Parking lot vehicle searching method, device and system

Abstract

The application discloses a parking lot vehicle searching method, device and system, the method comprising: obtaining a vehicle searching request of a user; determining a current position and a parking position of the user according to the vehicle searching request of the user; determining a corresponding parking lot vehicle searching strategy according to the current position and the parking position, the parking lot vehicle searching strategy comprising a cross-floor vehicle searching strategy and a same-floor vehicle searching strategy, the cross-floor vehicle searching strategy being realized based on passage node information of each floor; determining a final vehicle searching path of the user according to the parking lot vehicle searching strategy and map data of the parking lot, so that the user reaches the parking position according to the final vehicle searching path. The application adopts different vehicle searching strategies for different vehicle searching conditions, especially designs a corresponding cross-floor vehicle searching strategy based on previously recorded passage node information of each floor for the cross-floor vehicle searching condition, so as to determine an optimal vehicle searching path, which improves the cross-floor vehicle searching efficiency and the accuracy of the vehicle searching path.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of parking lot vehicle searching, and in particular to a parking lot vehicle searching method, device and system. BACKGROUND

[0002] With the rapid development of cities and the increase of motor vehicle ownership in China, urban parking lots are becoming larger and larger to accommodate more parking spaces, and the multi-story structures in many parking lots are becoming more and more complex. In particular, in large parking lots such as shopping centers, airports, train stations and business buildings, when a vehicle owner returns to the parking space, he or she is often lost in the parking lot due to the large space, complex terrain (such as crossing multiple floors and walls, and pillars blocking), similar signs and difficult-to-distinguish indoor directions, and even walks to the wrong floor, resulting in a large amount of time and effort spent in searching for the vehicle, and even additional parking fees.

[0003] The prior art provides a parking lot vehicle searching scheme, which mainly determines the parking position through a parking space detection terminal, determines the current position of the user through a query terminal, and then calculates the shortest path between the parking position and the current position to guide the user to search for the vehicle in the reverse direction. Some schemes also involve the design of cross-floor vehicle searching logic, but these schemes still need to be improved in terms of searching efficiency and accuracy, and require high computing power of the system. SUMMARY

[0004] The embodiments of the present application provide a parking lot vehicle searching method, device and system to improve the searching efficiency and accuracy of the parking lot.

[0005] The embodiments of the present application adopt the following technical solutions:

[0006] In a first aspect, the embodiments of the present application provide a parking lot vehicle searching method, which includes:

[0007] obtaining a vehicle searching request of a user;

[0008] determining the current position and the parking position of the user according to the vehicle searching request of the user;

[0009] determining a corresponding parking lot vehicle searching strategy according to the current position and the parking position, the parking lot vehicle searching strategy including a cross-floor vehicle searching strategy and a same-floor vehicle searching strategy, the cross-floor vehicle searching strategy being realized based on passage node information of each floor;

[0010] determining a final vehicle searching path of the user according to the parking lot vehicle searching strategy and map data of the parking lot, so that the user reaches the parking position according to the final vehicle searching path.

[0011] Optionally, the parking lot car searching strategy is the cross-floor car searching strategy, and the determining of the final car searching path of the user according to the parking lot car searching strategy and map data of the parking lot comprises:

[0012] determining a start floor where the user is located and a start position and a target position of the start floor according to the current position and the map data of the parking lot;

[0013] determining a terminal floor where the user is to reach and a start position and a target position of the terminal floor according to the parking position and the map data of the parking lot;

[0014] determining the final car searching path according to the start position and the target position of the start floor and the start position and the target position of the terminal floor.

[0015] Optionally, the determining of the start floor where the user is located and the start position and the target position of the start floor according to the current position and the map data of the parking lot comprises:

[0016] determining a first target passage node corresponding to the start floor according to the current position and the map data of the parking lot;

[0017] taking the current position as the start position of the start floor;

[0018] taking the position of the first target passage node corresponding to the start floor as the target position of the start floor.

[0019] Optionally, the determining of the terminal floor where the user is to reach and the start position and the target position of the terminal floor according to the parking position and the map data of the parking lot comprises:

[0020] determining a second target passage node corresponding to the terminal floor according to the parking position and the map data of the parking lot;

[0021] taking the position of the second target passage node corresponding to the terminal floor as the start position of the terminal floor;

[0022] taking the parking position as the target position of the terminal floor.

[0023] Optionally, the start floor corresponds to a first target passage node, and the terminal floor corresponds to a second target passage node, and the determining of the final car searching path according to the start position and the target position of the start floor and the start position and the target position of the terminal floor comprises:

[0024] obtaining reachable floor information corresponding to the first target passage node;

[0025] if the destination floor is included in the reachable floor information, determining the final car searching path according to the start position and target position of the start floor and the start position and target position of the destination floor;

[0026] if the destination floor is not included in the reachable floor information, determining whether an intermediate floor between the start floor and the destination floor is included in the reachable floor information;

[0027] if yes, determining the final car searching path according to the start position and target position of the start floor, the start position and target position of the intermediate floor and the start position and target position of the destination floor;

[0028] otherwise, eliminating the first target passage node.

[0029] Optionally, the car searching strategy of the parking lot is the cross-floor car searching strategy, and the determining the final car searching path according to the start position and target position of the start floor and the start position and target position of the destination floor comprises:

[0030] determining a horizontal movement cost of the start floor according to the start position and target position of the start floor;

[0031] determining a horizontal movement cost of the destination floor according to the start position and target position of the destination floor;

[0032] determining a vertical movement cost of the start floor to the destination floor according to the passage node type;

[0033] determining path costs of a plurality of passage paths of the start floor to the destination floor according to the horizontal movement cost of the start floor, the horizontal movement cost of the destination floor and the vertical movement cost of the start floor to the destination floor;

[0034] determining the final car searching path according to the path costs of the respective passage paths of the start floor to the destination floor.

[0035] Optionally, the determining the final car searching path according to the path costs of the respective passage paths of the start floor to the destination floor comprises:

[0036] determining a plurality of target passage paths according to the path costs of the respective passage paths of the start floor to the destination floor;

[0037] determining actual passage distances corresponding to the respective target passage paths;

[0038] determining the final car searching path according to the actual passage distances corresponding to the respective target passage paths.

