Method, device, electronic device and storage medium for completing parking lot map

Abstract

The present application provides a method, device, electronic device and storage medium for completing a parking lot map, the method comprising: obtaining first driving data of a target vehicle sent by a server; displaying a map of the parking lot where the target vehicle is located based on the first driving data; determining whether the target vehicle has entered an unknown area based on the first driving data and the map, the unknown area being the portion of the map where the target data is missing; if it is determined that the target vehicle has entered an unknown area, a movement prompt is issued, and second driving data of the target vehicle is obtained, the second driving data being data collected during the movement of the target vehicle after receiving the movement prompt; superimposing and displaying the second driving trajectory on the map, and sending the second driving data to the server, the second driving trajectory being generated by the second driving data. The solution of the present application can solve the problem of long time and high cost in completing parking lot maps.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and more specifically, to a method, device, electronic device, and storage medium for completing a parking lot map. Background Art

[0002] With the advent of autonomous driving technology, high-precision maps to support it have also emerged. However, high-precision maps are currently typically generated by collecting data through in-house professional vehicles or through crowdsourcing from mass-produced vehicles. However, parking lots are private, and even commercial parking lots are not freely accessible. Therefore, the construction of large-scale parking lot maps relies on crowdsourcing from mass-produced vehicles. However, this crowdsourcing method primarily collects data from popular routes and parking areas, making it very time-consuming to achieve full coverage of parking lot maps. Summary of the Invention

[0003] In view of this, embodiments of the present application propose a method, device, electronic device, and storage medium for completing a parking map to improve the above-mentioned problem.

[0004] According to one aspect of an embodiment of the present application, a method for completing a parking lot map is provided, including: obtaining first driving data of a target vehicle sent by a server; displaying a map of the parking lot where the target vehicle is located based on the first driving data; determining whether the target vehicle has entered an unknown area based on the first driving data and the map, the unknown area being a portion of the map where target data is missing; if it is determined that the target vehicle has entered the unknown area, providing a movement prompt and obtaining second driving data of the target vehicle, the second driving data being data collected after it is determined that the target vehicle has entered the unknown area; superimposing and displaying a second driving trajectory on the map, and sending the second driving data to the server, the second driving trajectory being generated by the second driving data.

[0005] According to one aspect of an embodiment of the present application, a device for completing a parking lot map is provided, including: a first acquisition module for acquiring first driving data of a target vehicle sent by a server; a first display module for displaying a map of the parking lot where the target vehicle is located based on the first driving data; a determination module for determining whether the target vehicle has entered an unknown area based on the first driving data and the map, the unknown area being a missing portion of the map; a prompt module for providing a movement prompt if it is determined that the target vehicle has entered the unknown area, and acquiring second driving data of the target vehicle, the second driving data being data collected after it is determined that the target vehicle has entered the unknown area; a display module for superimposing and displaying a second driving trajectory on the map, and sending the second driving data to the server, the second driving trajectory being generated by the second driving data.

[0006] According to one aspect of an embodiment of the present application, an electronic device is provided, including: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for completing a parking map as described above is implemented.

[0007] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the method for completing a parking lot map as described above is implemented.

[0008] According to one aspect of an embodiment of the present application, a computer program product is provided, including computer instructions, which, when executed by a processor, implement the method for completing a parking map as described above.

[0009] In the solution of the present application, the first driving data of the target vehicle sent by the server is obtained through the vehicle side or a terminal device that is in communication with the target vehicle; then, a map of the parking lot where the target vehicle is located is displayed based on the first driving data; then, based on the first driving data and the map, it is determined whether the target vehicle has entered an unknown area; when it is determined that the target vehicle has entered an unknown area, the target vehicle is prompted to move, and at the same time, after it is determined that the target vehicle has entered an unknown area, the second driving data of the target vehicle is collected, and finally, the second driving trajectory generated by the second driving data is superimposed and displayed on the map, and the second driving data is sent to the server. By guiding the user to the missing part of the map to collect the target data of the missing part, the map of the parking lot is completed, which solves the problem of long time and high cost of completing the parking lot map.

[0010] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0012] Figure 1 2 is a schematic diagram of a hardware environment applicable to the method for completing a parking map according to an embodiment of the present invention.

[0013] Figure 2 4 is a flowchart of a method for completing a parking lot map according to an embodiment of the present application.

[0014] Figure 3 2 is a flowchart showing the specific steps of step 230 according to an embodiment of the present application.

[0015] Figure 4 This is a schematic diagram of a first driving trajectory according to an embodiment of the present application.

[0016] Figure 5 It is a flowchart of the specific steps of step 250 according to an embodiment of the present application.

[0017] Figure 6 This is a schematic diagram showing how a second driving trajectory is superimposed and displayed on a map according to an embodiment of the present application.

[0018] Figure 7 4 is a flowchart of a method for completing a parking lot map according to an embodiment of the present application.

[0019] Figure 8 2 is a block diagram of a device for completing a parking lot map according to an embodiment of the present application.

[0020] Figure 9 2 is a block diagram of a device for completing a parking lot map according to an embodiment of the present application.

