WO2023029265A1 - 寻车提示方法及装置、计算机可读存储介质、车辆 - Google Patents

寻车提示方法及装置、计算机可读存储介质、车辆 Download PDF

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Publication number
WO2023029265A1
WO2023029265A1 PCT/CN2021/135087 CN2021135087W WO2023029265A1 WO 2023029265 A1 WO2023029265 A1 WO 2023029265A1 CN 2021135087 W CN2021135087 W CN 2021135087W WO 2023029265 A1 WO2023029265 A1 WO 2023029265A1
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WIPO (PCT)
Prior art keywords
vehicle
user
car
distance
prompt
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PCT/CN2021/135087
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English (en)
French (fr)
Inventor
时红仁
张楚雄
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博泰车联网科技(上海)股份有限公司
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Publication of WO2023029265A1 publication Critical patent/WO2023029265A1/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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

Definitions

  • the invention relates to a car search prompt technology, in particular to a car search prompt method, a car search prompt device, a computer-readable storage medium, and a vehicle.
  • the traditional car-finding prompt technology generally uses the car key to control the flashing of the vehicle's signal light and/or control the vehicle's horn to help the user find his own vehicle.
  • the flashing prompt of the signal light and/or the whistle prompt of the vehicle when the line of sight is blocked. route.
  • the existing technology provides some improved car-finding schemes, which determine the car-finding guidance route according to the satellite positioning signals of the vehicle end and the user's mobile phone terminal, and push the car-finding route to the user's mobile phone terminal through the mobile network. Guided directions to help users find a car.
  • this scheme of providing car-finding guidance routes through mobile terminals has the defects of low navigation accuracy and poor real-time performance, which seriously affects the user experience.
  • this solution cannot accurately determine the user's actual orientation, and can only provide users with guidance prompts such as east, south, west, and north based on the absolute coordinates of the parking lot, which is not conducive to users quickly determining the next location based on their current orientation. Forward direction.
  • An object of the present invention is to provide a car-finding prompt method, a car-finding prompting device, a computer-readable storage medium, and a vehicle.
  • Voice prompts so that the user can quickly find the accurate route to the vehicle location by combining the sound source of the navigation voice and the prompt content.
  • Another object of the present invention is to provide a car-finding prompt method, a car-finding prompting device, a computer-readable storage medium, and a vehicle.
  • the location is accurately positioned and the signal is stable. It can not be affected by environmental factors such as indoor parking lots, and can accurately and timely provide users with voice prompts about car search navigation to help users find cars conveniently.
  • Another object of the present invention is to provide a car search prompt method, a car search prompt device, a computer-readable storage medium, and a vehicle, which have the advantage of being able to
  • the distance threshold is used to infer whether the user needs a car-finding prompt, so that when the user is close to the vehicle within a certain range, the car-finding prompt is automatically given, or the car-finding prompt is automatically stopped.
  • Another object of the present invention is to provide a car-finding prompt method, a car-finding prompt device, a computer-readable storage medium, and a vehicle, which have the advantage of being able to combine the characteristics of accurate positioning and stable signals of UWB modules, And the Bluetooth module has the characteristics of stable signal, large car search range and low energy consumption, which not only helps users to find cars in a larger space conveniently, but also further prolongs the standby time of the car search prompt function.
  • Another object of the present invention is to provide a car-finding prompt method, a car-finding prompting device, a computer-readable storage medium, and a vehicle. direction, and provide the user with corresponding guidance tips to help the user quickly determine the next direction according to their current orientation.
  • Another object of the present invention is to provide a car-finding prompt method, a car-finding prompting device, a computer-readable storage medium, and a vehicle, which have the advantage of being able to continuously monitor the real-time location of the user, and Real-time location for humanized car search prompts to improve the intelligent interaction of vehicles.
  • Another object of the present invention is to provide a car-finding prompt method, a car-finding prompting device, a computer-readable storage medium, and a vehicle, which have the advantage of being able to further obtain absolute positions such as parking space information of the vehicle parking space information, and provide users with corresponding voice prompts to help users find cars more conveniently.
  • the first aspect of the present invention provides a car search prompt method.
  • the car search prompt method includes the following steps: monitoring a user identification signal outside the vehicle; in response to receiving the user identification signal, determining the relative position of the vehicle with respect to the user according to the user identification signal; and determining the relative position of the vehicle according to the relative position , playing a voice prompt about the car search navigation through the external audio system of the vehicle.
  • the car-finding prompt method can play a voice prompt about car-finding navigation through the vehicle's external audio system, so that the user can quickly find the exact route to the vehicle location by combining the sound source of the navigation voice and the content of the prompt.
  • the step of monitoring the user identification signal outside the vehicle includes: monitoring the The UWB signal emitted by the user's user terminal.
  • UWB signal has the characteristics of accurate positioning and stable signal.
  • the step of monitoring the user identification signal outside the vehicle includes: monitoring the Bluetooth signal sent by the user terminal of the user within the second range outside the vehicle via the Bluetooth module of the vehicle .
  • the step of determining the relative position of the vehicle with respect to the user based on the user identification signal in response to receiving the user identification signal comprises: in response to receiving the Bluetooth signal, parsing the Bluetooth signal to determine a user instruction; and in response to the user instruction that the bluetooth signal indicates car-finding navigation, via the UWB module of the vehicle, monitor the UWB signal sent by the user terminal within the first range outside the vehicle, and according to the UWB A signal determines a relative position of the vehicle with respect to the user.
  • the second range is greater than the first range.
  • the positioning accuracy of the Bluetooth module is lower, but it has a longer communication distance and lower energy consumption.
  • the car-finding prompt method can further expand the range of car-finding and reduce energy consumption while ensuring accurate positioning and signal stability, and can not only help users conveniently Finding a car in a larger space can be done more efficiently, and the standby time of the car-finding prompt function can be further extended.
  • the relative position includes a relative direction of the vehicle with respect to the user, and a distance from the vehicle to the user.
  • the step of determining the relative position of the vehicle with respect to the user according to the UWB signal includes: determining the motion track of the user terminal according to the position information indicated by the UWB signal; more than one location; and determining the relative direction of the vehicle with respect to the user according to the three or more location.
  • the step of playing the voice prompt about the car-finding navigation through the external audio system of the vehicle according to the relative position includes: obtaining the parking space information of the parking space of the vehicle;
  • the external audio system of the vehicle plays a voice prompt including the relative position and the parking space information.
  • the car finding prompt method can further provide the user with a vehicle
  • the voice prompt of the parking space information of the parking space helps the user to find the car more conveniently.
  • the second aspect of the present invention provides a car search prompting device.
  • the car finding prompt device includes a memory and at least one processor.
  • the at least one processor is communicatively connected to the memory and the external audio of the vehicle, and is configured to implement the above-mentioned car finding prompt method provided by the first aspect of the present invention.
  • the car-finding prompting device can play a voice prompt about car-finding navigation through the vehicle's external audio, so that the user can quickly find the location of the vehicle by combining the sound source and prompt content of the navigation voice exact route.
  • a third aspect of the present invention provides a computer-readable storage medium on which computer instructions are stored.
  • the above-mentioned car search prompt method provided by the first aspect of the present invention is implemented.
  • the computer-readable storage medium can play a voice prompt about the car-finding navigation through the vehicle's external audio system, so that the user can quickly find the vehicle to go by combining the sound source and prompt content of the navigation voice exact directions to the location.
  • a fourth aspect of the present invention provides a vehicle.
  • the vehicle includes an exterior speaker, a monitoring module, memory, and at least one processor.
  • the exterior speaker is installed inside a body panel of the vehicle.
  • the monitoring module is configured to monitor a user identification signal external to the vehicle.
  • the at least one processor is communicatively connected to the memory, the external speaker, and the monitoring module, and is configured to: monitor a user identification signal external to the vehicle via the monitoring module; According to the user identification signal, the relative position of the vehicle relative to the user is determined according to the user identification signal; and according to the relative position, a voice prompt about car search and navigation is played through the external audio system.
  • the vehicle can play voice prompts about car-finding navigation through an external audio system, so that the user can quickly find an accurate route to the vehicle location by combining the sound source and prompt content of the navigation voice .
  • Fig. 1 shows a schematic diagram of a car search prompt device provided according to some embodiments of the present invention.
  • Fig. 2 shows a schematic diagram of a car search prompt scene provided according to some embodiments of the present invention.
  • Fig. 3 shows a schematic structural diagram of an external sound system provided according to some embodiments of the present invention.
  • Fig. 4 shows a schematic flowchart of a car search prompt method provided according to some embodiments of the present invention.
  • Fig. 5 shows a schematic flowchart of triggering a car search prompt function provided according to some embodiments of the present invention.
  • Fig. 6 shows a schematic flowchart of determining the relative position of the vehicle with respect to the user according to the UWB signal according to some embodiments of the present invention.
  • Fig. 7 shows a schematic flowchart of determining the relative direction of the vehicle with respect to the user according to some embodiments of the present invention.
  • FIGS. 8A-8H show schematic diagrams of determining the relative direction of a vehicle with respect to a user provided according to some embodiments of the present invention.
  • Fig. 9 shows a schematic flowchart of a car search prompt method provided according to some embodiments of the present invention.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.
  • first”, “second”, “third”, etc. may be used herein to describe various components, regions, layers and/or sections, these components, regions, layers and/or sections It should not be limited by these terms, and these terms are only used to distinguish different components, regions, layers and/or sections. Thus, a first component, region, layer and/or section discussed below could be termed a second component, region, layer and/or section without departing from some embodiments of the present invention.
  • the traditional car-finding prompt technology generally uses the car key to control the blinking of the vehicle's signal light and/or control the vehicle's horn to help the user find his own vehicle.
  • complex parking scenes such as large parking lots and three-dimensional parking lots, it is often difficult for users to find the exact location of the vehicle only by the flashing prompt of the signal light and/or the whistle prompt of the vehicle when the line of sight is blocked. route.
  • the car-finding guide route can be determined according to the satellite positioning signals of the vehicle terminal and the user's mobile phone terminal, and the guide route can be pushed to the user's mobile phone terminal through the mobile network to help the user find a car , it still has the defects of low navigation accuracy and poor real-time performance, which will seriously affect the user experience.
  • the improved car-finding solution still has the problem of not being able to determine the user's actual orientation. It can only provide users with guidance prompts such as east, south, west, and north based on the absolute coordinates of the parking lot, which is not conducive to users according to their current orientation. Heading to quickly determine the next way forward.
  • the present invention provides a car-finding prompt method, a car-finding prompting device, a computer-readable storage medium, and a vehicle capable of playing information about The voice prompt of the car search navigation, so that the user can quickly find the accurate route to the vehicle location by combining the voice source of the navigation voice and the content of the prompt.
  • the above-mentioned car-finding prompt method provided by the first aspect of the present invention can be implemented by the above-mentioned car-finding prompting device provided by the second aspect of the present invention.
  • the vehicle search prompt device can be configured in the above-mentioned vehicle provided by the fourth aspect of the present invention in the form of hardware equipment and/or software program.
  • FIG. 1 shows a schematic diagram of a car search prompt device provided according to some embodiments of the present invention.
  • a memory 11 and at least one processor 12 are configured on the car finding prompt device 10 .
