WO2022247499A1 - 车位引导方法、电子设备和可读存储介质 - Google Patents

车位引导方法、电子设备和可读存储介质 Download PDF

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Publication number
WO2022247499A1
WO2022247499A1 PCT/CN2022/086173 CN2022086173W WO2022247499A1 WO 2022247499 A1 WO2022247499 A1 WO 2022247499A1 CN 2022086173 W CN2022086173 W CN 2022086173W WO 2022247499 A1 WO2022247499 A1 WO 2022247499A1
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WIPO (PCT)
Prior art keywords
parking space
mobile terminal
target
target parking
terminal device
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PCT/CN2022/086173
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English (en)
French (fr)
Inventor
张义芳
蔡光哲
黄正圣
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华为技术有限公司
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Publication of WO2022247499A1 publication Critical patent/WO2022247499A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/148—Management of a network of parking areas
    • 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
    • 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
    • H04W4/025—Services making use of location information using location based information parameters
    • 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]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Definitions

  • the embodiments of the present application relate to communication technologies, and in particular to a parking space guidance method, electronic equipment, and a readable storage medium.
  • a camera can be installed on each parking space in the parking lot to take images of the parking spaces and report them to the parking space management system of the parking lot.
  • the parking space management system can judge whether the parking space is free based on the image of each parking space, and then guide the vehicle to park in the free parking space.
  • the current technical solution can improve parking efficiency, it needs to rely on additional cameras in the parking lot.
  • the camera needs to be installed and maintained later. If the camera is damaged, the parking space management system cannot judge whether the parking space corresponding to the camera is free, which in turn affects the accuracy of guiding vehicles to the free parking space.
  • Embodiments of the present application provide a parking space guidance method, an electronic device, and a readable storage medium, which can improve the accuracy of parking space guidance.
  • the embodiment of the present application provides a parking space guidance method, which is completed by the interaction between the cloud and the mobile terminal.
  • the following are introduced from the first aspect (the perspective of the mobile terminal) and the second aspect (the perspective of the cloud) The parking space guidance method provided in the embodiment of the present application.
  • the embodiment of the present application provides a parking space guidance method.
  • the execution subject of the method may be a mobile terminal, or a chip or a processor in the mobile terminal.
  • the following description takes the mobile terminal as an example for the execution subject.
  • the method includes: the mobile terminal corresponds to the vehicle, and when the vehicle enters the parking lot, the mobile terminal can detect that the vehicle enters the parking lot, and then periodically reports the position and motion state of the mobile terminal to the cloud in response to the vehicle entering the parking lot.
  • the mobile terminal when the vehicle enters the parking lot, the mobile terminal is located in the vehicle, and the mobile terminal may be a portable electronic device such as a mobile phone, a tablet computer, or a bracelet of a user in the vehicle.
  • the mobile terminal includes an acceleration sensor, and the mobile terminal may acquire the motion state based on frequency and/or amplitude of data collected by the acceleration sensor.
  • the mobile terminal when the vehicle enters the parking lot to search for a parking space until the vehicle is parked in the parking space, the mobile terminal is located in the vehicle, and the position and motion state reported by the mobile terminal are the same as those of the vehicle.
  • the position and motion state of the mobile terminal are the same as those of the user.
  • the motion state of the mobile terminal is the driving state
  • the motion state of the mobile terminal is the walking state.
  • the parking space information of the parking lot can be sent to the mobile terminal.
  • the parking space information includes: the identification and occupancy state of the parking space in the parking lot, and the occupancy state includes: free, occupied, and the probability that the occupied parking space becomes vacant.
  • the mobile terminal can obtain a parking space map of the parking lot based on the parking space information, and display the parking space map.
  • the parking space map is used for parking space guidance. It should be understood that, during the process of obtaining and displaying the map of the parking space, the mobile terminal may periodically report the location and movement status of the mobile terminal.
  • the user when the vehicle enters the parking lot and the vehicle has not been parked in the parking space, the user can find a free parking space through the parking space map displayed on the mobile terminal, because the parking space guidance method in the embodiment of the application does not need to be in the parking lot in advance.
  • Third-party equipment such as cameras are deployed inside, so there is no need for installation and post-maintenance, and the accuracy of parking guidance is high.
  • the parking space map also includes the probability that the occupied parking space becomes a free parking space. When there are few free parking spaces, the user can wait around the parking space with a higher probability to improve the success rate of parking.
  • the mobile terminal when the mobile terminal receives the parking space information from the cloud, it can obtain the parking space map based on the following two methods.
  • Method 1 The initial parking space map of the parking lot is stored in the mobile terminal.
  • the initial parking space map includes the distribution of parking spaces in the parking lot and the identification of each parking space.
  • the mobile terminal can be based on the identification of the parking spaces in the parking space information.
  • the state is filled into the initial parking space map to obtain the parking space map.
  • the initial parking space map of the parking lot is not stored in the mobile terminal, and the identification of the parking space in the parking space information may be the location of the parking space.
  • the mobile terminal can obtain the parking space distribution of the parking lot based on the position of the parking space (because there is a sign of the parking space, that is, the position of the parking space, it can also be called obtaining the initial parking space map of the parking lot). Similar to the first manner above, the mobile terminal may fill the occupancy state of the parking spaces into the initial parking space map to obtain the parking space map.
  • the mobile terminal can generate a parking space map based on the parking space information, so that the parking space map can be displayed, and the user can search for a parking space on the parking space map.
  • the vehicle is looking for a parking space.
  • the target parking space may be a parking space where the vehicle is about to be parked.
  • the user can search for a free parking space or an occupied parking space with a high probability (that is, a high probability of an occupied parking space becoming a free parking space) by querying the parking space map to park the vehicle.
  • the cloud may recommend a target parking space to the mobile terminal, and the target parking space may be a free parking space or an occupied parking space with a high probability.
  • the cloud may preferentially recommend to the mobile terminal free parking spaces that are closer to the location of the mobile terminal, or occupied parking spaces with a high probability.
  • the cloud can obtain the probability that the target parking space becomes a free parking space, and broadcast the probability so that all mobile terminals in the parking lot (including mobile terminals corresponding to vehicles leaving the target parking space) can receive the probability , and based on the probability, the parking space map is updated (that is, the occupancy state of the target parking space is updated).
  • the mobile terminal when the motion state of the mobile terminal is switched from the driving state to the walking state, it can be determined that the vehicle corresponding to the mobile terminal is parked on the target parking space. At this time, the mobile terminal can store the identification of the target parking space (such as the target parking space s position). In one embodiment, because the mobile terminal can report the location and movement state of the mobile terminal to the cloud, when the cloud detects that the movement state of the mobile terminal is switched from the driving state to the walking state, it can determine that the vehicle corresponding to the mobile terminal is parked at the target In the parking space, at this time, the cloud may store the mapping relationship between the identification of the mobile terminal and the identification of the target parking space (such as the position of the target parking space).
  • the cloud can obtain the probability that the target parking space becomes a free parking space, and broadcast the probability so that all mobile terminals in the parking lot (including mobile terminals corresponding to vehicles leaving the target parking space) can receive the probability , and based on the probability, the parking space map is updated (that is, the occupancy state of the target parking space is updated).
  • the mobile terminal may acquire the position of the target parking space based on the identification of the target parking space, and then output the position of the target parking space.
  • the mobile terminal outputting the position of the target parking space may be: displaying the position of the target parking space on the parking space map and the position of the mobile terminal.
  • the output of the location of the target parking space by the mobile terminal may be: a voice broadcast of the location of the target parking space and a path for the user to reach the target parking space.
  • the mobile terminal when the user is walking, if the mobile terminal is a device that is not convenient to take out in real time, such as a notebook, when the mobile terminal obtains the position of the target parking space, it can send a message to the device bound to the mobile terminal (such as a mobile phone) to obtain the location of the target parking space. Users such as ring or mobile phone are convenient to view the equipment of parking space map) and send the position of described target parking space, so that described equipment bound with described mobile terminal outputs the position of described target parking space, improve user experience.
  • the mobile terminal such as a mobile phone
  • Users such as ring or mobile phone are convenient to view the equipment of parking space map) and send the position of described target parking space, so that described equipment bound with described mobile terminal outputs the position of described target parking space, improve user experience.
  • the mobile terminal may output the position of the target parking space after detecting that the mobile terminal is moving towards the target parking space.
  • the movement of the mobile terminal towards the target parking space may be understood as: the distance between the mobile terminal and the target parking space gradually decreases.
  • the cloud stores the corresponding relationship between the identification of the target parking space and the identification of the mobile terminal, in this way, because the cloud can obtain the position and motion state of the mobile terminal, it can be in the "mobile terminal is in a walking state, and When the vehicle corresponding to the mobile terminal has been parked in the target parking space", or "the mobile terminal is in a walking state, the vehicle corresponding to the mobile terminal has been parked in the target parking space, and the mobile terminal is moving towards the target parking space", the cloud can send a message to the mobile terminal Send the identification of the target parking space, and then the mobile terminal can obtain the position of the target parking space based on the identification of the target parking space, and then output the position of the target parking space, and the output of the position of the target parking space can refer to the relevant description above.
  • the mobile terminal can receive the probability that other occupied parking spaces become free parking spaces from the cloud, and then based on the probability, update the parking space map (that is, update the other occupied parking spaces on the parking space map to become free parking spaces The probability). It should be understood that other occupied parking spaces are parking spaces other than the target parking space and whose occupancy status is occupied.
  • the parking space map on the mobile terminal can be updated in real time, so that the user can obtain an accurate parking space map and improve the accuracy of parking space guidance.
  • the embodiment of the present application provides a parking space guidance method, which is applied to the cloud or a chip or processor in the cloud.
  • the location and motion status of the vehicle send parking space information to the mobile terminal, the parking space information includes: the identification and occupancy status of the parking spaces in the parking lot, the occupancy status includes: idle, occupied, and occupied parking spaces become free parking spaces The probability.
  • the parking space information includes: the identification and occupancy status of the parking spaces in the parking lot, the occupancy status includes: idle, occupied, and occupied parking spaces become free parking spaces The probability.
  • the cloud can store the identification of the mobile terminal and the identification of the target parking space (that is, the parking information of the mobile terminal), so that the cloud can query whether to store
  • the parking information of the mobile terminal is used to determine whether the vehicle corresponding to the mobile terminal is parked in the target parking space.
  • the parking information of the mobile terminal is stored in the cloud, it can be determined that the vehicle corresponding to the mobile terminal has been parked in the target parking space; if the parking information of the mobile terminal is not stored in the cloud, it can be determined that the vehicle corresponding to the mobile terminal is not parked in the target parking space. Describe the target parking space. In this way, the cloud can perform corresponding operations based on the motion state of the mobile terminal.
  • the cloud when the motion state of the mobile terminal is the driving state, and the cloud does not store the parking information of the mobile terminal, the cloud can determine that the vehicle corresponding to the mobile terminal is looking for a parking space, then the cloud can send the The mobile terminal recommends the target parking space to improve parking efficiency. It should be understood that the target parking space is the parking space where the vehicle is to be parked.
  • the identification of the mobile terminal and the target parking space may be stored. Mark (ie the parking information of the mobile terminal), and broadcast the occupancy state of the target parking space as occupied, so that the mobile terminal located in the parking lot can update the parking space map (that is, update the occupancy state of the target parking space from idle to occupied).
  • the cloud when the motion state of the mobile terminal is the driving state, and the cloud stores the parking information of the mobile terminal, the cloud can determine that the vehicle corresponding to the mobile terminal is leaving the target parking space, and can obtain the target parking space.
  • the probability that the parking space becomes vacant, and the probability that the target parking space becomes vacant is broadcast. It is convenient for other mobile terminals to update the parking space map based on the broadcast message.
  • the cloud can obtain the probability that the target parking space becomes an empty parking space based on the distance between the mobile terminal and the target parking space, and the duration of the driving state after the mobile terminal switches from the walking state to the driving state; Or, based on the distance between the mobile terminal and the exit of the parking lot, and the duration of the driving state, the probability that the target parking space becomes a free parking space is acquired.
  • the cloud can obtain the said parking space based on the distance between the mobile terminal and the target parking space, the duration of the driving state, and the number of vehicles not in the parking space within the preset range of the target parking space.
  • the probability that the target parking space becomes a free parking space is obtained, so as to improve the accuracy of the probability that the target parking space becomes a free parking space.
  • the cloud when the movement state of the mobile terminal is a walking state, and the cloud stores the parking information of the mobile terminal, the cloud can determine that the user to which the mobile terminal belongs may be looking for a vehicle and is about to leave.
  • the cloud may acquire the probability that the target parking space becomes a free parking space based on the distance between the mobile terminal and the target parking space. It should be noted that, similar to the above, sometimes although the vehicle is leaving the target parking space, there are already vehicles waiting to park around the target parking space, and the probability of the target parking space becoming a free parking space will be very small. If other mobile terminals correspond The vehicle driven to the target parking space has already parked in the target parking space.
  • the cloud can obtain the probability that the target parking space becomes a free parking space based on the distance between the mobile terminal and the target parking space and the number of vehicles that are not in the parking space within the preset range of the target parking space , to improve the accuracy of the probability that the target parking space becomes a free parking space.
  • the cloud can detect the movement of the mobile terminal towards the target parking space, and obtain the probability that the target parking space becomes a free parking space, wherein, the acquisition method of the probability that the target parking space becomes a free parking space can refer to this implementation method related descriptions in .
  • the mobile terminal in the first aspect above can be replaced with a non-portable terminal device corresponding to the vehicle, such as a car machine, a smart rearview mirror and other devices in the vehicle.
  • the non-portable terminal device can be bound with a portable terminal device (such as a mobile terminal), and the terminal device and the mobile terminal interact with the cloud successively to complete the parking space guidance method in the embodiment of the present application.
  • the embodiment of the present application provides a parking space guidance method, which is applied to a terminal device or a chip in a terminal device.
  • the method includes: in response to detecting that the vehicle enters the parking lot, periodically send The cloud reports the position and motion state of the terminal device; receives parking space information from the cloud, the parking space information includes: the identification and occupancy status of the parking spaces in the parking lot, and the occupancy status includes: idle, occupied, and the probability that the occupied parking space becomes a free parking space; based on the parking space information, a parking space map of the parking lot is obtained, and the parking space map is used for parking space guidance; and the parking space map is displayed.
  • the obtaining the parking space map of the parking lot based on the parking space information includes: obtaining the parking space map based on the initial parking space map of the parking lot and the parking space information,
  • the initial parking space map includes the distribution of parking spaces in the parking lot and the identification of each parking space.
  • the obtaining the parking space map includes: based on the identifier of each parking space, filling the occupancy state of the parking space into the initial parking space map to obtain the parking space map.
  • the identification of the parking space is the position of the parking space, and before obtaining the parking space map, it also includes: obtaining the distribution of the parking spaces based on the position of the parking spaces; distribution, and the location of the parking spaces, to obtain the initial parking space map.
  • the method further includes: receiving the target parking space recommended from the cloud, the target parking space The parking space where the vehicle is to be parked.
  • the method when the vehicle has been parked in the target parking space, the method further includes: receiving the probability that other parking spaces become vacant spaces broadcast by the cloud; , updating the occupancy status of the other parking spaces on the parking space map.
  • the terminal device includes an acceleration sensor
  • the method further includes: acquiring the motion state based on frequency and/or amplitude of data collected by the acceleration sensor.
  • the terminal device when the terminal device reports the location and motion state of the terminal device to the cloud, it further includes: sending an identification of the mobile terminal corresponding to the terminal device to the cloud.
  • the embodiment of the present application provides a parking space guidance method, which is applied to a mobile terminal or a chip in the mobile terminal.
  • the mobile terminal is bound to the terminal device in the third aspect above, and the mobile terminal, the terminal device and the vehicle correspond.
  • the method includes: storing the identification of the target parking space in response to detecting that the vehicle is parked in the target parking space; reporting the position and movement state of the mobile terminal to the cloud, and displaying a parking space map.
  • the mobile terminal displaying the parking space map may include: the mobile terminal logs in to the same application program as the terminal device, and continues to display the parking space map; or,
  • the parking space information from the cloud can be received, and then based on the parking space information, a parking space map can be obtained to display the parking space map. It should be understood that, for the manner in which the mobile terminal obtains the parking space map based on the parking space information, reference may be made to the relevant descriptions in the first aspect or the third aspect above.
  • the method further includes: in response to detecting that the terminal device is powered off, determining that the vehicle is parked in the target parking space.
  • the method further includes: acquiring the position of the target parking space based on the identification of the target parking space; The position of the target parking space is output.
  • the outputting the position of the target parking space includes: outputting the position of the target parking space in response to detecting that the mobile terminal moves toward the target parking space.
  • the outputting the position of the target parking space includes: displaying the position of the target parking space and the position of the terminal device on a parking space map.
  • the cloud stores the corresponding relationship between the identifier of the target parking space and the identifier of the terminal device, and before acquiring the position of the target parking space based on the identifier of the target parking space, It also includes: receiving the identification of the target parking space from the cloud.
  • the outputting the position of the target parking space includes: sending the position of the target parking space to a device bound with the terminal device, so that the binding with the terminal device The device outputs the position of the target parking space.
  • the method when the vehicle has been parked in the target parking space, the method further includes: receiving the probability that the target parking space becomes a free parking space broadcast by the cloud; The probability of updating the occupancy state of the target parking space on the parking space map.
  • the mobile terminal includes an acceleration sensor
  • the method further includes: acquiring the motion state based on frequency and/or amplitude of data collected by the acceleration sensor.
  • the method when the vehicle has been parked in the target parking space, the method further includes: receiving the probability that other parking spaces become vacant spaces broadcast by the cloud; , updating the occupancy status of the other parking spaces on the parking space map.
  • the parking space guidance method performed on the cloud in the above second aspect may also include:
  • the position and motion state from the mobile terminal corresponding to the terminal device are received, it is determined that the vehicle to which the terminal device belongs has been parked on the target parking space; and correspondingly store the identification of the terminal device, the identification of the mobile terminal, and the identification of the target parking space.
  • the method further includes: if the position and motion state from the terminal device are not received within a preset period of time after receiving the position and motion state from the terminal device, the cloud may determine that the vehicle has Park in the target parking space.
  • the preset duration may be a period for the terminal device to report the position and motion state.
  • the method further includes: when receiving the location and motion state from the terminal device, receiving an identifier of a mobile terminal from the terminal device, where the mobile terminal has a corresponding relationship with the terminal device.
  • the terminal device in the third aspect may be an electronic device such as a car machine or a smart rearview mirror in a vehicle
  • the mobile terminal in the fourth aspect may be a mobile phone, a bracelet, a watch, etc. bound to the terminal device Portable Electronic Devices.
  • the embodiment of the present application provides a terminal device, including: a position and motion state reporting module, configured to periodically report the position and motion of the terminal device to the cloud in response to detecting that the vehicle enters the parking lot state.
  • the transceiver module is used to receive the parking space information from the cloud, the parking space information includes: the identification and occupancy status of the parking spaces in the parking lot, and the occupancy status includes: idle, occupied, and the occupied parking spaces become free probability of parking.
  • a processing module configured to obtain a parking space map of the parking lot based on the parking space information, and the parking space map is used for parking space guidance.
  • the display module is used to display the parking space map.
  • the processing module is specifically configured to obtain the parking space map based on the initial parking space map of the parking lot and the parking space information, and the initial parking space map includes The distribution of parking spaces, and the identification of each parking space.
  • the processing module is specifically configured to, based on the identification of each parking space, fill the occupancy status of the parking spaces in the parking lot into the initial parking space map to obtain the parking space map.
  • the processing module is further configured to obtain the distribution of parking spaces based on the positions of the parking spaces; and obtain the initial parking space map based on the distribution of parking spaces and the positions of the parking spaces.
  • the transceiver module is further configured to receive the target parking space recommended from the cloud, the target The parking space is the parking space where the vehicle is to be parked.
  • the storage module is configured to store the identifier of the target parking space in response to detecting that the vehicle is parked in the target parking space.
  • the processing module is further configured to determine that the vehicle is parked in the target parking space in response to detecting that the movement state is switched from a driving state to a walking state.
  • the processing module is further configured to acquire the position of the target parking space based on the identification of the target parking space ; Output the position of the target parking space.
  • the processing module is specifically configured to output the position of the target parking space in response to detecting that the terminal device moves toward the target parking space.
  • the display module is further configured to display the position of the target parking space and the position of the terminal device on the parking space map.
  • the cloud stores a corresponding relationship between the identifier of the target parking space and the identifier of the terminal device.
  • the transceiver module is also used to receive the identification of the target parking space from the cloud.
  • the transceiver module is further configured to send the location of the target parking space to a device bound to the terminal device, so that the device bound to the terminal device outputs the target The location of the parking space.
  • the transceiver module is further configured to receive the probability that the target parking space becomes a free parking space broadcast from the cloud.
  • the processing module is further configured to update the occupancy state of the target parking space on the parking space map based on the probability that the target parking space becomes a free parking space.
  • the terminal device includes an acceleration sensor, and a processing module is further configured to acquire the motion state based on frequency and/or amplitude of data collected by the acceleration sensor.
  • the embodiment of the present application provides a cloud, including: a transceiver module, configured to receive the location and motion state of the terminal device reported by the terminal device, and send parking space information to the terminal device, the parking space information including : The identification and occupancy status of the parking spaces in the parking lot, the occupancy status includes: idle, occupied, and the probability that the occupied parking spaces become free parking spaces.
  • the terminal device may be the above-mentioned mobile terminal executing the method provided in the first aspect, a mobile terminal executing the method provided in the fourth aspect, or a terminal device executing the method provided in the third aspect.
  • the storage and calculation module is used to query whether to store the parking information of the terminal device; if yes, determine that the vehicle corresponding to the terminal device has been parked in the target parking space; The vehicle corresponding to the terminal device is not parked in the target parking space.
  • the transceiver module is further configured to recommend the target parking space to the terminal device in response to the motion state being a driving state and no parking information of the terminal device stored, the target The parking space is the parking space where the vehicle is to be parked.
  • the storage and calculation module is further configured to correspondingly store the identifier of the target parking space and the identifier of the terminal device in response to detecting that the vehicle corresponding to the terminal device is parked in the target parking space .
  • the broadcasting module is used to broadcast that the occupancy state of the target parking space is occupied.
  • the storage and calculation module is further configured to determine that the vehicle corresponding to the terminal device is parked in the target parking space in response to detecting that the terminal device's motion state is switched from the driving state to the walking state superior.
  • the storage and calculation module is further configured to acquire the probability that the target parking space becomes a free parking space in response to the stored parking information of the terminal device.
  • the broadcast module is also used to broadcast the probability that the target parking space becomes a free parking space.
  • the storage and calculation module is specifically configured to switch the terminal device from the walking state to the target parking space based on the distance between the terminal device and the target parking space. the duration of the driving state after the driving state, and obtain the probability that the target parking space becomes a free parking space; or, based on the distance between the terminal device and the exit of the parking lot, and the duration of the driving state, obtain the target parking space The probability of becoming a free parking space.
