度的至少三个候选定位信号，作为用于进行车辆位置定位的定位信号。参考图3，车辆端101在检测到RSU_A、RSU_C和RSU_D的V2X信号的信号强度较大时，根据RSU_A、RSU_C和RSU_D的V2X信号进行定位。
在另一个实施例中，所述根据所述交点位置，得到所述场内车辆位置，包括：
在所述优选信号强度中，确定最大信号强度；确定所述最大信号强度对应的车场路侧设备及其所记录的车道信息；采用所述车道信息，校正所述交点位置，得到所述场内车辆位置。
具体实现中，停车场内可能包含有多条车道，而处于相同车道的车场路侧设备，其发出的定位信号的信号强度较大。因此，可以在优选信号强度中，确定至少两个最大信号强度，相应地，即可确定最大信号强度对应的设备位置，为目标设备位置，目标设备位置则位于相同车道上。由此，可以确定当前车辆所处的车道，根据车辆所处车道的车道信息，对交点位置进行校正，可以更准确地对车辆进行定位。
根据本申请实施例的技术方案，通过确定最大信号强度，从而可以确定出车辆当前所处的车道，并相应地校正交点位置，得到更准确的场内车辆位置，提升了利用车场路侧设备进行导航的精度。
在另一个实施例中，所述根据所述场内车辆位置进行导航，包括：
获取所述已预约车位的车位位置；规划所述车位位置与所述场内车辆位置之间的场内导航路线；根据所述场内导航路线进行导航。
具体实现中，停车场端102可以向车辆端101提供车场电子地图，车辆端101根据已预约车位的车位位置、场内车辆位置和车场电子地图，即可以规划出一个导航路线，以导航至已预约车位。
在另一个实施例中，所述方法还包括：
发送所述第一通讯密钥至用户移动端，供所述用户移动端采用所述第一通讯密钥与所述停车场端进行加密通讯。
其中，用户移动端可以为手机、平板电脑等由用户随身携带的移动终端。
具体实现中，检测到车辆停放在预约的停车位之后，车辆端101可以将第一通讯密钥发送至用户移动端。用户移动端可以基于该第一通讯密钥与停车场端102继续进行加密通讯。例如，用户移动端从停车场端102获取导航信息，以导航用户离开停车场，或者导航用户在停车场中寻找车辆。
在图1的基础上，图4提供了本申请实施例的一种用户移动端基于通讯密钥进行通讯的示意图。从图中可见，车辆端101可以将第一通讯密钥发送至用户移动端103，用户移动端103通过第一通讯密钥可以与停车场端102进行加密通讯。
根据本申请实施例的技术方案，通过将通讯密钥发送至用户移动端，供用户移动端继续与停车场端进行加密通讯，提升了用户移动端与停车场端进行通讯的信息安全性。
在另一个实施例中，所述方法还包括：
当接收到停车完毕信息，删除所述第一通讯密钥；发送所述停车完毕信息至所述停车场端，供所述停车场端删除所述第二通讯密钥。
其中，停车完毕信息可以为车辆端101检测到车辆离开停车位之后所生成的信息。
具体实现中，用户在停车完毕后，可以在用户移动端提交停车完毕指令，用户移动端可以生成一个停 车完毕信息，并由用户移动端发送该停车完毕信息至车辆端101，车辆端101根据该停车完毕信息，可以删除本地的第一通讯密钥。同时，车辆端101可以发送停车完毕信息至停车场端102，停车场端102接收到停车完毕信息之后，删除本地的第二通讯密钥。
实际应用中，车辆端101也可以检测到车辆离开停车位或停车场，判定当前停车完毕，并生成停车完毕信息。
根据本申请实施例的技术方案，在停车完毕之后删除第一通讯密钥，并通知停车场端删除第二通讯密钥，从而节省了车辆端和停车场端的存储空间。
在一个实施例中，如图5所示，提供了一种导航方法，以该方法应用于图1中的车辆端101为例进行说明，包括以下步骤：
步骤S510，检测车场路侧设备的定位信号。
具体实现中，车辆端101可以检测车场路侧设备的V2X信号，作为定位信号。
步骤S520，在所述定位信号中提取设备位置，以及，获取所述定位信号的信号距离。
具体实现中，车辆端101可以在V2X信号中，提取到设备位置。同时，车辆端101可以根据V2X信号的信号强度的大小，计算出车辆端101与车场路侧设备之间的距离，作为信号距离。
步骤S530，根据所述设备位置和所述信号距离，定位场内车辆位置。
具体实现中，在获取到设备位置和信号距离之后，则可以对车辆在停车场内的位置进行定位，得到场内车辆位置。
步骤S540，根据所述场内车辆位置进行导航。
具体实现中，在定位出场内车辆位置之后，车辆端101可以根据停车场端102所提供已预约车位的车位位置，规划场内车辆位置与车位位置之间的导航路线，由此进行导航。
由于本申请实施例提供的导航方法，在上述实施例中已有详细说明，在此不再赘述。
