Floor division method, parking display method, device, vehicle, and storage medium

Abstract

The application provides a floor division method, a parking display method, an electronic device, a vehicle and a computer readable storage medium. The floor division method comprises: acquiring a parking lot map collected by a vehicle during parking, the parking lot map comprising a driving track of the vehicle; dividing the parking lot map into a plurality of first areas, each first area comprising part of the driving track; for each first area, uniformly sampling at least two track points from the part of the driving track, determining an included angle of two adjacent track points in a horizontal plane, and determining a first attribute of the first area according to the size of N consecutive included angles, the first attribute indicating whether the first area belongs to a flat ground or a ramp, N being an integer greater than 0; and performing floor division on the parking lot map according to the first attribute of the first area. The embodiment realizes an accurate floor division process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of parking, in particular to a floor division method, a parking display method, an electronic device, a vehicle and a computer readable storage medium. BACKGROUND

[0002] In order to accommodate more vehicles, the existing parking lot usually includes multiple floors on the ground and / or underground.

[0003] In the related art, the layering manner of the parking lot map collected by the vehicle is usually to layer according to the Z coordinate indicating the height in the parking lot map, and to divide different floors according to different heights; however, the structures of different parking lots are different, and the Z coordinate indicating the height is difficult to accurately define the range of different floors, resulting in incorrect floor division results, and further causing problems such as overlapping display of multiple floors or incomplete display when displaying the parking lot map. SUMMARY

[0004] Therefore, the present application provides a floor division method, a parking display method, an electronic device, a vehicle and a computer readable storage medium.

[0005] Specifically, the present application is realized by the following technical solutions:

[0006] According to a first aspect of an embodiment of the present application, a floor division method is provided, comprising:

[0007] acquiring a parking lot map collected by a vehicle in a parking process, the parking lot map comprising a driving track of the vehicle;

[0008] dividing the parking lot map into multiple first areas, each first area comprising part of the driving track;

[0009] for each first area, uniformly sampling at least two track points from the part of the driving track, determining an included angle of two adjacent track points in a horizontal plane, and determining a first attribute of the first area according to the size of consecutive N included angles; the first attribute indicates that the first area belongs to a flat ground or a ramp, and N is an integer greater than 0;

[0010] performing floor division on the parking lot map according to the first attribute of the first area.

[0011] Optionally, the first attribute comprises a ramp attribute and a flat ground attribute.

[0012] The first attribute of the first area is determined according to the size of consecutive N included angles, comprising:

[0013] If the N continuous included angles in the first region are all greater than the preset angle threshold, the first attribute of the first region is determined as a ramp attribute;

[0014] If the N continuous included angles in the first region are all substantially 0 or less than the preset angle threshold, the floor attribute of the first region is determined as a flat attribute.

[0015] Optionally, the ramp attribute comprises an uphill attribute and a downhill attribute.

[0016] The determination of the included angle between the two adjacent trajectory points in the horizontal plane comprises: sequentially determining the included angle between the two adjacent trajectory points in the horizontal plane according to the driving direction of the driving trajectory.

[0017] If the signs of the N continuous trigonometric functions are all positive, the first attribute of the first region is an uphill attribute.

[0018] If the signs of the N continuous trigonometric functions are all negative, the first attribute of the first region is a downhill attribute.

[0019] Optionally, the floor division of the parking lot map according to the first attribute of the first region comprises:

[0020] sequentially sorting the first attributes of the first region according to the driving direction of the driving trajectory.

[0021] determining the second attribute of each first region according to the change of the sorted first attributes; the second attribute indicates the floor sequence number of the floor where the first region is located or the ramp sequence number of the ramp where the first region is located.

[0022] The parking lot map is divided into at least one floor map and at least one ramp map.

[0023] Optionally, the parking lot map is divided into at least one floor map and at least one ramp map.

[0024] Different floor maps correspond to different floor sequence numbers, and the second attributes of all the first regions included in the floor map are the same.

[0025] Different ramp maps correspond to different ramp sequence numbers, and the second attributes of all the first regions included in the ramp map are the same.

[0026] Optionally, the parking lot map further comprises at least one parking lot element; each first region further comprises part of the parking lot elements.

[0027] The floor division of the parking lot map according to the second attribute of the first region further comprises:

[0028] determine a floor number of a floor or a ramp number of a ramp where the parking lot element is located according to the second attribute of the first area and the first area where the parking lot element belongs.

[0029] Optionally, before the parking lot map is divided into a plurality of first areas, the method further comprises:

[0030] dividing the parking lot map into a plurality of second areas with turning points of the driving track as boundaries, wherein the second area is larger than the first area and the second area comprises at least one first area;

[0031] The determining a floor number of a floor or a ramp number of a ramp where the parking lot element is located according to the second attribute of the first area and the first area where the parking lot element belongs comprises:

[0032] if the second attribute of all first areas contained in the second area is the same, determining a floor number of a floor or a ramp number of a ramp where all parking lot elements in the second area are located according to the second attribute;

[0033] if the second attribute of at least two first areas in the second area is different, determining a floor number of a floor or a ramp number of a ramp where the parking lot element is located according to the second attribute of a track point closest to the parking lot element in the second area, wherein the second attribute of the track point is the same as the second attribute of the first area where the track point is located.

[0034] Optionally, the parking lot element comprises at least one of the following: a column, a speed bump, an anti-collision strip, a parking space, a lane line, a road sign pattern, a signboard, a monitoring camera, a lighting device or a barrier gate.

[0035] According to a second aspect of the embodiments of the present application, a parking display method is provided, applied to a vehicle, and the method comprises:

[0036] in response to a memory parking instruction, obtaining a target parking lot map indicated by the memory parking instruction, the target parking lot map comprising a driving track of the vehicle; the target parking lot map is obtained based on the floor division method of any one of the first aspect; the target parking lot map is divided into at least one floor map and at least one ramp map;

[0037] during the driving of the vehicle according to the driving track, determining a target floor map or a target ramp map where the vehicle is located according to the position of the vehicle in the driving track;

[0038] displaying a model indicating the vehicle and the target floor map or the target ramp map where the vehicle is located in a navigation interface of the vehicle.