  • the storage and calculation module is specifically configured to: obtain the probability that the target parking space becomes a free parking space; or, based on the distance between the terminal device and the exit of the parking lot, the duration of the driving state, and the preset of the target parking space The number of vehicles that are not in the parking space within the range, and the probability that the target parking space becomes a free parking space is obtained.
  • the storage and calculation module is further configured to respond to the stored parking information of the terminal device and detect that the terminal device is moving toward the target The parking space is moved, and the probability that the target parking space becomes a free parking space is obtained.
  • the storage and calculation module is specifically configured to acquire the probability that the target parking space becomes a free parking space based on the distance between the terminal device and the target parking space.
  • the storage and calculation module is specifically configured to, based on the distance between the terminal device and the target parking space and the number of vehicles not in the parking space within a preset range of the target parking space, Obtain the probability that the target parking space becomes a free parking space.
  • the storage and calculation module is configured to determine that the vehicle to which the terminal device belongs has been parked on the target parking space, and the corresponding storage terminal The identification of the device, the identification of the mobile terminal, and the identification of the target parking space.
  • the storage and calculation module is used to determine that the vehicle has been parked if the position and motion state from the terminal device are not received within a preset time period after receiving the position and motion state from the terminal device. in the target parking space.
  • the preset duration may be a period for the terminal device to report the position and motion status.
  • the transceiving module is further configured to receive, when receiving the location and movement state from the terminal device, an identifier of a mobile terminal from the terminal device, and the mobile terminal has a corresponding relationship with the terminal device.
  • the embodiment of the present application provides a terminal device, which may include: a transceiver module, configured to periodically report the position and movement of the terminal device to the cloud in response to detecting that the vehicle enters the parking lot state, and receive the parking space information from the cloud, the parking space information includes: the identification and occupancy status of the parking spaces in the parking lot, the occupancy status includes: idle, occupied, and the occupied parking spaces become free parking spaces probability.
  • a transceiver module configured to periodically report the position and movement of the terminal device to the cloud in response to detecting that the vehicle enters the parking lot state, and receive the parking space information from the cloud
  • the parking space information includes: the identification and occupancy status of the parking spaces in the parking lot
  • the occupancy status includes: idle, occupied, and the occupied parking spaces become free parking spaces probability.
  • a processing module configured to obtain a parking space map of the parking lot based on the parking space information, and the parking space map is used for parking space guidance; and display the parking space map.
  • the processing module is specifically configured to obtain the parking space map based on the initial parking space map of the parking lot and the parking space information, and the initial parking space map includes The distribution of parking spaces, and the identification of each parking space.
  • the processing module is specifically configured to, based on the identification of each parking space, fill the occupancy state of the parking space into the initial parking space map to obtain the parking space map.
  • the identification of the parking space is the position of the parking space
  • the processing module is further configured to obtain the distribution of the parking spaces based on the position of the parking spaces; based on the distribution of the parking spaces, and the parking space position to obtain the initial parking space map.
  • the transceiver module is further configured to receive the target parking space recommended from the cloud, the target parking space The parking space where the vehicle is to be parked.
  • the transceiver module when the vehicle is parked in the target parking space, is further configured to receive the probability that other parking spaces become vacant spaces broadcast by the cloud.
  • the processing module is further configured to update the occupancy status of the other parking spaces on the parking space map based on the probability that the other parking spaces become vacant.
  • the terminal device includes an acceleration sensor
  • the method further includes: acquiring the motion state based on frequency and/or amplitude of data collected by the acceleration sensor.
  • the transceiver module is specifically configured to, when reporting the position and motion state of the terminal device to the cloud, also send the identification of the mobile terminal corresponding to the terminal device to the cloud.
  • the embodiment of the present application provides a mobile terminal, which may include: a storage module configured to store an identifier of the target parking space in response to detecting that the vehicle is parked in the target parking space.
  • the transceiver module is used to report the location and movement status of the mobile terminal to the cloud.
  • the display module is used to display the parking space map of the parking lot.
  • the display module is specifically configured to continue to display the parking space map in response to the mobile terminal logging into the same application program as the terminal device; or,
  • the transceiver module is also used to receive the parking space information from the cloud after reporting the position and motion state of the mobile terminal to the cloud.
  • the processing module is used to further obtain a parking space map based on the parking space information.
  • the processing module is further configured to determine that the vehicle is parked in the target parking space in response to detecting that the terminal device is powered off.
  • the processing module is configured to acquire the position of the target parking space based on the identification of the target parking space; output The location of the target parking space.
  • the processing module is further configured to output the position of the target parking space in response to detecting that the mobile terminal moves toward the target parking space.
  • the display module is further configured to display the position of the target parking space and the position of the terminal device on the parking space map.
  • the cloud stores the corresponding relationship between the identifier of the target parking space and the identifier of the terminal device, and before acquiring the position of the target parking space based on the identifier of the target parking space,
  • the transceiver module is also used for receiving the identification of the target parking space from the cloud.
  • the transceiver module is further configured to send the location of the target parking space to a device bound to the terminal device, so that the device bound to the terminal device outputs the target The location of the parking space.
  • the transceiver module when the vehicle is parked in the target parking space, is further configured to receive the probability that the target parking space becomes a free parking space broadcast from the cloud.
  • the processing module is further configured to update the occupancy state of the target parking space on the parking space map based on the probability that the target parking space becomes a free parking space.
  • the mobile terminal includes an acceleration sensor, and a processing module is further configured to acquire the motion state based on frequency and/or amplitude of data collected by the acceleration sensor.
  • the transceiver module when the vehicle is parked in the target parking space, is further configured to receive the probability that other parking spaces become vacant spaces broadcast by the cloud.
  • the processing module is further configured to update the occupancy status of the other parking spaces on the parking space map based on the probability that the other parking spaces become vacant.
  • the embodiment of the present application provides an electronic device, which may be the mobile terminal in the fifth aspect, or the cloud in the sixth aspect, or the terminal device in the seventh aspect, or the mobile terminal in the eighth aspect, or It can also be a chip in a mobile terminal, a chip in a cloud, or a chip in a terminal device.
  • the electronic device may include: a processor and a memory.
  • the memory is used to store computer-executable program codes, and the program codes include instructions; when the processor executes the instructions, the instructions cause the electronic device to execute the methods in the first aspect and the second aspect.
  • the embodiment of the present application provides an electronic device, which may be the mobile terminal in the fifth aspect, or the cloud in the sixth aspect, or the terminal device in the seventh aspect, or the mobile terminal in the eighth aspect, or It can also be a chip in a mobile terminal, a chip in a cloud, or a chip in a terminal device.
  • the electronic device includes a unit, a module or a circuit for performing the methods provided in the first aspect to the fourth aspect above.
  • the embodiments of the present application provide a computer program product containing instructions, which, when run on a computer, cause the computer to execute the methods in the first aspect to the fourth aspect above.
  • the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores instructions, and when it is run on a computer, the computer executes the above-mentioned first aspect to the fourth aspect. Methods.
  • the embodiment of the present application provides a parking space guidance system, which includes the mobile terminal of the fifth aspect and the cloud of the sixth aspect.
  • the system includes: the terminal device of the seventh aspect, the mobile terminal of the eighth aspect, and the cloud of the sixth aspect.
  • An embodiment of the present application provides a parking space guidance method, electronic equipment, and a readable storage medium.
  • the method includes: periodically reporting the position and motion state of the terminal device to the cloud in response to detecting that the vehicle enters the parking lot; receiving information from the cloud Parking space information, the parking space information includes: the identification and occupancy status of the parking spaces in the parking lot, the occupancy status includes: free, occupied, and the probability that the occupied parking spaces become free parking spaces; based on the parking space information, the parking space map of the parking lot, the parking space map It is used for parking space guidance; displaying the parking space map.
  • the terminal device entering the parking lot can interact with the cloud to obtain the parking space map of the parking lot, and the user can find a free parking space according to the parking space map, because this application does not rely on third-party devices such as cameras installed in the parking lot , so there is no need for pre-deployment and post-maintenance, and the accuracy of parking guidance is high.
  • the parking space map also includes the probability that the occupied parking space becomes a free parking space. When there are few free parking spaces, the user can wait around the parking space with a higher probability to improve the success rate of parking.
  • FIG. 1 is a schematic diagram of a scene of existing parking space guidance
  • FIG. 2 is a schematic diagram of a scene where the parking space guidance method provided by the embodiment of the present application is applicable;
  • FIG. 3A is a schematic flow diagram of an embodiment of a parking space guidance method provided by an embodiment of the present application.
  • FIG. 3B is a schematic diagram of a mobile terminal determining a motion state based on data collected by an acceleration sensor provided in an embodiment of the present application;
  • FIG. 3C is a schematic flowchart of another embodiment of the parking space guidance method provided by the embodiment of the present application.
  • FIG. 4A is a schematic diagram of an interface of a mobile terminal provided in an embodiment of the present application.
  • FIG. 4B is a schematic diagram of another interface of the mobile terminal provided by the embodiment of the present application.
  • FIG. 5 is a schematic diagram of another interface of the mobile terminal provided by the embodiment of the present application.
  • FIG. 6 is a schematic diagram of another interface of a mobile terminal provided by an embodiment of the present application.
  • FIG. 7A is a schematic diagram of the distance between the mobile terminal and the target parking space provided by the embodiment of the present application.
  • FIG. 7B is a schematic diagram of the exit of the mobile terminal and the parking lot provided by the embodiment of the present application.
  • FIG. 7C is another schematic diagram of the distance between the mobile terminal and the target parking space provided by the embodiment of the present application.
  • FIG. 8A is a schematic diagram of another interface of the mobile terminal provided by the embodiment of the present application.
  • FIG. 8B is a schematic diagram of another interface of the mobile terminal provided by the embodiment of the present application.
  • FIG. 9 is a schematic diagram of another scene applicable to the parking space guidance method provided by the embodiment of the present application.
  • FIG. 10 is a schematic flowchart of another embodiment of the parking space guidance method provided by the embodiment of the present application.
  • FIG. 11 is a schematic flowchart of another embodiment of the parking space guidance method provided by the embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a terminal device and a cloud provided by an embodiment of the present application.
  • FIG. 1 is a schematic diagram of a scene of existing parking space guidance.
  • a camera is installed above each parking space, and the camera can capture an image of a parking space at a preset time interval and report it to the parking space management system of the parking lot.
  • the parking space management system can judge whether there is a vehicle parked in the parking space based on the image of the parking space, and then determine whether the parking space is free.
  • the parking space management system can guide the vehicle to park in an empty parking space.
  • the parking space management system can send the number of the vacant parking space to the terminal device entering the parking lot, and the user can find the vacant parking space based on the number of the vacant parking space, and then drive the vehicle to park in the vacant parking space. It should be understood that in FIG.
  • a normal camera is represented by a white circle
  • an abnormal camera is represented by a black circle
  • a parking space management system is represented by a server
  • an empty parking space is represented by a blank space
  • an occupied parking space is represented by a shadow.
  • the camera needs to be pre-wired and installed, and requires staff maintenance and management. Referring to Figure 1, if the camera is damaged, the image of the parking space cannot be reported to the parking space management system, and the parking space management system cannot determine whether the parking space is free, which in turn affects the accuracy of the parking space management system in guiding vehicles to vacant parking spaces.
  • the embodiment of the present application provides a parking space guidance method.
  • the mobile terminal 100 entering the parking lot can report the position and motion state of the mobile terminal 100 to the cloud 200, and the cloud 200 can based on the position and motion state of the mobile terminal 100, Determine the occupancy state of the parking space in the parking lot, and then broadcast the occupancy state of the parking space in the parking lot.
  • a user who is looking for a parking space can obtain a vacant parking space based on the broadcast information received by the mobile terminal 100 , and then drive the vehicle to the vacant parking space.
  • the mobile terminal 100 may be, but not limited to: a mobile phone, a tablet computer, a notebook computer, a wearable device, a speaker, and the like.
  • the mobile terminal 100 can also be a personal digital assistant (PDA), a handheld device with wireless communication capabilities, a computing device, a virtual reality (virtual reality, VR) terminal device, a drone device, an augmented reality (augmented reality, AR) terminal equipment, etc.
  • PDA personal digital assistant
  • the form of the mobile terminal 100 is not limited in the embodiment of the present application.
  • the cloud 200 may be a server, and one server may correspond to one or more parking lots, and the form of the server is not limited in this embodiment of the application.
  • Fig. 3A is a schematic flow chart of an embodiment of a parking space guidance method provided in an embodiment of the present application.
  • the parking space guidance method provided by the embodiment of the present application may include:
  • the mobile terminal in response to detecting that a vehicle enters a parking lot, the mobile terminal reports the location and movement state of the mobile terminal to the cloud.
  • the mobile terminal is located in the vehicle. When the vehicle enters the parking lot, the mobile terminal follows the vehicle into the parking lot, and the mobile terminal can detect that the vehicle enters the parking lot.
  • the user can use the mobile terminal to navigate to the parking lot, and if the mobile terminal detects that the navigation instruction has reached the parking lot, the mobile terminal detects that the vehicle has entered the parking lot.
  • the mobile terminal can communicate with the vehicle, and the manner of communication connection includes but not limited to Bluetooth connection and WI-FI hotspot connection.
  • the mobile terminal can detect whether the vehicle enters the parking lot based on the vehicle's driving record image. Wherein, if the mobile terminal detects that an entrance of the parking lot is included in the frame of the driving recording image, it detects that the vehicle enters the parking lot.
  • the communication connection between the mobile terminal and the vehicle may be: the communication connection between the mobile terminal and the vehicle-machine in the vehicle, and the vehicle-machine may be called a vehicle-mounted terminal or a central control.
  • the mobile terminal may store a signal fingerprint library of the parking lot, and the mobile terminal may locate the location of the mobile terminal based on the strength of the detected signal and the signal fingerprint library. Furthermore, by detecting whether the position of the mobile terminal is included in the parking lot, it is determined whether the vehicle enters the parking lot.
  • the signal fingerprint library may be, but not limited to: a cellular network signal fingerprint library, a WI-FI signal fingerprint library, or a geomagnetic signal fingerprint library. The signal fingerprint library is used to characterize the strength of the signal at each location of the parking lot.
  • the mobile terminal after the mobile terminal enters the parking lot, it can locate the location of the mobile terminal based on the strength of the received cellular network signal, and then based on the strength of the cellular network signal and the cellular network signal fingerprint database.
  • the embodiment of the present application does not limit the manner in which the mobile terminal detects that the vehicle enters the parking lot.
  • the mobile terminal When the mobile terminal detects that the vehicle enters the parking lot, the mobile terminal can obtain the location and motion status of the mobile terminal, and then report to the cloud.
  • the motion state may include but not limited to: driving state and walking state.
  • the mobile terminal can be positioned based on the signal fingerprint library of the parking lot to obtain the location of the mobile terminal, and reference can be made to the above related description.
  • the mobile terminal may use the signal fingerprint library with the highest priority for positioning based on the priorities of the signal fingerprint libraries.
  • the signal fingerprint database with the highest priority is the geomagnetic signal fingerprint database, and the mobile terminal can perform positioning based on the geomagnetic signal fingerprint database.
  • the mobile terminal can be positioned separately based on each type of signal fingerprint database, and then combine the positioning results of each type of signal fingerprint database to obtain the location of the mobile terminal, which can improve the positioning accuracy of the mobile terminal.
  • the mobile terminal may use the mean value of the positioning results of each type of signal fingerprint library as the position of the mobile terminal.
  • the mobile terminal may obtain the location of the mobile terminal based on the positioning result of each type of signal fingerprint library and the weight of each type of signal fingerprint library, which is not limited in this embodiment of the present application.
  • the mobile terminal when the mobile terminal uses the signal fingerprint database for positioning, in order to improve the positioning accuracy, the mobile terminal may combine deep learning and the signal fingerprint database to locate the mobile terminal.
  • a mobile terminal combined with a WI-FI signal fingerprint database, a geomagnetic signal fingerprint database and a recurrent neural network (recurrent neural networks, RNN) is briefly described as an example.
  • the RNN model can be stored in the mobile terminal, and the RNN model is used to represent the mapping relationship between each position in the parking lot, the strength of the WI-FI signal, and the strength of the geomagnetic signal.
  • the mobile terminal can convert the received WI-FI signal
  • the strength of the signal and the strength of the geomagnetic signal are input to the RNN model, and the RNN model can output the predicted position of the mobile terminal.
  • the RNN model is obtained through deep learning based on the strength of the WI-FI signal and the strength of the geomagnetic signal at each position in the parking lot. Description of trained neural network models.
  • an access point (access point, AP) may be set in the parking lot, and the AP is used to connect the mobile terminal to the Internet.
  • the mobile terminal After the mobile terminal enters the parking lot, it can receive a signal broadcast from the AP.
  • the signal can include the media access control address (media access control address, MAC) of the AP.
  • the MAC address is used for the mobile terminal to access the AP.
  • the mobile terminal can Geomagnetic signals are detected based on geomagnetic sensors or magnetometers.
  • the mobile terminal can input the strength of the WI-FI signal from the AP and the strength of the geomagnetic signal into the RNN model to obtain the predicted position of the mobile terminal. In this way, the mobile terminal can obtain a positioning result with high accuracy.
  • the mobile terminal can also use not limited to Bluetooth positioning, ultra wide band (UWB) positioning, etc., to obtain the position of the mobile terminal, and the embodiment of the present application does not limit the positioning method of the mobile terminal.
  • Bluetooth positioning ultra wide band (UWB) positioning, etc.
  • the mobile terminal When the vehicle enters the parking lot, the mobile terminal is located in the vehicle, and the motion state of the vehicle is a driving state (driving), so the motion state of the mobile terminal is a driving state.
  • driving state driving
  • the motion state of the mobile terminal is a driving state.
  • the mobile terminal moves following the movement of the user, so the movement state of the mobile terminal is a walking state.
  • the mobile terminal may acquire the motion state of the mobile terminal based on the location of the mobile terminal.
  • the mobile terminal can obtain the speed of the mobile terminal based on the change of the position of the mobile terminal within a preset time period, and if the speed of the mobile terminal is greater than or equal to the preset speed, then it is determined that the mobile terminal is in a driving state. If the speed of the mobile terminal is lower than the preset speed, it is determined that the mobile terminal is in a walking state.
  • the mobile terminal may be integrated with an acceleration sensor.
  • the mobile terminal may determine the motion state of the mobile terminal based on data collected by the acceleration sensor.
  • the frequency, amplitude and other characteristics of the data collected by the acceleration sensor are related to the motion state of the mobile terminal, and data with different frequencies and amplitudes represent different motion states.
  • the data collected by the acceleration sensor includes: accelerations in various directions (X axis, Y axis and Z axis). Exemplarily, referring to FIG. 3B, the mobile terminal may distinguish the motion state of the mobile terminal into driving state (as shown in a in FIG. 3B ) and walking state as shown in FIG. state (shown as b in Figure 3B).
  • a motion state model may be stored in the mobile terminal, and the motion state model is used to characterize the data collected by the acceleration sensor and the corresponding relationship between the motion state of the mobile terminal.
  • the motion state model is obtained by analyzing and training the data collected by the acceleration sensor in different motion states as the training data through machine learning.
  • the mobile terminal can input the data collected by the acceleration sensor into the motion state model, and the motion state model outputs the motion state of the mobile terminal, thereby improving the accuracy of the mobile terminal in judging the motion state of the mobile terminal .
  • the mobile terminal may periodically report the location and movement status of the mobile terminal to the cloud.
  • the cloud sends the parking space information of the parking lot to the mobile terminal, and the parking space information includes the identification and occupancy state of the parking space.
  • a parking space map of the parking lot may be pre-stored in the mobile terminal, and the parking space map may include: a distribution of parking spaces in the parking lot, and an identification of each parking space.
  • the distribution of parking spaces can be understood as: the location of the parking spaces in the parking lot.
  • the identification of the parking space may be the location of the parking space, the number of the parking space, and the like.
  • the parking space map may further include: the entrance position of the parking lot, the entrance position, and the like.
  • the cloud When the cloud receives the position and motion status reported from the mobile terminal, it can determine that the mobile terminal has entered the parking lot, and then can send the parking space information of the parking lot to the mobile terminal, so that the mobile terminal can update the parking space map based on the parking space information.
  • the parking space information may include: the identification of the parking space and the occupancy state of the parking space.
  • the occupancy state of the parking space can be: free, occupied, and the probability of being free.
  • the probability of vacancy can be understood as: the probability that an occupied parking space becomes a free parking space, or it can also be understood as: the probability that an occupied parking space is about to become a free parking space.
  • the cloud can obtain the occupancy status of the parking spaces based on the positions and motion statuses reported by multiple mobile terminals in the parking lot. For details, refer to the following related descriptions.
  • no parking space map of the parking lot is stored in the mobile terminal, and the mobile terminal may generate the parking space map based on the parking space information from the cloud.
  • the identification of the parking space may be the location of the parking space, and the mobile terminal may generate a parking space map based on the location of the parking space and the occupancy status of the parking space.
  • S302 may be replaced by: the cloud sends a parking space map of the parking lot to the mobile terminal, and the parking space map includes the location and occupancy state of the parking space.
  • the parking space information may also include the entrance location of the parking lot, the entrance location, and the like.
  • the parking space information may also include: the position of a vehicle that is not in the parking space within the preset range of the free parking space, and/or, within the preset range of the occupied parking space that is about to become a free parking space, the position of the vehicle that is not in the parking space The position of the vehicle in the parking space.
  • the preset range may be 1m around the free parking space.
  • the mobile terminal displays a parking space map of the parking lot based on the parking space information.
  • the mobile terminal when the parking space map of the parking lot is pre-stored in the mobile terminal, the mobile terminal can add the occupancy state of the parking space to the pre-stored parking space map based on the identification of the parking space and the occupancy state of the parking space . In one embodiment, when the parking space map of the parking lot is not stored in the mobile terminal, the mobile terminal may receive the parking space map from the cloud, or generate the parking space map based on the parking space information from the cloud.
  • the mobile terminal After the mobile terminal obtains the parking space map, it can display the parking space map.
  • the parking space map can include: the distribution of parking spaces in the parking lot, and the occupancy status of the parking spaces.
  • the mobile terminal may display the location of the mobile terminal on the parking space map based on the location of the mobile terminal.
  • the parking space map may further include: the entrance position of the parking lot, the entrance position, and the like.
  • the parking space information includes: the position of a vehicle that is not in the parking space within the preset range of the free parking space, and/or, within the preset range of the occupied parking space that is about to become a free parking space, is not in the parking space The position of the vehicle on it.
  • the mobile terminal may display free parking spaces and/or surrounding vehicles of occupied parking spaces that are about to become free parking spaces. In this way, the user sees the vacant parking space and/or the vehicles around the occupied parking space that will become vacant, can determine the vacant parking space and/or the occupied parking space that will become vacant, and there are vehicles waiting to park, and then the user can query other parking spaces. Park in vacant parking spaces to increase the success rate of parking.