根据本申请实施例的技术方案，通过检测停车场内的路侧设备的定位信号，在该定位信号中提取设备位置，并计算该定位信号的信号距离，根据设备位置和信号距离，对车辆进行定位，根据定位得到的场内车辆位置进行导航。由此，即使在停车场内网络信号不佳的情况下，仍然可以正常导航。
在另一个实施例中，所述步骤S530，包括：
以所述设备位置为圆心，以所述信号距离为半径，生成多个定位圆；获取所述多个定位圆的交点位置；根据所述交点位置，得到所述场内车辆位置。
在另一个实施例中，在所述步骤S510之前，还包括：
接收候选车场路侧设备的候选定位信号；检测所述候选定位信号的信号强度；筛选出优选信号强度；确定所述优选信号强度对应的候选车场路侧设备，作为所述车场路侧设备。
在另一个实施例中，所述根据所述交点位置，得到所述场内车辆位置，包括：
在所述优选信号强度中，确定最大信号强度；确定所述最大信号强度对应的车场路侧设备及其所记录的车道信息；采用所述车道信息，校正所述交点位置，得到所述场内车辆位置。
在另一个实施例中，所述步骤S540，包括：
获取所述已预约车位的车位位置；规划所述车位位置与所述场内车辆位置之间的场内导航路线；根据所述场内导航路线进行导航。
根据本申请实施例的技术方案，通过确定最大信号强度，从而可以确定出车辆当前所处的车道，并相应地校正交点位置，得到更准确的场内车辆位置，提升了利用车场路侧设备进行导航的精度。
在一个实施例中，如图6所示，提供了一种导航方法，以该方法应用于图1的停车场端102为例进行说明，包括以下步骤：
步骤S610，接收车辆端的加密车辆位置；所述车辆端用于检测车辆位置和生成第一通讯密钥，采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置。
具体实现中，停车场端102可以接收到车辆端101发送的加密车辆位置。
步骤S620，生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置；所述第二通讯密钥与所述第一通讯密钥具有对应关系。
具体实现中，停车场端102可以生成一个通讯密钥，为了区分说明，将车辆端101生成的通讯密钥，命名为第二通讯密钥。
停车场端102生成第二通讯密钥的方式可以与车辆端101生成第一通讯密钥的方式相同或相似，从而，停车场端102得到与第一通讯密钥对应的第二通讯密钥。
停车场端102在接收到加密车辆位置之后，可以采用第二通讯密钥，对加密车辆位置进行解密，得到车辆位置。
步骤S630，根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端。
具体实现中，停车场端102根据其所存储的停车场位置与车辆位置，规划一条导航路线，并将导航路线加密，将加密的导航路线作为车场导航信息，反馈该车场导航信息至车辆端101。
根据本申请实施例的技术方案，当车辆端101需要根据停车场端102提供的导航信息进行导航时，停车场端102生成与车辆端101的第一通讯密钥对应的第二通讯密钥，并基于该第二通讯密钥对车辆端101的加密车辆位置解密，得到车辆位置，在车辆端101和停车场端102进行导航通讯的过程中，避免了车辆端101和停车场端102的信息泄露，保证了导航通讯的信息安全性。
针对车辆端与停车场端基于V2X进行通讯的场景，通过车辆端与停车场端采用对应的通讯密钥对加密通讯，在实现车辆端与停车场端之间的通讯范围增大和通讯稳定性提升的同时，保证了V2X通讯的信息安全性。
在另一个实施例中，在所述步骤S620之前，还包括：
向车辆端广播停车位；接收所述车辆端针对所述停车位的预约请求；标记所述停车位为已预约车位，以在接收对所述已预约车位的其他预约请求时，进行车位已预约提示。
具体实现中，停车场端102在接收到车辆端101的停车需求信息之后，可以向车辆端101广播一个或多个停车位。停车场端102在接收到车辆端101针对某个停车位的预约请求之后，可以响应其预约请求。停车场端102针对预约请求所请求的停车位进行标记，从而，标记停车位为已预约车位。当其他车辆端针对已预约车位发起预约请求时，停车场端102可以生成车位已预约提示，反馈该提示至其他车辆端。
根据本申请实施例的技术方案，停车场端通过在接收到针对停车位的预约请求之后，标记该停车位为已预约车位，从而，在其他车辆对该停车位发起预约请求时，停车场端可以进行车位已预约提示，使得其他车辆无法针对已预约车位进行预约和停放，避免了车辆到达停车场时停车位被其他车辆停放的问题，节省了用户停车所耗费的时间和精力。