[0039] Optionally, the determining the starting floor where the user is located and the first target passage node corresponding to the starting floor according to the current position and the map data of the parking lot comprises:

[0040] determining a non-target passage node type according to the car searching request of the user;

[0041] determining all passage nodes corresponding to the starting floor and leading to the direction of the ending floor according to the current position and the map data of the parking lot;

[0042] eliminating the passage nodes corresponding to the non-target passage node type from all the passage nodes corresponding to the starting floor and leading to the direction of the ending floor, to obtain the first target passage node.

[0043] In a second aspect, the embodiments of the present application further provide a parking lot car searching device, wherein the device comprises:

[0044] an acquisition unit configured to acquire a car searching request of a user;

[0045] a first determination unit configured to determine a current position and a parking position of the user according to the car searching request of the user;

[0046] a second determination unit configured to determine a corresponding parking lot car searching strategy according to the current position and the parking position, wherein the parking lot car searching strategy comprises a cross-floor car searching strategy and a same-floor car searching strategy, and the cross-floor car searching strategy is based on passage node information of each floor;

[0047] a third determination unit configured to determine a final car searching path of the user according to the parking lot car searching strategy and map data of the parking lot, so that the user reaches the parking position according to the final car searching path.

[0048] In a third aspect, the embodiments of the present application further provide a parking lot car searching system, wherein the system comprises a client, a server and a car searching management platform, and the server is configured to execute any of the preceding methods.

[0049] In a fourth aspect, the embodiments of the present application further provide an electronic device, comprising:

[0050] a processor; and

[0051] a memory arranged to store computer executable instructions that, when executed, cause the processor to perform any of the preceding methods.

[0052] In a fifth aspect, the embodiments of the present application further provide a computer readable storage medium storing one or more programs, which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform any of the aforementioned methods.

[0053] The above at least one technical scheme adopted by the embodiments of the present application can achieve the following beneficial effects: The parking lot searching method of the embodiments of the present application first acquires a user's searching request; then determines the user's current position and parking position according to the user's searching request; then determines the corresponding parking lot searching strategy according to the current position and the parking position, the parking lot searching strategy comprising a cross-floor searching strategy and a same-floor searching strategy, the cross-floor searching strategy being realized based on the passage node information of each floor; finally determines the user's final searching path according to the parking lot searching strategy and the map data of the parking lot, so that the user reaches the parking position according to the final searching path. The parking lot searching method of the embodiments of the present application adopts different searching strategies for different searching situations, especially designs the corresponding cross-floor searching strategy based on the passage node information of each floor recorded in advance for the cross-floor searching situation, so as to determine the optimal searching path, which on the one hand improves the cross-floor searching efficiency, and on the other hand improves the accuracy of the searching path. BRIEF DESCRIPTION OF DRAWINGS

[0054] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application and illustrate the illustrative embodiments of the present application and their description serve to explain the present application, but do not constitute improper limitations on the present application. In the drawings:

[0055] Figure 1 FIG. 1 is a schematic diagram of the architecture of a parking lot searching system in the prior art;

[0056] Figure 2 FIG. 2 is a schematic diagram of the architecture of a parking lot searching system in the embodiments of the present application;

[0057] Figure 3 FIG. 3 is a schematic diagram of the flow of a parking lot searching method in the embodiments of the present application;

[0058] Figure 4 FIG. 4 is a schematic diagram of a parking lot searching flow in the embodiments of the present application;

[0059] Figure 5 FIG. 5 is a schematic diagram of the path generation effect in the embodiments of the present application;

[0060] Figure 6 FIG. 6 is a schematic diagram of the searching path effect realized based on the A-star algorithm in the embodiments of the present application;

[0061] Figure 7A structure schematic diagram of a parking lot vehicle searching device in an embodiment of the present application;

[0062] Figure 8 A structure schematic diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0063] For the purpose, technical solutions and advantages of the present application to be clearer, the technical solutions of the present application will be described clearly and completely below in combination with the embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative work belong to the scope of protection of the present application.

[0064] The technical solutions provided by the embodiments of the present application will be described in detail below in combination with the drawings.

[0065] In order to facilitate the understanding of the embodiments of the present application, first, the function implementation of a parking lot vehicle searching system in the prior art is introduced, as shown in Figure 1 A structure schematic diagram of a parking lot vehicle searching system in the prior art is provided. The parking lot vehicle searching system mainly includes three parts: parking space positioning detection terminal, user vehicle searching query terminal and vehicle searching management central server (including real-time parking space registration, parking space management, report statistics, etc.).

[0066] Parking space positioning detection terminal: through high-definition digital camera combined with video image processing technology, the license plate information of the vehicle parked on the parking space is obtained, and then the vehicle is associated with the parking space according to the equipment position bound with the camera, so as to obtain the parking position coordinates of the vehicle.

[0067] User vehicle searching query terminal: commonly a touch screen query machine set near the elevator hall of the parking lot. The vehicle owner inputs his own license plate, parking time and other information through the query machine and clicks the "query" button. At this time, the query machine initiates a query application to the vehicle searching management central server and obtains the vehicle and parking space data, and then displays the plan view of the current parking lot on the screen, marks the current position of the vehicle owner and the parking position information of the vehicle, and simultaneously selects and draws an optimal route between the two positions on the plan view, so as to guide the vehicle owner to quickly take the vehicle.

[0068] However, the existing parking lot vehicle searching system has the following problems:

[0069] 1) High cost and great difficulty in equipment transformation: the existing large parking lot generally has two or three hundred parking spaces or even more in a single layer, and each parking space detection terminal has a limited coverage, generally 2-3. Therefore, a large number of parking space detection terminals need to be installed in the entire parking lot, and the cost of construction and wiring is high, and the larger the parking lot, the higher the cost and difficulty of transformation;

[0070] 2) The car search terminal is inconvenient to use: First, a single search terminal can only be used by one car owner at a time and cannot meet the needs of multiple car owners at the same time. Second, because the search terminal is located in a fixed position, the car owner needs to rely on memory to search the parking lot after searching, which may cause them to get lost again. If there is no search terminal nearby, they will be in trouble.

[0071] 3) The car search logic used is inefficient and requires high system computing power, making it impossible for users to quickly and accurately reach their parking location.

[0072] Based on this, the embodiment of the present application provides a parking lot car search system, such as Figure 2 As shown, a schematic diagram of the architecture of a parking lot car search system in an embodiment of the present application is provided, wherein the system includes a client, a server, and a car search management center, and the server is used to execute any of the following parking lot car search methods.