[0021] Figure 10 A schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0022] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0023] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0024] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0025] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0026] Figure 1 1 is a schematic diagram of a hardware environment for a method for completing a parking map according to an embodiment of the present invention, the hardware environment including a vehicle 110, a terminal device 120, and a server 130. The vehicle 110, the terminal device 120, and the server 130 are in communication with each other.

[0027] The driving data collected by the vehicle 110 is uploaded to the terminal device 120 and the server 130. When the server 130 receives the first driving data of the target vehicle obtained by the vehicle 110 and / or the terminal device 120, the server 130 sends the first driving data of the target vehicle to the vehicle 110 and / or the terminal device 120. The vehicle 110 and / or the terminal device 120 requests the server for a map of the parking lot where the vehicle 110 is located based on the first driving data of the target vehicle sent by the server. When the server 130 sends the corresponding map to the vehicle 110 and / or the terminal device 120, the display screen of the vehicle 110 and / or the terminal device 120 will display the map of the parking lot.

[0028] When vehicle 110 and / or terminal device 120 determines that the vehicle has entered a missing portion of the map, a movement prompt is issued to vehicle 110, thereby uploading the second driving data collected by vehicle 110 after receiving the movement prompt to server 130. Terminal device 120 may be a smartphone, tablet computer, smartwatch, etc., and is not specifically limited herein; the communication connection may be a communication connection within the same local area network or a Bluetooth connection.

[0029] In the method for completing a parking lot map provided in an embodiment of the present application, an electronic device with processing capabilities (e.g., a smartphone) can determine the parking lot where vehicle 110 is located and a map of that parking lot based on the first driving data of vehicle 110. After confirming that vehicle 110 has entered an unknown area of ​​the map, a second driving trajectory generated by the collected second driving data of vehicle 110 is superimposed on the map, thereby resolving the current problem of long time and high cost in completing parking lot maps. The parking data processing method, device, electronic device, and storage medium provided in this application will be described below through specific embodiments.

[0030] Figure 2 This is a flowchart of a method for completing a parking map according to an embodiment of the present application. The method of the present application can be executed by an electronic device with processing capabilities, such as a smart phone, smart watch, tablet computer, etc., which is not specifically limited here; it can also be executed by an in-vehicle system on the vehicle side.

[0031] like Figure 2 As shown, the method includes:

[0032] Step 210: Acquire first driving data of the target vehicle sent by the server.

[0033] The first driving data refers to the driving data of the target vehicle within a set driving distance after entering the parking lot, wherein the first driving data may include the driving path information, GPS signal, radar information, etc. of the target vehicle.

[0034] Step 220: Display a map of the parking lot where the target vehicle is located based on the first driving data.

[0035] The map of the parking lot may be sent from a server, or may be stored in a vehicle or a terminal device that is in communication with the target vehicle, and is not specifically limited here.

[0036] In this embodiment, when it is determined that the target vehicle enters a parking lot based on the first driving data of the target vehicle, the target vehicle can automatically obtain the map corresponding to the parking lot from the cloud or from the locally stored map. Among them, the map of the parking lot mainly includes static features, such as parking lot lane lines and indicator arrows in the lanes, parking space numbers and parking space types (such as disabled parking spaces), parking lot speed bumps, stop and yield signs, fire hydrants, entrance and exit gates, etc. It should be noted that the map of the parking lot can be produced through crowdsourcing, and its accuracy and static features will increase with the increase in the number of map fusions, and eventually a relatively high-precision parking lot map will be formed. In this application, the map of the parking lot can be freely downloaded and used by vehicles entering the parking lot.

[0037] In some embodiments, the first driving data of the target vehicle can be matched in the server with the driving data uploaded by other vehicles stored in the cloud to determine the parking lot entered by the target vehicle; the first driving data of the target vehicle can also be matched with the data stored in the parking lot database in the cloud to determine the parking lot entered by the target vehicle.

[0038] In other embodiments, two sets may be pre-set. When a vehicle is detected entering a first area range for triggering acquisition of a parking lot map, the parking lot logo is added to the first set; when a vehicle is detected entering a second area range for triggering acquisition of a parking lot map, the parking lot logo is added to the second set; wherein the second area range is a subset of the first area range; when a triggering event is detected, the parking lot map is selected based on the first set and / or the second set.

[0039] Multiple parking lot maps can be stored in the vehicle or in the cloud. For each parking lot map, a range is set that triggers the acquisition of the corresponding parking lot map. The range can be divided into a first range and a second range, with the second range being a subset of the first range. During vehicle travel, the distance between the vehicle and nearby parking lots can be determined based on the vehicle's coordinates, thereby determining that the vehicle is currently within the range of one or more parking lots, allowing the vehicle to locate a target parking lot within the one or more parking lots. When the vehicle is detected entering the first range that triggers the acquisition of a parking lot map, the identification of the parking lot can be obtained and added to the first set. It is understood that the first set can be a pre-set set for storing parking lot identifiers. Similarly, the second set can be a pre-set set for storing parking lot identifiers. When the vehicle is detected entering the second range that triggers the acquisition of the parking lot map, the identification of the parking lot can be obtained and added to the second set. When a trigger event is detected, a map of the target parking lot can be obtained based on the first set and / or the second set. This allows the target parking lot's map data to be retrieved from multiple parking lot maps stored on the vehicle or in the cloud based on the parking lot's identification. The vehicle's location can then be converted to a coordinate system corresponding to the target parking lot's map data to accurately locate the target vehicle in the target parking lot's map. The trigger event can be an event in which the vehicle activates autonomous driving mode.