在另一个实施例中，在所述步骤S620之前，还包括：
接收所述车辆端的车辆信息；
所述生成第二通讯密钥，包括：
根据所述车辆信息和所述已预约车位，计算所述第二通讯密钥。
具体实现中，车辆端101在发送停车需求信息时，可以添加车辆信息至停车需求信息中，由此停车场端102可以接收到车辆端101的车辆信息。停车场端102可以根据车辆信息和已预约车位，通过特定的加密算法，计算出一个密钥，作为第二通讯密钥。
在另一个实施例中，所述方法还包括：
当接收到所述车辆端的停车完毕信息时，删除所述第二通讯密钥。
具体实现中，车辆端101检测到车辆离开停车位或停车场，判定当前停车完毕，可以生成一个停车完毕信息，并发送至停车场端102，停车场端102接收到停车完毕信息之后，删除本地的第二通讯密钥。
根据本申请实施例的技术方案，在接收到停车完毕信息之后，删除停车场端的第二通讯密钥，从而节省了停车场端的存储空间。
应该理解的是，虽然图2、图5和图6的流程图中的各个步骤按照箭头的指示依次显示，但是这些步 骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图2、图5和图6中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在一个实施例中，如图7所示，提供了一种导航装置，包括：检测模块710、加密模块720、发送模块730和接收模块740；其中：
检测模块710，用于检测车辆位置；
加密模块720，用于生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
发送模块730，用于发送所述加密车辆位置至停车场端；所述停车场端用于采用第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，并根据所述车辆位置反馈车场导航信息；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
接收模块740，用于接收所述车场导航信息，并根据所述车场导航信息进行导航。
在另一个实施例中，所述加密模块720，包括：
获取子模块，用于获取车辆信息和已预约车位；
密钥计算子模块，用于根据所述车辆信息和所述已预约车位，计算所述第一通讯密钥。
在另一个实施例中，还包括：
密钥发送模块，用于发送所述第一通讯密钥至用户移动端，供所述用户移动端采用所述第一通讯密钥与所述停车场端进行加密通讯。
在另一个实施例中，还包括：
密钥删除模块，用于当接收到停车完毕信息，删除所述第一通讯密钥；
信息发送模块，用于发送所述停车完毕信息至所述停车场端，供所述停车场端删除所述第二通讯密钥。
在另一个实施例中，还包括：
车位接收模块，用于接收所述停车场端广播的停车位；
请求发送模块，用于当用户选定所述停车位后，发送预约请求至所述停车场端，供所述停车场端标记所述停车位为已预约车位；所述停车场端用于在接收对所述已预约车位的其他预约请求时，进行车位已预约提示。
在另一个实施例中，还包括：
信号检测模块，用于检测车场路侧设备的定位信号；
提取模块，用于在所述定位信号中提取设备位置，以及，计算所述定位信号的信号距离；
定位模块，用于根据所述设备位置和所述信号距离，定位车辆在停车场内的位置，得到场内车辆位置；
场内导航模块，用于根据所述场内车辆位置进行导航。
在另一个实施例中，所述定位模块，包括：
定位圆子模块，用于以所述设备位置为圆心，以所述信号距离为半径，生成多个定位圆；
交点子模块，用于获取所述多个定位圆的交点位置；
场内位置子模块，用于根据所述交点位置，得到所述场内车辆位置。
在另一个实施例中，还包括：
候选信号模块，用于接收候选车场路侧设备的候选定位信号；
信号强度检测模块，用于检测所述候选定位信号的信号强度；
筛选模块，用于筛选出优选信号强度；
确定模块，用于确定所述优选信号强度对应的候选车场路侧设备，作为所述车场路侧设备。
在另一个实施例中，所述场内导航模块，包括：
车位位置获取子模块，用于获取已预约车位的车位位置；
路线规划子模块，用于规划所述车位位置与所述场内车辆位置之间的场内导航路线；
路线导航子模块，用于根据所述场内导航路线进行导航。
在另一个实施例中，所述场内位置子模块，包括：
最大强度单元，用于在所述优选信号强度中，确定最大信号强度；
车道信息单元，用于确定所述最大信号强度对应的车场路侧设备及其所记录的车道信息；
位置校正单元，用于采用所述车道信息，校正所述交点位置，得到所述场内车辆位置。