  • the memory 11 includes, but is not limited to, the computer-readable storage medium provided by the third aspect of the present invention, on which computer instructions are stored.
  • the at least one processor 12 is communicably connected to the memory 11 and is configured to execute computer instructions stored in the memory 11 to implement the above-mentioned car search prompt method provided by the first aspect of the present invention.
  • the car finding prompt device 10 is configured with an independent memory 11 and at least one independent processor 12 .
  • the at least one processor 12 is communicatively connected to the memory 11, and communicatively connected to the monitoring module 21 and the external audio 22 of the vehicle, through which the monitoring module 21 can monitor the user identification signal outside the vehicle, and through the external Audio 22 plays the voice prompt about car-finding navigation.
  • the car-finding prompt device 10 is stored in the on-board memory of the vehicle in the form of computer instructions.
  • the on-board memory is communicatively connected to at least one on-board processor.
  • the at least one in-vehicle processor can be communicatively connected to the monitoring module 21 and the external audio system 22 of the vehicle.
  • the car search prompt virtual device 10 in the form of a software program can use the car-machine memory of the vehicle as its memory 11, and use at least one car-machine processor of the vehicle as its processor 12 to monitor the car through the vehicle monitoring module 21.
  • the user outside the vehicle recognizes the signal, and plays a voice prompt about car search and navigation via the external sound system 22 of the vehicle.
  • car-finding prompting device in combination with some embodiments of the car-finding prompting method.
  • these examples of the car-finding prompt method are only some non-limiting implementations provided by the present invention, and are intended to clearly demonstrate the main idea of the present invention and provide some specific solutions that are convenient for the public to implement. It is not intended to limit all functions or all working methods of the car-finding prompt device.
  • the car-finding prompting device is only a non-limiting embodiment provided by the present invention, and does not limit the execution subject of each step in these car-finding prompting methods.
  • Fig. 2 shows a schematic diagram of a car search prompt scene provided according to some embodiments of the present invention.
  • Fig. 3 shows a schematic structural diagram of an external sound system provided according to some embodiments of the present invention.
  • Fig. 4 shows a schematic flowchart of a car search prompt method provided according to some embodiments of the present invention.
  • the above-mentioned car search prompt device 10 provided by the second aspect of the present invention is embedded in the TBOX 131 of the vehicle 130 in the form of a software module, and the TBOX memory of the TBOX 131 It is its memory, and at least one TBOX processor of this TBOX 131 is its processor. It can be understood that the at least one TBOX processor is directly or indirectly connected to the TBOX memory, and can read and execute computer instructions stored in the TBOX memory to implement a corresponding control method.
  • the TBOX 131 of the vehicle 130 is also equipped with a monitoring module 21 based on Bluetooth and/or UWB technology.
  • the monitoring module 21 is directly or indirectly connected to the at least one TBOX processor, and can monitor the mobile phone, smart watch, smart bracelet, smart glasses, vehicle smart key, and tablet of the user 110 according to the control instructions of the at least one TBOX processor.
  • Bluetooth and/or UWB user identification signals sent by user terminals 120 such as computers.
  • the user identification signal carries identification information indicating the identity of the user.
  • the car finding prompt device 10 can judge whether the user terminal 120 that sends out the user identification signal is the user terminal of the vehicle user according to the identification information.
  • an external speaker 22 is installed inside one or more of the front, rear, left, and right body panels of the vehicle 130 .
  • the one or more external speakers 22 are directly or indirectly connected to the at least one TBOX processor, and can play corresponding voice content to the outside of the vehicle according to the control instructions of the at least one TBOX processor.
  • the exterior speaker 22 may be disposed in a cavity between a body panel as an outer surface of the vehicle 130 and an interior panel as an inner surface of the vehicle 130 , and be attached to the body panel or the interior panel.
  • the exterior speaker 22 installed inside the front body panel of the vehicle 130 may be installed inside the front bumper of the vehicle 130 .
  • the exterior speaker 22 installed inside the rear body panel of the vehicle 130 may be installed inside the rear bumper of the vehicle 130 .
  • the exterior speaker 22 installed inside the right body panel of the vehicle 130 may be installed inside the right front fender, the right front door, the right rear door, and/or the right rear fender of the vehicle 130 .
  • the exterior speaker 22 installed inside the left body panel of the vehicle 130 may be installed inside the left front fender, the left front door, the left rear door and/or the left rear fender of the vehicle 130 .
  • the external sound 22 can be realized by a piezoelectric sound-generating module.
  • the piezoelectric sound generating module 22 may include an electrode sheet 221 configured to receive an excitation voltage from a driving circuit.
  • the excitation voltage may be a high-frequency square wave with alternating polarities.
  • the electrode sheet 221 may be a pair of positive and negative electrode sheets.
  • the piezoelectric sounding module 22 may further include a piezoelectric ceramic 222 configured to expand or contract laterally or longitudinally under the action of an excitation voltage received through the electrode sheet 221 .
  • the excitation voltage can be a high-frequency square wave with alternating polarity, so the piezoelectric ceramic 222 will produce mechanical deformation under the action of the square wave with alternating polarity, that is, elongation or contraction.
  • the piezoelectric ceramics 222 may be transversely or longitudinally polarized piezoelectric ceramics, so that transverse or longitudinal mechanical deformation is generated under the action of the excitation voltage.
  • the piezoelectric ceramic 222 under the action of a forward voltage (that is, the upper surface of the piezoelectric ceramic 222 is connected to the positive pole of the excitation voltage, and the lower surface of the piezoelectric ceramic 222 is connected to the negative pole of the excitation voltage), the piezoelectric ceramic 222 is laterally elongated (that is, Extend along the radial direction of the surface of the vibrating plate 223), and under the action of negative voltage (that is, the upper surface of the piezoelectric ceramic 222 is connected to the negative pole of the excitation voltage, and the lower surface of the piezoelectric ceramic 222 is connected to the positive pole of the excitation voltage), The piezoelectric ceramic 222 shrinks laterally (ie, shrinks in the radial direction along the surface of the vibrating plate 223 ). The longer the transverse length of the piezoelectric ceramic 222 is, the stronger the low frequency response of its vibration is.
  • the piezoelectric sound-generating module 22 also includes a vibrating plate 223 , which is attached to the piezoelectric ceramic 222 and vibrates as the piezoelectric ceramic 222 expands or contracts. In this way, the piezoelectric sound-generating module 22 converts the input excitation voltage into vibration, thereby emitting voice.
  • the vibrating plate 223 can be directly attached to the body panel as the outer surface of the vehicle 130 to drive the body panel to vibrate.
  • the piezoelectric acoustic module 22 may further include a vibrating spacer 224 located between the vibrating plate 223 and the vehicle body panel.
  • the vibration spacer 224 the frequency response of the vibration generated by the vibration plate 223 can be adjusted. For example, if the low frequency response of the vibration needs to be enhanced, the area of the vibration pad 224 can be increased, and if the low frequency response of the vibration needs to be weakened, the area of the vibration pad 224 can be reduced.
  • the piezoelectric sound-generating module 22 may further include a counterweight 225 located on the other side of the piezoelectric ceramic 222 opposite to the vibrating plate 223 .
  • the weight 225 can also be used to adjust the frequency response of the vibration generated by the vibrating plate 223 . For example, if the low frequency response of the vibration needs to be enhanced, the weight of the counterweight 225 can be increased; on the contrary, if the low frequency response of the vibration needs to be weakened, the weight of the counterweight 225 can be reduced.
  • the desired low-frequency response can be easily obtained by adapting the area of the vibrating spacer 224 and/or the weight of the counterweight 225 .
  • the piezoelectric sound-generating module 22 shown in FIG. 3 is only schematic and is not intended to limit the scope of the present invention.
  • the electrode sheet 221 may be disposed at different positions of the piezoelectric ceramic 222 , or apply an excitation voltage to the piezoelectric ceramic 222 in other forms.
  • a plurality of counterweights 225 and the like can be set in the piezoelectric sounding module 22 .
  • the piezoelectric acoustic module 22 may include multiple piezoelectric ceramics 222 and corresponding multiple pairs of electrode sheets 221 .
  • one piezoelectric ceramic 222 can be arranged on the upper and lower sides of the vibrating plate 223 (for example, another piezoelectric ceramic 222 is arranged symmetrically with the piezoelectric ceramic 222 shown below the vibrating plate 223), and the two piezoelectric ceramics 222 can be arranged on their respective sides. Under the action of the electrode sheet 221, it expands or contracts in opposite directions, thereby further enhancing the vibration effect.
  • the car search prompt device 10 can be kept activated (for example, continuously in the low power consumption mode) when the vehicle 130 is parked, turned off or dormant, and the monitoring module of the vehicle 130 can be operated. 21, to monitor the user identification signal outside the vehicle 130.
  • the monitoring module 21 can be a UWB monitoring module based on UWB technology, which can monitor the mobile phone, smart watch, smart bracelet, vehicle UWB signals sent by user terminals 120 such as smart keys and tablet computers, and the relative position of the vehicle 130 relative to the user 110 is determined according to the UWB signals.
  • the first range should be appropriate to ensure that the user can clearly hear the voice content played by the vehicle terminal 130 , and generally choose a radiation range within 20 meters from the vehicle, for example: 5 meters, 10 meters, 15 meters, 20 meters.
  • the UWB signal is a short-range communication signal that detects the relative position between the signal sending end and the signal receiving end. It has accurate positioning, stable signal, and is not covered by the ceiling in the indoor scene. Due to the advantages of factors, the effect of accurately and stably locating the relative positions of the vehicle 130 and the user 110 can be achieved in indoor parking scenes such as three-dimensional parking lots and underground parking lots.
  • the car search prompt device 10 can also infer whether the user 110 needs to find a car according to the location information indicated by the multiple UWB signals Prompt function.
  • the car-finding prompting device 10 may determine that the vehicle 130 is within the visual range of the user 110 , thus inferring that the user 110 does not need the car-finding prompt function. At this time, the car-finding prompt device 10 may shield the user identification signal, so as to stop playing the voice prompt about car-finding navigation to the outside of the vehicle 130 . In this way, unnecessary voice prompts for car search can be reduced, and the impact on the surrounding environment can be avoided.
  • the car search prompt device 10 can infer that the user 110 is leaving the vehicle 130, and does not need to Car search reminder function. At this time, the car finding prompt device 10 may shield subsequent user identification signals, so as to avoid playing wrong voice prompts to the user 110 who leaves the vehicle 130 . Afterwards, if the above-mentioned UWB signal is detected again after disappearing for a period of time, the car-finding prompt device 10 may infer that the user 110 is returning to the vehicle 130 and needs a car-finding prompt function.
  • the car-finding prompt device 10 can enable the user identification signal, and play a voice prompt about car-finding navigation via the external audio system 22 of the vehicle 130, so as to help the user 110 quickly find an accurate route to the vehicle location.
  • it can be estimated whether the user needs a car search prompt according to the relative position between the user and the vehicle and the preset distance threshold, so that the car search prompt is automatically given when the user approaches the vehicle within a certain range, or the car search prompt is automatically stopped.
  • the monitoring module 21 may be composed of a Bluetooth module and a UWB module, or directly select a composite monitoring module integrating Bluetooth and UWB monitoring functions.