[0039] Optionally, the target parking lot map further comprises at least one parking lot element, and the parking lot element comprises a floor sequence number of a floor where the parking lot element is located or a ramp sequence number of a ramp where the parking lot element is located.

[0040] The determining the target floor map or the target ramp map where the vehicle is located according to the position of the vehicle in the driving track further comprises:

[0041] determining a target parking lot element on the floor or the ramp where the vehicle is located according to the position of the vehicle in the driving track, wherein the floor sequence number of the target parking lot element is the same as the floor sequence number of the target floor map, or the ramp sequence number of the target parking lot element is the same as the ramp sequence number of the target ramp map.

[0042] The displaying the model of the vehicle and the target floor map or the target ramp map where the vehicle is located in the navigation interface of the vehicle further comprises:

[0043] The displaying the model of the vehicle and the target parking lot element in the navigation interface of the vehicle.

[0044] According to a third aspect of the embodiments of the present application, an electronic device is provided, comprising a memory, a processor, and executable instructions stored in the memory and executable on the processor.

[0045] The processor, when executing the executable instructions, implements the steps in the method of any one of the first aspect.

[0046] Optionally, the electronic device is communicatively connected with a vehicle, or the electronic device is arranged in the vehicle.

[0047] According to a fourth aspect of the embodiments of the present application, a vehicle is provided, comprising a display, a memory, a processor, and executable instructions stored in the memory and executable on the processor.

[0048] The processor, when executing the executable instructions, implements the steps in the method of any one of the second aspect.

[0049] The display is configured to display a navigation interface, and the model of the vehicle and the target floor map or the target ramp map where the vehicle is located are displayed on the navigation interface.

[0050] According to a fifth aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores computer instructions, and the computer instructions, when executed by a processor, implement the steps in the method of any one of the first aspect.

[0051] The technical scheme provided by the embodiment of the present application can include the following beneficial effects:

[0052] The embodiment of the present application provides a floor division method for a multi-layer parking lot, which can obtain a parking lot map collected by a vehicle during parking, then divide the parking lot map into a plurality of first areas, each of which includes a partial driving track of the vehicle, then in each of the first areas, at least two track points are uniformly sampled from the partial driving tracks, and an included angle of two adjacent track points in a horizontal plane is determined, so that it is determined according to the size of the continuous N included angles whether the first area belongs to a flat ground or a ramp, and finally, the parking lot map is accurately divided according to the division of all first areas. In the embodiment, the size of the continuous N included angles is counted to accurately distinguish whether each first area is a flat ground or a ramp, thereby improving the accuracy of floor division.

[0053] The embodiment of the present application also provides a parking display method for a multi-layer parking lot. After obtaining a parking lot map collected by a vehicle, the floor division method described above can be used to divide the parking lot map, and then in a memory parking scenario, the map of the corresponding floor or ramp can be accurately displayed according to the divided parking lot map, avoiding problems such as overlapping display of multiple floors and being unable to distinguish or shielding a model indicating the vehicle.

[0054] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0055] The accompanying drawings, which are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application.

[0056] Figure 1 is a schematic diagram of a parking lot map display in a related technology, as shown in an exemplary embodiment of the present application.

[0057] Figure 2 and Figure 3 are structural schematic diagrams of two different floor division systems, as shown in an exemplary embodiment of the present application.

[0058] Figure 4 is a flowchart of a floor division method, as shown in an exemplary embodiment of the present application.

[0059] Figure 5 is a schematic diagram of calculating an included angle, as shown in an exemplary embodiment of the present application.

[0060] Figure 6is a schematic diagram of a floor division scenario according to an example embodiment of the present application.

[0061] Figure 7 is a flowchart of a parking display method according to an example embodiment of the present application.

[0062] Figure 8 is a schematic diagram of a parking lot map display according to an example embodiment of the present application.

[0063] Figure 9 is a schematic diagram of an electronic device according to an example embodiment of the present application.

[0064] Figure 10 is a schematic diagram of a vehicle according to an example embodiment of the present application. DETAILED DESCRIPTION

[0065] The example embodiments will be described in detail herein with reference to the attached drawings. The following description is made with reference to the accompanying drawings in which like reference numerals refer to like elements in the several figures. The following description of example embodiments is not representative of all possible embodiments consistent with the present application. Rather, it is merely intended to be a description of some embodiments consistent with some aspects of the present application as detailed in the appended claims.

[0066] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the present application and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0067] It will be understood that, although the terms first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a temporal or chronological order. Rather, these terms are used only as a shorthand notation to distinguish one item from another. For example, in the present application, a first item can be termed a second item, and similarly, a second item can be termed a first item without departing from the scope of the present application. Depending on the context, the word "if' as used herein can be interpreted to mean "when" or "in response to determining" or "in response to a determination."

[0068] In the related art, floor division is performed according to a Z coordinate indicating a height in a parking lot map, and inaccurate floor division results can cause problems such as multiple floors being overlaid and displayed, or being displayed incompletely, when displaying the parking lot map. For example, as shown in FIG. 1, a parking lot map 100 is displayed on a display screen 110 of an electronic device 200. The parking lot map 100 includes a first floor 101 and a second floor 102. The first floor 101 and the second floor 102 are overlaid and displayed on the display screen 110, and thus the user cannot recognize the parking lot map 100. Figure 1The displayed parking lot map has the following problems due to inaccurate floor division results: one is that vehicles of different floors are superimposed together, making it difficult for users to distinguish, such as Figure 1 vehicles of the previous floor and vehicles of the floor where the vehicle is located are shown, wherein the vehicles of the floor where the vehicle is located are partially blocked by the roads of the previous floor; the other is that the model indicating the vehicle is blocked and cannot be displayed due to superimposed display of different floors.