在一个实施例中，如图8所示，提供了一种导航装置，包括：信号检测模块810、提取模块820、定位模块830和场内导航模块840；其中：
信号检测模块810，用于检测车场路侧设备的定位信号；
提取模块820，用于在所述定位信号中提取设备位置，以及，计算所述定位信号的信号距离；
定位模块830，用于根据所述设备位置和所述信号距离，定位车辆在停车场内的位置，得到场内车辆位置；
场内导航模块840，用于根据所述场内车辆位置进行导航。
在另一个实施例中，所述定位模块830，包括：
定位圆子模块，用于以所述设备位置为圆心，以所述信号距离为半径，生成多个定位圆；
交点子模块，用于获取所述多个定位圆的交点位置；
场内位置子模块，用于根据所述交点位置，得到所述场内车辆位置。
在另一个实施例中，还包括：
候选信号模块，用于接收候选车场路侧设备的候选定位信号；
信号强度检测模块，用于检测所述候选定位信号的信号强度；
筛选模块，用于筛选出优选信号强度；
确定模块，用于确定所述优选信号强度对应的候选车场路侧设备，作为所述车场路侧设备。
在另一个实施例中，所述场内导航模块840，包括：
车位位置获取子模块，用于获取已预约车位的车位位置；
路线规划子模块，用于规划所述车位位置与所述场内车辆位置之间的场内导航路线；
路线导航子模块，用于根据所述场内导航路线进行导航。
在另一个实施例中，所述场内位置子模块，包括：
最大强度单元，用于在所述优选信号强度中，确定最大信号强度；
车道信息单元，用于确定所述最大信号强度对应的车场路侧设备及其所记录的车道信息；
位置校正单元，用于采用所述车道信息，校正所述交点位置，得到所述场内车辆位置。
在一个实施例中，如图9所示，提供了一种导航装置，包括：加密位置接收模块910、第二密钥模块920和导航信息生成模块930；其中：
加密位置接收模块910，用于接收车辆端的加密车辆位置；所述车辆端用于检测车辆位置和生成第一通讯密钥，采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
第二密钥模块920，用于生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
导航信息生成模块930，用于根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端。
在另一个实施例中，还包括：
车位广播模块，用于向车辆端广播停车位；
请求接收模块，用于接收所述车辆端针对所述停车位的预约请求；
已预约标记模块，用于标记所述停车位为已预约车位，以在接收对所述已预约车位的其他预约请求时， 进行车位已预约提示。
在另一个实施例中，还包括：
车辆信息接收模块，用于接收所述车辆端的车辆信息；
所述第二密钥模块920，包括：
密钥计算子模块，用于根据所述车辆信息和所述已预约车位，计算所述第二通讯密钥。
在另一个实施例中，还包括：
密钥删除模块，用于当接收到所述车辆端的停车完毕信息时，删除所述第二通讯密钥。
在一个实施例中，如图10所示，提供了一种导航系统，包括：车辆端1010和停车场端1020；其中：
所述车辆端1010，用于检测车辆位置，生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置，发送所述加密车辆位置至所述停车场端1020；
所述停车场端1020，用于接收车辆端1010的加密车辆位置，生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端1010；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
所述车辆端1010，还用于接收所述车场导航信息，并根据所述车场导航信息进行导航。
在另一个实施例中，所述车辆端1010，还用于：
检测车场路侧设备的定位信号，在所述定位信号中提取设备位置，以及，获取所述定位信号的信号距离；根据所述设备位置和所述信号距离，定位场内车辆位置；根据所述场内车辆位置进行导航。
在另一个实施例中，所述车辆端1010，还用于：
接收所述停车场端广播的停车位；
当用户选定所述停车位后，发送预约请求至所述停车场端，供所述停车场端标记所述停车位为已预约车位；所述停车场端用于在接收对所述已预约车位的其他预约请求时，进行车位已预约提示。
在另一个实施例中，所述车辆端1010，还用于：
获取车辆信息和已预约车位；
根据所述车辆信息和所述已预约车位，计算所述第一通讯密钥。