[0040] At the same time, when the target vehicle is detected to have exited the first area, the parking lot identifier is deleted from the first set; when the target vehicle is detected to have exited the second area, the parking lot identifier is deleted from the second set. When the target vehicle passes through a parking lot area, since it is uncertain whether it is the target parking lot, it can be added to both sets to obtain a map of that parking lot using both sets. However, when the target vehicle exits the first and / or second area of ​​the parking lot, there is a high probability that there are no parking spaces in that parking lot, or it can be determined that the parking lot is not the parking lot desired by the target vehicle. Therefore, when the target vehicle exits the parking lot area, the identifier of the corresponding parking lot can be deleted. Specifically, when the target vehicle is detected to have exited the first area, the identifier of that parking lot can be deleted from the first candidate parking lot set. Similarly, when the target vehicle is detected to have exited the second area, the identifier of that parking lot can be deleted from the second set. Once the target parking lot is determined, if the target vehicle enters another parking lot during its travel, the map and coordinate system will no longer switch.

[0041] Step 230 : Determine whether the target vehicle has entered an unknown area based on the first driving data and the map. The unknown area is a portion of the map where target data is missing.

[0042] Target data refers to the data needed to fill in the blank parts of the map.

[0043] In some embodiments, the first driving data of the target vehicle can be matched with a map to determine whether the target vehicle has currently entered an unknown area of ​​the parking lot. For example, feature elements such as lane lines, speed bumps, signs, arrows, and odometer information in the first driving data can be matched with feature elements in the parking lot map. If the map matches feature elements corresponding to the first driving data, it can be determined that the target vehicle has not entered an unknown area. If the map does not match feature elements corresponding to the first driving data, or the number of feature elements that match feature elements corresponding to the first driving data is less than a threshold, it can be determined that the target vehicle has currently entered an unknown area.

[0044] In the embodiment of the present application, the map of the parking lot is constructed in a crowdsourcing mode. It can be understood that when a vehicle enters or exits a parking lot, the vehicle uploads the data collected while driving in the parking lot to the server, and the server generates a map of the parking lot based on the data uploaded by the vehicle. For example, if only one vehicle has uploaded data for the current parking lot, the server can construct a basic map of the parking lot based on the data of the current parking lot (covering only one route). After that, when other vehicles enter or exit the parking lot, the server will improve or update the map of the parking lot based on the data uploaded by other vehicles. Since the size of the parking lot is known, the map will show the approximate outline of the parking lot, while the data of the part of the parking lot where data is missing (i.e., the part where no vehicles pass through) cannot be displayed on the map.

[0045] In other embodiments, after the map of the parking lot is displayed on the vehicle side, the position of the target vehicle is located on the map based on the first driving data of the target vehicle. In this way, the user can observe his or her position on the map in real time to determine whether he or she has entered an unknown area of ​​the parking lot.

[0046] The above embodiments also include the following embodiments. Figure 3 In some embodiments, step 230 includes:

[0047] Step 310: Obtain a driving trajectory set of the parking lot sent by the server, wherein the driving trajectory set includes driving trajectories uploaded by all vehicles entering and leaving the parking lot.

[0048] For the data uploaded by vehicles entering and leaving the parking lot, the server can pre-set different sets for different types of data, and then classify and store this data in corresponding sets to facilitate other vehicles to obtain the data corresponding to the parking lot. For example, for the location information, driving trajectory, speed bump jitter points, etc. in the data uploaded by each vehicle, the service stores these different types of data in corresponding different sets. When other vehicles need to obtain or use the corresponding data, they can directly obtain it from the corresponding set, thereby improving efficiency and reducing the pressure on the server.

[0049] Step 320: Generate a first driving trajectory according to the first driving data.

[0050] The first driving data may include the coordinates of each location point, the path information of the target vehicle, and the parking space lines, lane lines, etc. collected during the driving process of the target vehicle. The server or the vehicle end or the terminal device connected to the target vehicle in communication can generate the first driving trajectory of the target vehicle in the parking lot based on this data. The first driving trajectory can be the trajectory of the target vehicle or the driving trajectory route of the target vehicle in the map. Figure 4As shown, a first driving track 401 is generated according to the first driving data uploaded by the target vehicle A, and the position of the first driving track 401 is displayed on the map.

[0051] Please continue to see Figure 3 , step 330, matching the first driving trajectory with each driving trajectory in the driving trajectory set.

[0052] In some embodiments, feature matching can be performed between elements in the first driving trajectory and elements in each driving trajectory in the driving trajectory set, and whether the first driving trajectory matches each driving trajectory in the driving trajectory set is determined based on the feature matching results. For example, feature elements such as parking spaces, obstacles, road signs, lane lines, etc. in the first driving trajectory are matched with feature elements in each driving trajectory in the driving trajectory set, and then the number of successfully matched feature elements and the number of all feature elements are counted, and the ratio between the number of successfully matched feature elements and the number of all feature elements is calculated. This ratio is the matching result between the first driving trajectory and each driving trajectory in the driving trajectory set.