[0069] To solve the problems in the related art, the embodiments of the present application provide a floor division method for a multi-floor parking lot. The method can be applied to an electronic device capable of obtaining a parking lot map collected by a vehicle during parking. Then, the parking lot map is divided into a plurality of first areas, each of which includes a part of a driving track of the vehicle. Then, in each of the first areas, at least two track points are uniformly sampled from the part of the driving track, and an included angle of adjacent two track points in a horizontal plane is determined, so as to determine whether the first area belongs to a flat ground or a ramp according to the size of the continuous N included angles. Finally, the parking lot map is accurately divided according to the division of all first areas. In the embodiments, the way of counting the size of the continuous N included angles can accurately distinguish whether each first area is a flat ground or a ramp, thereby improving the accuracy of floor division.

[0070] For example, refer to Figure 2 , Figure 2 A floor division system is provided, which includes an electronic device 10 and a vehicle 20. The electronic device 10 performing the floor division method is in communication connection with the vehicle 20. The electronic device 10 is a device independent of the vehicle 20, such as a server (such as a traditional server or a cloud server), a mobile terminal or other device with computing capability in communication connection with the vehicle.

[0071] For example, refer to Figure 3 , Figure 3 Another floor division system is provided, which includes an electronic device 10 and a vehicle 20. The electronic device 10 performing the floor division method can be arranged in the vehicle 20, such as a vehicle-mounted terminal built in the vehicle 20.

[0072] In some embodiments, the vehicle is installed with sensors such as a camera, a laser radar, a millimeter wave radar, and / or an inertial measurement unit. In a memory parking scenario, for example, the vehicle can construct a parking map using data collected by the sensors in response to a memory instruction triggered by a user during parking. The parking map may, for example, include a driving trajectory of the vehicle from a starting position at the time of triggering of the memory instruction to parking in a designated parking space, and at least one parking lot element collected by the sensors during driving of the vehicle. The trajectory points on the driving trajectory and the parking lot element each have an indication of a corresponding three-dimensional coordinate, so as to indicate positions of the trajectory and the parking lot element. The parking lot element may, for example, include at least one of the following: a column, a deceleration strip, an anti-collision strip, a parking space, a lane line, a road marking pattern, a signboard, a monitoring camera, a lighting device, or a barrier gate, and the like.

[0073] Next, the floor division method provided by the embodiments of the present application is exemplarily described. Please refer to Figure 4 , Figure 4 is a flowchart of a floor division method provided by the embodiments of the present application. The method is applied to an electronic device, and the method includes:

[0074] In step S101, a parking lot map collected by a vehicle during parking is acquired, and the parking lot map includes a driving trajectory of the vehicle.

[0075] In step S102, the parking lot map is divided into a plurality of first areas, and each first area includes part of the driving trajectory.

[0076] In step S103, for each first area, at least two trajectory points are uniformly sampled from the part of the driving trajectory, an included angle of two adjacent trajectory points in a horizontal plane is determined, and a first attribute of the first area is determined according to sizes of consecutive N included angles; the first attribute indicates that the first area belongs to a flat ground or a ramp, and N is an integer greater than 0.

[0077] In step S104, the parking lot map is divided into floors according to the first attribute of the first area.

[0078] In some embodiments, during parking, the vehicle can construct a parking lot map based on data collected by sensors built in the vehicle, the parking lot map at least including a driving track of the vehicle, the driving track including a plurality of track points corresponding to three-dimensional coordinates. After the vehicle completes parking, the vehicle can send the constructed parking lot map to the electronic device. It can be understood that the parking lot map is not a complete map indicating the entire parking lot, but includes the driving track collected by the built-in sensors during driving and related information (such as at least one parking lot element) along the way.

[0079] In some embodiments, after obtaining the parking lot map collected by the vehicle during parking, the electronic device can divide the parking lot map into a plurality of first areas, each of the first areas including a part of the driving track of the vehicle. Then, for each of the first areas, at least two track points are uniformly sampled from the part of the driving track included in the first area, such as one track point is sampled every preset distance on the part of the track, and the preset distance can be set according to actual application scenarios, which is not limited in the present embodiment, such as the preset distance is 0.25 meters, 0.5 meters or 0.6 meters, etc.

[0080] In each of the first areas, after sampling at least two track points, the electronic device determines an included angle of two adjacent track points in a horizontal plane according to three-dimensional coordinates of the two adjacent track points, and then determines a first attribute of the first area according to sizes of consecutive N included angles, that is, determines whether the first area belongs to a flat ground or a ramp. In the present embodiment, the first area is distinguished between the flat ground and the ramp based on the sizes of the consecutive N included angles, which is beneficial to improve the accuracy of the floor division result.

[0081] Wherein, N is an integer greater than 0. Further, considering that the greater the number of N is, the higher the accuracy of the determined first attribute of the first area is, the value of N can be set according to actual situations, such as N is greater than 5, or such as N is at least greater than half or two-thirds of the number of included angles included in the first area, etc.

[0082] In a possible implementation, the first attribute includes a ramp attribute and a flat attribute; in the process of determining the first attribute of the first region, if the N continuous included angles in the first region are all greater than a preset angle threshold, it can be determined that the first attribute of the first region is the ramp attribute; if the N continuous included angles in the first region are all substantially 0 or are all less than the preset angle threshold, it can be determined that the floor attribute of the first region is the flat attribute. The included angle substantially 0 can be understood as the included angle being equal to 0 or the difference between the included angle and 0 being small enough to be ignored, for example, the difference between the included angle and 0 is within a preset difference (such as 2°, 3° or 4°, etc.). The preset angle threshold can be specifically set according to an actual application scenario, and the embodiment does not make any limitation in this regard, for example, the preset angle threshold is 10°, 11° or 13°, etc.