  • the mobile terminal can display the parking space map, and the parking space map includes: the distribution of parking space A-parking space C, and the occupancy status of parking spaces such as parking space A, parking space B, and parking space C, such as parking space A is free, parking space B is occupied, parking space C is occupied, and the probability that parking space C will become vacant is 80%.
  • numbers are taken as an example to represent the probability that parking space C will soon become a free parking space.
  • the mobile terminal can also use the size of the circle to represent the probability that the parking space C will become an unoccupied parking space, or use the size of the gray value of the circle to represent the probability that the parking space C will become an unoccupied parking space. Examples are not limited to this.
  • the mobile terminal can also display the location of the mobile terminal on the parking space map, so that the user can see his own location on the parking space map, which is convenient for the user to obtain the driving route to the vacant parking space.
  • the "ME" mark with an arrow represents the position of the mobile terminal, and the direction of the arrow represents the orientation of the mobile terminal.
  • the embodiment of the present application does not limit the way of displaying the position of the mobile terminal on the parking space map.
  • the mobile terminal may also display the occupancy sign of the parking space on the interface, such as the sign box 401 in FIG. 4A .
  • the occupancy mark is used to represent the corresponding relationship between the shadow of the parking space and the occupancy state of the parking space.
  • the process of displaying the parking space map of the parking lot after the mobile terminal enters the parking lot is introduced above.
  • the following is an example of a scenario where a mobile terminal displays a parking space map of a parking lot:
  • An application program (application, APP) for parking space guidance is installed on the mobile terminal.
  • the user drives the vehicle into the parking lot, the user can open the parking space guidance APP, and the mobile terminal can execute the above S301-S303 in response to the user opening the parking space guidance APP to display the parking space map of the parking lot.
  • the user clicks on the parking space guidance APP on the mobile terminal, and the interface of the mobile terminal can jump to b in FIG. 4B .
  • the mobile terminal can display the parking space map of the parking lot.
  • the b in FIG. 4B can refer to the description in FIG. 4A
  • “P” in a in FIG. 4B represents the APP for parking space guidance.
  • the desktop of the mobile terminal can be operated to the negative screen, and the parking space guide icon is displayed on the negative screen, and the user clicks on the parking space guide icon to trigger the movement
  • the terminal executes the above S301-S303 to display the parking space map of the parking lot, and the parking space map can refer to FIG. 4A.
  • the user navigates to the parking lot by using a navigation application program on the mobile terminal.
  • the above S301-S303 can be executed to display the parking space map of the parking lot.
  • a in FIG. 5 is the interface where the navigation of the mobile terminal ends, and a prompt box for parking space guidance can pop up on this interface.
  • the prompt box may display a text prompt message of "click to guide you to stop".
  • the user can find a vacant parking space based on the parking space map displayed on the mobile terminal, so as to facilitate driving the vehicle to the vacant parking space.
  • the user can also search for a parking space with a high probability of becoming a free parking space on the parking space map to improve the success rate of parking, and because the vehicle can be parked in a parking space with a high probability of becoming a free parking space In the parking space, the utilization rate of the parking space can also be improved.
  • the mobile terminal can interact with the cloud to display the parking space map on the mobile terminal, which is convenient for the user to find a vacant parking space.
  • the following describes how the cloud obtains the parking space information.
  • the cloud can also execute:
  • the cloud responds that the motion state of the mobile terminal is the driving state, and inquires whether the parking information of the mobile terminal is stored; if not, execute S305, and if so, execute S306.
  • S302 and S304 may be executed at the same time, and there is no sequence distinction between the two.
  • the cloud may store the parking information of the mobile terminal, and the parking information may include: the identification of the mobile terminal and the identification of the parking space.
  • the identifier of the mobile terminal may be, but not limited to: the international mobile equipment identity (IMEI) or mobile equipment identifier (MEID) of the mobile terminal, which is not discussed in this embodiment of the present application. limit.
  • the process for the cloud to identify that the vehicle to which the mobile terminal belongs is parked in the parking space may refer to the related description of S305.
  • the cloud can query whether the parking information of the mobile terminal is stored based on the identification of the mobile terminal. Exemplarily, if the identification of the parking space corresponding to the identification of the mobile terminal is stored in the cloud, it can be determined that the parking information of the mobile terminal is stored in the cloud. If the identification of the parking space corresponding to the identification of the mobile terminal is not stored in the cloud, it can be determined that the parking information of the mobile terminal is not stored in the cloud.
  • the cloud stores the identification of the mobile terminal and the identification of the target parking space correspondingly in response to the vehicle to which the mobile terminal belongs is parked on the target parking space, and broadcasts that the occupancy state of the target parking space is occupied.
  • the cloud when the vehicle enters the parking lot and is not parked on the parking space, the cloud does not store the parking information of the mobile terminal corresponding to the vehicle. Accordingly, the cloud inquires that the parking information of the mobile terminal is not stored, and then determines that the vehicle to which the mobile terminal belongs has not been parked and is looking for a parking space. In one embodiment, the user can inquire about a free parking space based on the parking space map displayed on the mobile terminal, and then drive the vehicle to the free parking space, which can be called a target parking space for the vehicle.
  • the cloud can recommend free parking spaces to the mobile terminal.
  • the cloud can obtain the distance between each free parking space in the parking lot and the mobile terminal based on the location of the mobile terminal, and then recommend free parking spaces for the mobile terminal based on the distance. Wherein, the cloud can recommend the parking space with the smallest distance to the mobile terminal. Referring to b in FIG. 4B , the cloud can display an arrow on the parking space A to recommend an empty parking space to the mobile terminal.
  • the cloud may send the identification of the parking space with the smallest distance to the mobile terminal to recommend vacant parking spaces to the mobile terminal.
  • the mobile terminal pops up a parking space recommendation box on the interface, and the parking space recommendation box may display a text prompt message "there is a free parking space nearby, click to view", refer to Figure 6 as shown in a.
  • the cloud may also recommend to the mobile terminal a preset number of vacant parking spaces that are within a short distance from the mobile terminal. For example, the cloud recommends to the mobile terminal 5 free parking spaces with a relatively small distance from the mobile terminal. It should be understood that the embodiment of the present application does not limit the manner in which the cloud recommends vacant parking spaces to the mobile terminal.
  • the user may inquire about vacant parking spaces on the parking space map, or obtain vacant parking spaces based on cloud-based recommendations, so as to drive the vehicle to the vacant parking spaces.
  • the cloud detects that the vehicle to which the mobile terminal belongs is parked on the target parking space, the cloud can store the identification of the mobile terminal and the identification of the target parking space correspondingly, so as to store the parking information of the mobile terminal.
  • the cloud can broadcast that the occupancy state of the target parking space is occupied, and the mobile terminals in the parking lot can receive the broadcast message, and based on the broadcast message, the parking space map displayed on the mobile terminal can be updated, and the parking space map in the parking space map can be updated.
  • the occupancy status of the target bay is changed from "Free" to "Occupied".
  • the mobile terminal in the parking lot may include: a mobile terminal corresponding to a parked vehicle, or a mobile terminal looking for a parking space, or a mobile terminal corresponding to a parking vehicle, or a mobile terminal corresponding to a vehicle leaving the parking space from the parking lot. terminal.
  • a mobile terminal corresponding to a parked vehicle or a mobile terminal looking for a parking space
  • a mobile terminal corresponding to a parking vehicle or a mobile terminal corresponding to a vehicle leaving the parking space from the parking lot. terminal.
  • the mobile terminal may mark the target parking space (parking space A) where the mobile terminal is parked as occupied.
  • the cloud can detect whether the vehicle to which the mobile terminal belongs is parked in the target parking space based on the location and motion state of the mobile terminal.
  • the cloud when the cloud detects that the motion state of the mobile terminal is switched from the driving state to the walking state, it can be determined that the user gets off the vehicle with the mobile terminal and walks, and then it can be determined that the vehicle to which the mobile terminal belongs has been parked in the parking space. superior. It should be understood that when the motion state of the mobile terminal is switched to the walking state, the mobile terminal can report the walking state and the location of the mobile terminal to the cloud, and the cloud can use the parking space corresponding to the walking state as the target parking space. It should be understood that the target parking space Parking spaces for vehicles.
  • the mobile terminal in response to detecting that the vehicle is parked on the target parking space, may report a parking message to the cloud, so as to notify the cloud that the vehicle to which the mobile terminal belongs has been parked on the target parking space.
  • the mobile terminal can communicate with the vehicle, and when the mobile terminal detects that the vehicle is turned off (for example, the connection between the mobile terminal and the vehicle is disconnected), it determines that the vehicle is turned off, and then determines that the vehicle is parked in the target parking space.
  • the mobile terminal may report the parking information to the cloud when reporting the movement status of the mobile terminal's location to the cloud.
  • the cloud can store the identification of the mobile terminal and the identification of the target parking space correspondingly. Therefore, when the vehicle leaves the target parking space, the motion state of the mobile terminal is the driving state, and the cloud can query the parking information stored in the mobile terminal. In this case, the cloud can determine that the vehicle to which the mobile terminal belongs is leaving the target. Parking space, the target parking space will soon become a free parking space.
  • the cloud can obtain the probability that the target parking space becomes a vacant parking space based on the location of the mobile terminal and the time the mobile terminal is in the driving state.
  • the duration of the mobile terminal in the driving state may be understood as: the duration of the mobile terminal in the driving state after the mobile terminal is switched from the walking state to the driving state.
  • the duration of the mobile terminal being in the driving state is: the duration of the mobile terminal leaving the target parking space.
  • the cloud can obtain the distance between the mobile terminal and the target parking space based on the position of the mobile terminal and the position of the target parking space, and then obtain the The probability that the target parking space becomes a free parking space.
  • the distance from the mobile terminal to the target parking space may be: a straight-line distance from the mobile terminal to the target parking space, or a distance from the mobile terminal to the target parking space on a drivable path. Wherein, the smaller the distance between the mobile terminal and the target parking space, the greater the probability that the target parking space becomes an vacant parking space, and the shorter the time the mobile terminal is in the driving state, the greater the probability that the target parking space becomes an vacant parking space.
  • the distance from the vehicle to the target parking space gradually increases, such as gradually increasing from distance1 to distanceN, distance(N+1), distance(N+2), and the mobile terminal is in the driving state
  • the duration of is gradually increased from small to small, such as correspondingly increasing from 1 to t1...tN, t(N+1), t(N+2).
  • D represents distance in Fig. 7A-Fig. 7C.
  • the probability P1 that the target parking space becomes a free parking space can be obtained by the following formula 1:
  • time represents the duration of the mobile terminal in the driving state
  • distance1 represents the distance from the mobile terminal to the target parking space
  • scale 1 represents the weight, which is a fixed value.
  • the weight corresponding to the distance from the vehicle to the target parking space in the above formula 1 and the weight corresponding to the duration of the mobile terminal in the driving state may be different, and formula 1 may be replaced with the following formula 1A:
  • scale 1' represents the weight corresponding to the duration of the mobile terminal being in the driving state
  • scale 1" represents the weight corresponding to the distance between the mobile terminal and the vehicle to the target parking space
  • scale 1' is different from scale 1"
  • scale 1' and scale 1" can be empirical values, which can more accurately reflect the probability P1 of the target parking space becoming a free parking space and the distance between the vehicle and the target parking space compared with the above formula 1, and the relationship between the duration of the mobile terminal being in the driving state.
  • a simulation experiment may be used to obtain scale 1′ and scale 1′′ , which is not limited in this embodiment of the present application.
  • the cloud can obtain the distance between the mobile terminal and the exit of the parking lot based on the position of the mobile terminal and the exit of the parking lot, and then obtain the distance from the mobile terminal to the exit of the parking lot according to the distance between the mobile terminal and the exit of the parking lot.
  • the distance between the mobile terminal and the exit of the parking lot may be: a straight-line distance between the mobile terminal and the exit of the parking lot, or a distance of a drivable path between the mobile terminal and the exit of the parking lot.
  • the distance from the vehicle to the exit of the parking lot gradually decreases, such as from distance(N+2), gradually decreases to distance(N+1), distanceN, ... distance1
  • the duration that the mobile terminal is in the driving state gradually increases from small, for example, correspondingly increases from 1 to t1...t(N+1), t(N+2).
  • the probability P2 that the target parking space becomes a free parking space can be obtained by the following formula 2:
  • distance2 represents the distance from the mobile terminal to the exit of the parking lot
  • scale 2 represents the weight
  • scale 2 may be the same as or different from scale 1 .
  • the weights corresponding to the distance from the vehicle to the exit of the parking lot in the above formula 2 may be different from the weights corresponding to the time duration when the mobile terminal is in the driving state, refer to the description of formula 1A.
  • the mobile terminal determines that there is a vehicle not in the parking space within the preset range of the target parking space based on the parking space information from the cloud, the calculation method for obtaining the probability of the target becoming a free parking space may be changed. Because there is a vehicle not in the parking space within the preset range of the target parking space, the vehicle may be waiting to be parked in the target parking space, so the probability that the target becomes an empty parking space becomes smaller. Accordingly, the mobile terminal can obtain the probability P3 that the target parking space will be called an empty parking space, based on the location of the mobile terminal, the duration of the mobile terminal being in the driving state, and whether there is a vehicle not in the parking space within the preset range of the target parking space. As shown in Equation 3 below:
  • N nearbyv represents the number of vehicles that are not in the parking space within the preset range of the mobile terminal
  • scale 3 represents the weight
  • scale 3 may be the same as or different from scale 1 .
  • the distance between the mobile terminal and the target parking space, and the distance between the mobile terminal and the exit of the parking lot are examples.
  • the embodiment of the present application may also use the distance between the mobile terminal and other markers to represent the distance from the mobile terminal to the target parking space.
  • the cloud can obtain the probability that the target parking space becomes vacant.
  • the cloud can broadcast the probability that the target parking space becomes vacant.
  • the cloud can broadcast the identification of the target parking space and the probability that the target parking space becomes a free parking space.
  • the mobile terminal can update and display the parking space map based on the identification of the target parking space and the probability that the target parking space becomes a free parking space, that is, modify the target parking space from occupied to "probability of becoming a free parking space", which can Referring to parking space C in FIG. 4B above, it should be understood that the probability of parking space C becoming vacant can refer to the relevant description here.
  • the cloud responds that the mobile terminal is in a walking state, and inquires whether the parking information of the mobile terminal is stored; if yes, execute S308; if not, execute S309.
  • the motion state of the mobile terminal is a walking state.
  • the motion state of the mobile terminal is the walking state.
  • the mobile terminal can periodically report the location and motion state of the mobile terminal to the cloud after entering the parking lot, the cloud can detect in time that the motion state of the mobile terminal is a walking state, refer to the relevant description of S301 above.
  • the cloud detects that the motion state of the mobile terminal is a walking state, and can inquire whether the parking information of the mobile terminal is stored. For inquiring whether the parking information of the mobile terminal is stored in the cloud, refer to the relevant description above. If the parking information of the mobile terminal is stored in the cloud, it means that the user has parked the vehicle and is walking.
  • the purpose of the user's walking may be: to find a vehicle, or to get off the vehicle and go shopping in a shopping mall. It should be understood that getting off the car and going shopping in a shopping mall is an example of the user "far away from the vehicle", and looking for a vehicle is an example of the user "approaching the vehicle”. If the cloud does not store the parking information of the mobile terminal, it means that the user walks into the parking lot, such as wandering in the parking lot.
  • the cloud can obtain the distance between the mobile terminal and the target parking space based on the position of the mobile terminal and the position of the target parking space.
  • the distance from the mobile terminal to the target parking space may be: a straight-line distance from the mobile terminal to the target parking space, or a distance from the mobile terminal to the target parking space on a drivable path.
  • the distance between the mobile terminal and the target parking space gradually decreases, indicating that the user is approaching the target parking space, and the probability that the target parking space becomes a free parking space is greater.
  • the cloud may not calculate the probability that the target parking space becomes a free parking space, but may start to calculate when the user walks towards the target parking space.
  • the probability that the target parking space becomes a free parking space may be replaced by: when the cloud detects that the mobile terminal is gradually approaching the target parking space based on the location of the mobile terminal, acquire the probability that the target parking space becomes a free parking space, and broadcast the probability.
  • the user takes the mobile terminal down from the elevator to the vehicle, and the distance between the mobile terminal and the target parking space gradually decreases, such as from distance(N+2), gradually decreases As small as distance(N+1), distanceN, ... distance1.
  • the probability P4 that the target parking space becomes a free parking space can be obtained by the following formula 4:
  • scale 4 represents the weight, which can be the same as or different from scale 1 .
  • the mobile terminal determines that there is a vehicle not in the parking space within the preset range of the target parking space based on the parking space information from the cloud, the calculation method for obtaining the probability of the target becoming a free parking space may be changed. Because there is a vehicle not in the parking space within the preset range of the target parking space, the vehicle may be waiting to be parked in the target parking space, so the probability that the target becomes an empty parking space becomes smaller. Accordingly, the mobile terminal can obtain the probability P5 that the target parking space is about to become a free parking space based on the location of the mobile terminal and whether there is a vehicle not in the parking space within the preset range of the target parking space, which can be shown in the following formula 5:
  • scale 5 represents the weight, and scale 5 can be the same as or different from scale 1 .
  • the cloud can obtain the probability that the target parking space becomes a free parking space.
  • the cloud can broadcast the probability.
  • the cloud can broadcast the identification of the target parking space and the probability that the target parking space becomes a free parking space.
  • the mobile terminal located in the parking lot can update and display the parking space map based on the identification of the target parking space and the probability that the target parking space becomes a free parking space. Refer to parking space C in FIG. 4B .
  • the first mobile terminal and the second mobile terminal Both can update and display the parking space map based on the identification of the target parking space and the probability that the target parking space becomes vacant, and display the probability that the target parking space becomes vacant on the parking space map.
  • the cloud when the user parks the vehicle on the target parking space, the cloud can store the identification of the first mobile terminal and the identification of the target parking space correspondingly, and the cloud can send a storage indication to the first mobile terminal, and the storage indication is used for
  • the first mobile terminal is instructed to store the identifier of the target parking space, and the storage instruction may include the identifier of the target parking space.
  • the first mobile terminal may store the identification of the target parking space.
  • the first mobile terminal when the user parks the vehicle on the target parking space, the first mobile terminal may store the identification of the target parking space in response to sending a parking message to the cloud.
  • the first mobile terminal since the motion state of the first mobile terminal is a walking state, the user may be looking for a parking space. Therefore, for the first mobile terminal, when the first mobile terminal receives the identification of the target parking space from the cloud and the probability that the target parking space becomes a free parking space, it can determine that the target parking space is the parking space where the vehicle to which the first mobile terminal belongs is parked, so Based on the identification of the target parking space, the first mobile terminal may display the position of the target parking space and the position of the first mobile terminal on the parking space map, which is convenient for the user to find the target parking space, as shown in FIG. 8A . In FIG. 8A , the vehicle is displayed on the target parking space, representing the target parking space where the vehicle to which the first mobile terminal belongs is parked.
  • the distance between the first mobile terminal and the target parking space decreases gradually, which means that the user is approaching the target parking space, and indicates that the user is looking for a parking space.
  • the cloud may not send the identification of the target parking space to the first mobile terminal
  • the first mobile terminal may not display the target parking space and the position of the first mobile terminal on the parking space map.
  • the cloud can send the target parking space identification to the first mobile terminal, and accordingly, the first mobile terminal can display the target parking space on the parking space map and the location of the first mobile terminal. That is to say, in this embodiment, based on the position of the first mobile terminal, the cloud can send the identification of the target parking space to the first mobile terminal when detecting that the mobile terminal is gradually approaching the target parking space, so that the first mobile terminal can The target parking space and the position of the first mobile terminal are displayed on the parking space map, which is convenient for the user to find the target parking space.
  • a parking card can pop up on the interface. "Parked vehicle, click me to find the target parking space" can be displayed on the parking card to prompt the user that the first mobile terminal has stored the identification of the target parking space.
  • the parking card can display the mark of the target parking space.
  • the user can swipe up the interface, and the parking guidance APP runs in the background, refer to b in Figure 8B.
  • the parking guidance APP runs in the background, refer to b in Figure 8B.
  • d in 8B is the same as above-mentioned Fig. 8A.
  • the cloud can execute the above S304-S306 based on the location and motion state reported by the mobile terminal.
  • the cloud responds that the motion state of the mobile terminal is a walking state, and the cloud does not store the parking information of the mobile terminal, which means that the user walks into the parking lot, regardless of the parking space in the parking lot, so the stop operation is performed.
  • the embodiment of the present application provides a parking space guidance method.
  • the cloud can determine whether the vehicle to which the mobile terminal belongs is parking, has parked, or is about to leave the parking space, and then the cloud can obtain corresponding information.
  • the occupancy status of the parking spaces in the parking lot is broadcast to the mobile terminals in the parking lot.
  • the mobile terminal can search for a free parking space based on the occupancy state of the parking space, which is convenient for the user to park.
  • the cloud can also predict the probability that the parking space of the vehicle to which the mobile terminal belongs will become a free parking space based on the position and motion state of the mobile terminal. Parking spaces, parking is more intelligent, and can improve the utilization of parking spaces.
  • the mobile terminal can also store the identification of the parking space where the vehicle to which the mobile terminal belongs is parked, and guide the user to find the target parking space for parking the vehicle, thereby improving user experience.
  • the user can complete the steps in the above embodiments based on the cooperation of multiple mobile terminals.
  • the first device can communicate with a second device that has sensors, display screens, etc.
  • the device sends the location of the target parking space and the location of the vacant parking space, and the first device can notify the user of the location of the target parking space and the location of the vacant parking space through voice broadcast to realize parking space guidance.
  • the cooperation between a smart watch and a mobile phone is taken as an example for illustration, and the smart watch is connected to the mobile phone via Bluetooth.
  • the mobile phone can obtain the location of the target parking space and transmit it to the smart watch.
  • the smart watch can broadcast the position of the target parking space and guide the user to the target parking space. In this way, users can find parking spaces without taking out their mobile phones, which can improve user experience.
  • the steps performed by the mobile terminal may include:
  • the mobile terminal can perform positioning, and then detect that the vehicle is located in the parking lot.
  • For the positioning method of the mobile terminal refer to the relevant description above.
  • S1008 receiving the target parking space recommended by the cloud, and in response to detecting that the vehicle is parked in the target parking space, reporting the position and movement state of the mobile terminal to the cloud, and storing the position of the target parking space.
  • the mobile terminal located in the parking lot may periodically report the location and movement status of the mobile terminal to the cloud.
  • the steps performed by the cloud may include:
  • the parking space guidance method provided by the present application is introduced by taking the terminal device interacting with the cloud as a mobile terminal as an example, wherein the mobile terminal is a user's portable terminal device, such as a mobile phone, a tablet computer, a bracelet, and the like.
  • the mobile terminal can be replaced by a non-portable terminal device, such as a car machine in a vehicle, a smart rearview mirror and other devices.
  • a non-portable terminal device as an example to illustrate the parking space guidance method provided by this application:
  • the vehicle-machine is arranged on the vehicle, the vehicle-machine corresponds to the vehicle, and the running state of the vehicle-machine is the same as the motion state of the vehicle.