[0053] In step 340 , if the first driving trajectory at least partially overlaps with any driving trajectory in the driving trajectory set and there are differences, it is determined that the target vehicle has entered an unknown area.

[0054] In some embodiments, the first driving trajectory at least partially overlaps with any driving trajectory in the driving trajectory set, which may mean that a driving trajectory in the driving trajectory set is a portion of the first driving trajectory, and the difference portion may refer to a portion included in the first driving trajectory but not included in the corresponding driving trajectory in the driving trajectory set. This can be understood as follows: if the first driving trajectory is A and the corresponding driving trajectory in the driving trajectory set is B, A and B partially overlap. The overlapping portion can be the entire driving trajectory B or a portion of B that exceeds a threshold percentage. The overlapping portion can also exceed the threshold percentage in A. The threshold percentage can be set based on actual needs and is not limited here.

[0055] The partial overlap between the first driving trajectory and any driving trajectory in the driving trajectory set can be determined based on a degree of trajectory overlap between the first driving trajectory and each driving trajectory in the driving trajectory set. When the degree of trajectory overlap between the first driving trajectory and any driving trajectory in the driving trajectory set is greater than a threshold degree of overlap, it can be determined that the first driving trajectory partially overlaps with a driving trajectory in the driving trajectory set. In a specific embodiment, the threshold degree of overlap can be 95%. The threshold degree of overlap can be set based on actual needs and is not specifically limited here.

[0056] In other embodiments, it is determined that the first driving trajectory at least partially overlaps with any driving trajectory in the driving trajectory set. The trajectory lines of the first driving trajectory and the lanes of each driving trajectory in the driving trajectory set can be drawn using the same drawing coordinate system and the same drawing scale to generate multiple trajectory images of the same resolution and size. The two or more trajectory images are then processed, for example, by converting the two or more trajectory images into binary grayscale images, and matching them according to the pixel positions shared by all trajectory lines in the binary grayscale images. Finally, the trajectory overlapping portion is determined based on the matched image information, and the ratio between the number of images of the trajectory overlapping portion and the number of all trajectory images is calculated. The ratio is the trajectory overlap degree between the first driving trajectory and each driving trajectory in the driving trajectory set, so as to determine whether the first driving trajectory partially overlaps with any driving trajectory in the driving trajectory set.

[0057] In other embodiments, a first coordinate system and a second coordinate system may be constructed based on the starting point of the first driving trajectory and each driving trajectory in the driving trajectory set, respectively. That is, the first driving trajectory and each driving trajectory in the driving trajectory set are expressed using their respective corresponding coordinate systems, that is, the coordinates of each position point in the first driving trajectory and each driving trajectory in the driving trajectory set are expressed in the first coordinate system and the second coordinate system, respectively. The first coordinate system and the second coordinate system are then overlapped, and the rotation angle and translation distance of each driving trajectory in the driving trajectory set from the first driving trajectory are calculated based on the overlapped first and second coordinate systems. Finally, the degree of trajectory overlap between the first driving trajectory and each driving trajectory in the driving trajectory set is calculated based on the calculated rotation angle and translation distance, thereby determining whether the first driving trajectory partially overlaps with any driving trajectory in the driving trajectory set.

[0058] Please continue to see Figure 2 In step 240, if it is determined that the target vehicle has entered an unknown area, a movement prompt is given and second driving data of the target vehicle is obtained. The second driving data is data collected after it is determined that the target vehicle has entered an unknown area.

[0059] The mobile prompt can indicate that the target vehicle has entered an unknown area and guide the user to start collecting data. The user can start collecting data by turning on the vehicle's collection device, or by sending a collection instruction to the electronic device, which will then send a collection instruction to the vehicle to start collecting data. By guiding the user to collect the target data that is missing from the map of the parking lot, the map of the parking lot can be completed. The prompt can be a pop-up prompt on the vehicle-side display or a terminal device connected to the target vehicle, or it can be a voice prompt. For example, when it is determined that the target vehicle has entered an unknown area, the vehicle-side or the terminal device connected to the target vehicle will issue a voice prompt saying "You have entered the target area, please help us complete the map." The prompt method can be set according to actual needs and is not specifically limited here.

[0060] Step 250 : Overlay and display the second driving trajectory on the map, and send the second driving data to the server, where the second driving trajectory is generated by the second driving data.

[0061] After the second driving trajectory generated from the second driving data is located on the map, the second driving trajectory is then directly displayed on the map. In some embodiments, the second driving trajectory can be a different color from the map to facilitate the user's identification of their current location within the parking lot. The method of overlay display can be set according to actual needs and is not specifically limited here.

[0062] In a specific embodiment, the overlay display is performed on the vehicle side or a terminal device connected to the target vehicle for communication, and may be a simple map consisting of only lane lines, parking spaces, etc., or may be a map showing only the skeleton lines of the lanes.