[0083] In some embodiments, the parking lot generally includes multiple floors above ground and / or underground, and accordingly, the ramp attribute includes an uphill attribute and a downhill attribute. The electronic device can determine whether the first region is uphill or downhill according to the positive and negative of the signs of the trigonometric functions of the N continuous included angles, that is, determine the specific ramp attribute of the first region.

[0084] For example, in the process of determining the included angle of the two adjacent trajectory points on the horizontal plane, the included angle of the two adjacent trajectory points on the horizontal plane can be determined in sequence according to the driving direction of the driving trajectory, and the driving direction of the driving trajectory is from the starting position to the parking space where the vehicle is located. Please refer to Figure 5 , assuming that the coordinates of the trajectory point 1 are (x1, y2, z1), the coordinates of the trajectory point 2 are (x2, y2, z2), and the included angle θ between the two trajectory points satisfies , the calculated trigonometric function sign has positive and negative signs. If the signs of the trigonometric functions of the N continuous included angles are all positive, it can be determined that the first attribute of the first region is the uphill attribute; if the signs of the trigonometric functions of the N continuous included angles are all negative, it can be determined that the first attribute of the first region is the downhill attribute.

[0085] Of course, in actual application, according to different calculation methods, it is also possible that the first attribute of the first region is the uphill attribute in the case that the signs of the trigonometric functions of the N continuous included angles are all negative, and the first attribute of the first region is the downhill attribute in the case that the signs of the trigonometric functions of the N continuous included angles are all positive, and the embodiment does not make any limitation in this regard.

[0086] In some embodiments, after determining the first attribute of all the first regions, the electronic device can divide the parking lot map by floor according to the first attribute of all the first regions. This embodiment can improve the accuracy of floor division by analyzing each first region of the parking lot map in a region-by-region manner and effectively distinguishing whether each first region is a flat ground or a ramp according to the actual situation of the parking lot.

[0087] In a possible implementation, the electronic device can sort the first attribute of all the first regions according to the driving direction of the driving track. When observing the first attribute of all the first regions from the start point to the end point according to the driving direction of the driving track, the change of the sorted first attribute of all the first regions can be: (1) jumping from the flat ground attribute to the ramp attribute and then jumping from the ramp attribute to the flat ground attribute; (2) jumping from the ramp attribute to the flat ground attribute and then jumping from the flat ground attribute to the ramp attribute. Therefore, the electronic device can determine the second attribute of each first region according to the change of the sorted first attribute of all the first regions, where the second attribute indicates the floor number of the floor where the first region is located or the ramp number of the ramp where the first region is located, and then divide the parking lot map by floor according to the second attribute of the first region. In this embodiment, the specific floor or specific ramp where each first region is located is distinguished according to the change of the first attribute of all the first regions, the parking lot map is divided into a flat ground-ramp-flat ground structure, and the accuracy of floor division is improved.

[0088] For example, in the process of determining the second attribute of each first region according to the change of the sorted first attribute of all the first regions, the two adjacent first regions having a jump relationship (i.e., the first attribute of the two adjacent first regions is one flat ground attribute and the other ramp attribute) can be found according to the change of the sorted first attribute of all the first regions, and then different floors or different ramps can be distinguished based on the two adjacent first regions having a jump relationship, and different floor numbers can be assigned to different floors and different ramp numbers can be assigned to different ramps according to actual needs.

[0089] In one example, please refer to Figure 6For example, if the parking lot is divided into 9 first areas, the first areas s1 (flat attribute), s2 (flat attribute), s3 (flat attribute), s4 (ramp attribute), s5 (ramp attribute), s6 (ramp attribute), s7 (ramp attribute), s8 (flat attribute) and s9 (flat attribute) are sequentially divided from the start point and the end point according to the driving direction of the driving track. It can be seen that the change of all the first attributes after the sorting is flat attribute→ flat attribute→ flat attribute→ ramp attribute→ ramp attribute→ ramp attribute→ ramp attribute→ flat attribute→ flat attribute, and the adjacent two first areas with jump relationship are {first area s3 (flat attribute), first area s4 (ramp attribute)} and {first area s7 (ramp attribute), first area s8 (flat attribute)}. The different floors or different ramps can be distinguished according to the above adjacent two first areas with jump relationship, and then it is determined that the first areas s1, s2 and s3 belong to the same floor and the floor number is 1, the first areas s8 and s9 belong to the same floor and the floor number is 2, and the first areas s4, s5, s6 and s7 belong to the ramp between two floors and the ramp number is 1-2.

[0090] It can be understood that the setting mode of the floor number is only exemplary, and the specific setting mode can be set according to the actual application scene. In an example, if the first attribute of the first area containing the start point of the driving track is flat attribute, it is determined as the first floor, and the floor number is 1. If the first attribute of the subsequent first area is uphill attribute, the floor number is increased. If the first attribute of the subsequent first area is downhill attribute, the floor number is decreased.

[0091] For example, after the floor division of the parking lot map according to the second attribute of the first area, the parking lot map can be divided into floor maps and ramp maps, wherein different floor maps correspond to different floor numbers, and the second attributes of all the first areas contained in the floor map are the same; and different ramp maps correspond to different ramp numbers, and the second attributes of all the first areas contained in the ramp map are the same. For example, the parking lot map containing 9 first areas can be divided into 2 floor maps and 1 ramp map, for example, the first floor map has a floor number of 1 and includes the first areas s1, s2 and s3; the ramp map has a ramp number of 1-2 (indicating the ramp between floor 1 and floor 2) and includes the first areas s4, s5, s6 and s7; and the second floor map has a floor number of 2 and includes the first areas s8 and s9.