[0073] The parking lot car search system of the embodiment of the present application is mainly composed of three parts: the client, the server and the car search management middle platform, wherein the client includes the reverse car search owner end applet and the reverse car search management assistant applet.

[0074] Retrieve the car owner's app: Car owners can use a third-party app such as WeChat or Alipay to scan the QR code in the parking lot to activate the app and complete the following operations:

[0075] 1) Scan the QR code closest to the parking location to save the vehicle's parking location, that is, record the end point of the vehicle search within the parking lot;

[0076] 2) Locate the current location, which is the starting point for searching for a vehicle in the registration area.

[0077] Reverse Search Management Assistant Mini Program: Parking lot managers use this mini program to scan the QR code in the parking lot, and then click the corresponding location on the parking lot map to complete coordinate binding. The coordinate system can use the Mercator coordinate system, for example.

[0078] The server side of the reverse search applet: is used to receive requests from the reverse search car owner applet and the reverse search management assistant applet, perform data processing and storage, and is responsible for providing parking lot map GEO data and path finding calculation results, etc., which can specifically implement the parking lot car finding method in subsequent embodiments.

[0079] Vehicle Search Management Center: Responsible for registering and managing the information of on-site facilities and equipment, mainly including the following information:

[0080] 1) Parking lot map GEO data;

[0081] 2) Information of various facilities such as passage nodes (helicopter elevators, escalators, fire stairs, etc.), public facilities (parking spaces, restrooms, etc.);

[0082] 3) Passage path information: composed of path segments connected in front and back, connecting passable passages and peripheral facilities to form an indoor road network.

[0083] The parking lot car searching system of the embodiments of the present application can meet the convenience and efficiency requirements of users searching for cars, and also takes into account the rapid reconstruction and low cost requirements of the parking lot, and reduces the dependence on hardware devices. In addition, the parking lot car searching system of the embodiments of the present application can also be combined with the query terminal of the existing car searching system, and the user data is shared to realize interconnection, which serves as a powerful complementary way.

[0084] Further, the embodiments of the present application also provide a parking lot car searching method, as shown in the figure, a flowchart of a parking lot car searching method in the embodiments of the present application is provided, and the method at least includes the following steps S310 to S340: Figure 3

[0085] Step S310, obtaining a car searching request of a user.

[0086] The parking lot car searching method of the embodiments of the present application needs to obtain the car searching request of the user end first, and the car searching request here can be triggered based on the plurality of two-dimensional code marks previously deployed in the parking lot, and the user scans the nearest two-dimensional code through the applet of the client, thereby triggering the car searching request.

[0087] Step S320, determining the current position and parking position of the user according to the car searching request of the user.

[0088] After the user scans the nearest two-dimensional code through the applet of the client, the current position of the user can be determined according to the position of the two-dimensional code scanned by the user registered in the system, and the parking position of the user can be further obtained according to the two-dimensional code scanned by the user when parking, that is, the position of the two-dimensional code scanned by the user when parking.

[0089] Step S330, determining the corresponding parking lot car searching strategy according to the current position and the parking position, the parking lot car searching strategy including a cross-floor car searching strategy and a same-floor car searching strategy, and the cross-floor car searching strategy being realized based on the passage node information of each floor.

[0090] ​According to the current location of the user and the location of the vehicle, whether the user needs to cross floors to reach the parking location can be determined, and then whether a cross-floor car searching strategy or a same-floor car searching strategy is adopted can be determined. The cross-floor car searching strategy is implemented based on the passage node conditions deployed in each floor. The passage node refers to a passage entrance or exit connecting two adjacent floors, such as a high-speed elevator, an escalator, a fire staircase, etc. The number, type, and setting position of the passage nodes will affect the generation and calculation of the cross-floor car searching path. The same-floor car searching strategy can be implemented based on existing path searching algorithms.

[0091] In step S340, a final car searching path of the user is determined according to the car searching strategy of the parking lot and map data of the parking lot, so that the user reaches the parking location according to the final car searching path.

[0092] After the car searching strategy of the parking lot is determined, the final car searching path needs to be further determined in combination with the map data of the parking lot constructed in advance. The map data of the parking lot mainly includes passage path data based on the terrain of the parking lot and passage node data of each floor, etc. Based on this information, the optimal path from the current location of the user to the parking location can be planned, so that the user can quickly and accurately find the vehicle.

[0093] The car searching method of the parking lot of the embodiments of the present application adopts different car searching strategies for different car searching situations. In particular, for the cross-floor car searching situation, a corresponding cross-floor car searching strategy is designed based on the passage node information of each floor recorded in advance, so as to determine the optimal car searching path. On the one hand, the cross-floor car searching efficiency is improved, and on the other hand, the accuracy of the car searching path is improved.

[0094] In some embodiments of the present application, before obtaining the car searching request of the user, the method further comprises: obtaining a parking request of the user, the parking request and the car searching request are both generated based on a preset two-dimensional code identifier of the parking lot.

[0095] Before obtaining the car searching request of the user, the embodiments of the present application can also generate a parking request through a preset two-dimensional code identifier in the parking lot. For example, after parking the vehicle, the user can scan the two-dimensional code close to the vehicle, so as to bind the vehicle of the user with the position of the two-dimensional code.

[0096] In order to realize the triggering of the above parking request and car searching request, the preparation work before the car searching of the parking lot can be performed first:

[0097] First, uniformly lay small program two-dimensional code materials in the parking lot for real-time positioning of the parking position and the location for car searching navigation. The two-dimensional code materials can be uniformly generated by the car searching management platform to ensure that the code of each material is unique. To facilitate the user to scan the code, the materials can be pasted on the pillars or walls of the parking lot, for example, the top of the material is 1.6 meters high from the ground, and the materials are uniformly distributed in the parking lot. The pasting positions of two materials can be one or two pillars or 8-15 meters apart. Of course, how to lay the materials can be adjusted by the parking lot operation and management personnel according to the actual needs of each parking lot and the material allocation budget, which is not limited here.

[0098] Then, the parking lot manager scans each laid two-dimensional code material using WeChat or Alipay or other third-party APP to call the anti-searching management assistant applet to complete the binding registration with the in-parking lot map position one by one.

[0099] After the above preparation work is completed, the user can trigger the parking request and the car searching request based on the anti-searching car owner applet to realize the car searching in the parking lot. Figure 4 As shown in the parking lot car searching process diagram in the embodiment of the application.