  • the Bluetooth module can monitor the Bluetooth signals sent by user terminals 120 such as mobile phones, smart watches, smart bracelets, smart glasses, vehicle smart keys, and tablet computers of users 110 within the second range according to the control instructions of the car search prompt device 10 .
  • the UWB module can monitor the UWB signals sent by user terminals 120 such as mobile phones, smart watches, smart bracelets, vehicle smart keys, and tablet computers of users 110 within the first range according to the control instructions of the car search prompt device 10 . Since the propagation distance of Bluetooth signals is greater than that of UWB signals, the second range may be greater than the first range.
  • the second range can cover the radiation range (for example, 50 meters, 80 meters, 100 meters) within 100 meters from the vehicle, and the first range should still ensure that the user can clearly hear the voice content played by the vehicle terminal 130. It is advisable to still choose the radiation range within 20 meters from the vehicle (for example: 5 meters, 10 meters, 15 meters, 20 meters).
  • FIG. 5 shows a schematic flowchart of triggering a car search prompt function provided according to some embodiments of the present invention.
  • the car-finding prompt device 10 can be kept activated when the vehicle 130 is parked, turned off or dormant (for example, continuously in a low power consumption mode), and the Bluetooth module of the vehicle 130 can be operated to monitor the user
  • the UWB module can remain dormant to reduce the energy consumption of the car-finding prompt device 10 to prolong the maintenance time of the car-finding prompt function.
  • the user 110 can first click the physical or virtual button of the car-finding function on user terminals 120 such as his mobile phone, smart watch, smart bracelet, vehicle smart key, and tablet computer to control his user terminal 120 to send Indicates the Bluetooth signal of the car search reminder function.
  • user terminals 120 such as his mobile phone, smart watch, smart bracelet, vehicle smart key, and tablet computer to control his user terminal 120 to send Indicates the Bluetooth signal of the car search reminder function.
  • the Bluetooth module of the bound vehicle 130 within the second range will monitor and analyze the Bluetooth signal to determine the corresponding user instruction, and provide the corresponding remote service according to the user instruction.
  • the car-finding prompt device 10 may determine that the user 110 needs a car-finding prompt function, so as to first control the blinking of the signal lights of the vehicle 130 and/or control the vehicle 130 Honk the horn to initially help the user 110 find his vehicle 130 .
  • the car search prompt device 10 may first determine the location of the user according to the location information indicated by the received Bluetooth signal, and then roughly determine the distance from the vehicle 130 to the user 110 according to the vehicle location and the determined user location. distance, and determine whether the distance from the user 110 to the vehicle 130 exceeds a preset first range (for example: 20 meters).
  • the car search prompt device 10 can first roughly determine the relative position of the vehicle 130 with respect to the user 110 according to the user's position indicated by the Bluetooth signal, and send a message to the user terminal 120 sends a guided route based on the rough relative location to guide the user 110 closer to the vehicle location. Afterwards, when the user 110 enters the preset first range under the guidance of the above-mentioned guidance route, the car search prompt device 10 will wake up the above-mentioned UWB module to monitor the UWB signal sent by the user terminal 120 within the first range outside the vehicle 130, and The relative position of the vehicle 130 with respect to the user 110 is precisely determined from the received UWB signals.
  • the car-finding prompt device 10 can also directly wake up the UWB module in response to the request for further providing a car-finding prompt, so as to accurately determine the vehicle 130's relationship with the user according to the received UWB signal. 110 relative position effects.
  • the Bluetooth module Compared with the UWB module, the Bluetooth module has a longer monitoring distance and lower energy consumption. Therefore, by continuously running the Bluetooth module to monitor the user identification signal sent by the user terminal 120 outside the vehicle 130, and then waking up the UWB module according to the actual needs of the user 110 for car search prompts, this solution can realize flashing in a larger range.
  • basic car-finding reminder functions such as lights, horns, and user terminal navigation can reduce the energy consumption of the vehicle 130 when it is parked and turned off or in a dormant state, so as to prolong the maintenance time of the car-finding reminder function.
  • the user can also control the user terminal 120 to send a message to the vehicle by inputting a car search instruction (for example, "where are you?" to the user terminal 120 by keyboard or voice input).
  • a car search instruction for example, "where are you?" to the user terminal 120 by keyboard or voice input.
  • 130 sends a bluetooth signal indicating the car-finding prompt function, so as to achieve the effect of activating the car-finding prompt function.
  • the user can also control the user terminal 120 to send a bluetooth signal indicating the car search prompt function to the vehicle 130 by inputting a preset shortcut gesture to the user interface of the user terminal 120, so as to also achieve The effect of activating the car search prompt function.
  • the user can also control the user terminal 120 to send a bluetooth signal indicating the car search prompt function to the vehicle 130 by shaking the user terminal 120, for example, through the "shake" function, to also Achieve the effect of activating the car-finding prompt function.
  • FIG. 6 shows a schematic flowchart of determining the relative position of the vehicle with respect to the user according to the UWB signal according to some embodiments of the present invention.
  • the car search prompt device 10 in response to the start of the UWB module and monitoring the UWB signal sent by the user terminal 120, can determine the vehicle 130 according to the acquired UWB information. 110 relative direction d direction , and determine the distance d distance from the vehicle 130 to the user 110 according to the acquired UWB information. After that, the car search prompt device 10 can determine the relative position D(d direction ,d distance ) of the vehicle 130 relative to the user 110 according to the relative direction d direction and the distance d distance .
  • FIG. 7 shows a schematic flowchart of determining the relative direction of the vehicle with respect to the user according to some embodiments of the present invention.
  • 8A-8H show schematic diagrams of determining the relative direction of a vehicle with respect to a user provided according to some embodiments of the present invention.
  • the car search prompt device 10 can first send a prompt message to the user terminal 120, prompting the user to wave his user terminal 120 To produce at least one coherent motion trajectory.
  • the car search prompt device 10 will use the UWB module of the vehicle 130 to continuously monitor multiple UWB signals sent by the user terminal 120 at multiple consecutive times, and determine the location information of the user terminal 120 according to the location information indicated by the multiple UWB signals. motion track.
  • the car search reminder device 10 can determine that the first point, the second point and the third point belong to the same segment Coherent curved trajectory. Conversely, if ⁇ 21 is greater than the preset change rate threshold ⁇ th , the car search prompt device 10 may determine that the second point and the third point belong to the next continuous arc trajectory.
  • the car-finding prompt device 10 can also use other technical means to achieve the same effect of intercepting the arc-shaped motion trajectory.
  • the car search prompt device 10 can also use machine vision technology to extract feature vectors from the motion trajectory of the user terminal 120, and use the pre-trained neural network model to automatically intercept the arc trajectory.
  • the car search reminder device 10 may also continuously monitor multiple UWB signals sent by the user terminal 120 within a preset time after sending the reminder information, and The location information indicated by multiple UWB signals is used to determine the trajectory of the user terminal 120 .
  • the car search prompt device 10 can acquire the position information of more than three points from the arc track in time sequence, and according to the above three points
  • the position information of the vehicle 130 is used to determine the relative direction d direction of the vehicle 130 with respect to the user 110 .
  • the motion track generated by the user 110 manually waving the user terminal 120 will not completely extend along the vertical direction.
  • the car search prompt device 10 can first project the acquired arc track onto a horizontal plane, and then acquire the position information of the starting point A, passing point C and end point B of the arc track from the arc track in time sequence. Afterwards, the car search prompt device 10 can determine the relative direction d direction of the vehicle 130 with respect to the user 110 according to the starting position A, the passing point position C, and the distance from the end position B to the vehicle position O.
  • the car finding prompt device 10 can determine that the vehicle 130 is behind the user 110 .
  • the car finding prompt device 10 can determine that the vehicle 130 is in front of the user 110 .
  • the car finding prompt device 10 can determine that the vehicle 130 is on the left side of the user 110 .
  • the car search prompt device 10 can determine that the vehicle 130 is on the right side of the user 110 .
  • the passing point position C may preferably be at the midpoint of the arc trajectory.
  • the car search prompt device 10 can further analyze the upper arc trajectory to determine the point P farthest from the vehicle position O and the point Q closest to it, and then according to the farthest The position of the point P and the closest point Q on the arc trajectory determines the relative direction d direction of the vehicle 130 with respect to the user 110 .
  • the car search prompt device 10 can determine that the vehicle 130 is behind the user 110 .
  • the car search prompt device 10 can determine that the vehicle 130 is in front of the user 110 .
  • the car search prompt device 10 can determine that the vehicle 130 is on the left side of the user 110 .
  • the car search prompt device 10 can determine that the vehicle 130 is on the right side of the user 110 .
  • the car search prompt device 10 can determine that the vehicle 130 is behind the user 110 on the right.
  • the car search prompt device 10 can determine that the vehicle 130 is behind the user 110 on the left.
  • the car search prompt device 10 can determine that the vehicle 130 is in front of the user 110 on the right.
  • the car search prompt device 10 can determine that the vehicle 130 is in front of the user 110 on the left.
  • the car search prompt device 10 can accurately determine the relative direction of the vehicle 130 with respect to the user 110 based on the above scheme, so as to provide the user 110 with corresponding guidance prompts to help the user 110 according to his own The current orientation to quickly determine the next direction of travel.
  • the car finding prompt device 10 can also determine the distance from the vehicle 130 to the user 110 according to the acquired UWB information. Specifically, the car search prompt device 10 can first determine a straight line AB according to the starting position A and the ending position B of the arc track, and then make a vertical line of the straight line AB through the passing point position C, so as to determine the vertical line and the straight line AB. , so that the position of the intersection point is determined as the user position, and the distance d distance from the vehicle 130 to the user 110 is determined according to the vehicle position O and the user position.
  • the car search prompt device 10 can, according to the relative position D(d direction ,d distance ), send a message via the exterior of the vehicle 130 .
  • Audio 22 plays the voice prompt about car search navigation.
  • the car search prompt device 10 can first fill in the above-mentioned relative direction information d direction and the above-mentioned distance information d distance into the pre-prepared text template T 0 "Master, I am in the 'd distance ' meters of your 'd direction '" , to generate the corresponding voice prompt text T D0 . Afterwards, the car search prompt device 10 can input the voice prompt text T D0 into a TTS (Text to Speech) module to generate a corresponding voice prompt audio A D0 .
  • TTS Text to Speech
  • the car search prompt device 10 can input the voice prompt audio A D0 into one or more external speakers 22 of the vehicle 130, and play the corresponding voice prompt content about the car search navigation through the external speakers 22, so that the user 110 can combine the The sound source and prompt content of the navigation voice can quickly find the accurate route to the vehicle location.
  • the car-finding prompt device 10 can also continuously use the UWB module of the vehicle 130 to monitor the real-time location of the user 110 during the process of car-finding prompting, so as to determine the distance between the vehicle 130 and the user 110.
  • the change trend ⁇ d distance of the distance d distance , and the corresponding voice prompt feedback is provided to the user according to the change trend ⁇ d distance .
  • a preset time interval for example: 10s.
  • the car search prompt device 10 can determine that the distance from the vehicle 130 to the user 110 is decreasing, and thus play "Yes, please continue walking" via the external sound system 22 of the vehicle 130. " and other positive voice prompts to encourage the user 110 to proceed along the correct route. In this way, humanized navigation feedback can be given according to the real-time position change of the user, and the intelligence of human-vehicle interaction can be provided.