[0092] In some embodiments, the parking lot map further comprises at least one parking lot element; after the parking lot map is divided into a plurality of first regions, each of the first regions comprises part of the driving track and part of the parking lot element. Exemplarily, the parking lot element comprises, but is not limited to, a column, a deceleration strip, a crash barrier, a parking space, a lane line, a road marking pattern, a signboard, a monitoring camera, a lighting device and / or a barrier gate. When the parking lot map is divided into floors, the electronic device further divides the parking lot element in the parking lot map into floors, and the electronic device can determine the floor number of the floor where each parking lot element is located or the ramp number of the ramp where each parking lot element is located according to the second attribute of all the first regions and the first region to which each parking lot element belongs. This embodiment realizes determination of the floor number of the floor where each parking lot element is located or the ramp number of the ramp where each parking lot element is located, so as to accurately display the parking lot element of the corresponding floor or ramp when the parking lot map is displayed subsequently.

[0093] In a possible implementation, for each parking lot element contained in a first region, the second attribute of the first region can be assigned to the parking lot element contained in the first region. For example, if the second attribute of the first region indicates that the floor number of the first region is 1, the floor number of the floor where the parking lot element contained in the first region is located is also 1.

[0094] In another possible implementation, considering that there is a jump of different first attributes between two adjacent first regions, for example, the first attribute of a first region is a flat attribute, and the first attribute of another first region adjacent to the first region is a ramp attribute, for this jump, if the second attribute of the first region is still assigned to the parking lot element contained in the first region according to the above implementation, there is a case of incorrect determination of the floor or ramp where the parking lot element is located. For example, a parking lot element on a ramp is divided into a first region belonging to a flat attribute because it is close to the first region belonging to the flat attribute, and is incorrectly determined as being on a floor.

[0095] Therefore, in order to improve the division accuracy of the parking lot element, the electronic device divides the parking lot map into a plurality of second regions with the turning points of the driving track as the division points before dividing the parking lot map into a plurality of first regions, and then divides each of the second regions into a plurality of first regions, that is, the second region is larger than the first region, and the second region comprises at least one first region. After determining the second attribute of all the first regions, for each second region, the electronic device determines whether the second attributes of all the first regions contained in the second region are the same.

[0096] If the second attribute of all the first regions included in the second region is the same, indicating that there is no floor → ramp (or ramp → floor) jump in the second region, the floor number of the floor where all the parking lot elements in the second region are located or the ramp number of the ramp where all the parking lot elements in the second region are located can be determined according to the same second attribute, that is, the same second attribute is assigned to all the parking lot elements in the second region.

[0097] If the second attribute of at least two first regions in the second region is different, indicating that there is a floor → ramp (or ramp → floor) jump in the second region, the second attribute of the first region sampled with at least two trajectory points is the same as the second attribute of the first region where the trajectory point is located. The electronic device can determine the distance between the parking lot element and each trajectory point in the second region according to the position information (such as three-dimensional coordinates) of the parking lot element and the position information (such as three-dimensional coordinates) of the trajectory point, and then determine the floor number of the floor where the parking lot element is located or the ramp number of the ramp where the parking lot element is located according to the second attribute of the trajectory point closest to the parking lot element in the second region, that is, the second attribute of the trajectory point closest to the parking lot element in the second region is assigned to the parking lot element. In the embodiment, when there are jumping first regions in the second region, the floor number of the floor where the parking lot element is located or the ramp number of the ramp where the parking lot element is located is determined according to the second attribute of the trajectory point closest to the parking lot element, which is beneficial to improve the division accuracy of the parking lot element.

[0098] It is not difficult to understand that the schemes described in the above embodiments can be combined in the absence of conflicts, and the embodiments of the present application do not enumerate one by one.

[0099] Correspondingly, please refer to Figure 7 The embodiment of the present application also provides a parking display method, which is applied to a vehicle, and the method comprises the following steps:

[0100] In step S201, in response to a memory parking instruction, a target parking lot map indicated by the memory parking instruction is acquired, the target parking lot map comprising a driving trajectory of the vehicle; the target parking lot map is obtained based on the floor division method described above; and the target parking lot map is divided into at least one floor map and at least one ramp map.

[0101] In step S202, during driving of the vehicle according to the driving trajectory, a target floor map or a target ramp map where the vehicle is located is determined according to the position of the vehicle in the driving trajectory.

[0102] In step S203, a model indicating the vehicle and the target floor map or the target ramp map where the vehicle is located are displayed in a navigation interface of the vehicle.

[0103] In the memory parking, the vehicle is configured to perform a memory setting (e.g., trigger the memory instruction) at the entrance of the garage or parking lot, and then manually park the vehicle from the entrance of the garage or parking lot to a designated parking space. During the manual parking, the vehicle collects data from the entrance of the garage or parking lot to the designated parking space and constructs a parking lot map, which includes a driving track of the vehicle and at least one parking lot element along the driving track. In the subsequent driving, the vehicle wakes up the memory parking function and finds the recorded parking space in the parking lot according to the parking lot map and the driving track, and finally completes the parking. The whole operation is fully automatic and can avoid the vehicle and personnel in the parking lot.

[0104] In some embodiments, in response to the memory parking instruction, the vehicle determines a target floor map or a target ramp map in the target parking lot map according to a position of the vehicle in the driving track in the target parking lot map during driving according to the driving track in the target parking lot map, and displays a model of the vehicle and the target floor map or the target ramp map in the navigation interface.

[0105] In some embodiments, in response to the memory parking instruction, the vehicle determines a target floor map or a target ramp map in the target parking lot map according to a position of the vehicle in the driving track in the target parking lot map during driving according to the driving track in the target parking lot map, and displays a model of the vehicle and the target floor map or the target ramp map in the navigation interface. Figure 8 Figure 8 In the navigation interface, the model of the vehicle and the target floor map or the target ramp map are displayed to Figure 1 In comparison, Figure 8 In the navigation interface, the model of the vehicle and the target floor map or the target ramp map are displayed to

[0106] For example, the position of the vehicle in the driving track can be determined by the following method: during driving according to the driving track in the target parking lot map, the vehicle determines a driving duration according to a time at a starting point of the driving track and a real-time time, and then obtains a driving distance based on the driving duration and a driving speed of the vehicle, and determines a real-time position of the vehicle in the driving track based on the driving distance and the starting point of the driving track.