[0063] In this embodiment, the first driving data of the target vehicle, sent by the server, is obtained through the vehicle or a terminal device in communication with the target vehicle. A map of the parking lot where the target vehicle is located is then displayed based on the first driving data. The first driving data and the map are then used to determine whether the target vehicle has entered an unknown area. If the target vehicle has entered an unknown area, the target vehicle is prompted to move. Simultaneously, after confirming that the target vehicle has entered an unknown area, second driving data of the target vehicle is collected. Finally, a second driving trajectory generated from the second driving data is superimposed on the map and sent to the server. By guiding the user to the missing portion of the map to collect the target data for the missing portion, the map of the parking lot is completed, thus resolving the time-consuming and costly problem of completing parking lot maps.

[0064] In the above embodiments, the following implementations may also be included. Figure 5 In some embodiments, step 250 may include:

[0065] Step 510: Perform positioning matching based on the second driving trajectory and the map to obtain a positioning matching result.

[0066] The positioning matching result may be a location where the second driving track is determined to overlap with the map, so as to facilitate subsequent overlay display of the second driving track on the map.

[0067] In some embodiments, the coordinates of each location point in the second driving data can be matched with the coordinates of each location point in the map. At least one matching location point can exist between the coordinates of each location point in the second driving data and the coordinates of each location point in the map. This matching location point is used as a positioning reference point, and the second driving trajectory is located on the map using this positioning reference point. In a specific embodiment, the positioning reference point can be a point where the coordinates of a location point in the second driving data are the same as the coordinates of a location point in the map.

[0068] In other embodiments, because there is a certain error between the coordinates of each location point in the second driving data determined based on GPS information or odometer information and the coordinates of each location point on the map, positioning can be performed by calculating the distance between the coordinates of each location point in the second driving data and the coordinates of each location point on the map. Specifically, if there is a location point where the distance between the coordinates of at least one location point in the second driving data and the coordinates of a location point on the map is less than a distance threshold (e.g., less than 3 meters), the two location points can be considered to be the same location point, and positioning can be performed based on the two location points. The distance threshold can be set according to actual needs and is not specifically limited here.

[0069] Step 520 : Coarsely align the second driving trajectory with the map based on the positioning matching result.

[0070] Since the second driving data includes elements such as lane lines and speed bumps, the second driving trajectory generated based on the second driving data may also include these elements.

[0071] The method for roughly aligning the second driving trajectory with the map may be to splice the second driving trajectory with the overlapping position points or lane lines in the map according to the positioning matching result in step 510 .

[0072] In other embodiments, a positioning reference coordinate system may be established based on the overlapping position points in the positioning matching results. Then, based on the map coordinate system and the trajectory coordinate system established using the second trajectory data, a transformation matrix of the map coordinate system and the trajectory coordinate system relative to the positioning reference coordinate system may be determined. It is understood that these transformation matrices may be translation matrices, rotation matrices, or other types of transformation matrices. The map coordinate system and the trajectory coordinate system may then be transformed into the same coordinate system based on the obtained transformation matrix. Finally, the second driving trajectory may be aligned with the map based on the same coordinate system.

[0073] Step 530: After the rough alignment, the second driving trajectory is superimposed and displayed on the map.

[0074] In this embodiment, the second driving track can be displayed on the map by overlaying it on the portion of the map where the target data is missing, so as to facilitate the user to observe the current position of the target vehicle. Figure 6 As shown, the second driving track 601 is superimposed and displayed on the map 602. The second driving track 601 is a road line generated according to the second driving data, and the map 602 is a basic map of the parking lot displayed according to the parking lot information sent by the server.

[0075] In some embodiments, the second driving trajectory can be displayed as an overlay on the map on a screen of the target vehicle or on a terminal device connected to the target vehicle. When displayed on the terminal device connected to the target vehicle, the display can be simplified, for example, by only displaying the expanded area of ​​the map.

[0076] In the above embodiment, the following implementation methods may also be included, and step 530 may also include:

[0077] The second driving data is sent to the server to obtain reward information.

[0078] In this embodiment, the reward information may be automatically generated after the second driving data is sent to the server, or the reward information may be returned by the server after the map is successfully completed, or the reward information may be returned by the server after confirming that the second driving data is important for the parking lot. Importance refers to parking lots with large traffic in and out of the parking lot (such as train stations, airports, etc.), or parking lots that need charging stations for new energy vehicles, or whether the parking lot is a private parking lot, etc. These important parking lots will give more rewards. In other embodiments, the importance of the parking lot can also be determined based on the frequency of use of the map of the parking lot and the number of users using it. The higher the frequency of use and the more users use it, the more important the parking lot can be.

[0079] In some embodiments, the reward information may be a pop-up window on the target vehicle's screen or a terminal device connected to the target vehicle, prompting the user to receive the reward, such as a pop-up window displaying "You have received 5 points, please check your receipt." Alternatively, the reward information may be a voice prompt, such as "You have received your reward, please check your receipt." The reward may be points or other rewards, and may be set based on actual needs and is not specifically limited here.

[0080] In the above embodiment, the following implementation methods may also be included, and step 530 may also include:

[0081] The contribution ranking sent by the server is displayed. The contribution ranking is determined by the server based on the data uploaded by all vehicles that upload the second driving data.

[0082] Contribution ranking is a ranking of all users entering and exiting a parking lot based on their contribution to completing the parking lot. Contribution can be determined based on a combination of factors such as the target vehicle's travel path length and the number of parking spaces collected in the last second of the driving data.