  • the car search prompt device 10 can further acquire information indicating the absolute position of the vehicle 130 in the parking lot, such as the parking space information p, and further play the absolute position through the external sound 22 of the vehicle 130 information, so as to further facilitate the user 110 to determine the parking position of the vehicle 130 according to the actual scene around him.
  • FIG. 9 shows a schematic flowchart of a method for prompting car search according to some embodiments of the present invention.
  • the car search prompt device 10 in response to the vehicle 130 being parked and turned off, can obtain the information of the parking space where the vehicle 130 is parked from the management system of the parking lot via the cloud platform of the Internet of Vehicles (Internet of Vehicles) in advance. parking space information p, and continue to run the UWB module and/or Bluetooth module to monitor the UWB signal and/or Bluetooth signal sent by the user terminal 120 outside the vehicle 130 .
  • the car search prompt device 10 can determine the relative position D(d direction ,d distance ).
  • the car search prompt device 10 can fill the above-mentioned parking space information p, the above-mentioned relative direction information d direction , and the above-mentioned distance information d distance into the pre-prepared text template T 1 "Master, I am in your 'd direction '. 'd distance ' meters, 'p' parking space" to generate the corresponding voice prompt text T D1 , and then input the voice prompt text T D1 into the TTS module to generate the corresponding voice prompt audio A D1 .
  • the car search prompt device 10 can input the voice prompt audio A D1 into the external sound system 22 of the vehicle 130, and the external sound system 22 plays an audio system containing both relative position information D (d direction , d distance ) and absolute position information p voice prompts.
  • the user 110 can quickly determine the direction to go next by combining the sound source of the navigation voice and the prompt content of "front", “back”, “left” and “right", on the other hand, it can The change rule of the parking space information on the route can judge whether the forward route is correct, so as to relieve the anxiety in the process of finding a car and improve the user experience.
  • the car-finding prompting device 10 may also obtain the absolute position information p in response to receiving the user identification signal, thereby saving traffic consumed by the car-finding prompting method.
  • the car-finding prompting device 10 described in the above-mentioned embodiments is realized by a combination of software and hardware.
  • the car finding prompt device 10 can also be implemented in software or hardware alone.
  • the car-finding prompt device 10 can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), It may be implemented by a processor, controller, microcontroller, microprocessor, other electronic means for performing the functions described above, or a selected combination of the above.
  • the car search prompt device 10 can be implemented by independent software modules such as program modules (procedures) and function modules (functions) running on a general-purpose chip, wherein each module executes one or more functions and operations described in this document.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • a general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine.
  • a processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in cooperation with a DSP core, or any other such configuration.

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Abstract

寻车提示方法及装置（10）、计算机可读存储介质以及车辆（130），寻车提示方法包括以下步骤：监测车辆（130）外部的用户（110）识别信号；响应于收到用户（110）识别信号，根据用户（110）识别信号确定车辆（130）关于用户（110）的相对位置；以及根据相对位置，经由车辆（130）的外部音响播放关于寻车导航的语音提示。通过执行这些步骤，寻车提示方法能够经由车辆（130）的外部音响来播放关于寻车导航的语音提示，以便用户（110）结合该导航语音的声音来源及提示内容，快速地找到前往车辆（130）位置的准确路线。

Description

寻车提示方法及装置、计算机可读存储介质、车辆
相关申请的交叉引用
本申请要求于2021年9月3日提交于中国国家知识产权局(CNIPA)的专利申请号为202111035578.7的中国专利申请的优先权和权益，上述中国专利申请通过引用整体并入本文。
技术领域
本发明涉及寻车提示技术，尤其涉及一种寻车提示方法、一种寻车提示装置、一种计算机可读存储介质，以及一种车辆。
背景技术
随着车辆普及度的日益升高，越来越多的大型停车场应运而生。这些大型停车场通常被设置在商业中心、大型办公楼、公交转运中心、高密度住宅区等车流密集的场所，用于解决这些场所车位紧缺的问题。然而，在这些覆盖面积巨大且结构复杂的大型停车场中，用户往往难以清楚地记住并找到其车辆的停放位置，从而给用户的停车和找车带来诸多不便。因此，本领域亟需一种寻车提示技术，用于帮助用户快速、便捷地找到其车辆的停放位置。
传统的寻车提示技术一般通过车钥匙来控制车辆的信号灯闪烁和/或控制车辆鸣笛，以帮助用户寻找自己的车辆。然而，在大型停车场、立体停车场等结构复杂的停车场景中，用户往往很难在视线被遮挡的情况下，仅凭信号灯的闪烁提示和/或车辆的鸣笛提示找到前往车辆位置的准确路线。
为了解决上述找车难的问题，现有技术提供了一些改进的寻车方案，根据车辆端与用户手机终端的卫星定位信号来确定寻车引导路线，并通过移动网络向用户的手机终端推送该引导路线以帮助用户寻车。然而，在立体停车场、地下停车场等室内场景中，卫星定位信号及移动网络的信号强度普遍较弱。因此，这种通过手机终端来提供寻车引导路线的方案，一方面存在导航精度低、实时性差的缺陷，严重影响用户的使用体验。另一方面，该方案无法准确地确定用户的实际朝向，只能根据停车场的绝对坐标为用户提供东、南、西、北等引导提示，不利于用户根据自身的当前朝向快速确定接下来的前进方向。
为了克服现有技术存在的上述缺陷，本领域亟需一种寻车提示技术，经由车辆的外部音响来播放关于寻车导航的语音提示，以便用户结合该导航语音的声音来源及提示内容，快速地找到前往车辆位置的准确路线。
发明内容
以下给出一个或多个方面的简要概述以提供对这些方面的基本理解。此概述 不是所有构想到的方面的详尽综览，并且既非旨在指认出所有方面的关键性或决定性要素亦非试图界定任何或所有方面的范围。其唯一的目的是要以简化形式给出一个或多个方面的一些概念以为稍后给出的更加详细的描述之前序。
本发明的一个目的在于提供一种寻车提示方法、一种寻车提示装置、一种计算机可读存储介质，以及一种车辆，其优势在于能够经由车辆的外部音响来播放关于寻车导航的语音提示，以便用户结合该导航语音的声音来源及提示内容，快速地找到前往车辆位置的准确路线。