  • the motion state of the vehicle is the driving state
  • the motion state of the vehicle is the driving state
  • the motion state of the vehicle is the driving state.
  • the vehicle-machine and the mobile terminal (such as a mobile phone) in the above embodiments can perform the same steps, that is, the interaction between the vehicle-machine and the cloud can perform the above S301-S303, as well as S304 and S305.
  • a way for the cloud to detect that the vehicle to which the vehicle belongs is parked in the target parking space may be: within a preset period of time after the cloud receives the position and motion state from the vehicle, the cloud does not receive information from the vehicle.
  • the location and motion state of the car the cloud can determine that the car is turned off, but cannot report the position and motion state of the car, so it can be determined that the vehicle to which the car belongs is parked in the target parking space.
  • the preset duration may be a period for the vehicle to report the position and motion state.
  • the car machine can be bound with the user's mobile terminal (such as a mobile phone or a wristband, etc., the mobile phone is used as an example for illustration below), which can be understood as: the car machine, the mobile phone and the vehicle correspond.
  • the user's mobile terminal such as a mobile phone or a wristband, etc., the mobile phone is used as an example for illustration below
  • the car and the mobile phone when the car is turned on, the car and the mobile phone are in a connected state (such as Bluetooth connection or hotspot connection, etc.), and when the vehicle enters the parking lot, the car will report the position and location of the car to the cloud.
  • Motion state the mobile phone can detect the running state of the car.
  • the mobile phone detects that the car is turned off, the mobile phone can report the location and motion status of the mobile phone to the cloud.
  • the cloud in order for the cloud to recognize that the car and the mobile phone correspond to the same vehicle, when the car detects that the vehicle enters the parking lot, it reports to the cloud that the mobile phone can be carried in the first "position and motion state". logo.
  • the cloud receives the location and motion status from the mobile phone, it can determine that the vehicle corresponding to the mobile phone is turned off, so it can be determined that the vehicle to which the vehicle belongs is parked in the target parking space.
  • the vehicle-machine when the vehicle enters the parking lot, the vehicle-machine reports the position and motion state of the vehicle-machine to the cloud, wherein, when the vehicle-machine detects that the vehicle enters the parking lot, the first one reported to the cloud is
  • the identification of the mobile phone can be carried in the "position and motion state", so that the cloud can identify that the car machine and the mobile phone correspond to the same vehicle.
  • the user can trigger the mobile phone to report the location and movement status of the mobile phone to the cloud.
  • the user opens the "parking guidance APP" installed on the mobile phone to trigger the mobile phone to report the location and movement status of the mobile phone to the cloud.
  • the cloud receives the location and motion status from the mobile phone, it can determine that the vehicle corresponding to the mobile phone is turned off, so it can be determined that the vehicle to which the vehicle belongs is parked in the target parking space.
  • the mobile phone when the mobile phone detects that the car is turned off, the mobile phone can store the identification of the target parking space (that is, the parking space to which the mobile phone belongs when the car is turned off), so that the user can find the car parked in the target parking space.
  • the mobile phone When the vehicle is in use, the mobile phone can display the location of the target parking space.
  • the cloud detects that the vehicle is parked in the target parking space, it can also store the identification of the target parking space, the identification of the car, and the identification of the terminal device, so that when the user finds the vehicle parked in the target parking space, the cloud can send the target parking space to the mobile phone so that the mobile phone can display the position of the target parking space.
  • the motion state of the vehicle is the driving state
  • the motion state of the vehicle is the driving state
  • the mobile terminal such as a mobile phone
  • the mobile phone can continue to interact with the cloud to implement the parking space guidance method in this application, that is, the car
  • the above S307-S309 may be executed through the interaction between the machine and the cloud.
  • the car machine and the mobile phone interact with the cloud successively to complete the parking space guidance method provided in the embodiment of this application.
  • the mobile phone can report the position and motion status of the mobile phone to the cloud .
  • the cloud can send parking space information to the mobile phone, and the mobile phone obtains a parking space map based on the parking space information to display the parking space map, and reference can be made to the relevant descriptions of the above-mentioned embodiments.
  • the user opens the "Parking Guidance APP" installed on the mobile phone to trigger the mobile phone to report the location and motion status of the mobile phone to the cloud. The same "parking space guide APP" account number, and then make the mobile phone continue to display the parking space map displayed before the car was turned off.
  • the car machine (the non-portable terminal device corresponding to the vehicle) and the mobile phone (the portable terminal device corresponding to the vehicle) can be bound.
  • the car machine When the car machine is turned on and in the driving state, the car machine can report the location and Motion state, when the vehicle is parked in the parking space, that is, when the vehicle is turned off, the mobile phone can continue to report the position and motion state to the cloud, and then realize the parking space guidance method in the embodiment of this application.
  • the parking space guidance method in this application has high flexibility , has a wide range of applications and can be applied to scenarios where multiple terminal devices interact.
  • the mobile terminal alone interacts with the cloud to realize the parking space guidance method of the present application, or the “non-portable terminal device and the mobile terminal” interact with the cloud successively to realize the parking space guidance method of the present application, the interaction with the cloud can be achieved.
  • a device is called an end device.
  • the terminal device is taken as an example to represent the device from the perspective of the cloud.
  • the terminal device 100 may include: a mobile communication module 110, a wireless communication module 120, a sensor module 130, a location based services (location based services, LBS) module 140, a motion recognition module 150, Position and motion state reporting module 160, display module 170, and signal fingerprint library 180.
  • the cloud 200 may include: an exercise state processing module 210 , a storage and calculation module 220 , and a broadcast module 230 .
  • the terminal device 100 and the cloud 200 may include more or fewer components than those shown in the illustrations, or combine some components, or split some components, or arrange different components.
  • the illustrated components can be implemented in hardware, software, or a combination of software and hardware.
  • the mobile communication module 110 can provide wireless communication solutions including 2G/3G/4G/5G applied on the terminal device 100 .
  • the mobile communication module 110 may include at least one filter, switch, power amplifier, low noise amplifier and the like.
  • the mobile communication module 110 can receive electromagnetic waves through the antenna 1, filter and amplify the received electromagnetic waves, and send them to the modem processor for demodulation.
  • the mobile communication module 110 can also amplify the signal modulated by the modem processor, convert it into electromagnetic wave and radiate it through the antenna 1 .
  • a modem processor may include a modulator and a demodulator.
  • the modulator is used for modulating the low-frequency baseband signal to be transmitted into a medium-high frequency signal.
  • the demodulator is used to demodulate the received electromagnetic wave signal into a low frequency baseband signal. Then the demodulator sends the demodulated low-frequency baseband signal to the baseband processor for processing.
  • the low-frequency baseband signal is passed to the application processor after being processed by the baseband processor.
  • the application processor outputs a sound signal through an audio device, or displays an image or video through the display module 170 .
  • the modem processor may be a stand-alone device. In some other embodiments, the modem processor and the mobile communication module 110 or other functional modules may be set in the same device.
  • the wireless communication module 120 can provide wireless local area networks (wireless local area networks, WLAN), Bluetooth, global navigation satellite system (global navigation satellite system, GNSS), frequency modulation (frequency modulation, FM), NFC, Solutions for wireless communication such as infrared technology (infrared, IR).
  • the wireless communication module 120 may be one or more devices integrating at least one communication processing module.
  • the wireless communication module 120 receives electromagnetic waves via the antenna 2 , frequency-modulates and filters the electromagnetic wave signals.
  • the wireless communication module 120 can also receive the signal to be transmitted, frequency-modulate it, amplify it, and convert it into electromagnetic wave through the antenna 2 for radiation.
  • the antenna 1 of the terminal device 100 is coupled to the mobile communication module 110, and the antenna 2 is coupled to the wireless communication module 120, so that the terminal device 100 can communicate with the network and other devices through wireless communication technology.
  • the wireless communication technology may include GSM, GPRS, CDMA, WCDMA, TD-SCDMA, LTE, GNSS, WLAN, NFC, FM, and/or IR technology and the like.
  • the above-mentioned GNSS may include global positioning system (global positioning system, GPS), global navigation satellite system (global navigation satellite system, GLONASS), Beidou satellite navigation system (beidou navigation satellite system, BDS), quasi-zenith satellite system (quasi- zenith satellite system (QZSS) and/or satellite based augmentation systems (SBAS).
  • global positioning system global positioning system, GPS
  • global navigation satellite system global navigation satellite system
  • GLONASS global navigation satellite system
  • Beidou satellite navigation system beidou navigation satellite system, BDS
  • quasi-zenith satellite system quasi-zenith satellite system
  • QZSS quasi-zenith satellite system
  • SBAS satellite based augmentation systems
  • the sensor module 130 may include a gyro sensor 130A, a geomagnetic sensor 130B, an acceleration sensor 130C, and the like.
  • the gyroscope sensor 130A can be used to determine the motion posture of the terminal device 100 .
  • the angular velocity of the terminal device 100 around three axes ie, x, y and z axes
  • the gyro sensor 130A can be used for image stabilization.
  • the gyro sensor 130A detects the shaking angle of the terminal device 100, calculates the distance that the lens module needs to compensate according to the angle, and allows the lens to counteract the shaking of the terminal device 100 through reverse movement to achieve anti-shake.
  • the gyro sensor 130A can also be used for navigation, somatosensory game scenes and so on.
  • the geomagnetic sensor 130B may be used to detect the signal strength of the geomagnetism of the terminal device 100 , and may be used for positioning the terminal device 100 .
  • the acceleration sensor 130C can detect the acceleration of the terminal device 100 in various directions (generally three axes). When the terminal device 100 is stationary, the magnitude and direction of gravity can be detected. It can also be used to identify the posture of electronic devices, and can be used in applications such as horizontal and vertical screen switching, pedometers, etc.
  • the location based services (location based services, LBS) module 140 can locate the terminal device 100, so as to obtain the location of the terminal device 100.
  • the LBS module 140 may also locate the terminal device 100 based on the data collected by the sensor module 130, and reference may be made to relevant descriptions in the foregoing embodiments.
  • the motion recognition module 150 can determine the motion state of the terminal device 100 based on the location of the terminal device 100 . Alternatively, the movement recognition module 150 may also determine the movement state of the terminal device 100 based on the data collected by the sensor module 130, and reference may be made to the relevant descriptions of the foregoing embodiments.
  • the position and motion state reporting module 160 is used for periodically reporting the position and motion state of the terminal device 100 to the cloud 200.
  • the display module 170 is used for displaying images, videos and the like.
  • the display module 170 includes a display panel.
  • the display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active matrix organic light emitting diode or an active matrix organic light emitting diode (active-matrix organic light emitting diode, AMOLED), flexible light-emitting diode (flex light-emitting diode, FLED), Miniled, MicroLed, Micro-oLed, quantum dot light emitting diodes (quantum dot light emitting diodes, QLED), etc.
  • the terminal device 100 may include 1 or N display modules 170, where N is a positive integer greater than 1.
  • N is a positive integer greater than 1.
  • the signal fingerprint library 180 may include, but is not limited to: a cellular network signal fingerprint library, a WI-FI signal fingerprint library, or a geomagnetic signal fingerprint library.
  • the signal fingerprint library 180 can be used for indoor positioning of the terminal device 100 .
  • the motion state processing module 210 is configured to receive the position and motion state of the terminal device 100 reported from the terminal device 100 .
  • the storage and calculation module 220 is configured to correspondingly store the identifier of the terminal device 100 and the identifier of the target parking space, and execute the above S1102-S1110 based on the position and movement state of the terminal device 100 .
  • the broadcast module 230 is used for broadcasting the probability that the target parking space becomes a free parking space.
  • the terminal device 100 may include: a location and motion state reporting module 160 , a transceiver module 190 , a processing module 191 , a display module 170 , and a storage module 192 .
  • the transceiver module 190 may be the above-mentioned mobile communication module 110 and wireless communication module 120 .
  • the position and movement state reporting module 160 is configured to periodically report the position and movement state of the terminal device to the cloud in response to detecting that the vehicle enters the parking lot.
  • the transceiver module 190 is configured to receive parking space information from the cloud, the parking space information includes: the identification and occupancy status of the parking spaces in the parking lot, and the occupancy status includes: idle, occupied, and occupied parking spaces become The probability of a free parking space.
  • the processing module 191 is configured to obtain a parking space map of the parking lot based on the parking space information, and the parking space map is used for parking space guidance.
  • the display module 170 is configured to display the parking space map.
  • the processing module 191 is specifically configured to obtain the parking space map based on the initial parking space map of the parking lot and the parking space information, and the initial parking space map includes The distribution of parking spaces and the identification of each parking space.
  • the processing module 191 is specifically configured to fill the occupancy status of the parking spaces into the initial parking space map based on the identification of each parking space, to obtain the parking space map.
  • the processing module 191 is further configured to obtain the distribution of parking spaces based on the positions of the parking spaces; and obtain the initial parking space map based on the distribution of parking spaces and the positions of the parking spaces.
  • the transceiver module 190 is further configured to receive the target parking space recommended from the cloud, the The target parking space is the parking space where the vehicle is to be parked.
  • the storage module 192 is configured to store the identifier of the target parking space in response to detecting that the vehicle is parked in the target parking space.
  • the processing module 191 is further configured to determine that the vehicle is parked in the target parking space in response to detecting that the movement state is switched from the driving state to the walking state.
  • the processing module 191 is further configured to acquire the target parking space based on the identification of the target parking space. position; output the position of the target parking space.
  • the processing module 191 is specifically configured to output the position of the target parking space in response to detecting that the terminal device moves toward the target parking space.
  • the display module 170 is further configured to display the position of the target parking space and the position of the terminal device on the parking space map.
  • the cloud stores a corresponding relationship between the identifier of the target parking space and the identifier of the terminal device.
  • the transceiver module 190 is also configured to receive the identification of the target parking space from the cloud.
  • the transceiver module 190 is further configured to send the location of the target parking space to a device bound to the terminal device, so that the device bound to the terminal device outputs the The location of the target parking space.
  • the transceiver module 190 is further configured to receive the probability that the target parking space becomes a free parking space broadcast from the cloud.
  • the processing module 191 is further configured to update the occupancy state of the target parking space on the parking space map based on the probability that the target parking space becomes a free parking space.
  • the terminal device 100 includes an acceleration sensor, and the processing module 191 is further configured to acquire the motion state based on frequency and/or amplitude of data collected by the acceleration sensor.
  • the cloud 200 may include: a storage and calculation module 220 , a broadcast module 230 , and a transceiver module 240 .
  • the transceiver module 240 may be the motion state processing module 210 mentioned above.
  • the transceiver module 240 is configured to receive the position and motion state of the terminal device reported by the terminal device, and send parking space information to the terminal device, the parking space information including: the identification and occupancy state of the parking space in the parking lot, The occupancy state includes: free, occupied, and the probability that an occupied parking space becomes a free parking space.
  • the storage and calculation module 220 is used to query whether to store the parking information of the terminal device; if yes, determine that the vehicle corresponding to the terminal device has been parked in the target parking space; if not, determine The vehicle corresponding to the terminal device is not parked in the target parking space.
  • the transceiver module 240 is further configured to recommend the target parking space to the terminal device in response to the motion state being a driving state and no parking information of the terminal device is stored, the The target parking space is the parking space where the vehicle is to be parked.
  • the storage and calculation module 220 is further configured to store the identifier of the target parking space and the identification number of the terminal device correspondingly in response to detecting that the vehicle corresponding to the terminal device is parked in the target parking space. logo.
  • the broadcasting module 230 is configured to broadcast that the occupancy state of the target parking space is occupied.
  • the storage and calculation module 220 is further configured to determine that the vehicle corresponding to the terminal device is parked at the target In the parking space.
  • the storage and calculation module 220 is further configured to acquire the probability that the target parking space becomes a free parking space in response to the stored parking information of the terminal device.
  • the broadcast module 230 is also used to broadcast the probability that the target parking space becomes a free parking space.
  • the storage and calculation module 220 is specifically configured to switch the terminal device from the walking state based on the distance between the terminal device and the target parking space is the duration of the driving state after the driving state, and obtains the probability that the target parking space becomes a free parking space; or, obtains the target parking space based on the distance between the terminal device and the exit of the parking lot and the duration of the driving state. The probability that a parking space becomes vacant.
  • the storage and calculation module 220 is specifically configured to: the number of vehicles on the parking space, and obtain the probability that the target parking space becomes a free parking space; or, based on the distance between the terminal device and the exit of the parking lot, the duration of the driving state, and the expected target parking space Assuming the number of vehicles not in the parking space within the range, the probability that the target parking space becomes a free parking space is obtained.
  • the storage and calculation module 220 is further configured to respond to the stored parking information of the terminal device and detect that the terminal device is moving toward the The target parking space moves, and the probability that the target parking space becomes a free parking space is obtained.
  • the storage and calculation module 220 is specifically configured to acquire a probability that the target parking space becomes a free parking space based on the distance between the terminal device and the target parking space.
  • the storage and calculation module 220 is specifically configured to: , to obtain the probability that the target parking space becomes a free parking space.
  • the terminal device in the embodiment of the present application can perform the actions of the terminal device or mobile terminal in the above-mentioned embodiments, and the cloud can perform the actions of the cloud in the above-mentioned embodiment, thereby achieving the same technical effect as the above-mentioned embodiment. I won't go into details here.
  • both the terminal device provided in the embodiment of the present application and the cloud may include: a processor (such as a CPU), a memory, and a transceiver.
  • the following uses a terminal device as an example for illustration.
  • the memory and the transceiver can be coupled to the processor terminal device, and the processor terminal device controls the transceiver to perform the sending and receiving actions of the above terminal device, so as to realize the interaction between the terminal device and the cloud.
  • the memory may include a high-speed random-access memory (random-access memory, RAM), and may also include a non-volatile memory (non-volatile memory, such as at least one disk memory, and various instructions may be stored in the memory for use To complete various processing functions and implement the method steps of the present application.
  • the transceiver may be integrated in the transceiver of the terminal device, or may be a transceiver antenna independently set on the terminal device.
  • the above-mentioned memory is used to store computer-executable program codes, and the program codes include instructions; when the processor terminal device executes the instructions, the instructions cause the processor terminal device of the terminal device to perform the actions in the above-mentioned method embodiments, The implementation principles and technical effects are similar, and will not be repeated here.
  • the terminal device involved in this application may further include: a power supply, a communication bus, and a communication port.
  • the communication bus is used to realize the communication connection between the components.
  • the above-mentioned communication port is used to realize connection and communication between the terminal device and other peripheral devices.
  • the above modules may be one or more integrated circuits configured to implement the above method, for example: one or more application specific integrated circuits (ASIC), or one or more microprocessors device (digital signal processor, DSP), or, one or more field programmable gate arrays (field programmable gate array, FPGA), etc.
  • ASIC application specific integrated circuits
  • DSP digital signal processor
  • FPGA field programmable gate array
  • the processing element may be a general-purpose processor, such as a central processing unit (central processing unit, CPU) or other processors that can call program codes.
  • these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).
  • SOC system-on-a-chip
  • a computer program product includes one or more computer instructions.
  • Computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, e.g. Coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) to another website site, computer, server or data center.
  • DSL digital subscriber line
  • the computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server, a data center, etc. integrated with one or more available media.
  • Available media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)).
  • plural herein means two or more.
  • the term “and/or” in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and/or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations.
  • the character "/" in this paper generally indicates that the contextual objects are an “or” relationship; in the formula, the character "/" indicates that the contextual objects are a "division" relationship.