在另一个实施例中，所述车辆端1010，还用于：
发送所述第一通讯密钥至用户移动端，供所述用户移动端采用所述第一通讯密钥与所述停车场端进行加密通讯。
在另一个实施例中，所述车辆端1010，还用于：
当接收到停车完毕信息，删除所述第一通讯密钥；
发送所述停车完毕信息至所述停车场端，供所述停车场端删除所述第二通讯密钥。
在另一个实施例中，所述车辆端1010，还用于：
以所述设备位置为圆心，以所述信号距离为半径，生成多个定位圆；
获取所述多个定位圆的交点位置；
根据所述交点位置，得到所述场内车辆位置。
在另一个实施例中，所述车辆端1010，还用于：
接收候选车场路侧设备的候选定位信号；
检测所述候选定位信号的信号强度；
筛选出优选信号强度；
确定所述优选信号强度对应的候选车场路侧设备，作为所述车场路侧设备。
在另一个实施例中，所述车辆端1010，还用于：
获取已预约车位的车位位置；
规划所述车位位置与所述场内车辆位置之间的场内导航路线；
根据所述场内导航路线进行导航。
在另一个实施例中，所述车辆端1010，还用于：
在所述优选信号强度中，确定最大信号强度；
确定所述最大信号强度对应的车场路侧设备及其所记录的车道信息；
采用所述车道信息，校正所述交点位置，得到所述场内车辆位置。
在另一个实施例中，所述停车场端1020，还用于：
向车辆端1010广播停车位；接收所述车辆端针对所述停车位的预约请求；标记所述停车位为已预约车位，以在接收对所述已预约车位的其他预约请求时，进行车位已预约提示。
在另一个实施例中，所述停车场端1020，还用于：
接收所述车辆端1010的车辆信息；
根据所述车辆信息和所述已预约车位，计算所述第二通讯密钥。
在另一个实施例中，所述停车场端1020，还用于：
当接收到所述车辆端1010的停车完毕信息时，删除所述第二通讯密钥。
关于导航装置、系统的具体限定可以参见上文中对于导航方法的限定，在此不再赘述。上述位预约装置、停车系统中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
上述提供的导航装置、系统可用于执行上述任意实施例提供的导航方法，具备相应的功能和有益效果。
为了便于本领域技术人员理解本申请实施例，以下将结合图11对一个具体示例进行说明。图11是本申请实施例的一种导航流程的示意图。
如图所示，首先，车辆端广播停车需求信息，停车场端在接收到停车需求信息之后，查询符合停车需求信息的停车位，并广播该停车位。
车辆端接收到停车位之后，可以在显示屏上展示该停车位，用户可以选定停车位，车辆端则针对选定的停车位，发送预约请求至停车场端。同时，车辆端可以通过特定算法，针对停车位和自身存储的车辆信息，生成一个密钥，并采用密钥加密检测到的车辆位置，并发送加密的车辆位置至停车场端。
停车场端接收到预约请求之后，可以标记该停车位为已预约车位。同时，停车场端可以通过特定算法，针对停车位和车辆端发送的车辆信息，生成一个密钥，并采用密钥解密车辆端发送的车辆位置，并根据车辆位置生成导航信息，采用密钥加密该导航信息，并反馈至车辆端，供车辆端根据导航信息进行导航。
车辆端根据导航信息可以导航至停车场的停车位，以进行停车。在车辆停放至停车位之后，车辆端可以发送密钥至用户移动端，车主可以通过用户移动端继续与停车场端进行加密通讯，停车场端可以向用户移动端提供导航信息，帮助车主离开停车场，或者，帮助车主寻找车辆停放的停车位。
停车结束之后，停车场端可以采用密钥加密导航信息，并发送加密的导航信息至车辆端，供车辆端根据导航信息驶离停车场。车辆端还可以发送停车完毕信息至停车场端，停车场端则可以相应删除密钥。
在一个实施例中，提供了一种计算机设备，该计算机设备可以是服务器，其内部结构图可以如图12所示。该计算机设备包括通过系统总线连接的处理器、存储器、网络接口和数据库。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统、计算机程序和数据库。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的数据库用于存储停车位、已预约车位、车辆信息、车辆位置、密钥等的数据。该计算机设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种车位预约方法。
本领域技术人员可以理解，图12中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种计算机设备，包括存储器和处理器，存储器中存储有计算机程序，该处 理器执行计算机程序时实现以下步骤：