本发明的另一个目的在于提供一种寻车提示方法、一种寻车提示装置、一种计算机可读存储介质，以及一种车辆，其优势在于能够通过近场通信技术对用户和车辆的相对位置进行准确的定位且信号稳定，能够不受室内停车场等环境因素的影响，准确、及时地为用户提供关于寻车导航的语音提示，以帮助用户便捷地寻车。
本发明的另一个目的在于提供一种寻车提示方法、一种寻车提示装置、一种计算机可读存储介质，以及一种车辆，其优势在于能够根据用户与车辆的相对位置以及预设的距离阈值来推测用户是否需要寻车提示，从而在用户靠近车辆一定范围时自动进行寻车提示，或自动停止寻车提示。
本发明的另一个目的在于提供一种寻车提示方法、一种寻车提示装置、一种计算机可读存储介质，以及一种车辆，其优势在于能够结合UWB模块定位准确且信号稳定的特点，以及蓝牙模块信号稳定、寻车范围大且能耗低的特点，不但能够帮助用户便捷地在更大的空间范围内寻车，还能进一步延长寻车提示功能的待机时间。
本发明的另一个目的在于提供一种寻车提示方法、一种寻车提示装置、一种计算机可读存储介质，以及一种车辆，其优势在于能够根据UWB信号准确地确定车辆关于用户的相对方向，并向用户提供相应的引导提示，以帮助用户根据自身的当前朝向快速确定接下来的前进方向。
本发明的另一个目的在于提供一种寻车提示方法、一种寻车提示装置、一种计算机可读存储介质，以及一种车辆，其优势在于能够持续监测用户的实时位置，并根据用户的实时位置进行人性化的寻车提示，以提高车辆的智能交互。
本发明的另一个目的在于提供一种寻车提示方法、一种寻车提示装置、一种计算机可读存储介质，以及一种车辆，其优势在于能够进一步获取车辆停放车位的车位信息等绝对位置信息，并向用户提供相应的语音提示以帮助用户更便捷地寻车。
为了实现上述目的，本发明的第一方面提供了一种寻车提示方法。所述寻车提示方法包括以下步骤：监测车辆外部的用户识别信号；响应于收到所述用户识别信号，根据所述用户识别信号确定所述车辆关于用户的相对位置；以及根据所述相对位置，经由所述车辆的外部音响播放关于寻车导航的语音提示。通过执行 这些步骤，所述寻车提示方法能够经由车辆的外部音响来播放关于寻车导航的语音提示，以便用户结合该导航语音的声音来源及提示内容，快速地找到前往车辆位置的准确路线。
根据本发明的一个实施例，所述监测车辆外部的用户识别信号的步骤包括：经由所述车辆的超宽带(Ultra Wide Band，UWB)模块，在所述车辆外部的第一范围内监测所述用户的用户终端发出的UWB信号。UWB信号具有定位准确且信号稳定的特点。通过监测所述用户的用户终端发出的UWB信号，所述寻车提示方法能够不受室内停车场等环境因素的影响，准确、及时地为用户提供关于寻车导航的语音提示，以帮助用户便捷地寻车。
根据本发明的一个实施例，所述监测车辆外部的用户识别信号的步骤包括：经由所述车辆的蓝牙模块，在所述车辆外部的第二范围内监测所述用户的用户终端发出的蓝牙信号。所述响应于收到所述用户识别信号，根据所述用户识别信号确定所述车辆关于所述用户的相对位置的步骤包括：响应于收到所述蓝牙信号，解析所述蓝牙信号以确定用户指令；以及响应于所述蓝牙信号指示寻车导航的用户指令，经由所述车辆的UWB模块，在所述车辆外部的第一范围内监测所述用户终端发出的UWB信号，并根据所述UWB信号确定所述车辆关于所述用户的相对位置。所述第二范围大于所述第一范围。相较于UWB模块，蓝牙模块的定位精度较低，但具有更长的通信距离及更低的能耗。通过利用车辆的蓝牙模块来监测蓝牙信号以触发车辆UWB模块的方案，所述寻车提示方法能够在保障定位准确及信号稳定的同时，进一步扩大寻车范围并降低能耗，不但能够帮助用户便捷地在更大的空间范围内寻车，还能进一步延长寻车提示功能的待机时间。
根据本发明的一个实施例，所述相对位置包括所述车辆关于所述用户的相对方向，以及所述车辆到所述用户的距离。所述根据所述UWB信号确定所述车辆关于所述用户的相对位置的步骤包括：根据所述UWB信号指示的位置信息确定所述用户终端的运动轨迹；按时间顺序从所述运动轨迹获取三个以上位点位置；以及根据所述三个以上位点位置确定所述车辆关于所述用户的相对方向。通过确定用户终端运动轨迹的三个以上位点位置，所述寻车提示方法能够根据所述三个以上位点位置准确确定车辆关于用户的相对方向，从而通过向用户提供相应的引导提示，以帮助用户根据自身的当前朝向快速确定接下来的前进方向。
根据本发明的一个实施例，所述根据所述相对位置，经由所述车辆的外部音响播放关于寻车导航的语音提示的步骤包括：获取所述车辆的停放车位的车位信息；以及经由所述车辆的所述外部音响播放包含所述相对位置及所述车位信息的语音提示。通过获取所述车辆的停放车位的车位信息，并经由所述车辆的所述外部音响播放包含所述相对位置及所述车位信息的语音提示，所述寻车提示方法能够进一步地向用户提供车辆停放车位的车位信息的语音提示，从而帮助用户更便捷地寻车。
为了实现上述目的，本发明的第二方面提供了一种寻车提示装置。所述寻车提示装置包括存储器及至少一个处理器。所述至少一个处理器可通信地连接于所述存储器以及车辆的外部音响，并被配置成实施本发明的第一方面提供的上述寻车提示方法。通过实施所述寻车提示方法，所述寻车提示装置能够经由车辆的外部音响来播放关于寻车导航的语音提示，以便用户结合该导航语音的声音来源及提示内容，快速地找到前往车辆位置的准确路线。
为了实现上述目的，本发明的第三方面提供了一种计算机可读存储介质，其上存储有计算机指令。所述计算机指令被处理器执行时，实施本发明的第一方面提供的上述寻车提示方法。通过实施所述寻车提示方法，所述计算机可读存储介质能够经由车辆的外部音响来播放关于寻车导航的语音提示，以便用户结合该导航语音的声音来源及提示内容，快速地找到前往车辆位置的准确路线。
为了实现上述目的，本发明的第四方面提供了一种车辆。所述车辆包括外部音响、监测模块、存储器，以及至少一个处理器。所述外部音响设置于所述车辆的车身面板的内侧。所述监测模块被配置为监测所述车辆外部的用户识别信号。所述至少一个处理器可通信地连接于所述存储器、所述外部音响及所述监测模块，并被配置为：经由所述监测模块监测所述车辆外部的用户识别信号；响应于收到所述用户识别信号，根据所述用户识别信号确定所述车辆关于用户的相对位置；以及根据所述相对位置，经由所述外部音响播放关于寻车导航的语音提示。通过设计上述硬件设备及软件程序的配置，所述车辆能够经由外部音响来播放关于寻车导航的语音提示，以便用户结合该导航语音的声音来源及提示内容，快速地找到前往车辆位置的准确路线。
附图说明
在结合以下附图阅读本公开的实施例的详细描述之后，能够更好地理解本发明的上述特征和优点。在附图中，各组件不一定是按比例绘制，并且具有类似的相关特性或特征的组件可能具有相同或相近的附图标记。
图1示出了根据本发明的一些实施例提供的寻车提示装置的示意图。
图2示出了根据本发明的一些实施例提供的寻车提示场景的示意图。
图3示出了根据本发明的一些实施例提供的外部音响的结构示意图。
图4示出了根据本发明的一些实施例提供的寻车提示方法的流程示意图。
图5示出了根据本发明的一些实施例提供的触发寻车提示功能的流程示意图。
图6示出了根据本发明的一些实施例提供的根据UWB信号确定车辆关于用户的相对位置的流程示意图。
图7示出了根据本发明的一些实施例提供的确定车辆关于用户的相对方向的流程示意图。
图8A～8H示出了根据本发明的一些实施例提供的确定车辆关于用户的相对方向的示意图。
图9示出了根据本发明的一些实施例提供的寻车提示方法的流程示意图。
具体实施方式
以下由特定的具体实施例说明本发明的实施方式，本领域技术人员可由本说明书所揭示的内容轻易地了解本发明的其他优点及功效。虽然本发明的描述将结合优选实施例一起介绍，但这并不代表此发明的特征仅限于该实施方式。恰恰相反，结合实施方式作发明介绍的目的是为了覆盖基于本发明的权利要求而有可能延伸出的其它选择或改造。为了提供对本发明的深度了解，以下描述中将包含许多具体的细节。本发明也可以不使用这些细节实施。此外，为了避免混乱或模糊本发明的重点，有些具体细节将在描述中被省略。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
另外，在以下的说明中所使用的“上”、“下”、“左”、“右”、“前”、“后”、“顶”、“底”、“水平”、“垂直”应被理解为该段以及相关附图中所绘示的方位。此相对性的用语仅是为了方便说明之用，其并不代表其所叙述的装置需以特定方位来制造或运作，因此不应理解为对本发明的限制。
能理解的是，虽然在此可使用用语“第一”、“第二”、“第三”等来叙述各种组件、区域、层和/或部分，这些组件、区域、层和/或部分不应被这些用语限定，且这些用语仅是用来区别不同的组件、区域、层和/或部分。因此，以下讨论的第一组件、区域、层和/或部分可在不偏离本发明一些实施例的情况下被称为第二组件、区域、层和/或部分。
如上所述，在覆盖面积巨大且结构复杂的大型停车场中，用户往往难以清楚地记住并找到其车辆的停放位置，从而给用户的停车和找车带来诸多不便。然而，传统的寻车提示技术一般通过车钥匙来控制车辆的信号灯闪烁和/或控制车辆鸣笛，以帮助用户寻找自己的车辆。然而，在大型停车场、立体停车场等结构复杂的停车场景中，用户往往很难在视线被遮挡的情况下，仅凭信号灯的闪烁提示和/或车辆的鸣笛提示找到前往车辆位置的准确路线。
即使现有技术提供了一些改进的寻车方案，能够根据车辆端与用户手机终端的卫星定位信号来确定寻车引导路线，并通过移动网络向用户的手机终端推送该引导路线以帮助用户寻车，其仍存在导航精度低、实时性差的缺陷，会严重影响用户的使用体验。在另一方面，该改进的寻车方案还存在无法确定用户实际朝向 的问题，只能根据停车场的绝对坐标为用户提供东、南、西、北等引导提示，不利于用户根据自身的当前朝向快速确定接下来的前进方向。
为了克服现有技术存在的上述缺陷，本发明提供了一种寻车提示方法、一种寻车提示装置、一种计算机可读存储介质，以及一种车辆，能够经由车辆的外部音响来播放关于寻车导航的语音提示，以便用户结合该导航语音的声音来源及提示内容，快速地找到前往车辆位置的准确路线。
在一些非限制性的实施例中，本发明的第一方面提供的上述寻车提示方法可以由本发明的第二方面提供的上述寻车提示装置来实施。该寻车提示装置可以通过硬件设备和/或软件程序的形式，配置于本发明的第四方面提供的上述车辆。
请参考图1，图1示出了根据本发明的一些实施例提供的寻车提示装置的示意图。在图1所示的实施例中，寻车提示装置10上配置有存储器11以及至少一个处理器12。该存储器11包括但不限于本发明的第三方面提供的上述计算机可读存储介质，其上存储有计算机指令。该至少一个处理器12可通信地连接于该存储器11，并被配置成执行该存储器11上存储的计算机指令，以实施本发明的第一方面提供的上述寻车提示方法。
进一步地，对于上述硬件设备的配置形式，该寻车提示装置10配置有独立的存储器11，以及至少一个独立的处理器12。该至少一个处理器12可通信地连接于该存储器11，并可通信地连接于车辆的监测模块21及外部音响22，能够经由该监测模块21来监测车辆外部的用户识别信号，并经由该外部音响22来播放关于寻车导航的语音提示。
对于上述软件程序的配置形式，该寻车提示装置10是以计算机指令的形式被存储于车辆的车机存储器。该车机存储器可通信地连接于至少一个车机处理器。该至少一个车机处理器又可通信地连接于车辆的监测模块21及外部音响22。如此，该软件程序形式的寻车提示虚拟装置10，能够以车辆的车机存储器为其存储器11，并以车辆的至少一个车机处理器为其处理器12，经由车辆的监测模块21来监测车辆外部的用户识别信号，并经由车辆的外部音响22来播放关于寻车导航的语音提示。