[0100] When the user first parks the vehicle, the user scans the nearest two-dimensional code material in the parking lot using WeChat or Alipay or other third-party APP. After the scanning is completed, the anti-searching car owner applet is called, the anti-searching car owner applet is positioned to the current parking lot through LBS (Location Based Service), and the GEO map data of the current parking lot is downloaded. It can be further judged whether the user is the first time to scan the code in the parking lot on the same day to determine whether the parking request or the car searching request is triggered. If it is the parking request, the parking position and the in-parking lot map position are bound and registered, and the corresponding parking position is marked on the map.

[0101] When the user needs to return to the parking position at any position on any floor in the parking lot, the nearest in-parking lot anti-searching two-dimensional code material (pasted on the elevator hall wall or the parking lot pillar) can be scanned through WeChat or Alipay or other third-party APP. After the scanning is completed, the anti-searching car owner applet is called to trigger the car searching request. The unique code after the two-dimensional code recognition is sent to the service end of the anti-searching applet, and then the best traffic path between the current position and the parking position is calculated by the service end and returned to the anti-searching car owner applet. Finally, the anti-searching car owner applet draws and displays the path and performs subsequent navigation tracking, so as to facilitate the user to quickly reach the parking position.

[0102] In some embodiments of the application, the map data of the parking lot includes traffic path data and channel node data.

[0103] Before carrying out the parking lot car searching, it is also necessary to construct the map data in the parking lot in advance, which mainly includes the passing path data and the passage node data in the parking lot.

[0104] The passing path data can be made according to the terrain of the parking lot, which is composed of the main path (generally the driveway) and the auxiliary path (the driveway is connected to various indoor facilities such as parking spaces, elevators, etc.), and each path is connected to each other, such as Figure 5 As shown in the path generation effect schematic diagram in the embodiment of the application, the specific production rules can be, for example:

[0105] 1) The path is a straight line segment, each path is composed of two end points, and the end point coordinates are generated in the Mercator coordinate system;

[0106] 2) Each path is located in the center of the passage, and is consistent with the direction of the passage;

[0107] 3) Two paths connected in series, one of the end points overlaps, that is, the coordinates are completely the same;

[0108] 4) Two intersecting paths, a new end point is generated at the intersection point, thereby generating four paths from the original two paths.

[0109] When carrying out the path deduction across floors, the passage node information connected to each floor is particularly important. The passage node data can be recorded in the relevant information in the car searching management platform in advance, which includes the following basic information:

[0110] 1) The unique identifier of the passage node; 2) The passage node type, such as the direct elevator, escalator, fire stairs, etc.; 3) The reachable floor information corresponding to the passage node; 4) The coordinates of the passage node.

[0111] Each passing path is finally connected by multiple paths to form a road network, which is used for subsequent path searching algorithm to deduce the best path.

[0112] In some embodiments of the application, the corresponding parking lot car searching strategy is determined according to the current position and the parking position, which includes: determining the starting floor where the user is located according to the current position and the map data of the parking lot; determining the terminal floor where the user wants to reach according to the parking position and the map data of the parking lot; if the starting floor and the terminal floor are inconsistent, the corresponding parking lot car searching strategy is determined as the cross-floor car searching strategy; otherwise, the corresponding parking lot car searching strategy is determined as the same-floor car searching strategy.

[0113] When the corresponding parking lot searching strategy is determined according to the current position and the parking position, the current floor where the user is located can be determined as a starting floor according to the map data of the parking lot established in the foregoing embodiments in combination with the current position of the user, and the end floor where the user is to arrive can be determined according to the parking position of the user in combination with the map data of the parking lot, and whether the searching path of the user needs to cross floors can be determined by comparing the starting floor with the end floor.

[0114] If the starting floor and the end floor are different, it indicates that the searching path of the user needs to cross floors to arrive at the final parking position, and if the two floors are the same, the searching path of the user generated by the same-floor searching strategy can arrive at the final parking position.

[0115] In some embodiments of the present application, the parking lot searching strategy is the cross-floor searching strategy, and determining the final searching path of the user according to the parking lot searching strategy and the map data of the parking lot comprises: determining the starting floor where the user is located and the starting position and target position of the starting floor according to the current position and the map data of the parking lot; determining the end floor where the user is to arrive and the starting position and target position of the end floor according to the parking position and the map data of the parking lot; and determining the final searching path according to the starting position and target position of the starting floor and the starting position and target position of the end floor.

[0116] If it is determined that the current parking lot searching strategy is the cross-floor searching strategy, the starting floor where the user is located can be determined according to the current position and the map data of the parking lot, and the starting position and target position of the starting floor are also determined, wherein the starting position of the starting floor is the initial departure position of the user, and the target position of the starting floor can be a passage node position in the starting floor. That is, the user needs to first arrive at a certain passage node position in the starting floor to further arrive at the end floor through the passage node. Similarly, the end floor where the user is to arrive can be determined according to the parking position and the map data of the parking lot, and the starting position and target position of the end floor are also determined, wherein the starting position of the end floor is the initial position of the user after arriving at the end floor, and the target position of the end floor is the final parking position.

[0117] After the starting position and target position of the starting floor and the starting position and target position of the end floor are obtained, the starting position and end position in the horizontal moving direction and the starting position and end position in the vertical moving direction included in a complete cross-floor searching path are determined, and therefore the moving distances of different paths in the horizontal and vertical directions can be calculated according to the starting position and target position, and the final searching path can be determined according to the distances.

[0118] In some embodiments of the present application, determining the starting floor where the user is located and the starting position and target position of the starting floor based on the current position and the map data of the parking lot includes: determining the starting floor where the user is located and the first target channel node corresponding to the starting floor based on the current position and the map data of the parking lot; using the current position as the starting position of the starting floor; and using the position of the first target channel node corresponding to the starting floor as the target position of the starting floor.

[0119] When determining the starting position and target position of the starting floor, the first target channel node corresponding to the starting floor where the user is located can be determined based on the map data of the parking lot established in advance. The first target channel node can be understood as all channel nodes leading to the destination floor on the current floor where the user is located. The "leading to the destination floor" here can include both the situation of reaching the destination floor directly and the situation of reaching the destination floor through transfer.

[0120] For example, assuming the starting floor is on the 1st floor and the ending floor is on the 5th floor, the starting floor contains three channel nodes: the elevator (which can reach floors 1-5), the escalator (which can reach floors 1-3), and the fire escape staircase (which can reach floors 1-5). Then, for the starting floor, although its corresponding escalator can only reach the 3rd floor at most, it can serve as a transfer node to the ending floor. Therefore, these three channel nodes can all be used as the first target channel node of the starting floor.