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Abstract

一种车位引导方法、电子设备和可读存储介质，该方法包括：响应于检测到车辆进入停车场，周期性地向云端上报终端设备的位置和运动状态（S301）；接收来自云端的车位信息，车位信息包括：停车场内的车位的标识和占用状态，占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率（S302）；基于车位信息，得到停车场的车位地图，车位地图用于进行车位引导，显示车位地图（S303）。进入停车场的终端设备可以与云端交互，得到停车场的车位地图，用户可以根据车位地图寻找空闲车位，提高车位引导的准确性。另外，车位地图中还包括已占用车位成为空闲车位的概率，在空闲车位较少时，用户可以在概率较大的车位周围等待，提高车位停放的成功率。

Description

车位引导方法、电子设备和可读存储介质
本申请要求于2021年05月28日提交中国专利局、申请号为202110595359.8、申请名称为“车位引导方法、电子设备和可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及通信技术，尤其涉及一种车位引导方法、电子设备和可读存储介质。
背景技术
用户可以在停车场的入口处看到停车场的剩余车位，但寻找空闲车位给用户造成困扰，尤其是停车场剩余少量车位时，用户需要驾驶车辆在停车场中绕行寻找，停车时间长且效率低。
目前，停车场的每个车位上可以设置摄像头，用于拍摄车位的图像，且上报至停车场的车位管理系统。车位管理系统可以基于每个车位的图像，判断车位是否空闲，进而引导车辆停放至空闲车位。
目前的技术方案虽然可以提高停车效率，但需要依靠停车场中增设的摄像头。摄像头需要安装以及后期维护，若摄像头损坏，车位管理系统无法判断摄像头对应的车位是否空闲，进而影响引导车辆至空闲车位的准确性。
发明内容
本申请实施例提供一种车位引导方法、电子设备和可读存储介质，可以提高车位引导的准确性。
在一种实施例中，本申请实施例提供一种车位引导方法，由云端和移动终端交互完成，下述分别从第一方面(移动终端的角度)，以及第二方面(云端的角度)介绍本申请实施例提供的车位引导方法。
第一方面，本申请实施例提供一种车位引导方法，该方法的执行主体可以为移动终端，或者移动终端中的芯片或处理器，下述以执行主体为移动终端为例进行说明。该方法包括：移动终端与车辆对应，当车辆进入停车场时，移动终端可以检测到车辆进入停车场，进而响应于车辆进入停车场，周期性地向云端上报移动终端的位置和运动状态。其中，当车辆进入停车场时，移动终端位于车辆中，移动终端可以为车辆中用户的手机、平板电脑、手环等便携式电子设备。在一种可能的实现方式中，所述移动终端中包括加速度传感器，移动终端可以基于所述加速度传感器采集的数据的频率和/或振幅，获取所述运动状态。
应理解，当车辆进入停车场寻找车位，直至车辆停放至车位的过程中，移动终端位于车辆中，移动终端上报的位置和运动状态，分别与车辆的位置和运动状态相同。当车辆停放至车位上，用户拿着移动终端(或用户携带移动终端)从车辆上下来，移动终端的位置和运动状态，分别与用户的位置和运动状态相同。其中，当移动终端位于车辆上时，移动 终端的运动状态为驾驶状态，当用户拿着移动终端从车辆上下来，移动终端的运动状态为步行状态。
其中，下面先讲述车辆进入停车场，移动终端位于车辆上的过程：在该过程中，当移动终端检测到车辆进入停车场，便向云端上报一次移动终端的位置和运动状态，当云端接收到来自该移动终端的位置和运动状态时，可以向移动终端发送停车场的车位信息。其中，所述车位信息包括：所述停车场内的车位的标识和占用状态，所述占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率。
如此，移动终端可以基于所述车位信息，得到所述停车场的车位地图，且显示车位地图。其中，该所述车位地图用于进行车位引导。应理解的是，移动终端在得到且显示车位的地图的过程中，可以一直周期性地上报移动终端的位置和运动状态。
本申请实施例中，当车辆进入停车场，且车辆还未停放至车位上时，用户可以通过移动终端显示的车位地图寻找空闲车位，因为本申请实施例中的车位引导方式无需预先在停车场内部署摄像头等第三方设备，因此无需安装以及后期维护，车位引导的准确性高。另外，车位地图中还包括已占用车位成为空闲车位的概率，在空闲车位较少时，用户可以在概率较大的车位周围等待，提高车位停放的成功率。
如上，本申请实施例，移动终端可以在接收到来自云端的车位信息时，基于如下两种方式得到车位地图。
方式一：移动终端中存储有停车场的初始车位地图，该初始车位地图上包括停车场内的车位分布，以及每个车位的标识，移动终端可以基于车位信息中的车位的标识，车位的占用状态填充至所述初始车位地图中，得到所述车位地图。
方式二：移动终端中未存储有停车场的初始车位地图，车位信息中的车位的标识可以为车位的位置。移动终端可以基于车位的位置，得到停车场的车位分布(因为有车位的标识，即车位的位置，因此也可以称为得到停车场的初始车位地图)。与上述方式一相同的，移动终端可以将车位的占用状态填充至所述初始车位地图中，得到所述车位地图。
本申请实施例中，移动终端可以基于车位信息，生成车位地图，以便可以显示车位地图，可以使得用户在车位地图上寻找车位。
下面结合移动终端处于不同的运动状态时，移动终端执行的步骤进行说明：
在一种可能的实现方式中，移动终端处于驾驶状态，且移动终端对应的车辆未停放在目标车位时，即可以理解为车辆正在寻找车位。应理解，目标车位可以为车辆即将停放的车位。在该种方式中，用户可以通过查询车位地图，寻找空闲车位，或者概率高(即已占用车位成为空闲车位的概率高)的已占用车位，以停放车辆。
在该种方式中，当停车场较大时，用户寻找目标车位的时间可能比较长，效率低。因此，本申请实施例中，云端可以向移动终端推荐目标车位，该所述目标车位可以为空闲车位，或者概率高的已占用车位。在一种实施例中，云端可以优先向移动终端推荐距离移动终端的位置较近的空闲车位，或者概率高的已占用车位。
在一种可能的实现方式中，移动终端处于驾驶状态，且移动终端对应的车辆已停放在目标车位时，即可以理解为用户正在驾驶车辆驶离目标车位。在该种方式中，云端可以获取该目标车位成为空闲车位的概率，以广播该概率，使得位于停车场中的移动终端(包括驶离目标车位的车辆对应的移动终端)均能够接收到该概率，进而基于该概率，更新车位 地图(即更新该目标车位的占用状态)。
在一种可能的实现方式中，移动终端的运动状态从驾驶状态切换至步行状态时，可以确定移动终端对应的车辆停放在目标车位上，此时移动终端可以存储目标车位的标识(如目标车位的位置)。在一种实施例中，因为移动终端可以向云端上报移动终端的位置和运动状态，则云端检测到移动终端的运动状态从驾驶状态切换至步行状态时，可以确定移动终端对应的车辆停放在目标车位上，此时云端可以存储移动终端的标识以及目标车位的标识(如目标车位的位置)的映射关系。
在一种可能的实现方式中，移动终端处于步行状态，且移动终端对应的车辆已停放在目标车位时，即可以理解为用户正在走向目标车位。在该种方式中，云端可以获取该目标车位成为空闲车位的概率，以广播该概率，使得位于停车场中的移动终端(包括驶离目标车位的车辆对应的移动终端)均能够接收到该概率，进而基于该概率，更新车位地图(即更新该目标车位的占用状态)。
在该方式中，因为用户可能在寻找车位，因此移动终端可以基于所述目标车位的标识，获取所述目标车位的位置，进而输出所述目标车位的位置。在一种实施例中，移动终端输出目标车位的位置可以为：在车位地图上显示目标车位的位置，以及移动终端的位置。或者，移动终端输出目标车位的位置可以为：语音播报目标车位的位置，以及用户达到目标车位的路径。在一种实施例中，用户在步行时，若移动终端为笔记本等不便于实时拿出来的设备，移动终端在获取目标车位的位置时，可以向与所述移动终端绑定的设备(如手环或手机等用户便于查看车位地图的设备)发送所述目标车位的位置，以使所述与所述移动终端绑定的设备输出所述目标车位的位置，提高用户体验。
鉴于移动终端处于步行状态，且移动终端对应的车辆已停放在目标车位时，有可能用户是刚拿着移动终端下车去做别的事情，有可能用户正在寻找车位，因此为了减少移动终端的计算量，移动终端可以在检测到所述移动终端朝向所述目标车位运动，输出所述目标车位的位置。其中，移动终端朝向所述目标车位运动可以理解为：移动终端与目标车位之间的距离逐渐减小。
因为云端存储有所述目标车位的标识和所述移动终端的标识的对应关系，因此在该方式中，因为云端可以获取移动终端的位置和运动状态，因此可以在“移动终端处于步行状态，且移动终端对应的车辆已停放在目标车位”时，或者“移动终端处于步行状态，移动终端对应的车辆已停放在目标车位，以及在移动终端朝向所述目标车位运动”时，云端可以向移动终端发送目标车位的标识，进而移动终端可以基于目标车位的标识，获取所述目标车位的位置，进而输出所述目标车位的位置，输出目标车位的位置可以参照上述的相关描述。
在一种可能的实现方式中，移动终端可以接收来自云端的其他已占用的车位成为空闲车位的概率，进而基于该概率，更新车位地图(即更新车位地图上该其他已占用的车位成为空闲车位的概率)。应理解，其他已占用的车位为除了目标车位之外的，且占用状态为占用的车位。
如此，移动终端上的车位地图可以实时更新，以便用户可以获取准确的车位地图，提高车位引导的准确性。
第二方面，本申请实施例提供一种车位引导方法，应用于云端或云端中的芯片或处理 器中，下述以云端为例进行说明，该方法包括：接收移动终端上报的所述移动终端的位置和运动状态；向所述移动终端发送车位信息，所述车位信息包括：停车场内的车位的标识和占用状态，所述占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率。该步骤可以参照上述第一方面的相关描述。
参照上述第一方面的描述，因为当移动终端对应的车辆停放在目标车位上时，云端可以存储移动终端的标识和目标车位的标识(即移动终端的停车信息)，如此，云端可以查询是否存储所述移动终端的停车信息，来确定移动终端对应的车辆是否停放在目标车位上。其中，若云端存储有移动终端的停车信息，则可以确定移动终端对应的车辆已停放在目标车位；若云端未存储移动终端的停车信息，则可以确定所述移动终端对应的车辆未停放在所述目标车位。如此，云端可以基于移动终端的运动状态，执行相应的操作。
在一种可能的实现方式中，当移动终端的运动状态为驾驶状态，且云端未存储所述移动终端的停车信息，云端可以确定该移动终端对应的车辆正在寻找车位，则云端可以向所述移动终端推荐所述目标车位，以提高停车效率。应理解，所述目标车位为所述车辆待停放的车位。
在一种可能的实现方式中，当移动终端的运动状态从驾驶状态切换至步行状态，确定所述移动终端对应的车辆停放在所述目标车位上，则可以存储移动终端的标识和目标车位的标识(即移动终端的停车信息)，且广播该目标车位的占用状态为占用，使得位于停车场中的移动终端可以更新车位地图(即将该目标车位的占用状态从空闲更新为占用)。
在一种可能的实现方式中，当移动终端的运动状态为驾驶状态，且云端存储所述移动终端的停车信息，则云端可以确定该移动终端对应的车辆正在驶离目标车位，可以获取该目标车位成为空闲车位的概率，且广播所述目标车位成为空闲车位的概率。以便于其他移动终端基于该广播消息，更新车位地图。
在该方式中，云端可以基于所述移动终端与所述目标车位的距离，以及所述移动终端从步行状态切换为驾驶状态后的驾驶状态的时长，获取所述目标车位成为空闲车位的概率；或者，基于所述移动终端与所述停车场的出口的距离，以及所述驾驶状态的时长，获取所述目标车位成为空闲车位的概率。
应注意，有时虽然车辆正在驶离该目标车位，但该目标车位周围已经有等待停车的车辆，则该目标车位成为空闲车位的概率就会很小了，若其他移动终端对应的车辆驾驶至该目标车位，已经有车辆停放在该目标车位上了。为了解决该问题，云端可以基于所述移动终端与所述目标车位的距离、所述驾驶状态的时长，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率；或者，基于所述移动终端与所述停车场的出口的距离、所述驾驶状态的时长，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率，以提高目标车位成为空闲车位的概率的准确性。
在一种可能的实现方式中，当移动终端的运动状态为步行状态，且云端存储所述移动终端的停车信息，则云端可以确定该移动终端归属的用户可能正在寻找车辆，准备离开。云端可以基于所述移动终端与所述目标车位的距离，获取所述目标车位成为空闲车位的概率。应注意，与上述类似的，有时虽然车辆正在驶离该目标车位，但该目标车位周围已经有等待停车的车辆，则该目标车位成为空闲车位的概率就会很小了，若其他移动终端对应 的车辆驾驶至该目标车位，已经有车辆停放在该目标车位上了。为了解决该问题，云端可以基于所述移动终端距离所述目标车位的距离，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率，以提高目标车位成为空闲车位的概率的准确性。
在该种方式中，鉴于移动终端处于步行状态，且移动终端对应的车辆已停放在目标车位时，有可能用户是刚拿着移动终端下车去做别的事情，有可能用户正在寻找车位，因此为了减少云端的计算量，云端可以在检测到移动终端朝向所述目标车位运动，获取所述目标车位成为空闲车位的概率，其中，目标车位成为空闲车位的概率的获取方式可以参照该实现方式中的相关描述。
在一种实施例中，上述第一方面的移动终端可以替换为车辆对应的非便携式终端设备，如车辆中的车机、智能后视镜等设备。该非便携式终端设备可以与便携式终端设备(如移动终端)绑定，由该终端设备和移动终端先后分别与云端交互，来完成本申请实施例中的车位引导方法。
基于该实施例，第三方面，本申请实施例提供一种车位引导方法，应用于终端设备或终端设备中的芯片，该方法包括：响应于检测到所述车辆进入停车场，周期性地向云端上报所述终端设备的位置和运动状态；接收来自所述云端的车位信息，所述车位信息包括：所述停车场内的车位的标识和占用状态，所述占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率；基于所述车位信息，得到所述停车场的车位地图，所述车位地图用于进行车位引导；显示所述车位地图。
在一种可能实现的方式中，所述基于所述车位信息，得到所述停车场的车位地图，包括：基于所述停车场的初始车位地图，以及所述车位信息，得到所述车位地图，所述初始车位地图中包括所述停车场内的车位分布，以及每个车位的标识。
在一种可能实现的方式中，所述得到所述车位地图，包括：基于所述每个车位的标识，将车位的占用状态填充至所述初始车位地图中，得到所述车位地图。
在一种可能实现的方式中，所述车位的标识为所述车位的位置，所述得到所述车位地图之前，还包括：基于所述车位的位置，得到所述车位分布；基于所述车位分布，以及所述车位的位置，得到所述初始车位地图。
在一种可能实现的方式中，所述运动状态为驾驶状态，且所述车辆未停放在目标车位时，所述方法还包括：接收来自所述云端推荐的所述目标车位，所述目标车位为所述车辆待停放的车位。
在一种可能实现的方式中，当所述车辆已停放在目标车位时，所述方法还包括：接收所述云端广播的其他车位成为空闲车位的概率；基于所述其他车位成为空闲车位的概率，更新所述车位地图上所述其他车位的占用状态。
在一种可能实现的方式中，所述终端设备中包括加速度传感器，所述方法还包括：基于所述加速度传感器采集的数据的频率和/或振幅，获取所述运动状态。
在一种可能的实现方式中，所述终端设备在向云端上报所述终端设备的位置和运动状态中，还包括：向云端发送与终端设备对应的移动终端的标识。
第四方面，本申请实施例提供一种车位引导方法，应用于移动终端或移动终端中的芯片，移动终端与上述第三方面的终端设备绑定，移动终端、终端设备和车辆对应。该方法 包括：响应于检测到所述车辆停放在目标车位，存储所述目标车位的标识；向云端上报移动终端的位置和运动状态，以及显示车位地图。
在一种可能的实现方式中，移动终端显示显示车位地图，可以包括：移动终端登录与终端设备相同的应用程序，继续显示车位地图；或者，
在向云端上报移动终端的位置和运动状态后，可以接收来自云端的车位信息，进而基于车位信息，得到车位地图，以显示车位地图。应理解，移动终端基于车位信息得到车位地图的方式可以参照上述第一方面或第三方面的相关描述。
在一种可能实现的方式中，所述方法还包括：响应于检测到终端设备关机，确定所述车辆停放在所述目标车位。
在一种可能实现的方式中，所述运动状态为步行状态，且所述车辆已停放在目标车位时，所述方法还包括：基于所述目标车位的标识，获取所述目标车位的位置；输出所述目标车位的位置。
在一种可能实现的方式中，所述输出所述目标车位的位置，包括：响应于检测到所述移动终端朝向所述目标车位运动，输出所述目标车位的位置。
在一种可能实现的方式中，所述输出所述目标车位的位置，包括：在车位地图上显示所述目标车位的位置，以及所述终端设备的位置。
在一种可能实现的方式中，所述云端存储有所述目标车位的标识和所述终端设备的标识的对应关系，所述基于所述目标车位的标识，获取所述目标车位的位置之前，还包括：接收来自所述云端的目标车位的标识。
在一种可能实现的方式中，所述输出所述目标车位的位置，包括：向与所述终端设备绑定的设备发送所述目标车位的位置，以使所述与所述终端设备绑定的设备输出所述目标车位的位置。
在一种可能实现的方式中，当所述车辆已停放在目标车位时，所述方法还包括：接收所述云端广播的所述目标车位成为空闲车位的概率；基于所述目标车位成为空闲车位的概率，更新所述车位地图上所述目标车位的占用状态。
在一种可能实现的方式中，所述移动终端中包括加速度传感器，所述方法还包括：基于所述加速度传感器采集的数据的频率和/或振幅，获取所述运动状态。
在一种可能实现的方式中，当所述车辆已停放在目标车位时，所述方法还包括：接收所述云端广播的其他车位成为空闲车位的概率；基于所述其他车位成为空闲车位的概率，更新所述车位地图上所述其他车位的占用状态。
与第三方面和第四方面提供的车位引导方法相对应的，上述第二方面的云端执行的车位引导方法还可以包括：
若接收到来自与终端设备对应的移动终端的位置和运动状态，确定终端设备所属的车辆已停放在目标车位上；且对应存储终端设备的标识、移动终端的标识，以及目标车位的标识。
在一种可能的实现方式中，所述方法还包括：若接收到来自终端设备的位置和运动状态后的预设时长内，未接收到来自终端设备的位置和运动状态，云端可以确定车辆已停放在目标车位上。
在一种可能的实现方式中，预设时长可以为终端设备上报位置和运动状态的周期。
在一种可能的实现方式中，所述方法还包括：在接收来自终端设备的位置和运动状态时，还可以接收来自终端设备的移动终端的标识，该移动终端与终端设备具有对应关系。
在一种实施例中，第三方面的终端设备可以为车辆中的车机、智能后视镜等电子设备，第四方面的移动终端可以为与终端设备绑定的手机、手环、手表等便携式电子设备。
第五方面，本申请实施例提供一种终端设备，包括：位置和运动状态上报模块，用于响应于检测到所述车辆进入停车场，周期性地向云端上报所述终端设备的位置和运动状态。
收发模块，用于接收来自所述云端的车位信息，所述车位信息包括：所述停车场内的车位的标识和占用状态，所述占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率。
处理模块，用于基于所述车位信息，得到所述停车场的车位地图，所述车位地图用于进行车位引导。
显示模块，用于显示所述车位地图。
在一种可能的实现方式中，处理模块，具体用于基于所述停车场的初始车位地图，以及所述车位信息，得到所述车位地图，所述初始车位地图中包括所述停车场内的车位分布，以及每个车位的标识。
在一种可能的实现方式中，处理模块，具体用于基于所述每个车位的标识，将所述停车场内的车位的占用状态填充至所述初始车位地图中，得到所述车位地图。
在一种可能的实现方式中，处理模块，还用于基于所述车位的位置，得到所述车位分布；基于所述车位分布，以及所述车位的位置，得到所述初始车位地图。
在一种可能的实现方式中，当所述运动状态为驾驶状态，且所述车辆未停放在目标车位时，收发模块，还用于接收来自所述云端推荐的所述目标车位，所述目标车位为所述车辆待停放的车位。
在一种可能的实现方式中，存储模块，用于响应于检测到所述车辆停放在目标车位，存储所述目标车位的标识。
在一种可能的实现方式中，处理模块，还用于响应于检测到所述运动状态从驾驶状态切换至步行状态，确定所述车辆停放在所述目标车位。
在一种可能的实现方式中，当所述运动状态为步行状态，且所述车辆已停放在目标车位时，处理模块，还用于基于所述目标车位的标识，获取所述目标车位的位置；输出所述目标车位的位置。
在一种可能的实现方式中，处理模块，具体用于响应于检测到所述终端设备朝向所述目标车位运动，输出所述目标车位的位置。
在一种可能的实现方式中，显示模块，还用于在所述车位地图上显示所述目标车位的位置，以及所述终端设备的位置。
在一种可能的实现方式中，所述云端存储有所述目标车位的标识和所述终端设备的标识的对应关系。收发模块，还用于接收来自所述云端的目标车位的标识。
在一种可能的实现方式中，收发模块，还用于向与所述终端设备绑定的设备发送所述目标车位的位置，以使得所述与所述终端设备绑定的设备输出所述目标车位的位置。
在一种可能的实现方式中，当所述车辆已停放在目标车位时，收发模块，还用于接收所述云端广播的所述目标车位成为空闲车位的概率。处理模块，还用于基于所述目标车位 成为空闲车位的概率，更新所述车位地图上所述目标车位的占用状态。
在一种可能的实现方式中，所述终端设备中包括加速度传感器，处理模块，还用于基于所述加速度传感器采集的数据的频率和/或振幅，获取所述运动状态。
第六方面，本申请实施例提供一种云端，包括：收发模块，用于接收终端设备上报的所述终端设备的位置和运动状态，以及向所述终端设备发送车位信息，所述车位信息包括：停车场内的车位的标识和占用状态，所述占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率。该终端设备可以为上述的执行第一方面提供的方法的移动终端、执行第四方面提供的方法的移动终端、或者执行第三方面提供的方法的终端设备。
在一种可能的实现方式中，存储和计算模块，用于查询是否存储所述终端设备的停车信息；若是，则确定所述终端设备对应的车辆已停放在目标车位：若否，则确定所述终端设备对应的车辆未停放在所述目标车位。
在一种可能的实现方式中，收发模块，还用于响应于所述运动状态为驾驶状态，且未存储所述终端设备的停车信息，向所述终端设备推荐所述目标车位，所述目标车位为所述车辆待停放的车位。
在一种可能的实现方式中，存储和计算模块，还用于响应于检测到所述终端设备对应的车辆停放在所述目标车位，对应存储所述目标车位的标识和所述终端设备的标识。
广播模块，用于广播所述目标车位的占用状态为占用。
在一种可能的实现方式中，存储和计算模块，还用于响应于检测到所述终端设备的运动状态从驾驶状态切换至步行状态，确定所述终端设备对应的车辆停放在所述目标车位上。
在一种可能的实现方式中，存储和计算模块，还用于响应于已存储所述终端设备的停车信息，获取所述目标车位成为空闲车位的概率。
广播模块，还用于广播所述目标车位成为空闲车位的概率。
在一种可能的实现方式中，当所述运动状态为驾驶状态时，存储和计算模块，具体用于基于所述终端设备与所述目标车位的距离，以及所述终端设备从步行状态切换为驾驶状态后的驾驶状态的时长，获取所述目标车位成为空闲车位的概率；或者，基于所述终端设备与所述停车场的出口的距离，以及所述驾驶状态的时长，获取所述目标车位成为空闲车位的概率。
在一种可能的实现方式中，存储和计算模块，具体用于基于所述终端设备与所述目标车位的距离、所述驾驶状态的时长，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率；或者，基于所述终端设备与所述停车场的出口的距离、所述驾驶状态的时长，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率。