[0107] ​In some embodiments, the target parking lot map further comprises at least one parking lot element, the parking lot element comprising a floor number of a floor where the parking lot element is located or a ramp number of a ramp where the parking lot element is located; the electronic device can determine a target parking lot element on the floor where the vehicle is located according to the position of the vehicle in the driving trajectory; wherein the floor number of the target parking lot element is the same as the floor number of the floor map, or the ramp number of the target parking lot element is the same as the ramp number of the target ramp map. In one example, the target parking lot map comprises 2 floor maps (floor numbers are 1 and 2 respectively) and 1 ramp map (ramp numbers are 1-2), assuming that the target floor map where the vehicle is located is determined to be floor number 2, then the target parking lot element with floor number 2 can be found from all the parking lot elements.

[0108] Further, in the process of memorizing parking, referring to Figure 8 , the model of the vehicle and the target parking lot element can be displayed in the navigation interface of the vehicle, such as Figure 8 , parking space, lane line, road sign pattern and signboard, etc. In this embodiment, for a multi-floor parking lot, the target parking lot element of the corresponding floor can be accurately displayed according to the position of the vehicle, so that the user can accurately understand the floor where the vehicle is located and the distribution of the parking lot elements around the floor, solving the problem of multi-floor overlay display.

[0109] It is not difficult to understand that the above-described schemes in each of the embodiments can be combined in the absence of conflicts, and the embodiments of the present application do not enumerate one by one.

[0110] Correspondingly, referring to Figure 9 , the embodiments of the present application also provide an electronic device 10, comprising a memory 12, a processor 11 and executable instructions stored in the memory 12 and executable on the processor 11; wherein the processor 11 is configured to execute the executable instructions to:

[0111] acquire a parking lot map collected by the vehicle in the parking process, the parking lot map comprising a driving trajectory of the vehicle;

[0112] divide the parking lot map into a plurality of first areas, each of the first areas comprising part of the driving trajectory;

[0113] for each of the first areas, uniformly sampling at least two trajectory points from the part of the driving trajectory, determining the included angle of two adjacent trajectory points in the horizontal plane, and determining the first attribute of the first area according to the size of the consecutive N included angles; the first attribute indicates that the first area belongs to flat ground or ramp, and N is an integer greater than 0;

[0114] perform floor division on the parking lot map according to a first attribute of the first region.

[0115] The processor 11 executes executable instructions included in the memory 12. The processor 11 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0116] The memory 12 stores executable instructions of the floor division method. The memory 12 can include at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. Furthermore, the device can cooperate with a network storage device that performs a storage function of the memory through a network connection. The memory 12 can be an internal storage unit of the device 10, such as a hard disk or a memory of the device 10. The memory 12 can also be an external storage device of the device 10, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the device 10. Further, the memory 12 can include both the internal storage unit of the device 10 and the external storage device. The memory 12 is used to store executable instructions and other programs and data required by the device. The memory 12 can also be used to temporarily store data that has been output or will be output.

[0117] In some embodiments, the first attribute includes a ramp attribute and a flat attribute; and the processor 11 is further configured to determine that the first attribute of the first region is the ramp attribute if N consecutive included angles in the first region are greater than a preset angle threshold, and determine that the floor attribute of the first region is the flat attribute if the N consecutive included angles in the first region are substantially 0 or less than the preset angle threshold.

[0118] In some embodiments, the ramp attribute includes an uphill attribute and a downhill attribute; the processor 11 is further configured to sequentially determine an included angle of two adjacent trajectory points in a horizontal plane according to a driving direction of the driving trajectory. Wherein, if the signs of the trigonometric functions of the continuous N included angles are all positive, the first attribute of the first region is the uphill attribute; if the signs of the trigonometric functions of the continuous N included angles are all negative, the first attribute of the first region is the downhill attribute.

[0119] In some embodiments, the processor 11 is further configured to sort the first attributes of the first regions according to the driving direction of the driving trajectory; determine the second attributes of the first regions according to the changes of the sorted first attributes; the second attribute indicates a floor sequence number of a floor or a ramp sequence number of a ramp where the first region is located; and divide the parking lot map according to the second attributes of the first regions.

[0120] In some embodiments, the parking lot map is divided into at least one floor map and at least one ramp map; wherein different floor maps correspond to different floor sequence numbers, and the second attributes of all first regions included in the floor map are the same; and different ramp maps correspond to different ramp sequence numbers, and the second attributes of all first regions included in the ramp map are the same.

[0121] In some embodiments, the parking lot map further includes at least one parking lot element; each first region further includes part of the parking lot elements. The processor 11 is further configured to determine the floor sequence number of a floor or the ramp sequence number of a ramp where the parking lot element is located according to the second attribute of the first region and the first region to which the parking lot element belongs.

[0122] In some embodiments, before dividing the parking lot map into a plurality of first regions, the processor 11 is further configured to divide the parking lot map into a plurality of second regions with the turning points of the driving trajectory as the dividing points; wherein the second region is larger than the first region, and the second region includes at least one first region; if the second attributes of all first regions included in the second region are the same, the floor sequence number of a floor or the ramp sequence number of a ramp where all parking lot elements in the second region are located is determined according to the second attribute; if there are at least two first regions in the second region with different second attributes, the floor sequence number of a floor or the ramp sequence number of a ramp where the parking lot element is located is determined according to the second attribute of the trajectory point closest to the parking lot element in the second region; wherein the second attribute of the trajectory point is the same as the second attribute of the first region where the trajectory point is located.

[0123] In some embodiments, the parking lot element comprises at least one of a pole, a speed bump, a crash barrier, a parking space, a lane line, a road marking pattern, a signboard, a surveillance camera, a lighting device, or a barrier gate.