[0121] Afterwards, the user's current position can be used as the starting position of the starting floor, and the position of the first target channel node corresponding to the starting floor is used as the target position of the starting floor, that is, the user must first move horizontally from the current position to the position of the first target channel node.

[0122] In some embodiments of the present application, determining the terminal floor to be reached by the user and the starting position and target position of the terminal floor based on the map data of the parking position and the parking lot includes: determining the terminal floor to be reached by the user and the second target channel node corresponding to the terminal floor based on the map data of the parking position and the parking lot; using the position of the second target channel node corresponding to the terminal floor as the starting position of the terminal floor; and using the parking position as the target position of the terminal floor.

[0123] Similar to the aforementioned embodiment, when determining the starting position and target position of the terminal floor, the second target channel node corresponding to the terminal floor where the user is located can be determined based on the pre-established parking lot map data. The second target channel node can refer to a channel node on the terminal floor that can be connected to the first target channel node.

[0124] Further illustrated based on the examples listed in the foregoing embodiments, the starting floor's direct elevator and fire escape staircase can directly reach the ending floor, while the escalator can at most reach the 3rd floor, i.e. the ending floor can not have an escalator or the escalator does not stop at the ending floor, thus the first target passage node on the ending floor that is connected to the starting floor's first target passage node is only the direct elevator and the fire escape staircase.

[0125] After determining the second target passage node on the ending floor, the second target passage node's position can be taken as the starting position on the ending floor, and the parking position is taken as the target position on the ending floor, i.e. the user needs to horizontally move from the second target passage node's position on the ending floor to the final parking position after reaching the ending floor.

[0126] In some embodiments of the present application, the starting floor corresponds to a first target passage node, the ending floor corresponds to a second target passage node, and the determining of the final car-searching path according to the starting position and target position of the starting floor and the starting position and target position of the ending floor comprises: obtaining reachable floor information corresponding to the first target passage node; if the ending floor is contained in the reachable floor information, directly determining the final car-searching path according to the starting position and target position of the starting floor and the starting position and target position of the ending floor; if the ending floor is not contained in the reachable floor information, determining whether an intermediate floor between the starting floor and the ending floor is contained in the reachable floor information; if yes, determining the final car-searching path according to the starting position and target position of the starting floor, the starting position and target position of the intermediate floor, and the starting position and target position of the ending floor; otherwise, eliminating the first target passage node.

[0127] The map data of the parking lot contains reachable floor information corresponding to each passage node, and "reachable floor" refers to the floor that the passage node can actually directly reach, which is different from the "leading to the ending floor" defined in the foregoing embodiments. Still taking the example in the foregoing embodiments, the starting floor contains a direct elevator (reachable to 1-5 floors), an escalator (reachable to 1-3 floors), and a fire escape staircase (reachable to 1-5 floors), thus the direct elevator and the fire escape staircase's reachable floor information is 1-5 floors, and the escalator's reachable floor information is 1-3 floors.

[0128] By traversing the reachable floor information corresponding to each passage node, it can be determined whether the reachable floor information of each passage node contains the terminal floor. If the reachable floor information of the passage node contains the terminal floor, such as the starting floor of the elevator and the fire staircase in the above example, it means that the user can directly reach the terminal floor from the starting floor through the passage node. At this time, the position of the passage node corresponding to the terminal floor and the final parking position are further obtained. If the reachable floor information of the passage node does not contain the terminal floor, it can be further determined whether the reachable floor information of the passage node contains the intermediate floor between the starting floor and the terminal floor. If it contains the intermediate floor, such as the escalator in the above example, the intermediate floor can be further taken as the current starting floor, and the traversal and judgment logic of each passage node for the starting floor in the foregoing embodiment are repeated, and the starting position and the terminal position of the intermediate floor are obtained.

[0129] The starting position of the intermediate floor is the position of the passage node that cannot reach the terminal floor, and the terminal position is the position of the passage node that can reach the terminal floor, that is, when the user transits at the intermediate floor, he needs to move horizontally from the position of the passage node that cannot reach the terminal floor to the position of the passage node that can reach the terminal floor.

[0130] Of course, it should be noted that there can be multiple passage nodes of each type in an actual large parking lot, which can be traversed and judged respectively, so that multiple paths from the starting floor to the intermediate floor (which does not necessarily exist) and to the terminal floor can be obtained.

[0131] In some embodiments of the present application, the parking lot searching strategy is the cross-floor searching strategy, and the determination of the final searching path according to the starting position and the target position of the starting floor and the starting position and the target position of the terminal floor comprises: determining the horizontal movement cost of the starting floor according to the starting position and the target position of the starting floor; determining the horizontal movement cost of the terminal floor according to the starting position and the target position of the terminal floor; determining the vertical movement cost of the starting floor to the terminal floor according to the passage node type; determining the path cost of the multiple paths from the starting floor to the terminal floor according to the horizontal movement cost of the starting floor and the horizontal movement cost of the terminal floor and the vertical movement cost of the starting floor to the terminal floor; and determining the final searching path according to the path cost of each path from the starting floor to the terminal floor.

[0132] The start position corresponding to the start floor is the current position of the user, so there is only one position point. The target position corresponding to the end floor is the final parking position, and there is also only one position point. The target position corresponding to the start floor and the start position corresponding to the end floor are both positions of the passage nodes of the corresponding floors, so there can be multiple positions. After combination, multiple passage paths from the start floor to the end floor can be obtained.

[0133] In order to save the time and effort of the user in searching for the car, an evaluation strategy can be adopted in the embodiments of the present application to further determine the optimal car searching path from the multiple passage paths. One evaluation strategy can be to calculate the path cost of each passage path, which can include horizontal movement cost and vertical movement cost. The horizontal movement cost is determined based on the horizontal movement distance within the same floor, for example, the straight-line distance between the start position and the target position of the start floor can be calculated as the horizontal movement cost of the start floor, and the straight-line distance between the start position and the target position of the end floor can be calculated as the horizontal movement cost of the end floor. The vertical movement cost is related to the type of passage node. For example, if it is a straight elevator or escalator, the user will not produce an actual walking distance in the vertical direction, so the vertical movement cost can be ignored. If it is a fire stair, the user needs to walk, so the vertical movement cost can be calculated according to the actual walking distance of the user on the fire stair. Finally, the horizontal movement cost of the start floor and the horizontal movement cost of the end floor and the vertical movement cost between the floors are added to obtain the path cost of each passage path.