在一种可能的实现方式中，当所述运动状态为步行状态时，存储和计算模块，还用于响应于已存储所述终端设备的停车信息，且检测到所述终端设备朝向所述目标车位运动，获取所述目标车位成为空闲车位的概率。
在一种可能的实现方式中，存储和计算模块，具体用于基于所述终端设备与所述目标车位的距离，获取所述目标车位成为空闲车位的概率。
在一种可能的实现方式中，存储和计算模块，具体用于基于所述终端设备距离所述目标车位的距离，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目 标车位成为空闲车位的概率。
在一种可能的实现方式中，存储和计算模块，用于若接收到来自与终端设备对应的移动终端的位置和运动状态，确定终端设备所属的车辆已停放在目标车位上，且对应存储终端设备的标识、移动终端的标识，以及目标车位的标识。
在一种可能的实现方式中存储和计算模块，用于若接收到来自终端设备的位置和运动状态后的预设时长内，未接收到来自终端设备的位置和运动状态，确定车辆已停放在目标车位上。
在一种可能的实现方式中，预设时长可以为终端设备上报位置和运动状态的周期。
在一种可能的实现方式中，收发模块，还用于在接收来自终端设备的位置和运动状态时，还可以接收来自终端设备的移动终端的标识，该移动终端与终端设备具有对应关系。
第七方面，本申请实施例提供一种终端设备，该终端设备可以包括：收发模块，用于响应于检测到所述车辆进入停车场，周期性地向云端上报所述终端设备的位置和运动状态，以及接收来自所述云端的车位信息，所述车位信息包括：所述停车场内的车位的标识和占用状态，所述占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率。
处理模块，用于基于所述车位信息，得到所述停车场的车位地图，所述车位地图用于进行车位引导；显示所述车位地图。
在一种可能实现的方式中，处理模块，具体用于基于所述停车场的初始车位地图，以及所述车位信息，得到所述车位地图，所述初始车位地图中包括所述停车场内的车位分布，以及每个车位的标识。
在一种可能实现的方式中，处理模块，具体用于基于所述每个车位的标识，将车位的占用状态填充至所述初始车位地图中，得到所述车位地图。
在一种可能实现的方式中，所述车位的标识为所述车位的位置，处理模块，还用于基于所述车位的位置，得到所述车位分布；基于所述车位分布，以及所述车位的位置，得到所述初始车位地图。
在一种可能实现的方式中，所述运动状态为驾驶状态，且所述车辆未停放在目标车位时，收发模块，还用于接收来自所述云端推荐的所述目标车位，所述目标车位为所述车辆待停放的车位。
在一种可能实现的方式中，当所述车辆已停放在目标车位时，收发模块，还用于接收所述云端广播的其他车位成为空闲车位的概率。处理模块，还用于基于所述其他车位成为空闲车位的概率，更新所述车位地图上所述其他车位的占用状态。
在一种可能实现的方式中，所述终端设备中包括加速度传感器，所述方法还包括：基于所述加速度传感器采集的数据的频率和/或振幅，获取所述运动状态。
在一种可能的实现方式中，收发模块，具体用于在向云端上报所述终端设备的位置和运动状态中，还向云端发送与终端设备对应的移动终端的标识。
第八方面，本申请实施例提供一种移动终端，该移动终端可以包括：存储模块，用于响应于检测到所述车辆停放在目标车位，存储所述目标车位的标识。收发模块，用于向云端上报移动终端的位置和运动状态。显示模块，用于显示停车场的车位地图。
在一种可能的实现方式中，显示模块，具体用于响应于移动终端登录与终端设备相同的应用程序，继续显示车位地图；或者，
收发模块，还用于在向云端上报移动终端的位置和运动状态后，可以接收来自云端的车位信息。处理模块，用于进而基于车位信息，得到车位地图。
在一种可能实现的方式中，处理模块，还用于响应于检测到终端设备关机，确定所述车辆停放在所述目标车位。
在一种可能实现的方式中，所述运动状态为步行状态，且所述车辆已停放在目标车位时，处理模块，用于基于所述目标车位的标识，获取所述目标车位的位置；输出所述目标车位的位置。
在一种可能实现的方式中，处理模块，还用于响应于检测到所述移动终端朝向所述目标车位运动，输出所述目标车位的位置。
在一种可能实现的方式中，显示模块，还用于在车位地图上显示所述目标车位的位置，以及所述终端设备的位置。
在一种可能实现的方式中，所述云端存储有所述目标车位的标识和所述终端设备的标识的对应关系，所述基于所述目标车位的标识，获取所述目标车位的位置之前，收发模块，还用于接收来自所述云端的目标车位的标识。
在一种可能实现的方式中，收发模块，还用于向与所述终端设备绑定的设备发送所述目标车位的位置，以使所述与所述终端设备绑定的设备输出所述目标车位的位置。
在一种可能实现的方式中，当所述车辆已停放在目标车位时，收发模块，还用于接收所述云端广播的所述目标车位成为空闲车位的概率。处理模块，还用于基于所述目标车位成为空闲车位的概率，更新所述车位地图上所述目标车位的占用状态。
在一种可能实现的方式中，所述移动终端中包括加速度传感器，处理模块，还用于基于所述加速度传感器采集的数据的频率和/或振幅，获取所述运动状态。
在一种可能实现的方式中，当所述车辆已停放在目标车位时，收发模块，还用于接收所述云端广播的其他车位成为空闲车位的概率。处理模块，还用于基于所述其他车位成为空闲车位的概率，更新所述车位地图上所述其他车位的占用状态。
第九方面，本申请实施例提供一种电子设备，该电子设备可以为第五方面的移动终端、或第六方面的云端、或第七方面的终端设备，或第八方面的移动终端，或者也可以为移动终端中的芯片，或云端中的芯片，或终端设备中的芯片。该电子设备可以包括：处理器、存储器。存储器用于存储计算机可执行程序代码，程序代码包括指令；当处理器执行指令时，指令使所述电子设备执行如第一方面和第二方面中的方法。
第十方面，本申请实施例提供一种电子设备，该电子设备可以为第五方面的移动终端、或第六方面的云端、或第七方面的终端设备，或第八方面的移动终端，或者也可以为移动终端中的芯片，或云端中的芯片，或终端设备中的芯片。该电子设备包括用于执行以上第一方面至第四方面所提供的方法的单元、模块或电路。
第十一方面，本申请实施例提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述第一方面至第四方面中的方法。
第十二方面，本申请实施例提供一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述第一方面至第四方面中的方法。
第十三方面，本申请实施例提供一种车位引导系统，该系统中包括第五方面的移动终 端，以及第六方面的云端。或者，在一种实施例中，该系统中包括：第七方面的终端设备，第八方面的移动终端，以及第六方面的云端。
上述第三方面至第十三方面的各可能的实现方式，其有益效果可以参见上述第一方面和第二方面所带来的有益效果，在此不加赘述。
本申请实施例提供一种车位引导方法、电子设备和可读存储介质，该方法包括：响应于检测到车辆进入停车场，周期性地向云端上报终端设备的位置和运动状态；接收来自云端的车位信息，车位信息包括：停车场内的车位的标识和占用状态，占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率；基于车位信息，得到停车场的车位地图，车位地图用于进行车位引导；显示车位地图。本申请实施例中，进入停车场的终端设备可以与云端交互，得到停车场的车位地图，用户可以根据车位地图寻找空闲车位，因为本申请中不依靠在停车场中增设的摄像头等第三方设备，因此无需预先部署和后期维护，车位引导的准确性高。另外，车位地图中还包括已占用车位成为空闲车位的概率，在空闲车位较少时，用户可以在概率较大的车位周围等待，提高车位停放的成功率。
附图说明
图1为已有的车位引导的一种场景示意图；
图2为本申请实施例提供的车位引导方法适用的一种场景示意图；
图3A为本申请实施例提供的车位引导方法的一种实施例的流程示意图；
图3B为本申请实施例提供的移动终端基于加速度传感器采集的数据确定运动状态的一种示意图；
图3C为本申请实施例提供的车位引导方法的另一种实施例的流程示意图；
图4A为本申请实施例提供的移动终端的一种界面示意图；
图4B为本申请实施例提供的移动终端的另一种界面示意图；
图5为本申请实施例提供的移动终端的另一种界面示意图；
图6为本申请实施例提供的移动终端的另一种界面示意图；
图7A为本申请实施例提供的移动终端与目标车位的距离的一种示意图；
图7B为本申请实施例提供的移动终端与停车场的出口的一种示意图；
图7C为本申请实施例提供的移动终端与目标车位的距离的另一种示意图；
图8A为本申请实施例提供的移动终端的另一种界面示意图；
图8B为本申请实施例提供的移动终端的另一种界面示意图；
图9为本申请实施例提供的车位引导方法适用的另一种场景示意图；
图10为本申请实施例提供的车位引导方法的另一种实施例的流程示意图；
图11为本申请实施例提供的车位引导方法的另一种实施例的流程示意图；
图12为本申请实施例提供的终端设备和云端的一种结构示意图。
具体实施方式
图1为已有的车位引导的一种场景示意图。参照图1，每个车位的上方设置有摄像头，摄像头可以每隔预设时长，拍摄一张车位的图像，且上报至停车场的车位管理系统。车位管理系统可以基于车位的图像，判断车位中是否停放有车辆，进而确定车位是否空闲，车 位管理系统可以引导车辆停放至空闲车位。示例性的，车位管理系统可以向进入停车场的终端设备发送空闲车位的编号，用户基于该空闲车位的编号，可以寻找到空闲车位，进而驾驶车辆停放至该空闲车位。应理解，图1中以白色圆形表征正常的摄像头，以黑色圆形表征异常的摄像头，以服务器表征车位管理系统，以空白表征空闲车位，以阴影表征车位占用。
摄像头需要预先布线安装，并需要工作人员维护管理。参照图1，若摄像头出现损坏，则无法向车位管理系统上报车位的图像，车位管理系统无法判断该车位是否空闲，进而影响车位管理系统引导车辆至空闲车位的准确性。
本申请实施例提供一种车位引导方法，参照图2，进入停车场的移动终端100均可以向云端200上报移动终端100的位置和运动状态，云端200可以基于移动终端100的位置和运动状态，判断停车场中的车位的占用状态，进而在该停车场中广播车位的占用状态。正在寻找车位的用户，可以基于移动终端100接收到的广播信息获取空闲车位，进而驾驶车辆至空闲车位。本申请实施例中，无需在停车场中增设其他设备，依靠移动终端100和云端200的交互，可以达到用户查询空闲车位的目的，停车效率高且准确性高。
在一种实施例中，移动终端100可以但不限于为：手机、平板电脑、笔记本电脑、可穿戴设备、音箱等。可选的，移动终端100还可以为个人数字处理(personal digital assistant，PDA)、具有无线通信能力的手持设备、计算设备、虚拟现实(virtual reality，VR)终端设备、无人机设备、增强现实(augmented reality，AR)终端设备等。本申请实施例中对移动终端100的形态不做限定。云端200可以为服务器，一个服务器可以对应一个或多个停车场，本申请实施例中对服务器的形态不做限制。
下面结合具体的实施例对本申请实施例提供的车位引导方法进行说明。下面这几个实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。应理解，下述实施例中，以一个车辆从驶入停车场至驶出停车场为例，说明本申请实施例中移动终端和云端的交互过程。
图3A为本申请实施例提供的车位引导方法的一种实施例的流程示意图。参照图3A，本申请实施例提供的车位引导方法可以包括：
S301，响应于检测到车辆进入停车场，移动终端向云端上报移动终端的位置和运动状态。
移动终端位于车辆内，当车辆驶入停车场时，移动终端跟随车辆一起进入停车场，移动终端可以检测车辆进入停车场。
在一种实施例中，用户可以采用移动终端导航至停车场，若移动终端检测到导航指示到达停车场，则移动终端检测到车辆进入停车场。
在一种实施例中，移动终端可以与车辆通信连接，通信连接的方式包括但不限于为蓝牙连接、WI-FI热点连接。移动终端可以基于车辆的行车记录影像，检测车辆是否进入停车场。其中，移动终端若检测到行车记录影像的画面中包含有停车场的入口，则检测到车辆进入停车场。其中，移动终端与车辆通信连接可以为：移动终端与车辆中的车机通信连接，车机可以称为车载终端或中控。
在一种实施例中，移动终端可以存储有停车场的信号指纹库，移动终端可以基于检测 到的信号的强度以及信号指纹库，定位移动终端的位置。进而通过检测移动终端的位置是否包含于停车场，确定车辆是否进入停车场。信号指纹库可以但不限于为：蜂窝网络信号指纹库、WI-FI信号指纹库或地磁信号指纹库。信号指纹库，用于表征停车场的各位置处的信号的强度。以蜂窝网络信号指纹库为例，移动终端进入停车场后，可以基于接收到的蜂窝网络的信号的强度，进而基于蜂窝网络的信号的强度以及蜂窝网络信号指纹库，定位移动终端的位置。本申请实施例对移动终端检测车辆进入停车场的方式不做限制。
当移动终端检测到车辆进入停车场时，移动终端可以获取移动终端的位置和运动状态，进而上报至云端。运动状态可以包括但不限于为：驾驶状态和步行状态。
在一种实施例中，移动终端可以基于停车场的信号指纹库进行定位，以得到移动终端的位置，可以参照上述的相关描述。在该实施例中，若移动终端中存储有多个类型的信号指纹库，则移动终端可以基于信号指纹库的优先级，采用优先级最高的信号指纹库进行定位。示例性的，优先级最高的信号指纹库为地磁信号指纹库，则移动终端可以基于地磁信号指纹库进行定位。
或者，移动终端可以基于每个类型的信号指纹库，分别进行定位，进而结合每个类型的信号指纹库的定位结果，得到移动终端的位置，可以提高移动终端的定位准确度。示例性的，移动终端可以将每个类型的信号指纹库的定位结果的均值，作为移动终端的位置。或者，移动终端可以基于每个类型的信号指纹库的定位结果，以及每个类型的信号指纹库的权重，得到移动终端的位置，本申请实施例对此不作限制。
在一种实施例中，当移动终端采用信号指纹库定位时，为了提高定位准确性，移动终端可以结合深度学习和信号指纹库，定位移动终端。这里以移动终端结合WI-FI信号指纹库、地磁信号指纹库和循环神经网络(recurrent neural networks，RNN)为例进行简述。移动终端中可以存储RNN模型，RNN模型用于表征该停车场内各位置和WI-FI信号的强度、地磁信号的强度的映射关系，也就是说，移动终端可以将接收到的WI-FI信号的强度和地磁信号的强度输入至该RNN模型，该RNN模型可以输出移动终端的预测位置。应理解，RNN模型是基于该停车场内的各位置处的WI-FI信号的强度、地磁信号的强度经深度学习得到的，本申请实施例对RNN模型的训练过程不作赘述，可以参照现有训练神经网络模型的描述。
示例性的，停车场内有天然的地磁信号，停车场内可以设置有接入点(access point，AP)，AP用于将移动终端接入互联网。当移动终端进入停车场后，可以接收到来自AP广播的信号，该信号可以包括AP的媒体接入控制地址(media access control address，MAC)，MAC地址用于移动终端接入AP，移动终端可以基于地磁传感器或者磁力计(magnetometer)检测到地磁信号。移动终端可以将来自AP的WI-FI信号的强度以及地磁信号的强度输入至RNN模型，以得到移动终端的预测位置。如此，移动终端可以得到准确度高的定位结果。
在一种实施例中，移动终端还可以采用不限于蓝牙定位、超宽带(ultra wide band，UWB)定位等，得到移动终端的位置，本申请实施例对移动终端的定位方式不做限制。
在车辆进入停车场时，移动终端位于车辆内，车辆的运动状态为驾驶状态(driving)，因此移动终端的运动状态为驾驶状态。当用户拿着移动终端从车辆上下来，移动终端跟随用户的运动而运动，因此移动终端的运动状态为步行状态。
在一种实施例中，移动终端可以基于移动终端的位置，获取移动终端的运动状态。其中，移动终端可以基于预设时长内移动终端的位置的变化，获取移动终端的速度，若移动终端的速度大于或等于预设速度，则确定移动终端为驾驶状态。若移动终端的速度小于预设速度，则确定移动终端为步行状态。
在一种实施例中，移动终端中可以集成有加速度传感器，为了提高移动终端检测的运动状态的准确性，移动终端可以基于加速度传感器采集的数据，确定移动终端的运动状态。应理解，加速度传感器采集的数据的频率、振幅等特征与移动终端的运动状态相关，不同的频率、振幅的数据表征不同的运动状态。在一种实施例中，加速度传感器采集的数据包括：各个方向(X轴、Y轴和Z轴)上的加速度。示例性的，参照图3B，移动终端可以基于加速度传感器采集的数据的频率、振幅等特征，将移动终端的运动状态区分成如图3B的驾驶状态(如图3B中的a所示)和步行状态(如图3B中的b所示)。
在另一种实例中，移动终端中可以存储有运动状态模型，该运动状态模型表征用于表征加速度传感器采集的数据，以及移动终端的运动状态的对应关系。运动状态模型是以不同运动状态下的加速度传感器采集的数据作为训练数据，通过机器学习进行分析训练得到的。如此，在实际应用中，移动终端可以将加速度传感器采集的数据输入至该运动状态模型，由该运动状态模型输出移动终端的运动状态，进而可以提高移动终端对于移动终端的运动状态的判断准确性。
本申请实施例中，移动终端可以周期性地向云端上报移动终端的位置和运动状态。
S302，云端向移动终端发送停车场的车位信息，车位信息包括车位的标识和占用状态。
在一种实施例中，移动终端中可以预先存储有停车场的车位地图，车位地图可以包括：停车场的车位分布，以及每个车位的标识。车位分布可以理解为：车位在停车场中的位置。车位的标识可以为车位的位置、车位的编号等。在一种实施例中，车位地图中还可以包括：停车场的入口位置、入口位置等。
当云端接收到来自移动终端上报的位置和运动状态时，可以确定移动终端进入停车场，则可以向移动终端发送停车场的车位信息，使得移动终端基于车位信息更新车位地图。其中，车位信息可以包括：车位的标识和车位的占用状态。车位的占用状态可以为：空闲、占用，以及空闲的概率。空闲的概率可以理解为：已占用的车位成为空闲车位的概率，或者也可以理解为：已占用的车位即将成为空闲车位的概率。应理解，云端可以基于停车场中的多个移动终端上报的位置和运动状态，获取车位的占用状态，具体可以参照下述相关描述。
在一种实施例中，移动终端中未存储停车场的车位地图，移动终端可以基于来自云端的车位信息，生成车位地图。在该种实施例中，车位的标识可以为车位的位置，移动终端可以基于车位的位置，以及车位的占用状态，生成车位地图。在该实施例中，S302可以替换为：云端向移动终端发送停车场的车位地图，车位地图包括车位的位置和占用状态。在该实施例中，车位信息还可以包括停车场的入口位置、入口位置等。
在一种实施例中，车位信息中还可以包括：空闲车位的预设范围内未处于车位上的车辆的位置，和/或，即将成为空闲车位的已占用车位的预设范围内，未处于车位上的车辆的位置。示例性的，预设范围可以为空闲车位周围1m。
S303，移动终端基于车位信息，显示停车场的车位地图。
如上述，在一种实施例中，当移动终端中预先存储有停车场的车位地图时，移动终端可以基于车位的标识，以及车位的占用状态，在预先存储的车位地图上添加车位的占用状态。在一种实施例中，当移动终端中未存储停车场的车位地图时，移动终端可以接收来自云端的车位地图，或者基于来自云端的车位信息，生成车位地图。
移动终端得到车位地图后，可以显示车位地图，车位地图可以包括：停车场的车位分布，以及车位的占用状态。在一种实施例中，移动终端可以基于移动终端的位置，在车位地图上显示移动终端的位置。在一种实施例中，车位地图上还可以包括：停车场的入口位置、入口位置等。
在一种实施例中，若车位信息中包括：空闲车位的预设范围内未处于车位上的车辆的位置，和/或，即将成为空闲车位的已占用车位的预设范围内，未处于车位上的车辆的位置。移动终端可以基于车位信息，显示空闲车位和/或即将成为空闲车位的已占用车位的周围的车辆。这样，用户看到空闲车位和/或即将成为空闲车位的已占用车位周围的车辆，可以判定空闲车位和/或即将成为空闲车位的已占用车位，有车辆在等待停车，进而用户可以查询别的空闲车位停车，以增加停车成功率。
参照图4A，移动终端可以显示车位地图，车位地图包括：车位A-车位C的分布，以及车位A、车位B、车位C等车位的占用状态，如车位A为空闲，车位B为占用，车位C为占用，且车位C即将成为空闲车位的概率为80％。图4A中以数字为例表征车位C即将成为空闲车位的概率。在一种实施例中，移动终端也可以以圆形的大小表征车位C即将成为空闲车位的概率，或者，以圆形的灰度值的大小表征车位C即将成为空闲车位的概率，本申请实施例对此不作限制。
在一种实施例中，参照图4A，示例性的，车位C的预设范围内未处于车位上存在车辆，该车辆在等待停放至车位C。
在一种实施例中，移动终端还可以在车位地图上显示移动终端的位置，使得用户可以在车位地图上看到自己所处的位置，便于用户获取驶向空闲车位的行车路径。图4A中以带有箭头的“ME”标识表征移动终端的位置，箭头的方向表征移动终端的朝向，本申请实施例对车位地图上显示移动终端的位置的方式不做限制。
在一种实施例中，移动终端还可以在界面上显示车位的占用标识，如图4A中的标识框401。占用标识用于表征车位的阴影与车位的占用状态的对应关系。
如上介绍了移动终端进入停车场后，可以显示停车场的车位地图的过程。下述对移动终端显示停车场的车位地图的场景进行示例介绍：
场景一：
移动终端上安装有车位引导的应用程序(application，APP)。在用户驾驶车辆进入停车场时，用户可以打开该车位引导的APP，移动终端响应于用户打开该车位引导的APP，可以执行上述S301-S303，以显示停车场的车位地图。
在进入停车场时，参照图4B中的a，用户点击移动终端上的车位引导的APP，移动终端的界面可以跳转至如图4B中的b所示。参照图4B中的b，移动终端可以显示停车场的车位地图，图4B中的b可以参照图4A的描述，图4B中的a中以“P”表征车位引导的APP。
在一种实施例中，在用户驾驶车辆进入停车场时，可以操作移动终端的桌面至负一屏，该负一屏上显示有车位引导的图标，用户点击该车位引导的图标，可以触发移动终端执行上述S301-S303，以显示停车场的车位地图，车位地图可以参照图4A。
场景二：
用户在移动终端上采用导航类应用程序导航至停车场，移动终端检测到车辆达到停车场时，可以执行上述S301-S303，以显示停车场的车位地图。图5中的a为移动终端的导航结束的界面，该界面上可以弹出车位引导的提示框。示例性的，如该提示框可以显示“点击将引导你停车”的文字提示信息。用户点击该提示框，可以触发移动终端执行上述S301-S303，以显示停车场的车位地图，如图5中的b所示，图5中的b可以参照图4A的描述。
如此，用户可以基于移动终端上显示的车位地图，寻找空闲车位，便于驾驶车辆至空闲车位。另外，在停车场没有空闲车位时，用户还可以在车位地图上，寻找即将成为空闲车位的概率较大的车位，提高停车成功率，且因为车辆可以停放在即将成为空闲车位的概率较大的车位上，还可以提高车位的利用率。
如上介绍了移动终端可以与云端交互，以在移动终端上显示车位地图，便于用户寻找空闲车位的过程，下述对云端如何获取车位信息的而过程进行说明。在一种实施例中，参照图3C，在上述S301，即云端接收来自移动终端上报的移动终端的位置和运动状态之后，云端还可以执行：
S304，云端响应于移动终端的运动状态为驾驶状态，查询是否存储有移动终端的停车信息；若否，执行S305，若是，执行S306。
应理解，S302可以与S304同时执行，二者没有先后顺序的区分。
移动终端所属的车辆停放至车位时，云端可以存储移动终端的停车信息，该停车信息可以包括：移动终端的标识和车位的标识。示例性的，移动终端的标识可以但不限于为：移动终端的国际移动设备身份码(international mobile equipment identity，IMEI)或移动设备识别码(mobile equipment identifier，MEID)，本申请实施例对此不作限制。其中，云端识别移动终端所属的车辆停放至车位的过程可以参照S305的相关描述。
云端可以基于移动终端的标识，查询是否存储有移动终端的停车信息。示例性的，若云端存储有移动终端的标识对应的车位的标识，则可以确定云端存储有移动终端的停车信息。若云端未存储移动终端的标识对应的车位的标识，则可以确定云端未存储有移动终端的停车信息。