以下将结合一些寻车提示方法的实施例来描述该寻车提示装置的工作原理。本领域的技术人员可以理解，这些寻车提示方法的实施例只是本发明提供的一些非限制性的实施方式，旨在清楚地展示本发明的主要构思，并提供一些便于公众实施的具体方案，而非用于限制该寻车提示装置的全部功能或全部工作方式。同样地，该寻车提示装置也只是本发明提供的一种非限制性的实施方式，不对这些寻车提示方法中各步骤的执行主体构成限制。
请结合参考图2至图4。图2示出了根据本发明的一些实施例提供的寻车提示场景的示意图。图3示出了根据本发明的一些实施例提供的外部音响的结构示意图。图4示出了根据本发明的一些实施例提供的寻车提示方法的流程示意图。
如图2所示，在本发明的一些实施例中，本发明的第二方面提供的上述寻车提示装置10是以软件模块的形式嵌入于车辆130的TBOX 131，以该TBOX 131的TBOX存储器为其存储器，并以该TBOX 131的至少一个TBOX处理器为其处理器。可以理解的是，该至少一个TBOX处理器直接或间接地通信连接该TBOX存储器，能够读取并执行该TBOX存储器上存储的计算机指令，以实施对应的控制方法。
进一步地，该车辆130的TBOX 131还配置有基于蓝牙和/或UWB技术的监测模块21。该监测模块21直接或间接地通信连接该至少一个TBOX处理器，能够根据该至少一个TBOX处理器的控制指令，监测用户110的手机、智能手表、智能手环、智能眼镜、车辆智能钥匙、平板电脑等用户终端120发出的蓝牙和/或UWB的用户识别信号。该用户识别信号中带有指示用户身份的识别信息。例如，携带有设备MAC地址的蓝牙和/或UWB信号。寻车提示装置10能够根据该识别信息，判断该发出该用户识别信号用户终端120是否为本车用户的用户终端。
此外，该车辆130的前、后、左、右等各车身面板中的一者或多者的内侧还安装有外部音响22。该一个或多个外部音响22直接或间接地通信连接该至少一个TBOX处理器，能够根据该至少一个TBOX处理器的控制指令向车辆外部播放对应的语音内容。该外部音响22可以设置在作为车辆130外表面的车身面板和作为车辆130内表面的内饰面板之间的空腔中，并且贴合车身面板或者内饰面板。
具体来说，安装于车辆130的前车身面板内侧的外部音响22可以安装于车辆130前保险杠的内侧。安装于车辆130的后车身面板内侧的外部音响22可以安装于车辆130后保险杠的内侧。安装于车辆130的右车身面板内侧的外部音响22可以安装于车辆130右前翼子板、右前车门、右后车门和/或右后翼子板的内侧。安装于车辆130的左车身面板内侧的外部音响22可以安装于车辆130左前翼子板、左前车门、左后车门和/或左后翼子板的内侧。
如图3所示，在一些实施例中，外部音响22可以采用压电发声模块来实现。具体来说，该压电发声模块22可以包括电极片221，其被配置为接收来自驱动电路的激励电压。该激励电压可以是极性交替变化的高频方波。电极片221可以是一对正负极电极片。压电发声模块22还可以包括压电陶瓷222，其被配置为在通过电极片221接收的激励电压的作用下产生横向或者纵向伸长或收缩。如前所述，激励电压可以是极性交替变化的高频方波，因此压电陶瓷222将在该极性交替变化的方波的作用下产生机械形变，即伸长或收缩。此外，压电陶瓷222可以是横向或纵向极化的压电陶瓷，从而在激励电压的作用下产生横向或者纵向的机械形变。在一些实施例中，在正向电压(即压电陶瓷222的上表面连接激励电压的正极，压电陶瓷222的下表面连接激励电压的负极)作用下，压电陶瓷222横向伸长(即沿着振动板223的表面径向方向伸长)，而在负向电压(即压电陶瓷222的上表面连接激励电压的负极，压电陶瓷222的下表面连接激励电压的正极)作 用下，压电陶瓷222横向收缩(即沿着振动板223的表面径向方向收缩)。压电陶瓷222的横向长度越长，其振动的低频响应越强。
进一步地，该压电发声模块22还包括振动板223，其与压电陶瓷222贴合，并且随着压电陶瓷222的伸长或收缩而产生振动。通过这种方式，该压电发声模块22将输入的激励电压转换为振动，从而发出语音。
在一些实施例中，振动板223可以直接与作为车辆130外表面的车身面板贴合以带动车身面板振动。在压电发声模块22所带动振动的车身面板的面积越大，振动的低频响应越强，高频响应越弱。
在另一些实施例中，压电发声模块22还可以包括振动垫片224，其位于振动板223和车身面板之间。利用振动垫片224，可以调整振动板223产生的振动的频率响应。例如，在需要增强振动的低频响应的情况下，可以增大振动垫片224的面积，在需要减弱振动的低频响应的情况下，可以减小振动垫片224的面积。
此外，在一些实施例中，压电发声模块22还可以包括配重块225，其位于压电陶瓷222的、与振动板223相反的另一侧。配重块225也可以用于调整振动板223产生的振动的频率响应。例如，在需要增强振动的低频响应的情况下，可以增大配重块225的重量，反之，在需要减弱振动的低频响应的情况下，可以减小配重块225的重量。
由于压电陶瓷222本身的高频响应通常较好，因此通过适配振动垫片224的面积和/或配重块225的重量可以方便地得到期望的低频响应。
本领域技术人员可以理解，图3所示的压电发声模块22仅仅是示意性的，其并不用于限制本发明的范围。例如，在一些实施例中，电极片221可以设置在压电陶瓷222的不同位置，或者以其他形式向压电陶瓷222施加激励电压。或者，在一些实施例中，可以在压电发声模块22中设置多个配重块225等。此外，在一些实施例中，压电发声模块22可以包括多个压电陶瓷222和相对应的多对电极片221。例如，可以在振动板223的上下两侧各设置一个压电陶瓷222(例如在振动板223下方与所示的压电陶瓷222对称地设置另一压电陶瓷222)，并且使得二者在各自的电极片221的作用下沿相反方向伸长或收缩，从而进一步增强振动效果。
如图4所示，在寻车提示的过程中，寻车提示装置10可以在车辆130处于停车熄火或休眠的状态下保持启动(例如持续处于低耗电工作模式)，运行车辆130的监测模块21，以监测车辆130外部的用户识别信号。
在一些实施例中，该监测模块21可以选用基于UWB技术的UWB监测模块，能够根据该寻车提示装置10的控制指令，监测第一范围内用户110的手机、智能手表、智能手环、车辆智能钥匙、平板电脑等用户终端120发出的UWB信号，并根据该UWB信号来确定车辆130关于该用户110的相对位置。该第一范围应当以确保用户能够听清车辆端130播放的语音内容为宜，一般选择距离车辆20 米以内的辐射范围，例如：5米、10米、15米、20米。
相比于传统的GPS卫星定位信号，UWB信号是一种探测信号发送端与信号接收端之间相对位置的近程通信信号，具有定位准确、信号稳定，且不受室内场景中顶棚遮盖等环境因素影响的优势，因而能在立体停车场、地下停车场等室内的停车场景中达到精确、稳定地定位车辆130与用户110的相对位置的效果。
进一步地，响应于UWB监测模块监测到用户手机120在多个连续时刻发出的多个UWB信号，寻车提示装置10还可以根据该多个UWB信号指示的位置信息，推测用户110是否需要寻车提示功能。
例如，若UWB信号指示用户110到车辆130的距离小于2米，则寻车提示装置10可以判断车辆130就在用户110的目视范围内，从而推测用户110不需要寻车提示功能。此时，寻车提示装置10可以屏蔽该用户识别信号，以停止向车辆130外部播放关于寻车导航的语音提示。由此，可以减少不必要的寻车语音提示，避免对周边环境的影响。
又例如，若多个连续时刻发出的多个UWB信号指示用户110到车辆130的距离从2米以下提升到2米以上，则寻车提示装置10可以推测用户110正在离开车辆130，也不需要寻车提示功能。此时，寻车提示装置10可以屏蔽后续的用户识别信号，以避免向离开车辆130的用户110播放错误的语音提示。之后，若在消失一段时间后重新监测到上述UWB信号，寻车提示装置10可以推测用户110正在返回车辆130，并且需要寻车提示功能。此时，寻车提示装置10可以使能(enable)该用户识别信号，并经由车辆130的外部音响22播放关于寻车导航的语音提示，以帮助用户110快速地找到前往车辆位置的准确路线。由此，能够根据用户与车辆的相对位置以及预设的距离阈值来推测用户是否需要寻车提示，从而在用户靠近车辆一定范围时自动进行寻车提示，或自动停止寻车提示。
本领域的技术人员可以理解，上述在车辆130停车熄火或休眠状态下持续运行UWB模块21以监测用户终端120的UWB信号的方案，只是本发明提供的一种非限制性的实施方式，旨在清楚地展示本发明的主要构思，并提供一种便于公众实施的具体方案，而非用于限制本发明的保护范围。
优选地，在另一些实施例中，该监测模块21可以由一个蓝牙模块和UWB模块共同组成，或直接选用集成了蓝牙及UWB监测功能的复合监测模块。该蓝牙模块能够根据寻车提示装置10的控制指令，监测第二范围内用户110的手机、智能手表、智能手环、智能眼镜、车辆智能钥匙、平板电脑等用户终端120发出的蓝牙信号。该UWB模块能够根据寻车提示装置10的控制指令，监测第一范围内用户110的手机、智能手表、智能手环、车辆智能钥匙、平板电脑等用户终端120发出的UWB信号。由于蓝牙信号的传播距离大于UWB信号，该第二范围可以大于该第一范围。示例地，该第二范围可以覆盖距离车辆100米以内的辐射范围(例如50米、80米、100米)，而该第一范围仍应当以确保用户能够听清车辆端130 播放的语音内容为宜，仍选择距离车辆20米以内的辐射范围(例如：5米、10米、15米、20米)。
请参考图5，图5示出了根据本发明的一些实施例提供的触发寻车提示功能的流程示意图。
在图5所示的实施例中，寻车提示装置10可以在车辆130处于停车熄火或休眠的状态下保持启动(例如持续处于低耗电工作模式)，运行车辆130的蓝牙模块，以监测用户终端120在车辆130外部第二范围(例如：100米)内发出的蓝牙信号。此时，UWB模块可以保持休眠，降低寻车提示装置10的能耗以延长寻车提示功能的维持时间。
在寻车的过程中，用户110可以首先在其手机、智能手表、智能手环、车辆智能钥匙、平板电脑等用户终端120上点击寻车功能的实体或虚拟按键，以控制其用户终端120发出指示寻车提示功能的蓝牙信号。此时，第二范围内绑定车辆130的蓝牙模块将监测并解析该蓝牙信号以确定对应的用户指令，并根据该用户指令来提供对应的远程服务。
具体来说，响应于解析确定收到的蓝牙信号指示寻车导航的用户指令，寻车提示装置10可以判定用户110需要寻车提示功能，从而首先控制车辆130的信号灯闪烁和/或控制车辆130鸣笛，以初步地帮助用户110寻找自己的车辆130。
进一步地，若用户110无法通过闪烁信号灯和/或鸣笛的基础提示找到前往车辆位置的准确路线，其可以经由用户终端120向寻车提示装置10发送进一步提供寻车提示的请求。响应于该进一步提供寻车提示的请求，寻车提示装置10可以首先根据收到的蓝牙信号指示的位置信息确定用户位置，再根据车辆位置及确定的用户位置粗略地确定车辆130到用户110的距离，并判断用户110到车辆130的距离是否超出预设的第一范围(例如：20米)。
若用户110到车辆130的距离超出预设的第一范围，则寻车提示装置10可以首先根据该蓝牙信号指示的用户位置，粗略地确定车辆130关于该用户110的相对位置，并向用户终端120发送基于该粗略相对位置的引导路线，以引导用户110靠近车辆位置。之后，当用户110在上述引导路线的引导下进入预设的第一范围，寻车提示装置10将唤醒上述UWB模块来监测用户终端120在车辆130外部的第一范围内发出的UWB信号，并根据收到的UWB信号来精密地确定车辆130关于用户110的相对位置。
本领域的技术人员可以理解，上述待用户110进入预设的第一范围才唤醒UWB模块的方案，只是本发明提供的一种非限制性的实施方式，旨在清楚地展示本发明的主要构思，并提供一种节电的优选方案，而非用于限制本发明的保护范围。
可选地，在另一些实施例中，寻车提示装置10也可以响应于该进一步提供寻车提示的请求而直接唤醒UWB模块，以同样达到根据收到的UWB信号精密地确 定车辆130关于用户110的相对位置的效果。