[0134] Of course, if the passage path involves an intermediate floor, the horizontal movement cost of the intermediate floor and the vertical movement cost from the start floor to the intermediate floor and the vertical movement cost from the intermediate floor to the end floor can also be calculated at the same time. Finally, the horizontal movement cost of the start floor, the intermediate floor and the end floor and the vertical movement cost between the floors are added.

[0135] When calculating the vertical movement cost corresponding to the fire stair, the parameters in the underground garage design specification can be referred to for determination. For example, the structure height of the garage is highest 3.9 meters, and the stair inclination angle is 30 degrees. The vertical walking distance of a single floor can be calculated as V = 3.9 / sin30° = 7.8 meters. At the same time, considering the cost of walking upstairs, an additional weight W (default up W = 2, down W = 1, which can be flexibly adjusted according to needs) can be set. Thus, the reference vertical movement cost W*V*n is calculated, where n is the number of stair steps.

[0136] For the convenience of understanding the above embodiments, further assume that the starting floor is 1st floor, the ending floor is 5th floor, the starting floor has three channel nodes of the direct elevator (can reach 1-5th floor), the escalator (can reach 1-3th floor), and the fire stair (can reach 1-5th floor), it can be judged that the direct elevator and the fire stair can directly reach the ending floor from the starting floor, and the escalator can at most reach 3th floor, thus the following paths can be determined:

[0137] The first path is to reach 5th floor directly through the direct elevator, the second path is to reach 5th floor directly through the fire elevator, the third path is to reach 3th floor through the escalator first, and then reach 5th floor through the direct elevator from 3th floor, and the fourth path is to reach 3th floor through the escalator first, and then reach 5th floor through the fire stair from 3th floor.

[0138] The path cost of each path is calculated respectively:

[0139] The first path: the horizontal moving distance from the starting position of 1st floor to the direct elevator of 1st floor + the horizontal moving distance from the direct elevator of 5th floor to the parking position of 5th floor;

[0140] The second path: the horizontal moving distance from the starting position of 1st floor to the fire stair of 1st floor + the horizontal moving distance from the fire stair of 5th floor to the parking position of 5th floor + the walking distance of the fire stair from 1st floor to 5th floor * W;

[0141] The third path: the horizontal moving distance from the starting position of 1st floor to the escalator of 1st floor + the horizontal moving distance from the escalator of 3th floor to the direct elevator of 3th floor + the horizontal moving distance from the direct elevator of 5th floor to the parking position of 5th floor;

[0142] The fourth path: the horizontal moving distance from the starting position of 1st floor to the escalator of 1st floor + the horizontal moving distance from the escalator of 3th floor to the fire stair of 3th floor + the horizontal moving distance from the fire stair of 5th floor to the parking position of 5th floor + the walking distance of the fire stair from 3th floor to 5th floor * W.

[0143] In some embodiments of the present application, the determining the final searching path according to the path cost of each path from the starting floor to the ending floor comprises: determining a plurality of target paths according to the path cost of each path from the starting floor to the ending floor; determining the actual traveling distance corresponding to each target path; and determining the final searching path according to the actual traveling distance corresponding to each target path.

[0144] Since the path cost calculated in the foregoing embodiments is mainly based on the horizontal moving distance, which refers to the straight-line distance between two points and can only roughly reflect the distance of the user's movement from the start position to the end position, and cannot reflect the actual horizontal moving distance, after obtaining the path costs of the multiple passing paths, the embodiments of the present application can sort the path costs of the multiple passing paths from low to high according to the size of the path cost, filter the multiple passing paths according to the sorting result, select the target passing paths with relatively small moving distances, for example, select the first M cross-floor passing paths as the target passing paths, and then perform the deducing calculation of the car-searching path of each floor according to the target passing paths, to obtain the actual passing distances corresponding to the target passing paths, and finally select the target passing path with the smallest actual passing distance as the best car-searching path. The size of M will affect the system consumption of the subsequent path searching calculation, which can be flexibly set according to actual needs.

[0145] Through the above method of first selecting the target passing path based on the path cost and then determining the best passing path based on the actual passing distance, on the one hand, the system consumption of directly calculating the actual passing distance of all passing paths is reduced, and the concurrent processing capability of the system is improved, and on the other hand, the car-searching efficiency and accuracy are also improved.

[0146] In some embodiments of the present application, determining the start floor where the user is located and the first target passage node corresponding to the start floor according to the current position and the map data of the parking lot comprises: determining a non-target passage node type according to the car-searching request of the user; determining all passage nodes of the start floor where the user is located and corresponding to the direction leading to the end floor according to the current position and the map data of the parking lot; and eliminating the passage nodes corresponding to the non-target passage node type from all the passage nodes of the start floor corresponding to the direction leading to the end floor, to obtain the first target passage node.

[0147] In order to further improve the user experience, for example, considering the experience of disabled or mobility-impaired users, a parameter settable by the user can be set in the applet to determine whether the passage nodes such as fire stairs are excluded from this search process. Of course, the user can flexibly set which types of passage nodes to exclude according to actual needs, which is not limited here.

[0148] Based on the non-target passage node type set by the user, all passage nodes of the non-target passage node type in the start floor, the intermediate floor and the end floor can be excluded in advance, which on the one hand improves the calculation efficiency of the car-searching path, and on the other hand improves the car-searching experience of the user.

[0149] In some embodiments of the present application, the same-floor car searching strategy is based on an A-star algorithm.

[0150] Considering the requirements for computing performance and optimal solution, the A-star algorithm can be used as the implementation of the same-floor car searching path in the embodiments of the present application. The A-star algorithm is one of the popular heuristic search algorithms and is widely used in the field of path optimization. The unique feature of the A-star algorithm is that global information is introduced when checking each possible node in the shortest path, and the distance of the current node from the end point is estimated, which is used as a measure of the possibility of the node being on the shortest path.

[0151] Since the path network graph has been constructed in the foregoing embodiments, the main problem solved by the algorithm is to find the shortest path from the specified start point and end point as soon as possible according to the path network graph, and the specific implementation steps are as follows:

[0152] 1) According to the start point and the end point, find the nodes Node on the path closest to them, denoted as StartNode and TargetNode.

[0153] 2) Start from the start StartNode, and store it as a to-be-processed point in an "open list". The open list is a list of nodes to be checked.