检测车辆位置；
生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
发送所述加密车辆位置至停车场端；所述停车场端用于采用第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，并根据所述车辆位置反馈车场导航信息；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
接收所述车场导航信息，并根据所述车场导航信息进行导航。
该处理器执行计算机程序时还实现以下步骤：
获取车辆信息和已预约车位；
根据所述车辆信息和所述已预约车位，计算所述第一通讯密钥。
该处理器执行计算机程序时还实现以下步骤：
发送所述第一通讯密钥至用户移动端，供所述用户移动端采用所述第一通讯密钥与所述停车场端进行加密通讯。
该处理器执行计算机程序时还实现以下步骤：
当接收到停车完毕信息，删除所述第一通讯密钥；
发送所述停车完毕信息至所述停车场端，供所述停车场端删除所述第二通讯密钥。
该处理器执行计算机程序时还实现以下步骤：
检测车场路侧设备的定位信号；
在所述定位信号中提取设备位置，以及，计算所述定位信号的信号距离；
根据所述设备位置和所述信号距离，定位车辆在停车场内的位置，得到场内车辆位置；
根据所述场内车辆位置进行导航。
该处理器执行计算机程序时还实现以下步骤：
接收所述停车场端广播的停车位；
当用户选定所述停车位后，发送预约请求至所述停车场端，供所述停车场端标记所述停车位为已预约车位；所述停车场端用于在接收对所述已预约车位的其他预约请求时，进行车位已预约提示。
该处理器执行计算机程序时还实现以下步骤：
以所述设备位置为圆心，以所述信号距离为半径，生成多个定位圆；
获取所述多个定位圆的交点位置；
根据所述交点位置，得到所述场内车辆位置。
该处理器执行计算机程序时还实现以下步骤：
接收候选车场路侧设备的候选定位信号；
检测所述候选定位信号的信号强度；
筛选出优选信号强度；
确定所述优选信号强度对应的候选车场路侧设备，作为所述车场路侧设备。
该处理器执行计算机程序时还实现以下步骤：
获取已预约车位的车位位置；
规划所述车位位置与所述场内车辆位置之间的场内导航路线；
根据所述场内导航路线进行导航。
该处理器执行计算机程序时还实现以下步骤：
在所述优选信号强度中，确定最大信号强度；
确定所述最大信号强度对应的车场路侧设备及其所记录的车道信息；
采用所述车道信息，校正所述交点位置，得到所述场内车辆位置。
该处理器执行计算机程序时还实现以下步骤：
接收车辆端的加密车辆位置；所述车辆端用于检测车辆位置和生成第一通讯密钥，采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现以下步骤：
检测车辆位置；
生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
发送所述加密车辆位置至停车场端；所述停车场端用于采用第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，并根据所述车辆位置反馈车场导航信息；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
接收所述车场导航信息，并根据所述车场导航信息进行导航。
计算机程序被处理器执行时还实现以下步骤：
获取车辆信息和已预约车位；
根据所述车辆信息和所述已预约车位，计算所述第一通讯密钥。
计算机程序被处理器执行时还实现以下步骤：
发送所述第一通讯密钥至用户移动端，供所述用户移动端采用所述第一通讯密钥与所述停车场端进行加密通讯。
计算机程序被处理器执行时还实现以下步骤：
当接收到停车完毕信息，删除所述第一通讯密钥；
发送所述停车完毕信息至所述停车场端，供所述停车场端删除所述第二通讯密钥。
计算机程序被处理器执行时还实现以下步骤：
检测车场路侧设备的定位信号；
在所述定位信号中提取设备位置，以及，计算所述定位信号的信号距离；
根据所述设备位置和所述信号距离，定位车辆在停车场内的位置，得到场内车辆位置；
根据所述场内车辆位置进行导航。
计算机程序被处理器执行时还实现以下步骤：
接收所述停车场端广播的停车位；
当用户选定所述停车位后，发送预约请求至所述停车场端，供所述停车场端标记所述停车位为已预约车位；所述停车场端用于在接收对所述已预约车位的其他预约请求时，进行车位已预约提示。