S305，云端响应于移动终端所属的车辆停放在目标车位上，将移动终端的标识和目标车位的标识对应存储，且广播目标车位的占用状态为占用。
在一种实施例中，在车辆进入停车场还未停放至车位上时，云端未存储车辆对应的移动终端的停车信息。据此，云端查询到未存储移动终端的停车信息，进而确定移动终端所属的车辆还未停车，正在寻找车位。在一种实施例中，用户可以基于移动终端显示的车位地图，查询空闲车位，进而驾驶车辆至空闲车位，该空闲车位可以称为车辆停放的目标车位。
为了提高用户的停车效率，云端可以向移动终端推荐空闲车位。
在一种实施例中，云端可以基于移动终端的位置，获取停车场中各空闲车位与移动终端的距离，进而基于该距离为移动终端推荐空闲车位。其中，云端可以向移动终端推荐距离最小的车位，参照图4B中的b，云端可以在车位A上显示箭头，以向移动终端推荐空闲车位。
在一种实施例中，因为移动终端的界面尺寸有限，当移动终端显示的车位地图上未包括空闲车位时，云端可以向移动终端发送距离最小的车位的标识，以向移动终端推荐空闲车位。示例性的，移动终端响应于接收到距离最小的车位的标识，在界面上弹出车位推荐框，该车位推荐框中可以显示“附近有空闲车位，点击查看”的文字提示信息，参照图6中的a所示。用户点击该车位推荐框，移动终端的界面可以显示移动终端至该距离最小的车位的行车路径，如图6中的b所示。用户可以基于该行车路径，驾驶车辆至该空闲车位上。
在一种实施例中，云端还可以向移动终端推荐与移动终端的距离较小的预设数量的空闲车位。如云端向移动终端推荐与移动终端的距离较小的5个空闲车位。应理解，本申请实施例对云端向移动终端推荐空闲车位的方式不做限制。
应理解，用户可以在车位地图上查询空闲车位，或者基于云端的推荐获取空闲车位，以将车辆驾驶至空闲车位。当云端检测到移动终端所属的车辆停放在目标车位上时，云端可以将移动终端的标识和目标车位的标识对应存储，以存储该移动终端的停车信息。本申请实施例中，云端可以广播目标车位的占用状态为占用，停车场中移动终端均可以接收到该广播消息，进而可以基于该广播消息，更新移动终端上显示的车位地图，将车位地图中该目标车位的占用状态从“空闲”修改为“占用”。
其中，停车场中移动终端可以包括：已经停放车辆对应的移动终端，或正在寻找车位的移动终端，或正在停车的车辆对应的移动终端，或正在从车位上离开驶出停车场的车辆对应的移动终端。示例性的，参照图4B中的c所示，当移动终端接收到云端的广播消息时，可以将移动终端停放的目标车位(车位A)标识为占用。
因为移动终端可以周期性地上报移动终端的位置和运动状态，云端可以基于移动终端的位置和运动状态，检测移动终端所属的车辆是否停放在目标车位上。
在一种实施例中，云端检测到移动终端的运动状态从驾驶状态切换为步行状态时，可以确定用户拿着移动终端从车辆上下来进行步行，进而可以确定动终端所属的车辆已经停放在车位上。应理解的是，移动终端的运动状态切换为步行状态时，移动终端可以向云端上报步行状态以及移动终端的位置，云端可以将步行状态对应的位置所在的车位作为目标车位，应理解，目标车位为车辆停放的车位。
在一种实施例中，移动终端可以响应于检测到车辆停放在目标车位上，可以向云端上报停车消息，以通知云端移动终端所属的车辆已经停放在目标车位上。示例性的，移动终端可以与车机通信连接，当移动终端检测到车机关机时(如移动终端和车机的连接断开)，确定车辆熄火，进而确定车辆停放在目标车位上。在一种实施例中，移动终端可以在向云端上报移动终端的位置的运动状态时，向云端上报停车消息。
S306，基于移动终端的位置，以及移动终端为驾驶状态的时长，获取目标车位成为空闲车位的概率，且广播概率。
在车辆进入停车场停放在目标车位上时，依据上述S305的描述，云端可以将移动终 端的标识和目标车位的标识对应存储。因此在车辆驶离该目标车位时，移动终端的运动状态为驾驶状态，且云端可以查询到存储有移动终端的停车信息，在该种情况下，云端可以确定移动终端所属的车辆正在驶离目标车位，该目标车位即将成为空闲车位。
其中，云端可以基于移动终端的位置，以及移动终端为驾驶状态的时长，获取目标车位成为空闲车位的概率。移动终端为驾驶状态的时长可以理解为：移动终端从步行状态转换成驾驶状态后，移动终端为驾驶状态的时长。换句话说，移动终端为驾驶状态的时长为：移动终端驶离目标车位的时长。其中，移动终端为驾驶状态的时长越短，即车辆刚驶离车位不久，目标车位即将成为空闲车位的概率越大。
在一种实施例中，云端可以基于移动终端的位置，以及目标车位的位置，获取移动终端距离目标车位的距离，进而根据移动终端距离目标车位的距离，以及移动终端为驾驶状态的时长，获取目标车位成为空闲车位的概率。在一种实施例中，移动终端距离目标车位的距离可以为：移动终端距离目标车位的直线距离，或者，移动终端距离目标车位的可行驶的路径的距离。其中，移动终端距离目标车位的距离越小，目标车位成为空闲车位的概率越大，移动终端为驾驶状态的时长越小，目标车位成为空闲车位的概率越大。
在一种实施例中，参照图7A，车辆距离目标车位的距离从小逐渐增大，如从distance1逐渐增大至distanceN、distance(N+1)、distance(N+2)，移动终端为驾驶状态的时长从小逐渐增大，如对应从1、逐渐增大至t1…tN、t(N+1)、t(N+2)。应理解，图7A-图7C中以D表征distance。目标车位成为空闲车位的概率P1可以由如下公式1得到：
Figure PCTCN2022086173-appb-000001
其中，time表征移动终端为驾驶状态的时长，distance1表征移动终端距离目标车位的距离，scale 1表征权重，权重为定值。
在一种实施例中，如上公式1中车辆距离目标车位的距离对应的权重和移动终端为驾驶状态的时长对应的权重可以不同，公式1可以替换为如下公式1A：
Figure PCTCN2022086173-appb-000002
其中，scale 1′表征移动终端为驾驶状态的时长对应的权重，scale 1″表征移动终端为车辆距离目标车位的距离对应的权重，scale 1′与scale 1″不同。应理解，在该种实施例中，scale 1′和scale 1″可以为经验值，相较于如上公式1能够更为准确地体现目标车位成为空闲车位的概率P1与车辆距离目标车位的距离，以及移动终端为驾驶状态的时长之间的关系。在一种实施例中，可以采用仿真实验获取scale 1′和scale 1″，本申请实施例对此不作限制。
可以想到的是，在一种实施例中，云端可以基于移动终端的位置，以及停车场的出口的位置，获取移动终端距离停车场的出口的距离，进而根据移动终端距离停车场的出口的距离，以及移动终端为驾驶状态的时长，获取目标车位成为空闲车位的概率。在一种实施例中，移动终端距离停车场的出口的距离可以为：移动终端距离停车场的出口的直线距离，或者，移动终端距离停车场的出口的可行驶的路径的距离。其中，移动终端距离停车场的出口的距离越大，目标车位成为空闲车位的概率越大，移动终端为驾驶状态的时长越小，目标车位成为空闲车位的概率越大。
在一种实施例中，参照图7B，车辆距离停车场的出口的距离从大逐渐减小，如从 distance(N+2)，逐渐减小至distance(N+1)、distanceN、…distance1，移动终端为驾驶状态的时长从小逐渐增大，如对应从1、逐渐增大至t1…t(N+1)、t(N+2)。目标车位成为空闲车位的概率P2可以由如下公式2得到：
Figure PCTCN2022086173-appb-000003
其中，distance2表征移动终端距离停车场的出口的距离，scale 2表征权重，scale 2可以与scale 1相同或不同。在一种实施例中，如上公式2中车辆距离停车场的出口的距离对应的权重和移动终端为驾驶状态的时长对应的权重可以不同，参照公式1A的描述。
在一种实施例中，若移动终端基于来自云端的车位信息，确定目标车位的预设范围内存在未处于车位上的车辆时，可以改变获取目标成为空闲车位的概率的计算方式。因为目标车位的预设范围内存在未处于车位上的车辆，则该车辆可能在等待停放至该目标车位中，因此目标成为空闲车位的概率变小。据此，移动终端可以基于移动终端的位置、移动终端为驾驶状态的时长，以及目标车位的预设范围内是否存在未处于车位上的车辆，获取目标车位即将称为空闲车位的概率P3，可以如下公式3所示：
P3＝P1-(N nearbyv×scale 3)
P3＝P2-(N nearbyv×scale 3)   公式3
其中，N nearbyv表征移动终端预设范围内存在未处于车位上的车辆的个数，scale 3表征权重，scale 3可以与scale 1相同或不同。
如上，移动终端与目标车位的距离，以及移动终端与停车场的出口的距离为示例说明，本申请实施例也可以采用移动终端与其他标识物的距离，表征移动终端驶离目标车位的距离。
云端可以获取目标车位成为空闲车位的概率，为了使得停车场内的用户可以及时获取该信息，云端可以广播目标车位成为空闲车位的概率。具体的，云端可以广播目标车位的标识，以及目标车位成为空闲车位的概率。相应的，移动终端接收到该广播消息后，可以基于目标车位的标识，以及目标车位成为空闲车位的概率，更新显示车位地图，即将该目标车位从占用修改为“成为空闲车位的概率”，可以参照如上图4B中的车位C，应理解，车位C成为空闲车位的概率可以参照此处的相关描述。
S307，云端响应于移动终端的运动状态为步行状态，查询是否存储有移动终端的停车信息；若是，执行S308，若否，执行S309。
当用户将车辆停放在目标车位上，用户拿着移动终端从车辆上下来，移动终端的运动状态为步行状态。示例性的，如用户将车辆停放在目标车位上，步行进入商场逛街，移动终端的运动状态为步行状态。因为移动终端在进入停车场后，可以周期性向云端上报移动终端的位置和运动状态，因此云端可以及时检测到移动终端的运动状态为步行状态，参照上述S301的相关描述。
云端检测到移动终端的运动状态为步行状态，可以查询是否存储有移动终端的停车信息，云端查询是否存储有移动终端的停车信息可以参照上述的相关描述。若云端存储有移动终端的停车信息，则表征用户停放好车辆，正在步行。
其中，用户步行的目的可以为：寻找车辆，或者下车进入商场逛街等。应理解，下车进入商场逛街为用户“远离车辆”的一种示例，寻找车辆为用户“靠近车辆”的一种示例。 若云端未存储移动终端的停车信息，则表征用户步行进入停车场中，如在停车场闲逛。
S308，基于移动终端的位置，获取目标车位成为空闲车位的概率，且广播概率。
云端可以基于移动终端的位置，以及目标车位的位置，获取移动终端与目标车位的距离。在一种实施例中，移动终端距离目标车位的距离可以为：移动终端距离目标车位的直线距离，或者，移动终端距离目标车位的可行驶的路径的距离。
其中，移动终端与目标车位的距离逐渐减小，表征用户正在靠近目标车位，则目标车位成为空闲车位的概率越大。在一种实施例中，为了减小云端的计算量，如用户刚停好车辆，步行进入商场时，云端可以不计算目标车位成为空闲车位的概率，而在用户走向目标车位时，可以开始计算目标车位成为空闲车位的概率。示例性的，S308可以替换为：云端基于移动终端的位置，检测到移动终端逐渐靠近目标车位时，获取目标车位成为空闲车位的概率，且广播概率。
在一种实施例中，参照图7C，示例性的，用户拿着移动终端从电梯下来走向车辆，移动终端与目标车位的距离从大逐渐减小，如从distance(N+2)、逐渐减小至distance(N+1)、distanceN、…distance1。目标车位成为空闲车位的概率P4可以由如下公式4得到：
Figure PCTCN2022086173-appb-000004
其中，scale 4表征权重，可以与scale 1相同或不同。
在一种实施例中，若移动终端基于来自云端的车位信息，确定目标车位的预设范围内存在未处于车位上的车辆时，可以改变获取目标成为空闲车位的概率的计算方式。因为目标车位的预设范围内存在未处于车位上的车辆，则该车辆可能在等待停放至该目标车位中，因此目标成为空闲车位的概率变小。据此，移动终端可以基于移动终端的位置，以及目标车位的预设范围内是否存在未处于车位上的车辆，获取目标车位即将称为空闲车位的概率P5，可以如下公式5所示：
P5＝P4-(N nearbyv×scale 5)   公式5
其中，scale 5表征权重，scale 5可以与scale 1相同或不同。
如上，云端可以获取目标车位成为空闲车位的概率，为了使得停车场内的用户可以及时获取该信息，云端可以广播该概率。具体的，云端可以广播目标车位的标识，以及目标车位成为空闲车位的概率。相应的，位于停车场中的移动终端可以基于目标车位的标识，以及目标车位成为空闲车位的概率，更新显示车位地图，可以参照图4B中的车位C。
换句话说，若将目标车位对应的移动终端称为第一移动终端，将停车场中的其他移动终端称为第二移动终端，在一种实施例中，第一移动终端和第二移动终端均可以基于目标车位的标识，以及目标车位成为空闲车位的概率，更新显示车位地图，在车位地图上显示目标车位成为空闲车位的概率。
在一种实施例中，当用户在将车辆停放在目标车位上时，云端可以对应存储第一移动终端的标识和目标车位的标识，云端可以向第一移动终端发送存储指示，存储指示用于指示第一移动终端存储目标车位的标识，存储指示中可以包括目标车位的标识。第一移动终端响应于接收到存储指示，可以存储目标车位的标识。在一种实施例中，当用户在将车辆停放在目标车位上时，第一移动终端响应于向云端发送停车消息，可以存储目标车位的标识。
如上实施例，因为第一移动终端的运动状态为步行状态，用户可能在寻找车位。因此对于第一移动终端来说，第一移动终端接收到来自云端的目标车位的标识，以及目标车位成为空闲车位的概率时，可以确定目标车位为第一移动终端所属的车辆停放的车位，因此第一移动终端可以基于目标车位的标识，在车位地图上显示目标车位的位置以及第一移动终端的位置，便于用户寻找目标车位，参照图8A所示。图8A中以在目标车位上显示车辆，表征第一移动终端所属的车辆停放的目标车位。
在一种实施例中，第一移动终端与目标车位的距离逐渐减小，表征用户正在靠近目标车位，则表征用户正在寻找车位。为了减小云端和移动终端的处理量，如用户刚停好车辆步行进入商场时，即第一移动终端与目标车位的距离逐渐增大时，云端可以不向第一移动终端发送目标车位的标识，相应的，第一移动终端可以不在车位地图上显示目标车位以及第一移动终端的位置。而在用户走向目标车位时，即第一移动终端与目标车位的距离逐渐减小时，云端可以向第一移动终端发送目标车位的标识，相应的，第一移动终端可以在车位地图上显示目标车位以及第一移动终端的位置。也就是说，在该种实施例中，云端可以基于第一移动终端的位置，检测到移动终端逐渐靠近目标车位时，向第一移动终端发送目标车位的标识，以便于第一移动终端可以在车位地图上显示目标车位以及第一移动终端的位置，便于用户寻找目标车位。
在一种实施例中，以用户打开车位引导的APP为例，参照8B中的a所示，当第一移动终端存储目标车位的标识时，可以在界面上弹出停车卡片。停车卡片上可以显示“已停放车辆，点击我找目标车位”，以提示用户第一移动终端已经存储该目标车位的标识。其中，该停车卡片可以显示目标车位的标识。用户可以上滑界面，车位引导的APP运行在后台，参照图8B中的b。当用户寻找目标车位时，可以打开该车位引导的APP，移动终端的界面上可以显示停车卡片，参照图8B中的c所示。用户点击停车卡片，可以触发第一移动终端基于目标车位的标识，在车位地图上显示目标车位的位置，以及第一移动终端的位置，便于用户寻找目标车位，参照图8B中的d所示。其中，8B中的d与上述图8A相同。
当用户找到目标车位，可以驾驶车辆驶离目标车位。如此，云端可以基于移动终端上报的位置和运动状态，执行上述S304-S306。
S309，停止。
云端响应于移动终端的运动状态为步行状态，且云端未存储移动终端的停车信息，则表征用户步行进入停车场中，与停车场中的车位无关，因此执行停止操作。
本申请实施例提供一种车位引导方法，云端可以基于停车场中的移动终端上报的位置和运动状态，确定移动终端所属的车辆是正在停车、已经停车或者即将驶离车位，进而云端可以相应获取停车场中车位的占用状态，以广播至停车场中的移动终端。移动终端可以基于车位的占用状态，寻找空闲车位，便于用户停车。另外，云端还可以基于移动终端的位置和运动状态，预测移动终端所属的车辆停放的车位成为空闲车位的概率，便于在空闲车位较少或停车场没有空闲车位时，引导车辆等待概率较大的车位，停车更加智能话，且可以提高车位的利用率。另外，用户在停车后，移动终端还可以存储移动终端所属的车辆停放的车位的标识，引导用户寻找停放车辆的目标车位，提高用户体验。
在一种实施例中，用户可以基于多个移动终端的配合，完成上述实施例中的步骤。示例性的，如第一设备无传感器及显示屏等相关物理组件，则可以与具有传感器及显示屏等的第二设备通信连接，第二设备可以执行上述实施例中移动终端的步骤，向第一设备发送目标车位的位置以及空闲车位的位置，第一设备可通过语音播报的方式通知用户目标车位的位置，以及空闲车位的位置，实现车位引导。
参照图9，图9中以智能手表和手机配合为例进行说明，智能手表与手机蓝牙连接。如用户从电梯下来，逐渐靠近目标车位时，手机可以获取目标车位的位置，传输给智能手表，智能手表可以播报目标车位的位置，引导用户走向目标车位。如此，用户可以不用掏出手机，便可以找到车位，可以提高用户体验。
综上，参照图10，对于位于停车场中的移动终端来说，移动终端执行的步骤可以包括：
S1001，检测到车辆位于停车场。
移动终端可以进行定位，进而检测到车辆位于停车场，移动终端定位的方式可以参照上述的相关描述。
S1002，检测移动终端的运动状态为驾驶状态还是步行状态；若为步行状态，执行S1003或S1004，若为驾驶状态，执行S1005或S1006。
S1003，响应于云端存储有移动终端的停车信息，显示移动终端的位置和目标车位的位置。
S1004，响应于云端未存储移动终端的停车信息，停止操作。
S1005，响应于云端存储有移动终端的停车信息，向云端上报移动终端的位置和运动状态，使得云端更新车位信息。
S1006，响应于云端未存储移动终端的停车信息，查询是否有空闲车位；若否，执行S1007，若是，执行S1008。
S1007，向云端上报移动终端的位置和运动状态，以及查询已占用车位成为空闲车位的概率。
S1008，接收云端推荐的目标车位，且响应于检测到车辆停放在目标车位，向云端上报移动终端的位置和运动状态，以及存储目标车位的位置。
如上S1002-S1008中的实现方式，可以参照上述实施例的相关描述。应理解，位于停车场中的移动终端可以周期性地向云端上报移动终端的位置和运动状态。
综上，参照图11，对于云端来说，云端执行的步骤可以包括：
S1101，接收来自移动终端的移动终端的位置和运动状态。
S1102，检测移动终端的运动状态为驾驶状态还是步行状态；若为步行状态，执行S1103，若为驾驶状态，执行S1106。
S1103，检测是否存储有移动终端的停车信息；若是，执行S1104，若否，执行S1105。
S1104，基于移动终端与目标车位的距离，获取目标车位成为空闲车位的概率，且执行S1110。
S1105，停止操作。
S1106，检测是否存储有移动终端的停车信息；若是，执行S1107，若否，执行S1108和S1109。
S1107，基于移动终端的位置，以及移动状态为驾驶状态的时长，获取目标车位成为空闲车位的概率，且执行S1110。
S1108，向移动终端推荐空闲车位。
S1109，响应于移动终端所属的车辆停放在目标车位，将移动终端的标识和目标车位的标识对应存储，且广播目标车位的占用状态为占用。
S1110，广播目标车位成为空闲车位的概率。
如上S1101-S1110中的实现方式，可以参照上述实施例的相关描述。
如上实施例中，以与云端交互的终端设备为移动终端为例介绍本申请提供的车位引导方法，其中，移动终端为用户便携式的终端设备，如手机、平板电脑、手环等。在一种实施例中，移动终端可以替换为非便携式的终端设备，如车辆中的车机、智能后视镜等设备。下述以非便携式的终端设备为车机为例说明本申请提供的车位引导方法：
车机设置在车辆上，车机与车辆对应，车机的运行状态与车辆的运动状态相同。
1)当车辆进入停车场至车辆停放在目标车位上的过程中，车辆的运动状态为驾驶状态，相应的，车机的运动状态为驾驶状态。车机与位于上述实施例中的移动终端(如手机)可以执行相同的步骤，即车机与云端交互可以执行上述S301-S303，以及S304和S305。
应注意，当移动终端替换为车机时，在S305中，因为当车辆停放在目标车位上后，车辆会熄火，车机会关机。因此在一种实施例中，云端检测车机所属的车辆停放在目标车位上的一种方式可以为：云端接收到来自车机的位置和运动状态后的预设时长内，未接收到来自车机的位置和运动状态，云端可以确定车机关机，不能上报车机的位置和运动状态，因此可以确定车机所属的车辆停放在目标车位上。应理解，预设时长可以为车机上报位置和运动状态的周期。
或者，在一种实施例中，车机可以和用户的移动终端(如手机或手环等，下述以手机为例进行说明)绑定，即可以理解为：车机、手机和车辆对应。
在一种可能的实现方式中，当车机开机时，车机和手机处于连接状态(如蓝牙连接或热点连接等)，当车辆进入停车场时，由车机向云端上报车机的位置和运动状态，手机可以检测车机的运行状态。当手机检测到车机关机时，手机可以向云端上报手机的位置和运动状态。在该实现方式中，为了使得云端能够识别车机和手机与同一车辆相对应，车机在检测到车辆进入停车场时，向云端上报的第一个“位置和运动状态”中可以携带手机的标识。如此，云端在接收到来自手机的位置和运动状态时，便可以确定手机对应的车机关机，因此可以确定车机所属的车辆停放在目标车位上。
在一种可能的实现方式中，当车辆进入停车场时，由车机向云端上报车机的位置和运动状态，其中，车机在检测到车辆进入停车场时，向云端上报的第一个“位置和运动状态”中可以携带手机的标识，以便云端可以识别车机和手机与同一车辆相对应。当车机关机时，用户可以触发手机向云端上报手机的位置和运动状态，如用户打开手机上安装的“车位引导的APP”，以触发手机向云端上报手机的位置和运动状态。如此，云端在接收到来自手机的位置和运动状态时，便可以确定手机对应的车机关机，因此可以确定车机所属的车辆停放在目标车位上。
相应的，在上述可能实现的方式中，当手机检测到车机关机时，手机可以存储目标车 位的标识(即车机关机时手机的位置所属的车位)，以便于用户找寻目标车位上停放的车辆时，手机可以显示目标车位的位置。云端检测到车辆停放在目标车位上时，也可以对应存储目标车位的标识、车机的标识，以及终端设备的标识，以便于用户找寻目标车位上停放的车辆时，云端可以向手机发送目标车位的标识，以使手机显示目标车位的位置。
2)当用户驾驶车辆驶离目标车位上的过程中，车辆的运动状态为驾驶状态，相应的，车机的运动状态为驾驶状态。车机与位于车辆中的移动终端(如手机)可以执行相同的步骤，即车机与云端交互可以执行上述S306。
3)在一种实施例中，因为车机和手机绑定，因此当车辆停放在目标车位上，且车机关机后，可以由手机继续与云端交互实现本申请中的车位引导方法，即车机与云端交互可以执行上述S307-S309。
本申请实施例中的S301-S309可以参照上述实施例的相关描述。
在该实施例中，由车机和手机先后与云端交互，完成本申请实施例提供的车位引导方法，应注意，在手机检测到车机关机时，手机可以向云端上报手机的位置和运动状态。在一种实施例中，云端可以向手机发送车位信息，手机基于车位信息得到车位地图，以显示车位地图，可以参照上述实施例的相关描述。在一种实施例中，用户打开手机上安装的“车位引导的APP”，以触发手机向云端上报手机的位置和运动状态，在该实施例中，用户可以在手机上登录与车机上登录的相同的“车位引导的APP”的账号，进而使得手机继续显示车机关机前显示的车位地图。
本申请实施例中，车机(车辆对应的非便携式终端设备)和手机(车辆对应的便携式终端设备)可以绑定，当车机开机且处于驾驶状态时，可以由车机向云端上报位置和运动状态，当车辆停放在车位上，即车机关机时，可以由手机继续向云端上报位置和运动状态，进而实现本申请实施例中的车位引导方法，本申请中的车位引导方法灵活性高，使用范围广，可以应用于多终端设备交互的场景。