[0154] 3) Take out the node N with the lowest estimated value F in the open list (the first one taken out is StartNode), and F is the estimated value of the A-star algorithm, which is calculated by the evaluation function f(n), and the evaluation function is represented as:

[0155] f(n)=g(n)+h(n)

[0156] Wherein, f(n) is the evaluation function of the node, which represents the cost of the best path from the initial node to the target node through the node N;

[0157] g(n) represents the cost from the initial node to any node N, and in the embodiments of the present application, the length sum of the best path searched from the initial node to the node N is used as the G value;

[0158] h(n) is a heuristic function, which represents the minimum cost evaluation value N from the node N to the target node. It is very important to select a good heuristic function in the A-star algorithm, and different heuristic functions will affect the search performance and result quality of the algorithm. In the embodiments of the present application, the Euclidean distance, i.e., the real distance between two points (here, the straight-line distance from the node N to the target node TargetNode), is used as the heuristic function, and the corresponding formula is:

[0159] h(n)=sqrt((x1-x2)2+(y1+y2)2).

[0160] 4) Delete node N from the open list and add it to a "closed list" that stores all nodes that do not need to be checked again.

[0161] 5) Based on all the paths connected to node N, take all the reachable adjacent nodes to form the SuccessorsNode set, and check each adjacent node M (M is a node in the SuccessorsNode set) in turn according to the following rules:

[0162] a) If node M is already in the open list, check whether the current path is better: that is, whether the G value of the new path from node StartNode to node M is lower. If not, skip and do nothing. On the other hand, if the new G value is lower, change node M's parent to node N and recalculate node M's F and G values;

[0163] b) If node M is already in the closed list, it is skipped and not processed;

[0164] c) If neither of the above two situations occurs, add node M to the open list, set the parent node of node M to node N, and calculate the values ​​of F and G of node M;

[0165] 6) Repeat step 3) until the node A with the lowest F value taken from the open list is the same as the target node TargetNode, indicating that the optimal path has been found. Record node A and its parent nodes at all levels in sequence, that is, all the pass nodes that constitute the path. The path connecting these nodes in sequence is the path finding result from the start node StartNode to the target node TargetNode;

[0166] 7) If after all nodes in the open list in step 6) are taken out, no node is the same as the target node TargetNode, it means that the target node TargetNode cannot be reached and the path finding fails.

[0167] like Figure 6 As shown, a schematic diagram of the pathfinding effect based on the A-star algorithm in an embodiment of the present application is provided. The white path in the figure is the optimal path deduced after the pathfinding calculation, the white square demonstration nodes are the remaining nodes in the open list until the pathfinding matching is completed, that is, the remaining nodes to be checked (there are 147 nodes in the figure), and the gray circle demonstration nodes are the nodes that have been checked in the closed list (there are 1239 nodes in the figure).

[0168] In summary, the parking lot car search method of the embodiment of the present application achieves at least the following technical effects:

[0169] 1) Compared with the existing parking lot car search system that can only query routes on the query terminal at a fixed location, this application is more convenient for car owners to use. In the early stage, when there is no Bluetooth positioning device, it can also provide continuous reverse guidance assistance to car owners by scanning the code at any location in the parking lot. In the later stage, combined with Bluetooth positioning, it can better provide real-time navigation in the parking lot;

[0170] 2) For parking lot managers, the cost is low and implementation is quick. There is no need to install numerous parking space detection terminals or expensive car search terminals. Instead, parking lot managers can simply place reverse-tracking QR code materials on the lot to provide reverse-tracking functionality for car owners on the mini-program.

[0171] 3) The entire solution is highly versatile and scalable, applicable to parking lots of varying terrain, sizes, and types. In addition to providing reverse navigation capabilities, it also provides on-site navigation from parking spaces to elevator lobbies and even to designated shops on upper floors of shopping malls (incorporating indoor road network data on upper floors).

[0172] 4) The cross-floor car search strategy first selects the target path based on the path cost and then determines the optimal path based on the actual travel distance. This reduces the system consumption of directly calculating the actual travel distance of all paths, improves the system's concurrent processing capabilities, and also improves the efficiency and accuracy of car search;

[0173] 5) The cross-floor car search strategy takes into account the impact of the channel node type on the user experience, facilitating user use and experience;

[0174] 6) For passage nodes of the fire escape stair type, the user's vertical movement cost is taken into account, further improving the user's car-finding experience.

[0175] The embodiment of the present application also provides a parking lot car search device 700, such as Figure 7 As shown, a schematic diagram of the structure of a parking lot car search device in an embodiment of the present application is provided. The device 700 includes: an acquisition unit 710, a first determination unit 720, a second determination unit 730, and a third determination unit 740, wherein:

[0176] An acquisition unit 710 is used to acquire a user's vehicle search request;

[0177] A first determining unit 720 is configured to determine a user's current location and a parking location according to the user's car search request;

[0178] A second determining unit 730 is configured to determine a corresponding parking lot car search strategy based on the current location and the parking location, wherein the parking lot car search strategy includes a cross-floor car search strategy and a same-floor car search strategy, and the cross-floor car search strategy is implemented based on channel node information of each floor;

[0179] The third determining unit 740 is configured to determine a final parking searching path of the user according to the parking searching strategy and map data of the parking lot, so that the user reaches the parking position according to the final parking searching path.

[0180] In some embodiments of the present application, the parking searching strategy is the cross-floor parking searching strategy, and the third determining unit 740 is specifically configured to: determine a starting floor where the user is located, a starting position and a target position of the starting floor according to the current position and the map data of the parking lot; determine a terminal floor where the user is to reach, a starting position and a target position of the terminal floor according to the parking position and the map data of the parking lot; and determine the final parking searching path according to the starting position and the target position of the starting floor and the starting position and the target position of the terminal floor.

[0181] In some embodiments of the present application, the third determining unit 740 is specifically configured to: determine a starting floor where the user is located and a first target passage node corresponding to the starting floor according to the current position and the map data of the parking lot; take the current position as the starting position of the starting floor; and take the position of the first target passage node corresponding to the starting floor as the target position of the starting floor.

[0182] In some embodiments of the present application, the third determining unit 740 is specifically configured to: determine a terminal floor where the user is to reach and a second target passage node corresponding to the terminal floor according to the parking position and the map data of the parking lot; take the position of the second target passage node corresponding to the terminal floor as the starting position of the terminal floor; and take the parking position as the target position of the terminal floor.