[0124] The various embodiments described herein can be implemented using computer readable media, for example, computer software, hardware, or any combination thereof. For a hardware implementation, the embodiments described herein can be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, electronic devices that are designed to perform the functions described herein, or a combination thereof. For a software implementation, the embodiments, such as procedures or functions, can be implemented with separate software modules, which allow at least one function or operation to be performed. The software code can be implemented by a software application (or program) written in any suitable programming language, which can be stored in memory and executed by a controller.

[0125] The electronic device 10 can be a desktop computer, a notebook, a palm computer, a server, a cloud server, a mobile phone, a vehicle terminal, and the like. The device can include, but is not limited to, a processor 11, a memory 12. Those skilled in the art can understand that the device can include more or less components, or combine certain components, or different components, for example, the device can also include an input / output device, a network access device, a bus, and the like. Figure 9 The electronic device 10 is only an example and does not constitute a limitation on the electronic device 10, and can include more or less components than the diagram, or combine certain components, or different components, for example, the device can also include an input / output device, a network access device, a bus, and the like.

[0126] The implementation process of the functions and roles of each unit in the above device is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0127] Accordingly, please refer to Figure 10 The embodiment of the present application also provides a vehicle 20, which comprises a display 21, a memory 22, a processor 23, and executable instructions stored in the memory 22 and executable on the processor 23.

[0128] The processor 23 is configured to, when executing the executable instructions, acquire a target parking lot map indicated by the memory parking instruction in response to the memory parking instruction, the target parking lot map comprising a driving track of the vehicle; the target parking lot map is obtained based on the floor division method described above; the target parking lot map is divided into at least one floor map and at least one ramp map; during driving of the vehicle according to the driving track, determining a target floor map or a target ramp map in which the vehicle is located according to a position of the vehicle in the driving track; and controlling the navigation interface of the vehicle to display a model of the vehicle and the target floor map or the target ramp map in which the vehicle is located.

[0129] The display 21 is configured to display a navigation interface, the navigation interface being configured to display a model of the vehicle and the target floor map or the target ramp map in which the vehicle is located.

[0130] In some embodiments, the target parking lot map further comprises at least one parking lot element, the parking lot element comprising a floor number of a floor in which the parking lot element is located or a ramp number of a ramp in which the parking lot element is located. The processor is further configured to determine a target parking lot element in the floor or the ramp in which the vehicle is located according to the position of the vehicle in the driving track; wherein the floor number of the target parking lot element is the same as the floor number of the target floor map, or the ramp number of the target parking lot element is the same as the ramp number of the target ramp map. The display 21 is further configured to display the model of the vehicle and the target parking lot element in the navigation interface of the vehicle.

[0131] The implementation process of the functions and roles of each unit in the above device is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0132] Of course, the vehicle further comprises other components, such as a chassis, a vehicle body, an engine, and electrical equipment. The engine is a power device of the vehicle, used to generate power; the chassis is used to support the engine and the vehicle body, and the chassis can drive the vehicle to move according to the power generated by the engine; the vehicle body is mounted on the frame of the chassis, used for the driver, passengers to ride or load goods; the electrical equipment comprises a power supply and an electrical equipment, for example, the power supply comprises a storage battery and a generator, and the electrical equipment comprises a starting system of the engine or other electrical devices. Optionally, the vehicle further comprises a vehicle-mounted sensor (such as a camera, a laser radar, a millimeter wave radar, an RGBD camera, etc.), used to perceive environmental information of the surrounding environment of the vehicle. Optionally, the vehicle further comprises an automatic driving system, used to assist the driver to drive.

[0133] Correspondingly, the embodiment of the present application further provides a computer program product, comprising a computer program, which is executed by a processor to implement the floor division method or the parking display method.

[0134] In the exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, for example, a memory comprising instructions, is also provided, which can be executed by a processor of an apparatus to complete the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0135] A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of a terminal, enables the terminal to perform the above method.

[0136] Embodiments of the subject matter and the functional operations described in this specification can be implemented in digital electronic circuitry, in tangibly-embodied computer software or firmware, in computer hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible non-transitory program carrier to execute on or control the operation of data processing apparatus. Alternatively or additionally, the program instructions can be encoded on an artificially generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal that is generated to encode information for transmission to suitable receiver apparatus for execution by a data processing apparatus. A computer storage medium can be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

[0137] The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit), and the apparatus can be implemented as special purpose logic circuitry. The processes and logic flows can also be performed by a general purpose computer selectively activated or deactivated, or reconfigured by a computer program stored in the computer.

[0138] Computers suitable for the execution of a computer program include, by way of example, general and / or special purpose microprocessors, or any other kind of central processing unit. Generally, a central processing unit will receive instructions and data from a read-only memory and / or a random access memory. The essential elements of a computer are a central processing unit for performing or executing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto-optical disks, or optical disks. However, a computer need not have such devices. Moreover, a computer can be embedded in another device, e.g., a mobile telephone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a Global Positioning System (GPS) receiver, or a portable storage device (e.g., a universal serial bus (USB) flash drive), to name just a few.

[0139] Computer readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices; magnetic disks, e.g., internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0140] While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any inventions, but rather as descriptions of features specific to particular embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, although features can be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination and the claimed combination can be directed to a subcombination or variation of a subcombination.

[0141] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring or implying that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated in a single software product or packaged into multiple software products.

[0142] Thus, particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0143] The above-described embodiments are merely possible implementations of the present application, and do not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the present application.