相比于UWB模块，蓝牙模块具有更长的监测距离及更低的能耗。因此，通过持续运行蓝牙模块来监测用户终端120在车辆130外部发出的用户识别信号，再根据用户110实际的寻车提示需求来唤醒UWB模块，该方案一方面能够在更大的范围内实现闪灯、鸣喇叭、用户终端导航等基础寻车提示功能，另一方面能够降低车辆130在停车熄火或休眠状态下的能耗，以延长寻车提示功能的维持时间。
本领域的技术人员还可以理解，上述通过在用户终端120上点击寻车功能的实体或虚拟按键，以控制其用户终端120发出指示寻车提示功能的蓝牙信号的方案，只是本发明提供的一种非限制性的实施方式，旨在清楚地展示本发明的主要构思，并提供一种便于公众实施的具体方案，而非用于限制本发明的保护范围。
可选地，在另一些实施例中，用户还可以通过向用户终端120键盘输入或语音输入寻车指令(例如：“你在哪里”的寻车指令信息)的方式，控制用户终端120向车辆130发出指示寻车提示功能的蓝牙信号，以同样达到激活寻车提示功能的效果。
可选地，在另一些实施例中，用户还可以通过向用户终端120的用户界面输入预设快捷手势的方式，控制用户终端120向车辆130发出指示寻车提示功能的蓝牙信号，以同样达到激活寻车提示功能的效果。
可选地，在另一些实施例中，用户还可以通过摇晃用户终端120的方式，例如通过“摇一摇”的功能控制用户终端120向车辆130发出指示寻车提示功能的蓝牙信号，以同样达到激活寻车提示功能的效果。
请进一步参考图6，图6示出了根据本发明的一些实施例提供的根据UWB信号确定车辆关于用户的相对位置的流程示意图。
如图6所示，在本发明的一些实施例中，响应于UWB模块的启动，并监测到用户终端120发送的UWB信号，寻车提示装置10可以根据获取的UWB信息来确定车辆130关于用户110的相对方向d direction，并根据获取的UWB信息来确定车辆130到用户110的距离d distance。之后，寻车提示装置10可以根据该相对方向d direction以及该距离d distance，确定车辆130关于用户110的相对位置D(d direction,d distance)。
请结合参考图7及图8A～8H。图7示出了根据本发明的一些实施例提供的确定车辆关于用户的相对方向的流程示意图。图8A～8H示出了根据本发明的一些实施例提供的确定车辆关于用户的相对方向的示意图。
如图7所示，在本发明的一些实施例中，当用户110进入UWB模块的第一监测范围，寻车提示装置10可以首先向用户终端120发送一条提示信息，提示用户挥动其用户终端120以产生至少一条连贯的运动轨迹。与此同时，寻车提示装置10将利用车辆130的UWB模块，持续监测用户终端120在多个连续时刻发出 的多个UWB信号，并根据该多个UWB信号指示的位置信息来确定用户终端120的运动轨迹。
之后，寻车提示装置10可以根据该运动轨迹上各位点的位置坐标及获取时间来解析该运动轨迹，并截取用户终端120的最后一段连贯的弧形轨迹，以确定用户的朝向。在一些实施例中，寻车提示装置10可以根据各相邻位点之间方向角α的变化率(即Δα)来判断运动轨迹是否连贯。具体来说，假设第一位点到第二位点的方向角为α 1，第二位点到第三位点的方向角为α 2，则其对应的方向角变化率Δα 21＝α 2-α 1。在进行连贯性判断时，若Δα 21小于或等于预设的变化率阈值Δα th，则寻车提示装置10可以判定该第一位点、该第二位点以及该第三位点属于同一段连贯的弧形轨迹。反之，若Δα 21大于预设的变化率阈值Δα th，则寻车提示装置10可以判定该第二位点以及该第三位点属于下一段连贯的弧形轨迹。
本领域的技术人员可以理解，上述根据方向角变化率Δα解析并截取连贯弧形轨迹的方案，只是本发明提供的一种非限制性的实施方式，旨在清楚地展示本发明的主要构思，并提供一种便于公众实施的具体方案，而非用于限制本发明的保护范围。
可选地，在另一些实施例中，寻车提示装置10还可以通过其他技术手段来同样达到截取弧形运动轨迹的效果。例如，寻车提示装置10还可以利用机器视觉技术从用户终端120的运动轨迹提取特征向量，并利用预先训练的神经网络模型自动截取其中的弧形轨迹。
本领域的技术人员还可以理解，上述截取最后一段连贯弧形轨迹的方案也只是本发明提供的一种非限制性的实施方式，旨在清楚地展示本发明的主要构思，并提供一种便于公众实施的具体方案，而非用于限制本发明的保护范围。
可选地，在另一些实施例中，寻车提示装置10也可以在发送提示信息后的预设时间内，持续监测用户终端120发出的多个UWB信号，并根据该预设时间内发出的多个UWB信号指示的位置信息来确定用户终端120的运动轨迹。
如图7所示，在获取用户终端120的弧形轨迹之后，寻车提示装置10可以按时间顺序从该弧形轨迹上获取三个以上位点的位置信息，并根据该三个以上位点的位置信息来确定车辆130关于用户110的相对方向d direction。
一般情况下，用户110手动挥动用户终端120所产生的运动轨迹不会完全沿竖直方向延伸。寻车提示装置10可以首先将获取的弧形轨迹投影到水平平面，再按时间顺序从该弧形轨迹上获取弧形轨迹的起点位置A、途经点位置C及终点位置B的位置信息。之后，寻车提示装置10可以根据该起点位置A、该途经点位置C，以及该终点位置B到车辆位置O的距离，确定车辆130关于用户110的相对方向d direction。
如图8A所示，若车辆位置O到起点位置A的距离OA小于车辆位置O到途经点位置C的距离OC(即OA<OC)，且车辆位置O到终点位置B的距离OB 小于车辆位置O到途经点位置C的距离OC(即OB<OC)，则寻车提示装置10可以判定车辆130在用户110的后方。
如图8B所示，若车辆位置O到起点位置A的距离OA大于车辆位置O到途经点位置C的距离OC(即OA>OC)，且车辆位置O到终点位置B的距离OB大于车辆位置O到途经点位置C的距离OC(即OB>OC)，则寻车提示装置10可以判定车辆130在用户110的前方。
如图8C所示，若车辆位置O到起点位置A的距离OA大于车辆位置O到途经点位置C的距离OC(即OA>OC)，且车辆位置O到途经点位置C的距离OC大于车辆位置O到终点位置B的距离OB(即OC>OB)，则寻车提示装置10可以判定车辆130在用户110的左侧。
如图8D所示，若车辆位置O到起点位置A的距离OA小于车辆位置O到途经点位置C的距离OC(即OA<OC)，且车辆位置O到途经点位置C的距离OC小于车辆位置O到终点位置B的距离OB(即OC<OB)，则寻车提示装置10可以判定车辆130在用户110的右侧。
进一步地，在一些优选的实施例中，该途经点位置C可以优选在弧形轨迹的中点。在确定车辆130关于用户110的相对方向d direction时，寻车提示装置10可以进一步解析上弧形轨迹，以确定其中距离车辆位置O最远的点P及最近的点Q，再根据该最远点P以及该最近点Q在弧形轨迹上的位置，确定车辆130关于用户110的相对方向d direction。
具体来说，如图8A所示，若车辆位置O到起点位置A的距离OA小于车辆位置O到途经点位置C的距离OC(即OA<OC)，且车辆位置O到终点位置B的距离OB小于车辆位置O到途经点位置C的距离OC(即OB<OC)，且最远点P的位置与中点C的位置重合，则寻车提示装置10可以判定车辆130在用户110的后方。
如图8B所示，若车辆位置O到起点位置A的距离OA大于车辆位置O到途经点位置C的距离OC(即OA>OC)，且车辆位置O到终点位置B的距离OB大于车辆位置O到途经点位置C的距离OC(即OB>OC)，且最近点Q的位置与中点C的位置重合，则寻车提示装置10可以判定车辆130在用户110的前方。
如图8C所示，若车辆位置O到起点位置A的距离OA大于车辆位置O到途经点位置C的距离OC(即OA>OC)，且车辆位置O到途经点位置C的距离OC大于车辆位置O到终点位置B的距离OB(即OC>OB)，且最远点P的位置与终点B的位置重合，则寻车提示装置10可以判定车辆130在用户110的左侧。
如图8D所示，若车辆位置O到起点位置A的距离OA小于车辆位置O到途经点位置C的距离OC(即OA<OC)，且车辆位置O到途经点位置C的距离OC小于车辆位置O到终点位置B的距离OB(即OC<OB)，且最远点P的位置与起点A的位置重合，则寻车提示装置10可以判定车辆130在用户110的右侧。
如图8E所示，若车辆位置O到起点位置A的距离OA小于车辆位置O到途经点位置C的距离OC(即OA<OC)，且车辆位置O到终点位置B的距离OB小于车辆位置O到途经点位置C的距离OC(即OB<OC)，且最远点P位于弧形轨迹的AC段，则寻车提示装置10可以判定车辆130在用户110的右后方。
如图8F所示，若车辆位置O到起点位置A的距离OA小于车辆位置O到途经点位置C的距离OC(即OA<OC)，且车辆位置O到终点位置B的距离OB小于车辆位置O到途经点位置C的距离OC(即OB<OC)，且最远点P位于弧形轨迹的BC段，则寻车提示装置10可以判定车辆130在用户110的左后方。
如图8G所示，若车辆位置O到起点位置A的距离OA大于车辆位置O到途经点位置C的距离OC(即OA>OC)，且车辆位置O到终点位置B的距离OB大于车辆位置O到途经点位置C的距离OC(即OB>OC)，且最近点Q位于弧形轨迹的AC段，则寻车提示装置10可以判定车辆130在用户110的右前方。
如图8H所示，若车辆位置O到起点位置A的距离OA大于车辆位置O到途经点位置C的距离OC(即OA>OC)，且车辆位置O到终点位置B的距离OB大于车辆位置O到途经点位置C的距离OC(即OB>OC)，且最近点Q位于弧形轨迹的BC段，则寻车提示装置10可以判定车辆130在用户110的左前方。
由于UWB信号能够提供数厘米的定位精度，寻车提示装置10能够基于以上方案来准确地确定车辆130关于用户110的相对方向，从而为用户110提供相应的引导提示，以帮助用户110根据自身的当前朝向来快速确定接下来的前进方向。
如图6所示，响应于UWB模块的启动，并监测到用户终端12发送的UWB信号，寻车提示装置10还可以根据获取的UWB信息来确定车辆130到用户110的距离。具体来说，寻车提示装置10可以首先根据弧形轨迹的起点位置A及终点位置B确定一条直线AB，再经过途经点位置C作一条直线AB的垂线，以确定该垂线与直线AB的交点，从而将该交点的位置确定为用户位置，并根据车辆位置O及该用户位置来确定车辆130到用户110的距离d distance。
如图4所示，在确定车辆130关于用户110的相对位置D(d direction,d distance)之后，寻车提示装置10可以根据该相对位置D(d direction,d distance)，经由车辆130的外部音响22播放关于寻车导航的语音提示。
具体来说，寻车提示装置10可以首先将上述相对方向信息d direction以及上述距离信息d distance填入预先准备的文本模板T 0“主人，我在您‘d direction’的‘d distance’米”，以生成对应的语音提示文本T D0。之后，寻车提示装置10可以将该语音提示文本T D0输入TTS(Text to Speech)模块，以生成对应的语音提示音频A D0。再之后，寻车提示装置10可以将该语音提示音频A D0输入车辆130的一个或多个外部音响22，经由该外部音响22播放对应的关于寻车导航的语音提示内容，以便用户110结合该导航语音的声音来源及提示内容，快速地找到前往车辆位置的准确路线。
进一步地，在一些优选的实施例中，寻车提示装置10还可以在寻车提示的过程中，持续地利用车辆130的UWB模块来监测用户110的实时位置，以判断车辆130到用户110的距离d distance的变化趋势Δd distance，并根据该变化趋势Δd distance向用户提供的相应的语音提示反馈。