计算机程序被处理器执行时还实现以下步骤：
检测车场路侧设备的定位信号；
在所述定位信号中提取设备位置，以及，获取所述定位信号的信号距离；
根据所述设备位置和所述信号距离，定位场内车辆位置；
根据所述场内车辆位置进行导航。
计算机程序被处理器执行时还实现以下步骤：
以所述设备位置为圆心，以所述信号距离为半径，生成多个定位圆；
获取所述多个定位圆的交点位置；
根据所述交点位置，得到所述场内车辆位置。
计算机程序被处理器执行时还实现以下步骤：
接收候选车场路侧设备的候选定位信号；
检测所述候选定位信号的信号强度；
筛选出优选信号强度；
确定所述优选信号强度对应的候选车场路侧设备，作为所述车场路侧设备。
计算机程序被处理器执行时还实现以下步骤：
获取已预约车位的车位位置；
规划所述车位位置与所述场内车辆位置之间的场内导航路线；
根据所述场内导航路线进行导航。
计算机程序被处理器执行时还实现以下步骤：
在所述优选信号强度中，确定最大信号强度；
确定所述最大信号强度对应的车场路侧设备及其所记录的车道信息；
采用所述车道信息，校正所述交点位置，得到所述场内车辆位置。
计算机程序被处理器执行时还实现以下步骤：
接收车辆端的加密车辆位置；所述车辆端用于检测车辆位置和生成第一通讯密钥，采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (19)

  1. 一种导航方法，其特征在于，包括：
    检测车辆位置；
    生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
    发送所述加密车辆位置至停车场端；所述停车场端用于采用第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，并根据所述车辆位置反馈车场导航信息；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
    接收所述车场导航信息，并根据所述车场导航信息进行导航。
  2. 根据权利要求1所述的方法，其特征在于，所述生成第一通讯密钥，包括：
    获取车辆信息和已预约车位；
    根据所述车辆信息和所述已预约车位，计算所述第一通讯密钥。
  3. 根据权利要求2所述的方法，其特征在于，还包括：
    发送所述第一通讯密钥至用户移动端，供所述用户移动端采用所述第一通讯密钥与所述停车场端进行加密通讯。
  4. 根据权利要求2所述的方法，其特征在于，还包括：
    当接收到停车完毕信息，删除所述第一通讯密钥；
    发送所述停车完毕信息至所述停车场端，供所述停车场端删除所述第二通讯密钥。
  5. 根据权利要求1所述的方法，其特征在于，还包括：
    检测车场路侧设备的定位信号；
    在所述定位信号中提取设备位置，以及，计算所述定位信号的信号距离；
    根据所述设备位置和所述信号距离，定位车辆在停车场内的位置，得到场内车辆位置；
    根据所述场内车辆位置进行导航。
  6. 根据权利要求1所述的方法，其特征在于，在所述检测车辆位置之前，还包括：
    接收所述停车场端广播的停车位；
    当用户选定所述停车位后，发送预约请求至所述停车场端，供所述停车场端标记所述停车位为已预约车位；所述停车场端用于在接收对所述已预约车位的其他预约请求时，进行车位已预约提示。
  7. 一种导航方法，其特征在于，包括：
    检测车场路侧设备的定位信号；
    在所述定位信号中提取设备位置，以及，获取所述定位信号的信号距离；
    根据所述设备位置和所述信号距离，定位场内车辆位置；
    根据所述场内车辆位置进行导航。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述设备位置和所述信号距离，定位场内车辆位置，包括：
    以所述设备位置为圆心，以所述信号距离为半径，生成多个定位圆；
    获取所述多个定位圆的交点位置；
    根据所述交点位置，得到所述场内车辆位置。
  9. 根据权利要求7所述的方法，其特征在于，在所述检测车场路侧设备的定位信号之前，还包括：
    接收候选车场路侧设备的候选定位信号；
    检测所述候选定位信号的信号强度；
    筛选出优选信号强度；
    确定所述优选信号强度对应的候选车场路侧设备，作为所述车场路侧设备。