[0083] In other embodiments, the contribution ranking may also be determined based on the size of the newly added area of ​​the parking lot map.

[0084] Figure 7 This is a flow chart of a method for completing a parking map according to an embodiment of the present application. The method of this embodiment can be executed by an electronic device with processing capabilities, such as a server, a cloud server, etc., which is not specifically limited here. Figure 7 As shown, the method includes:

[0085] Step 710, sending the first driving data to the target vehicle so that the target vehicle can determine whether the target vehicle has entered an unknown area based on the driving data and the map. The unknown area is the part of the map where the target data is missing. If it is determined that the target vehicle has entered an unknown area, a movement prompt is given, and data is collected during the movement process after receiving the movement prompt and sent to the server as second driving data.

[0086] Due to the limited storage capacity of the vehicle side, the driving data of the target vehicle during driving is uploaded to the server and stored in the cloud. When the target vehicle needs to use the driving data, it will initiate a request to the server to obtain the driving data. The server responds to the request and sends the corresponding driving data to the vehicle side or the terminal device connected to the target vehicle. In some embodiments, in order to reduce the storage pressure on the vehicle side, the driving data can be deleted in time after being uploaded to the server. In other embodiments, a time threshold for the storage of driving data on the vehicle side or the terminal device connected to the target vehicle can be set. When the storage time exceeds the time threshold, the driving data stored on the vehicle side or the terminal device connected to the target vehicle will be deleted.

[0087] Step 720: Acquire second driving data.

[0088] The second driving data is sent by a vehicle end or a terminal device that is in communication with the target vehicle.

[0089] Step 730: Complete the map of the parking lot according to the second driving data to obtain a target map.

[0090] In this embodiment, due to the limited computing power of the vehicle side or the terminal device communicating with the target vehicle, a certain error will be generated when roughly aligning the second driving trajectory with the map. In order to reduce such errors, the server is used to complete the map of the parking lot based on the second driving data to make the obtained target map more accurate.

[0091] The server can roughly align the second driving trajectory with the parking lot map according to the methods of steps 510 and 520. After the rough alignment, the second driving trajectory and the parking lot map are spliced ​​together. Finally, the spliced ​​map is checked to see if the coordinates of the points where the second driving trajectory and the map are spliced ​​together are continuous. If so, the splicing is correct, and the spliced ​​map becomes the target map.

[0092] In other embodiments, the server may complete the map based on the second driving data by first generating a second driving trajectory map based on the second driving data, detecting feature points of the second driving trajectory map and the map (which can be understood as overlapping points), matching the feature points of the second driving trajectory map with those of the map (matching elements such as lane lines and parking space lines), and then calculating the homography matrix between the second driving trajectory map and the map. Finally, the second driving trajectory map and the map are spliced ​​according to the homography matrix to obtain the target map.

[0093] In other embodiments, after the server roughly aligns the second driving trajectory with the map of the parking lot, a cartographic engineer selects the parts that need to be spliced, and then performs operations such as translation and rotation on the second driving trajectory. Finally, the server aligns and splices the second driving trajectory with the map of the parking lot to obtain the target map.

[0094] In some embodiments, the obtained target map needs to be inspected to confirm that the obtained target map is correct. The inspection method can be to obtain driving data uploaded by other vehicles in the cloud (driving data uploaded by the vehicle after the target vehicle enters the parking lot, and the driving data and the second driving data have overlapping parts). The driving data may include the vehicle's GPS data, the vehicle's image sensor data, radar data, IMU data, wheel speedometer data, and lane lines, parking space lines, pillars, signs, corner lines and other elements; the driving data is positioned with the target map in the cloud. If the positioning is successful, it can be determined that the target map has passed the inspection and can be issued to other vehicles for use; if the positioning is unsuccessful, it can be determined that the inspection has failed and the newly added part of the map will be deleted.

[0095] In other embodiments, the target map may be inspected by displaying the target map on the vehicle or on an electronic device that is communicatively connected to the vehicle, and having a cartographer check the map to confirm whether the target map is neat, beautiful, or has any errors. If the cartographer confirms that the target map is neat, beautiful, or has no errors, it can be determined that the target map has passed the inspection and can be distributed to other vehicles for use.

[0096] In some embodiments, step 730 may be followed by:

[0097] Determine a contribution ranking based on the data uploaded by all vehicles that upload the second driving data; and send the contribution ranking to the target vehicle.

[0098] The contribution ranking can be determined according to the above specific method, which will not be repeated here.

[0099] Figure 8 FIG. 1 is a block diagram of a device for completing a parking map according to an embodiment of the present application. Figure 8 The device for completing a parking map includes: a first acquisition module 810 , a first display module 820 , a determination module 830 , a prompt module 840 and a second display module 850 .

[0100] The first acquisition module 810 is used to obtain the first driving data of the target vehicle sent by the server; the first display module 820 is used to display a map of the parking lot where the target vehicle is located based on the first driving data; the determination module 830 is used to determine whether the target vehicle has entered an unknown area based on the first driving data and the map, and the unknown area is the missing part of the map; the prompt module 840 is used to provide a movement prompt if it is determined that the target vehicle has entered the unknown area, and obtain the second driving data of the target vehicle, and the second driving data is the data collected after it is determined that the target vehicle has entered the unknown area; the second display module 850 is used to superimpose and display the second driving trajectory on the map, and send the second driving data to the server, and the second driving trajectory is generated by the second driving data.