具体来说，在经由车辆130的外部音响22播放关于寻车导航的语音提示内容之后，寻车提示装置10还可以在预设的时间间隔(例如：10s)后再次获取车辆130到用户110的距离d distance’。若Δd distance＝d distance’-d distance>0，则寻车提示装置10可以判定车辆130到用户110的距离在增加，从而经由车辆130的外部音响22播放“你走错方向了”等负面的语音提示，以提醒用户110及时改变行进方向。反之，若Δd distance＝d distance’-d distance<0，则，寻车提示装置10可以判定车辆130到用户110的距离在减少，从而经由车辆130的外部音响22播放“没错，请继续走”等正面的语音提示，以鼓励用户110继续沿正确的路线行进。由此，能够根据用户的实时位置变化给予人性化的导航反馈，提供人车交互的智能性。
本领域的技术人员可以理解，上述仅涉及相对方向信息d direction以及上述距离信息d distance的文本模板T 0，只是本发明提供的一种非限制性的实施方式，旨在清楚地展示本发明的主要构思，并提供一种便于公众实施的具体方案，而非用于限制本发明的保护范围。
进一步地，在一些优选的实施例中，寻车提示装置10还可以进一步获取停放车位信息p等指示车辆130在停车场中的绝对位置信息，并经由车辆130的外部音响22进一步播放该绝对位置信息，以进一步方便用户110根据身边的实际场景来确定车辆130的停放位置。
请参考图9，图9示出了根据本发明的一些实施例提供的寻车提示方法的流程示意图。
在图9所示的实施例中，响应于车辆130的停车熄火，寻车提示装置10可以预先经由车联网(Internet of Vehicles)的云平台，从停车场的管理系统获取车辆130所停放车位的车位信息p，并持续运行上述UWB模块和/或蓝牙模块，以监测用户终端120在车辆130外部发出的UWB信号和/或蓝牙信号。
之后，响应于收到用户终端120在上述第一范围内发出的UWB信号，寻车提示装置10可以如上所述地根据该UWB信号确定车辆130关于用户110的相对位置D(d direction,d distance)。
再之后，寻车提示装置10可以将上述车位信息p、上述相对方向信息d direction，以及上述距离信息d distance，一起填入预先准备的文本模板T 1“主人，我在您‘d direction’的‘d distance’米，‘p’停车位”，以生成对应的语音提示文本T D1，再将该语音提示文本T D1输入TTS模块，以生成对应的语音提示音频A D1。再之后，寻车提示装置10可以将该语音提示音频A D1输入车辆130的外部音响22，经由该外部音响22播放既包含相对位置信息D(d direction,d distance)，又包含绝对位置信息p的语音提示。 如此，用户110一方面可以结合该导航语音的声音来源，以及“前”、“后”、“左”、“右”的提示内容，快速确定接下来要前进的方向，另一方面能够根据行进路线上车位信息的变化规律，判断自己的前进路线是否正确，从而缓解寻车过程中的焦虑，并提升用户体验。
本领域的技术人员可以理解，上述在车辆130停车熄火时预先获取车位信息p的方案，只是本发明提供的一种非限制性的实施方式，旨在清楚地展示本发明的主要构思，并提供一种便于公众实施的具体方案，而非用于限制本发明的保护范围。可选地，在另一些实施例中，寻车提示装置10还可以响应于收到用户识别信号才去获取绝对位置信息p，从而节省寻车提示方法所耗费的流量。
尽管为使解释简单化将上述方法图示并描述为一系列动作，但是应理解并领会，这些方法不受动作的次序所限，因为根据一个或多个实施例，一些动作可按不同次序发生和/或与来自本文中图示和描述或本文中未图示和描述但本领域技术人员可以理解的其他动作并发地发生。
本领域技术人员将可理解，信息、信号和数据可使用各种不同技术和技艺中的任何技术和技艺来表示。例如，以上描述通篇引述的数据、指令、命令、信息、信号、位(比特)、码元、和码片可由电压、电流、电磁波、磁场或磁粒子、光场或光学粒子、或其任何组合来表示。
本领域技术人员将进一步领会，结合本文中所公开的实施例来描述的各种解说性逻辑板块、模块、电路、和算法步骤可实现为电子硬件、计算机软件、或这两者的组合。为清楚地解说硬件与软件的这一可互换性，各种解说性组件、框、模块、电路、和步骤在上面是以其功能性的形式作一般化描述的。此类功能性是被实现为硬件还是软件取决于具体应用和施加于整体系统的设计约束。技术人员对于每种特定应用可用不同的方式来实现所描述的功能性，但这样的实现决策不应被解读成导致脱离了本发明的范围。
尽管上述的实施例所述的寻车提示装置10是通过软件与硬件的组合来实现的。但是可以理解，该寻车提示装置10也可以单独在软件或硬件中加以实施。对于硬件实施而言，该寻车提示装置10可在一个或多个专用集成电路(ASIC)、数字信号处理器(DSP)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、处理器、控制器、微控制器、微处理器、用于执行上述功能的其它电子装置或上述装置的选择组合来加以实施。对软件实施而言，该寻车提示装置10可通过在通用芯片上运行的诸如程序模块(procedures)和函数模块(functions)等独立的软件模块来加以实施，其中每一个模块执行一个或多个本文中描述的功能和操作。
结合本文所公开的实施例描述的各种解说性逻辑模块和电路可用通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或其它可编程逻辑器件、分立的门或晶体管逻辑、分立的硬件组件、或其设计成执行本文所描述功能的任何组合来实现或执行。通用处理器可以是微处理器，但 在替换方案中，该处理器可以是任何常规的处理器、控制器、微控制器、或状态机。处理器还可以被实现为计算设备的组合，例如DSP与微处理器的组合、多个微处理器、与DSP核心协作的一个或多个微处理器、或任何其他此类配置。
提供对本公开的先前描述是为使得本领域任何技术人员皆能够制作或使用本公开。对本公开的各种修改对本领域技术人员来说都将是显而易见的，且本文中所定义的普适原理可被应用到其他变体而不会脱离本公开的精神或范围。由此，本公开并非旨在被限定于本文中所描述的示例和设计，而是应被授予与本文中所公开的原理和新颖性特征相一致的最广范围。

Claims (12)

  1. 一种寻车提示方法，其特征在于，包括以下步骤：
    监测车辆外部的用户识别信号；
    响应于收到所述用户识别信号，根据所述用户识别信号确定所述车辆关于用户的相对位置；以及
    根据所述相对位置，经由所述车辆的外部音响播放关于寻车导航的语音提示。
  2. 如权利要求1所述的寻车提示方法，其中，所述监测车辆外部的用户识别信号的步骤包括：经由所述车辆的UWB模块，在所述车辆外部的第一范围内监测所述用户的用户终端发出的UWB信号；
    所述根据所述用户识别信号确定所述车辆关于用户的相对位置的步骤包括：根据所述UWB信号确定所述车辆关于所述用户的相对位置。
  3. 如权利要求1所述的寻车提示方法，其中，所述监测车辆外部的用户识别信号的步骤包括：经由所述车辆的蓝牙模块，在所述车辆外部的第二范围内监测所述用户的用户终端发出的蓝牙信号；
    所述响应于收到所述用户识别信号，根据所述用户识别信号确定所述车辆关于所述用户的相对位置的步骤包括：
    响应于收到所述蓝牙信号，解析所述蓝牙信号以确定用户指令；以及
    响应于所述蓝牙信号指示寻车导航的用户指令，经由所述车辆的UWB模块，在所述车辆外部的第一范围内监测所述用户终端发出的UWB信号，并根据所述UWB信号确定所述车辆关于所述用户的相对位置，其中，所述第二范围大于所述第一范围。
  4. 如权利要求2或3所述的寻车提示方法，其中，所述相对位置包括所述车辆关于所述用户的相对方向，以及所述车辆到所述用户的距离，所述根据所述UWB信号确定所述车辆关于所述用户的相对位置的步骤包括：
    根据多个所述UWB信号指示的位置信息确定所述用户终端的运动轨迹；
    按时间顺序从所述运动轨迹获取三个以上位点位置；以及
    根据所述三个以上位点位置确定所述车辆关于所述用户的相对方向。
  5. 如权利要求4所述的寻车提示方法，其中，所述运动轨迹包括非竖直方向的弧形轨迹，所述三个以上位点位置包括所述弧形轨迹的起点位置A、途经点位置C及终点位置B。
  6. 如权利要求5所述的寻车提示方法，其中，所述根据所述三个以上位点位置确定所述车辆关于所述用户的相对方向的步骤包括：
    响应于车辆位置O到所述起点位置A的距离OA小于所述车辆位置O到所述途经点位置C的距离OC，且所述车辆位置O到所述终点位置B的距离OB小于所述车辆位置O到所述途经点位置C的距离OC，判定所述车辆在所述用户的后方；
    响应于所述车辆位置O到所述起点位置A的距离OA大于所述车辆位置O到所述途经点位置C的距离OC，且所述车辆位置O到所述终点位置B的距离OB大于所述车辆位置O到所述途经点位置C的距离OC，判定所述车辆在所述用户的前方；
    响应于所述车辆位置O到所述起点位置A的距离OA大于所述车辆位置O到所述途经点位置C的距离OC，且所述车辆位置O到所述途经点位置C的距离OC大于所述车辆位置O到所述终点位置B的距离OB，判定所述车辆在所述用户的左侧；以及
    响应于所述车辆位置O到所述起点位置A的距离OA小于所述车辆位置O到所述途经点位置C的距离OC，且所述车辆位置O到所述途经点位置C的距离OC小于所述车辆位置O到所述终点位置B的距离OB，判定所述车辆在所述用户的右侧。
  7. 如权利要求6所述的寻车提示方法，其中，所述途经点位置C在所述弧形轨迹的中点，所述根据所述三个以上位点位置确定所述车辆关于所述用户的相对方向的步骤还包括：
    在所述弧形轨迹上确定距离车辆位置O最远的点P及最近的点Q；以及
    响应于OA<OC且OB<OC，且点P位于所述弧形轨迹的AC段的结果，判定所述车辆在所述用户的右后方；
    响应于OA<OC且OB<OC，且点P位于所述弧形轨迹的BC段的结果，判定所述车辆在所述用户的左后方；
    响应于OA>OC且OB>OC，且点Q位于所述弧形轨迹的所述AC段的结果，判定所述车辆在所述用户的右前方；
    响应于OA>OC且OB>OC，且点Q位于所述弧形轨迹的所述BC段的结果，判定所述车辆在所述用户的左前方。
  8. 如权利要求4所述的寻车提示方法，其中，所述根据所述用户识别信号确定所述车辆关于用户的相对位置的步骤还包括：
    根据所述蓝牙信号或所述UWB信号确定所述用户的用户位置；以及
    根据车辆位置及所述用户位置确定所述车辆到所述用户的距离。
  9. 如权利要求1所述的寻车提示方法，其中，所述根据所述相对位置，经由所述车辆的外部音响播放关于寻车导航的语音提示的步骤包括：
    获取所述车辆的停放车位的车位信息；以及
    经由所述车辆的所述外部音响播放包含所述相对位置及所述车位信息的语音提示。
  10. 一种寻车提示装置，其特征在于，包括：
    存储器；以及
    至少一个处理器，其中，所述至少一个处理器可通信地连接于所述存储器，并被配置成实施如权利要求1～9中任一项所述的寻车提示方法。
  11. 一种计算机可读存储介质，其上存储有计算机指令，其特征在于，所述计算机指令被处理器执行时，实施如权利要求1～9中任一项所述的寻车提示方法。
  12. 一种车辆，其特征在于，包括：
    外部音响，设置于所述车辆的车身面板的内侧；
    监测模块，其被配置为监测所述车辆外部的用户识别信号；
    存储器；以及
    至少一个处理器，其中，所述至少一个处理器可通信地连接于所述存储器、所述外部音响及所述监测模块，并被配置为：
    经由所述监测模块监测所述车辆外部的用户识别信号；
    响应于收到所述用户识别信号，根据所述用户识别信号确定所述车辆关于用户的相对位置；以及
    根据所述相对位置，经由所述外部音响播放关于寻车导航的语音提示。
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