应理解的是，无论是移动终端单独与云端交互实现本申请的车位引导方法，还是“非便携式终端设备和移动终端”先后与云端交互实现本申请的车位引导方法，可以中将与云端交互的设备称为终端设备。下述实施例中均以终端设备为例，表征与云端角度的设备。
在一种实施例中，参照图12，终端设备100可以包括：移动通信模块110、无线通信模块120，传感器模块130、基于位置的服务(location based services，LBS)模块140、运动识别模块150、位置和运动状态上报模块160、显示模块170，以及信号指纹库180。云端200可以包括：运动状态处理模块210、存储和计算模块220，以及广播模块230。在本申请另一些实施例中，终端设备100和云端200可以包括比图示更多或更少的部件，或者组合某些部件，或者拆分某些部件，或者不同的部件布置。图示的部件可以以硬件，软件，或软件和硬件的组合实现。
移动通信模块110可以提供应用在终端设备100上的包括2G/3G/4G/5G等无线通信的解决方案。移动通信模块110可以包括至少一个滤波器，开关，功率放大器，低噪声放大器等。移动通信模块110可以由天线1接收电磁波，并对接收的电磁波进行滤波，放大等处理，传送至调制解调处理器进行解调。移动通信模块110还可以对经调制解调处理器调制后的信号放大，经天线1转为电磁波辐射出去。
调制解调处理器可以包括调制器和解调器。其中，调制器用于将待发送的低频基带信号调制成中高频信号。解调器用于将接收的电磁波信号解调为低频基带信号。随后解调器将解调得到的低频基带信号传送至基带处理器处理。低频基带信号经基带处理器处理后，被传递给应用处理器。应用处理器通过音频设备输出声音信号，或通过显示模块170显示图像或视频。在一些实施例中，调制解调处理器可以是独立的器件。在另一些实施例中，调制解调处理器可以与移动通信模块110或其他功能模块设置在同一个器件中。
无线通信模块120可以提供应用在终端设备100上的包括无线局域网(wireless local area networks，WLAN)，蓝牙，全球导航卫星系统(global navigation satellite system，GNSS)，调频(frequency modulation，FM)，NFC，红外技术(infrared，IR)等无线通信的解决方案。无线通信模块120可以是集成至少一个通信处理模块的一个或多个器件。无线通信模块120经由天线2接收电磁波，将电磁波信号调频以及滤波处理。无线通信模块120还可接收待发送的信号，对其进行调频，放大，经天线2转为电磁波辐射出去。
在一些实施例中，终端设备100的天线1和移动通信模块110耦合，天线2和无线通信模块120耦合，使得终端设备100可以通过无线通信技术与网络以及其他设备通信。所述无线通信技术可以包括GSM，GPRS，CDMA，WCDMA，TD-SCDMA，LTE，GNSS，WLAN，NFC，FM，和/或IR技术等。上述GNSS可以包括全球卫星定位系统(global positioning system，GPS)，全球导航卫星系统(global navigation satellite system，GLONASS)，北斗卫星导航系统(beidou navigation satellite system，BDS)，准天顶卫星系统(quasi-zenith satellite system，QZSS)和/或星基增强系统(satellite based augmentation systems，SBAS)。
传感器模块130可以包括陀螺仪传感器130A，地磁传感器130B，加速度传感器130C等。
陀螺仪传感器130A可以用于确定终端设备100的运动姿态。在一些实施例中，可以通过陀螺仪传感器130A确定终端设备100围绕三个轴(即，x，y和z轴)的角速度。陀螺仪传感器130A可以用于拍摄防抖。示例性的，当按下快门，陀螺仪传感器130A检测终端设备100抖动的角度，根据角度计算出镜头模组需要补偿的距离，让镜头通过反向运动抵消终端设备100的抖动，实现防抖。陀螺仪传感器130A还可以用于导航，体感游戏场景等。
地磁传感器130B可以用于检测终端设备100的地磁的信号强度，可以用于终端设备100的定位。
加速度传感器130C可检测终端设备100在各个方向上(一般为三轴)加速度的大小。当终端设备100静止时可检测出重力的大小及方向。还可以用于识别电子设备姿态，应用于横竖屏切换，计步器等应用。
基于位置的服务(location based services，LBS)模块140，可以定位终端设备100，以获取终端设备100的位置。或者，LBS模块140还可以基于传感器模块130采集的数据，定位终端设备100，可以参照上述实施例的相关描述。
运动识别模块150，可以基于终端设备100的位置，确定终端设备100的运动状态。或者，运动识别模块150，还可以基于传感器模块130采集的数据，确定终端设备100的运动状态，可以参照上述实施例的相关描述。
位置和运动状态上报模块160，用于周期性的向云端200上报终端设备100的位置以 及运动状态。
显示模块170用于显示图像，视频等。显示模块170包括显示面板。显示面板可以采用液晶显示屏(liquid crystal display，LCD)，有机发光二极管(organic light-emitting diode，OLED)，有源矩阵有机发光二极体或主动矩阵有机发光二极体(active-matrix organic light emitting diode的，AMOLED)，柔性发光二极管(flex light-emitting diode，FLED)，Miniled，MicroLed，Micro-oLed，量子点发光二极管(quantum dot light emitting diodes，QLED)等。在一些实施例中，终端设备100可以包括1个或N个显示模块170，N为大于1的正整数。显示模块170，用于显示车位地图，以及在车位地图上显示终端设备100的位置，以及目标车位的位置，可以参照上述实施例的相关描述。
信号指纹库180可以但不限于包括：蜂窝网络信号指纹库、WI-FI信号指纹库或地磁信号指纹库。信号指纹库180可以用于终端设备100的室内定位。
在云端200中，运动状态处理模块210，用于接收来自终端设备100上报的终端设备100的位置和运动状态。存储和计算模块220，用于对应存储终端设备100的标识和目标车位的标识，且基于终端设备100的位置和运动状态，执行上述S1102-S1110。广播模块230，用于广播目标车位成为空闲车位的概率。
下述结合上述图12，对本申请中的终端设备100的结构，以及云端200的结构进行说明。在一种实施例中，终端设备100可以包括：位置和运动状态上报模块160、收发模块190、处理模块191、显示模块170，以及存储模块192。在一种实施例中，收发模块190可以为上述的移动通信模块110和无线通信模块120。
其中，位置和运动状态上报模块160，用于响应于检测到所述车辆进入停车场，周期性地向云端上报所述终端设备的位置和运动状态。
收发模块190，用于接收来自所述云端的车位信息，所述车位信息包括：所述停车场内的车位的标识和占用状态，所述占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率。
处理模块191，用于基于所述车位信息，得到所述停车场的车位地图，所述车位地图用于进行车位引导。
显示模块170，用于显示所述车位地图。
在一种可能的实现方式中，处理模块191，具体用于基于所述停车场的初始车位地图，以及所述车位信息，得到所述车位地图，所述初始车位地图中包括所述停车场内的车位分布，以及每个车位的标识。
在一种可能的实现方式中，处理模块191，具体用于基于所述每个车位的标识，将车位的占用状态填充至所述初始车位地图中，得到所述车位地图。
在一种可能的实现方式中，处理模块191，还用于基于所述车位的位置，得到所述车位分布；基于所述车位分布，以及所述车位的位置，得到所述初始车位地图。
在一种可能的实现方式中，当所述运动状态为驾驶状态，且所述车辆未停放在目标车位时，收发模块190，还用于接收来自所述云端推荐的所述目标车位，所述目标车位为所述车辆待停放的车位。
在一种可能的实现方式中，存储模块192，用于响应于检测到所述车辆停放在目标车 位，存储所述目标车位的标识。
在一种可能的实现方式中，处理模块191，还用于响应于检测到所述运动状态从驾驶状态切换至步行状态，确定所述车辆停放在所述目标车位。
在一种可能的实现方式中，当所述运动状态为步行状态，且所述车辆已停放在目标车位时，处理模块191，还用于基于所述目标车位的标识，获取所述目标车位的位置；输出所述目标车位的位置。
在一种可能的实现方式中，处理模块191，具体用于响应于检测到所述终端设备朝向所述目标车位运动，输出所述目标车位的位置。
在一种可能的实现方式中，显示模块170，还用于在所述车位地图上显示所述目标车位的位置，以及所述终端设备的位置。
在一种可能的实现方式中，所述云端存储有所述目标车位的标识和所述终端设备的标识的对应关系。收发模块190，还用于接收来自所述云端的目标车位的标识。
在一种可能的实现方式中，收发模块190，还用于向与所述终端设备绑定的设备发送所述目标车位的位置，以使所述与所述终端设备绑定的设备输出所述目标车位的位置。
在一种可能的实现方式中，当所述车辆已停放在目标车位时，收发模块190，还用于接收所述云端广播的所述目标车位成为空闲车位的概率。处理模块191，还用于基于所述目标车位成为空闲车位的概率，更新所述车位地图上所述目标车位的占用状态。
在一种可能的实现方式中，所述终端设备100中包括加速度传感器，处理模块191，还用于基于所述加速度传感器采集的数据的频率和/或振幅，获取所述运动状态。
在一种实施例中，云端200可以包括：存储和计算模块220、广播模块230，以及收发模块240。在一种实施例中，收发模块240可以为上述的运动状态处理模块210。
其中，收发模块240，用于接收终端设备上报的所述终端设备的位置和运动状态，以及向所述终端设备发送车位信息，所述车位信息包括：停车场内的车位的标识和占用状态，所述占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率。
在一种可能的实现方式中，存储和计算模块220，用于查询是否存储所述终端设备的停车信息；若是，则确定所述终端设备对应的车辆已停放在目标车位：若否，则确定所述终端设备对应的车辆未停放在所述目标车位。
在一种可能的实现方式中，收发模块240，还用于响应于所述运动状态为驾驶状态，且未存储所述终端设备的停车信息，向所述终端设备推荐所述目标车位，所述目标车位为所述车辆待停放的车位。
在一种可能的实现方式中，存储和计算模块220，还用于响应于检测到所述终端设备对应的车辆停放在所述目标车位，对应存储所述目标车位的标识和所述终端设备的标识。
广播模块230，用于广播所述目标车位的占用状态为占用。
在一种可能的实现方式中，存储和计算模块220，还用于响应于检测到所述终端设备的运动状态从驾驶状态切换至步行状态，确定所述终端设备对应的车辆停放在所述目标车位上。
在一种可能的实现方式中，存储和计算模块220，还用于响应于已存储所述终端设备的停车信息，获取所述目标车位成为空闲车位的概率。
广播模块230，还用于广播所述目标车位成为空闲车位的概率。
在一种可能的实现方式中，当所述运动状态为驾驶状态时，存储和计算模块220，具体用于基于所述终端设备与所述目标车位的距离，以及所述终端设备从步行状态切换为驾驶状态后的驾驶状态的时长，获取所述目标车位成为空闲车位的概率；或者，基于所述终端设备与所述停车场的出口的距离，以及所述驾驶状态的时长，获取所述目标车位成为空闲车位的概率。
在一种可能的实现方式中，存储和计算模块220，具体用于基于所述终端设备与所述目标车位的距离、所述驾驶状态的时长，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率；或者，基于所述终端设备与所述停车场的出口的距离、所述驾驶状态的时长，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率。
在一种可能的实现方式中，当所述运动状态为步行状态时，存储和计算模块220，还用于响应于已存储所述终端设备的停车信息，且检测到所述终端设备朝向所述目标车位运动，获取所述目标车位成为空闲车位的概率。
在一种可能的实现方式中，存储和计算模块220，具体用于基于所述终端设备与所述目标车位的距离，获取所述目标车位成为空闲车位的概率。
在一种可能的实现方式中，存储和计算模块220，具体用于基于所述终端设备距离所述目标车位的距离，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率。
应理解，本申请实施例中的终端设备能够执行上述实施例中的终端设备或移动终端的动作，云端能够执行上述实施例中的云端的动作，进而达到与上述实施例相同的技术效果，在此不做赘述。
在一种实施例中，本申请实施例提供的终端设备，以及云端均可以包括：处理器(例如CPU)、存储器和收发器。下述以终端设备为例进行说明，存储器和收发器可以耦合至处理器终端设备，处理器终端设备控制收发器执行上述终端设备的收发动作，以实现终端设备与云端之间的交互。存储器可以包含高速随机存取存储器(random-access memory，RAM)，也可以包括非易失性存储器(non-volatile memory，NVM)，例如至少一个磁盘存储器，存储器中可以存储各种指令，以用于完成各种处理功能以及实现本申请的方法步骤。收发器可以集成在终端设备的收发信机中，也可以为终端设备上独立设置的收发天线。在本申请实施例中，上述存储器用于存储计算机可执行程序代码，程序代码包括指令；当处理器终端设备执行指令时，指令使终端设备的处理器终端设备执行上述方法实施例中的动作，其实现原理和技术效果类似，在此不再赘述。可选的，本申请涉及的终端设备还可以包括：电源、通信总线以及通信端口。通信总线用于实现元件之间的通信连接。上述通信端口用于实现终端设备与其他外设之间的连接通信。
需要说明的是，以上这些模块可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多个专用集成电路(application specific integrated circuit，ASIC)，或，一个或多个微处理器(digital signal processor，DSP)，或，一个或者多个现场可编程门阵列(field programmable gate array，FPGA)等。再如，当以上某个模块通过处理元件调度程序代码的形式实现时，该处理元件可以是通用处理器，例如中央处理器(central processing unit， CPU)或其它可以调用程序代码的处理器。再如，这些模块可以集成在一起，以片上系统(system-on-a-chip，SOC)的形式实现。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本申请实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质(例如固态硬盘Solid State Disk(SSD))等。
本文中的术语“多个”是指两个或两个以上。本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系；在公式中，字符“/”，表示前后关联对象是一种“相除”的关系。
可以理解的是，在本申请的实施例中涉及的各种数字编号仅为描述方便进行的区分，并不用来限制本申请的实施例的范围。在本申请的实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请的实施例的实施过程构成任何限定。

Claims (29)

  1. 一种车位引导方法，其特征在于，应用于终端设备，所述终端设备与车辆对应，包括：
    响应于检测到所述车辆进入停车场，周期性地向云端上报所述终端设备的位置和运动状态；
    接收来自所述云端的车位信息，所述车位信息包括：所述停车场内的车位的标识和占用状态，所述占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率；
    基于所述车位信息，得到所述停车场的车位地图，所述车位地图用于进行车位引导；
    显示所述车位地图。
  2. 根据权利要求1所述的方法，其特征在于，所述基于所述车位信息，得到所述停车场的车位地图，包括：
    基于所述停车场的初始车位地图，以及所述车位信息，得到所述车位地图，所述初始车位地图中包括所述停车场内的车位分布，以及每个车位的标识。
  3. 根据权利要求2所述的方法，其特征在于，所述得到所述车位地图，包括：
    基于所述每个车位的标识，将所述停车场内的车位的占用状态填充至所述初始车位地图中，得到所述车位地图。
  4. 根据权利要求2或3所述的方法，其特征在于，所述车位的标识为所述车位的位置，所述得到所述车位地图之前，还包括：
    基于所述车位的位置，得到所述车位分布；
    基于所述车位分布，以及所述车位的位置，得到所述初始车位地图。
  5. 根据权利要求1-4中任一项所述的方法，其特征在于，当所述运动状态为驾驶状态，且所述车辆未停放在目标车位时，所述方法还包括：
    接收来自所述云端推荐的所述目标车位，所述目标车位为所述车辆待停放的车位。
  6. 根据权利要求1-5中任一项所述的方法，其特征在于，所述方法还包括：
    响应于检测到所述车辆停放在目标车位，存储所述目标车位的标识。
  7. 根据权利要求6所述的方法，其特征在于，所述检测到所述车辆停放在目标车位，包括：
    检测到所述运动状态从驾驶状态切换至步行状态。
  8. 根据权利要求6或7所述的方法，其特征在于，当所述运动状态为步行状态，且所述车辆已停放在目标车位时，所述方法还包括：
    基于所述目标车位的标识，获取所述目标车位的位置；
    输出所述目标车位的位置。
  9. 根据权利要求8所述的方法，其特征在于，所述输出所述目标车位的位置，包括：
    响应于检测到所述终端设备朝向所述目标车位运动，输出所述目标车位的位置。
  10. 根据权利要求8或9所述的方法，其特征在于，所述输出所述目标车位的位置，包括：
    在所述车位地图上显示所述目标车位的位置，以及所述终端设备的位置。
  11. 根据权利要求8-10中任一项所述的方法，其特征在于，所述云端存储有所述目标车位的标识和所述终端设备的标识的对应关系，所述基于所述目标车位的标识，获取所述 目标车位的位置之前，还包括：
    接收来自所述云端的目标车位的标识。
  12. 根据权利要求8或9所述的方法，其特征在于，所述输出所述目标车位的位置，包括：
    向与所述终端设备绑定的设备发送所述目标车位的位置，以使得所述与所述终端设备绑定的设备输出所述目标车位的位置。
  13. 根据权利要求1-12中任一项所述的方法，其特征在于，当所述车辆已停放在目标车位时，所述方法还包括：
    接收所述云端广播的所述目标车位成为空闲车位的概率；
    基于所述目标车位成为空闲车位的概率，更新所述车位地图上所述目标车位的占用状态。
  14. 根据权利要求1-13中任一项所述的方法，其特征在于，所述终端设备中包括加速度传感器，所述方法还包括：
    基于所述加速度传感器采集的数据的频率和/或振幅，获取所述运动状态。
  15. 一种车位引导方法，其特征在于，应用于云端，包括：
    接收终端设备上报的所述终端设备的位置和运动状态；
    向所述终端设备发送车位信息，所述车位信息包括：停车场内的车位的标识和占用状态，所述占用状态包括：空闲、占用，以及已占用的车位成为空闲车位的概率。
  16. 根据权利要求15所述的方法，其特征在于，所述方法还包括：
    查询是否存储所述终端设备的停车信息；
    若是，则确定所述终端设备对应的车辆已停放在目标车位；
    若否，则确定所述终端设备对应的车辆未停放在所述目标车位。
  17. 根据权利要求16所述的方法，其特征在于，所述方法还包括：
    响应于所述运动状态为驾驶状态，且未存储所述终端设备的停车信息，向所述终端设备推荐所述目标车位，所述目标车位为所述车辆待停放的车位。
  18. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    响应于检测到所述终端设备对应的车辆停放在所述目标车位，对应存储所述目标车位的标识和所述终端设备的标识；
    广播所述目标车位的占用状态为占用。
  19. 根据权利要求18所述的方法，其特征在于，所述方法还包括：
    响应于检测到所述终端设备的运动状态从驾驶状态切换至步行状态，确定所述终端设备对应的车辆停放在所述目标车位上。
  20. 根据权利要求16-19中任一项所述的方法，其特征在于，所述方法还包括：
    响应于已存储所述终端设备的停车信息，获取所述目标车位成为空闲车位的概率；
    广播所述目标车位成为空闲车位的概率。
  21. 根据权利要求20所述的方法，其特征在于，当所述运动状态为驾驶状态时，所述获取所述目标车位成为空闲车位的概率，包括：
    基于所述终端设备与所述目标车位的距离，以及所述终端设备从步行状态切换为驾驶状态后的驾驶状态的时长，获取所述目标车位成为空闲车位的概率；或者，
    基于所述终端设备与所述停车场的出口的距离，以及所述驾驶状态的时长，获取所述目标车位成为空闲车位的概率。
  22. 根据权利要求21所述的方法，其特征在于，所述基于所述终端设备与所述目标车位的距离，以及所述终端设备从步行状态切换为驾驶状态后的驾驶状态的时长，获取所述目标车位成为空闲车位的概率，包括：
    基于所述终端设备与所述目标车位的距离、所述驾驶状态的时长，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率；
    所述基于所述终端设备与所述停车场的出口的距离，以及所述驾驶状态的时长，获取所述目标车位成为空闲车位的概率，包括：
    基于所述终端设备与所述停车场的出口的距离、所述驾驶状态的时长，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率。
  23. 根据权利要求20所述的方法，其特征在于，当所述运动状态为步行状态时，所述响应于已存储所述终端设备的停车信息，获取所述目标车位成为空闲车位的概率，包括：
    响应于已存储所述终端设备的停车信息，且检测到所述终端设备朝向所述目标车位运动，获取所述目标车位成为空闲车位的概率。
  24. 根据权利要求20或23所述的方法，其特征在于，所述获取所述目标车位成为空闲车位的概率，包括：
    基于所述终端设备与所述目标车位的距离，获取所述目标车位成为空闲车位的概率。
  25. 根据权利要求24所述的方法，其特征在于，所述基于所述终端设备与所述目标车位的距离，获取所述目标车位成为空闲车位的概率，包括：
    基于所述终端设备距离所述目标车位的距离，以及所述目标车位的预设范围内未处于车位上的车辆的个数，获取所述目标车位成为空闲车位的概率。
  26. 一种电子设备，其特征在于，包括：存储器、处理器；
    所述处理器用于与所述存储器耦合，读取并执行所述存储器中的指令，以实现权利要求1-25中任一项所述的方法。
  27. 一种计算机可读存储介质，其特征在于，所述计算机存储介质存储有计算机指令，当所述计算机指令被计算机执行时，使得所述计算机执行权利要求1-25中任一项所述的方法。
  28. 一种计算机程序产品，包括计算机程序或指令，其特征在于，所述计算机程序或指令被处理器执行时，实现权利要求1-25中任一项所述的方法。
  29. 一种程序产品，其特征在于，所述程序产品包括计算机程序，所述计算机程序存储在可读存储介质中，通信装置的至少一个处理器可以从所述可读存储介质读取所述计算机程序，所述至少一个处理器执行所述计算机程序使得通信装置实施如权利要求1-14任意一项所述的方法或者如权利要求15-25任意一项所述的方法。
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