  10. 根据权利要求7所述的方法，其特征在于，所述根据所述场内车辆位置进行导航，包括：
    获取已预约车位的车位位置；
    规划所述车位位置与所述场内车辆位置之间的场内导航路线；
    根据所述场内导航路线进行导航。
  11. 根据权利要求8所述的方法，其特征在于，所述根据所述交点位置，得到所述场内车辆位置，包括：
    在所述优选信号强度中，确定最大信号强度；
    确定所述最大信号强度对应的车场路侧设备及其所记录的车道信息；
    采用所述车道信息，校正所述交点位置，得到所述场内车辆位置。
  12. 一种导航方法，其特征在于，包括：
    接收车辆端的加密车辆位置；所述车辆端用于检测车辆位置和生成第一通讯密钥，采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
    生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
    根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端。
  13. 一种导航装置，其特征在于，包括：
    位置检测模块，用于检测车辆位置；
    第一密钥模块，用于生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
    位置发送模块，用于发送所述加密车辆位置至停车场端；所述停车场端用于采用第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，并根据所述车辆位置反馈车场导航信息；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
    导航信息接收模块，用于接收所述车场导航信息，并根据所述车场导航信息进行导航。
  14. 一种导航装置，其特征在于，包括：
    信号检测模块，用于检测车场路侧设备的定位信号；
    提取模块，用于在所述定位信号中提取设备位置，以及，获取所述定位信号的信号距离；
    场内定位模块，用于根据所述设备位置和所述信号距离，定位场内车辆位置；
    场内导航模块，用于根据所述场内车辆位置进行导航。
  15. 一种导航装置，其特征在于，包括：
    加密位置接收模块，用于接收车辆端的加密车辆位置；所述车辆端用于检测车辆位置和生成第一通讯密钥，采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置；
    第二密钥模块，用于生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
    导航信息生成模块，用于根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端。
  16. 一种导航系统，其特征在于，包括：
    车辆端和停车场端；
    所述车辆端，用于检测车辆位置，生成第一通讯密钥，并采用所述第一通讯密钥加密所述车辆位置，得到加密车辆位置，发送所述加密车辆位置至停车场端；
    所述停车场端，用于接收车辆端的加密车辆位置，生成第二通讯密钥，并采用所述第二通讯密钥解密所述加密车辆位置，得到所述车辆位置，根据所述车辆位置生成车场导航信息，并发送所述车场导航信息至所述车辆端；所述第二通讯密钥与所述第一通讯密钥具有对应关系；
    所述车辆端，还用于接收所述车场导航信息，并根据所述车场导航信息进行导航。
  17. 根据权利要求16所述的系统，其特征在于，所述车辆端还用于检测车场路侧设备的定位信号，在所述定位信号中提取设备位置，以及，获取所述定位信号的信号距离；根据所述设备位置和所述信号距离，定位场内车辆位置；根据所述场内车辆位置进行导航。
  18. 一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至6中任一项所述方法的步骤，或者，实现权利要求7至11中任一项所述方法的步骤，或者，实现权利要求12所述方法的步骤。
  19. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至6中任一项所述方法的步骤，或者，实现权利要求7至11中任一项所述方法的步骤，或者，实现权利要求12所述方法的步骤。
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