Claims

1. A floor classification method characterized by, The method comprises: acquiring a parking lot map collected by a vehicle during parking, the parking lot map comprising a driving track of the vehicle; dividing the parking lot map into a plurality of first areas, each of the first areas comprising part of the driving track; for each of the first areas, uniformly sampling at least two track points from the part of the driving track, determining an included angle of two adjacent track points in a horizontal plane, and determining a first attribute of the first area according to a size condition of consecutive N included angles, the first attribute indicating whether the first area belongs to a flat ground or a ramp, N being an integer greater than 0; performing floor division on the parking lot map according to the first attribute of the first area, so as to distinguish different floors or different ramps based on adjacent two first areas having a jump relationship, the jump relationship indicating that one of the first attributes of the adjacent two first areas is a flat ground attribute and the other is a ramp attribute.

2. The method of claim 1, wherein, The first attribute comprises a ramp attribute and a flat ground attribute. The determining of the first attribute of the first area according to the size condition of the consecutive N included angles comprises: if the consecutive N included angles in the first area are all greater than a preset angle threshold, determining that the first attribute of the first area is a ramp attribute; if the consecutive N included angles in the first area are all substantially 0 or less than the preset angle threshold, determining that the floor attribute of the first area is a flat ground attribute.

3. The method of claim 2, wherein, The ramp attribute comprises an uphill attribute and a downhill attribute. The determining of the included angle of two adjacent track points in the horizontal plane comprises: sequentially determining the included angle of two adjacent track points in the horizontal plane according to a driving direction of the driving track. If the signs of the trigonometric functions of the consecutive N included angles are all positive, the first attribute of the first area is an uphill attribute. If the signs of the trigonometric functions of the consecutive N included angles are all negative, the first attribute of the first area is a downhill attribute.

4. The method of claim 1, wherein, The floor division on the parking lot map according to the first attribute of the first area comprises: sorting the first attributes of the first areas according to the driving direction of the driving track; determining a second attribute of each of the first areas according to a change condition of all the sorted first attributes, the second attribute indicating a floor serial number of a floor where the first area is located or a ramp serial number of a ramp where the first area is located; performing floor division on the parking lot map according to the second attribute of the first area.

5. The method of claim 4, wherein, The parking lot map is divided into at least one floor map and at least one ramp map. Different floor maps correspond to different floor serial numbers, and the second attributes of all the first areas included in the floor map are the same. Different ramp maps correspond to different ramp serial numbers, and the second attributes of all the first areas included in the ramp map are the same.

6. The method of claim 4, wherein, The parking lot map further comprises at least one parking lot element, and each of the first areas further comprises part of the parking lot element. The floor division on the parking lot map according to the second attribute of the first area further comprises: According to the second attribute of the first area and the first area to which the parking lot element belongs, a floor number of a floor where the parking lot element is located or a ramp number of a ramp where the parking lot element is located is determined.

7. The method of claim 6, wherein, Before the parking lot map is divided into a plurality of first areas, the method further comprises: The parking lot map is divided into a plurality of second areas with turning points of the driving track as boundaries, wherein the second area is larger than the first area, and the second area comprises at least one first area. The determination of the floor number of the floor where the parking lot element is located or the ramp number of the ramp where the parking lot element is located according to the second attribute of the first area and the first area to which the parking lot element belongs comprises: If the second attributes of all the first areas contained in the second area are the same, the floor number of the floor where all the parking lot elements in the second area are located or the ramp number of the ramp where all the parking lot elements in the second area are located is determined according to the second attribute; If the second attributes of at least two first areas in the second area are different, the floor number of the floor where the parking lot element is located or the ramp number of the ramp where the parking lot element is located is determined according to the second attribute of the track point closest to the parking lot element in the second area, wherein the second attribute of the track point is the same as the second attribute of the first area where the track point is located.

8. The method according to claim 6 or 7, characterized in that, The parking lot element comprises at least one of the following: a column, a speed bump, a crash barrier, a parking space, a lane line, a road sign pattern, a signboard, a monitoring camera, a lighting device, or a gate.

9. A parking display method characterized by comprising: The method is applied to a vehicle, and the method comprises: In response to a memory parking instruction, a target parking lot map indicated by the memory parking instruction is obtained, the target parking lot map comprising a driving track of the vehicle; the target parking lot map is obtained based on the floor division method of any one of claims 1 to 8; the target parking lot map is divided into at least one floor map and at least one ramp map; During driving of the vehicle according to the driving track, a target floor map or a target ramp map where the vehicle is located is determined according to a position of the vehicle in the driving track; A model of the vehicle and the target floor map or the target ramp map where the vehicle is located are displayed in a navigation interface of the vehicle.

10. The method of claim 9, wherein, The target parking lot map further comprises at least one parking lot element, and the parking lot element comprises a floor number of a floor where the parking lot element is located or a ramp number of a ramp where the parking lot element is located. The determination of the target floor map or the target ramp map where the vehicle is located according to the position of the vehicle in the driving track further comprises: A target parking lot element in a floor or a ramp where the vehicle is located is determined according to the position of the vehicle in the driving track, wherein a floor number of the target parking lot element is the same as a floor number of the target floor map, or a ramp number of the target parking lot element is the same as a ramp number of the target ramp map. The display of the model of the vehicle and the target floor map or the target ramp map where the vehicle is located in the navigation interface of the vehicle further comprises: The model of the vehicle and the target parking lot element are displayed in the navigation interface of the vehicle.

11. An electronic device, comprising: comprising a memory, a processor, and executable instructions stored on the memory and executable on the processor; wherein the processor, when executing the executable instructions, implements the steps in the method of any one of claims 1 to 8.

12. The apparatus of claim 11, wherein, The electronic device is communicatively connected with the vehicle, or the electronic device is disposed in the vehicle.

13. A vehicle characterized by comprising: comprising a display, a memory, a processor, and executable instructions stored on the memory and executable on the processor; wherein the processor, when executing the executable instructions, implements the steps in the method of any one of claims 9 to 10. The display is configured to display a navigation interface, the navigation interface being configured to display a model of the vehicle and a target floor map or a target ramp map on which the vehicle is located.

14. A computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions, when executed by the processor, implement the steps in the method of any one of claims 1 to 10.

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