[0101] In some embodiments, the determination module 820 includes: a first acquisition unit, used to obtain a driving trajectory set of the parking lot sent by the server, the driving trajectory set including the driving trajectories uploaded by all vehicles entering and exiting the parking lot; a generation unit, used to generate a first driving trajectory based on the first driving data; a first matching unit, used to match the first driving trajectory with each driving trajectory in the driving trajectory set; and a determination unit, if the first driving trajectory at least partially overlaps with any driving trajectory in the driving trajectory set and there is a difference, determining that the target vehicle has entered an unknown area.

[0102] In some embodiments, the second display module 840 includes: a second matching unit, used to perform positioning matching based on the second driving trajectory and the map to obtain a positioning matching result; an alignment unit, used to roughly align the second driving trajectory with the map based on the positioning matching result; and a display unit, used to superimpose and display the second driving trajectory on the map after the rough alignment.

[0103] In some embodiments, the apparatus for completing a parking lot map includes: a reward information acquisition module, configured to send the second driving data to a server to acquire reward information.

[0104] In some embodiments, the device for completing a parking lot map further includes: a contribution ranking display module, configured to display a contribution ranking sent by a server, wherein the contribution ranking is determined by the server based on data uploaded by all vehicles that upload the second driving data.

[0105] Figure 9 is a block diagram of a device for completing a parking lot map according to an embodiment of the present application. The device 900 for completing a parking lot map includes: a processing module 910 , a second acquisition module 920 , and a map completion module 930 .

[0106] The processing module 910 is used to send the first driving data to the target vehicle so that the target vehicle can determine whether the target vehicle has entered an unknown area based on the driving data display and the map. The unknown area is the part of the map where the target data is missing. If it is determined that the target vehicle has entered the unknown area, a movement prompt is given. After receiving the movement prompt, data is collected during the movement process and sent to the server as second driving data; the second acquisition module 920 is used to obtain the second driving data; the map completion module 930 is used to complete the map of the target parking lot based on the second driving data to obtain the target map.

[0107] In some embodiments, the apparatus 900 for completing a parking lot map further includes: a contribution ranking determination module for determining a contribution ranking based on data uploaded by all vehicles that upload second driving data; and a sending module for sending the contribution ranking to a target vehicle.

[0108] According to one aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently without being incorporated into the electronic device. The computer-readable storage medium carries computer-readable instructions. When the computer-readable storage instructions are executed by a processor, the method of any of the above embodiments is implemented.

[0109] According to one aspect of the present application, an electronic device is also provided, which includes: a processor; a memory, wherein computer-readable instructions are stored in the memory, and when the computer-readable instructions are executed by the processor, the method in any of the above embodiments is implemented.

[0110] According to one aspect of an embodiment of the present application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method of any of the above embodiments.

[0111] Figure 10 The following is a schematic diagram showing the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application. Figure 10 The computer system 1000 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0112] like Figure 10 As shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 into the random access memory (RAM) 1003, such as executing the method in the above embodiment. Various programs and data required for system operation are also stored in the RAM 1003. The CPU 1001, ROM 1002 and RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0113] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, and the like; an output section 1007 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 1008 including a hard disk and the like; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. Removable media 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 1010 as needed, so that computer programs read therefrom can be installed into the storage section 1006 as needed.

[0114] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication portion 1008, and / or installed from a removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the various functions defined in the system of the present application are executed.

[0115] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0116] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0117] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. In some cases, the names of these units do not constitute limitations on the units themselves.

[0118] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiment of the application, the features and functions of two or more modules or units described above can be concretized in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0119] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed herein.

[0120] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for completing a parking lot map, characterized in that: The method comprises: Acquire first driving data of the target vehicle sent by the server; displaying a map of the parking lot where the target vehicle is located according to the first driving data; determining, based on the first driving data and the map, whether the target vehicle has entered an unknown area, the unknown area being a portion of the map where target data is missing; If it is determined that the target vehicle has entered the unknown area, a movement prompt is issued, and second driving data of the target vehicle is obtained, where the second driving data is data collected after it is determined that the target vehicle has entered the unknown area; Overlaying and displaying a second driving trajectory on the map, and sending the second driving data to a server to obtain reward information, wherein the second driving trajectory is generated by the second driving data, and the reward information is returned by the server after determining the importance of the parking lot corresponding to the second driving data, or is returned by the server after successfully completing the map, and the reward information is used to notify the user of the reward received; The step of determining whether the target vehicle has entered an unknown area based on the first driving data and the map, where the unknown area is a portion of the map where target data is missing, includes: Obtaining a driving trajectory set of the parking lot sent by the server, wherein the driving trajectory set includes driving trajectories uploaded by all vehicles entering and exiting the parking lot; generating a first driving trajectory according to the first driving data; matching the first driving trajectory with each driving trajectory in the driving trajectory set; If the first driving trajectory at least partially overlaps with any driving trajectory in the driving trajectory set and there is a difference, it is determined that the target vehicle has entered an unknown area.

2. The method according to claim 1, characterized in that The step of superimposing and displaying a second driving trajectory on the map, wherein the second driving trajectory is generated by the second driving data, includes: Performing positioning matching on the map according to the second driving trajectory to obtain a positioning matching result; performing a rough alignment of the second driving trajectory with the map according to the positioning matching result; After the rough alignment, the second driving track is superimposed and displayed on the map.

3. The method according to claim 1 or 2, characterized in that After the second driving trajectory is superimposed and displayed on the map, the method further includes: The contribution ranking sent by the server is displayed, where the contribution ranking is determined by the server based on data uploaded by all vehicles that upload the second driving data.

4. A method for completing a parking lot map, characterized in that: The method comprises: sending first driving data to a target vehicle, so that the target vehicle displays a map of the parking lot where the target vehicle is located based on the first driving data, and determines whether the target vehicle has entered an unknown area based on the first driving data and the map, where the unknown area is a portion of the map where target data is missing; if it is determined that the target vehicle has entered the unknown area, a movement prompt is issued, and data is collected during the movement process after receiving the movement prompt, and sent to a server as second driving data; acquiring the second driving data; Completing a map of the parking lot according to the second driving data to obtain a target map, and returning reward information to the target vehicle after determining the importance of the parking lot corresponding to the second driving data, or returning reward information to the target vehicle after completing the map, wherein the reward information is used to inform the user of the reward received; The target vehicle determines whether the target vehicle has entered an unknown area based on the first driving data and the map, where the unknown area is a portion of the map where target data is missing, including: Obtaining a driving trajectory set of the parking lot sent by the server, wherein the driving trajectory set includes driving trajectories uploaded by all vehicles entering and exiting the parking lot; generating a first driving trajectory according to the first driving data; matching the first driving trajectory with each driving trajectory in the driving trajectory set; If the first driving trajectory at least partially overlaps with any driving trajectory in the driving trajectory set and there is a difference, it is determined that the target vehicle has entered an unknown area.

5. The method according to claim 4, characterized in that After completing the map of the parking lot according to the second driving data to obtain a target map, the method further includes: Determining a contribution ranking based on the data uploaded by all vehicles that uploaded the second driving data; The contribution ranking is sent to the target vehicle.

6. A device for completing a parking lot map, characterized in that: include: A first acquisition module, configured to acquire first driving data of a target vehicle sent by a server; a first display module, configured to display a map of the parking lot where the target vehicle is located according to the first driving data; a determination module, configured to determine, based on the first driving data and the map, whether the target vehicle has entered an unknown area, the unknown area being a portion of the map where target data is missing; a prompting module, configured to, if it is determined that the target vehicle has entered the unknown area, provide a movement prompt and obtain second driving data of the target vehicle, wherein the second driving data is data collected after it is determined that the target vehicle has entered the unknown area; a second display module, configured to superimpose a second driving trajectory on the map and transmit the second driving data to a server to obtain reward information, wherein the second driving trajectory is generated by the second driving data, and the reward information is returned by the server after determining the importance of the parking lot corresponding to the second driving data, or is returned by the server after successfully completing the map, and the reward information is used to notify the user of the reward received; The determining module is specifically configured to obtain a driving trajectory set of the parking lot sent by the server, the driving trajectory set including driving trajectories uploaded by all vehicles entering and exiting the parking lot; and generate a first driving trajectory based on the first driving data; Matching is performed based on the first driving trajectory with each driving trajectory in the driving trajectory set; if the first driving trajectory at least partially overlaps with any driving trajectory in the driving trajectory set and there is a difference, it is determined that the target vehicle has entered an unknown area.

7. A device for completing a parking lot map, characterized in that: include: a first processing module, configured to send first driving data to a target vehicle, so that the target vehicle displays a map of the parking lot where the target vehicle is located based on the first driving data, and determines whether the target vehicle has entered an unknown area based on the first driving data and the map, where the unknown area is a portion of the map where target data is missing; if it is determined that the target vehicle has entered the unknown area, a movement prompt is issued, and data is collected during the movement process after receiving the movement prompt, and sent to a server as second driving data; A second acquisition module, configured to acquire the second driving data; a map completion module, configured to complete a map of the parking lot based on the second driving data to obtain a target map, and return reward information to the target vehicle after determining the importance of the parking lot corresponding to the second driving data, or return reward information to the target vehicle after completing the map, wherein the reward information is used to notify a user of a reward received; The first processing module is specifically configured to obtain a driving trajectory set of the parking lot sent by the server, the driving trajectory set including driving trajectories uploaded by all vehicles entering and exiting the parking lot; and generate a first driving trajectory based on the first driving data; Matching is performed based on the first driving trajectory with each driving trajectory in the driving trajectory set; if the first driving trajectory at least partially overlaps with any driving trajectory in the driving trajectory set and there is a difference, it is determined that the target vehicle has entered an unknown area.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; a memory, electrically connected to the one or more processors; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to perform the method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, which can be called by a processor to execute the method according to any one of claims 1 to 5.

10. A computer program product comprising computer instructions, characterized in that When the computer instructions are executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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