[0183] In some embodiments of the present application, the starting floor corresponds to a first target passage node, and the terminal floor corresponds to a second target passage node, and the third determining unit 740 is specifically configured to: acquire reachable floor information corresponding to the first target passage node; if the terminal floor is included in the reachable floor information, directly determine the final parking searching path according to the starting position and the target position of the starting floor and the starting position and the target position of the terminal floor; if the terminal floor is not included in the reachable floor information, determine whether an intermediate floor between the starting floor and the terminal floor is included in the reachable floor information; if yes, determine the final parking searching path according to the starting position and the target position of the starting floor, the starting position and the target position of the intermediate floor, and the starting position and the target position of the terminal floor; otherwise, eliminate the first target passage node.

[0184] In some embodiments of the present application, the parking lot car searching strategy is the cross-floor car searching strategy, and the third determining unit 740 is specifically configured to: determine a horizontal movement cost of the starting floor according to the starting position and the target position of the starting floor; determine a horizontal movement cost of the ending floor according to the starting position and the target position of the ending floor; determine a vertical movement cost of the starting floor to the ending floor according to the passage node type; determine path costs of a plurality of passage paths of the starting floor to the ending floor according to the horizontal movement cost of the starting floor, the horizontal movement cost of the ending floor and the vertical movement cost of the starting floor to the ending floor; and determine the final car searching path according to the path costs of the respective passage paths of the starting floor to the ending floor.

[0185] In some embodiments of the present application, the third determining unit 740 is specifically configured to: determine a plurality of target passage paths according to the path costs of the respective passage paths of the starting floor to the ending floor; determine actual passage distances corresponding to the respective target passage paths; and determine the final car searching path according to the actual passage distances corresponding to the respective target passage paths.

[0186] In some embodiments of the present application, the third determining unit 740 is specifically configured to: determine a non-target passage node type according to the car searching request of the user; determine a starting floor where the user is located and all passage nodes corresponding to a direction from the starting floor to an ending floor of the starting floor according to the current position and the map data of the parking lot; and eliminate the passage nodes corresponding to the non-target passage node type from all the passage nodes corresponding to the direction from the starting floor to the ending floor, to obtain the first target passage node.

[0187] It can be understood that the above parking lot car searching device can realize each step of the car searching method provided in the foregoing embodiments, and the related explanations about the car searching method are all applicable to the parking lot car searching device, which will not be described here again.

[0188] Figure 8 FIG. 1 is a structural schematic diagram of an electronic device according to an embodiment of the present application. Please refer to Figure 8 At the hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The memory can include a memory such as a random-access memory (RAM), and can further include a non-volatile memory such as at least one disk memory. Of course, the electronic device can further include other hardware required by a business.

[0189] The processor, the network interface and the memory can be connected with each other through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 8 Only one bidirectional arrow is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0190] The memory is used to store programs. Specifically, the program can include program code including computer operation instructions. The memory can include an internal memory and a non-volatile memory, and provide instructions and data for the processor.

[0191] The processor reads the corresponding computer program from the non-volatile memory into the internal memory and then runs, and forms a parking lot searching device at a logical level. The processor executes the program stored in the memory, and is specifically used for executing the following operations:

[0192] Obtaining a searching request of a user;

[0193] Determining a current position and a parking position of the user according to the searching request of the user;

[0194] Determining a corresponding parking lot searching strategy according to the current position and the parking position, the parking lot searching strategy including a cross-floor searching strategy and a same-floor searching strategy, the cross-floor searching strategy being realized based on passage node information of each floor;

[0195] Determining a final searching path of the user according to the parking lot searching strategy and map data of the parking lot, so that the user reaches the parking position according to the final searching path.

[0196] The above as described in the present application Figure 3The method performed by the parking lot vehicle searching device disclosed in the embodiments shown can be applied to a processor or implemented by the processor. The processor can be an integrated circuit chip with processing capability of signals. In the implementation process, each step of the above method can be completed by integrated logic circuits in hardware or instructions in software form in the processor. The processor mentioned above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; or a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method, step and logic block disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.

[0197] The electronic device can further execute Figure 3 the method performed by the parking lot vehicle searching device, and implement the functions of the parking lot vehicle searching device in Figure 3 the embodiments shown. The embodiments of the present application will not be described here.

[0198] The embodiments of the present application further propose a computer readable storage medium storing one or more programs, the one or more programs including instructions capable of causing an electronic device including a plurality of application programs to execute Figure 3 the method performed by the parking lot vehicle searching device in the embodiments shown, and specifically for executing

[0199] obtaining a vehicle searching request of a user;

[0200] determining a current position and a parking position of the user according to the vehicle searching request of the user;

[0201] determining a corresponding parking lot searching strategy according to the current position and the parking position, the parking lot searching strategy including a cross-floor searching strategy and a same-floor searching strategy, the cross-floor searching strategy being realized based on passage node information of each floor;

[0202] determining a final searching path of the user according to the parking lot searching strategy and map data of the parking lot, so that the user reaches the parking position according to the final searching path.

[0203] Those skilled in the art will understand that embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer usable program code.

[0204] The present application is described in reference to the flowcharts and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, a special purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions, which are executed via the processor of the computer or other programmable data processing apparatus, generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowcharts and / or block diagrams.

[0205] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer readable memory produce a manufacture product including instruction means, which implement the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowcharts and / or block diagrams.

[0206] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operational steps are performed on the computer or other programmable data processing apparatus to produce a computer implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for carrying out the functions specified in the flowcharts and / or block diagrams.

[0207] In one typical arrangement, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0208] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) having a common memory space employable to store the processing unit instructions and data for processing by the processing unit. The memory is an example of computer readable media.

[0209] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile discs (DVDs) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0210] It should also be noted that the terms "comprising," "including," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements in the list, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0211] Those skilled in the art will appreciate that embodiments of the present application can be devised for a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code thereon.

[0212] The above merely provides an example of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the scope of claims of the present application.

Claims

1. A method for finding a car in a parking lot, wherein: The method comprises: Get the user's car search request; Determining the user's current location and parking location based on the user's car search request; Determining a corresponding parking lot car search strategy according to the current location and the parking location, the parking lot car search strategy including a cross-floor car search strategy and a same-floor car search strategy, the cross-floor car search strategy being implemented based on channel node information of each floor; Determining a final car-finding path for the user based on the parking lot car-finding strategy and map data of the parking lot, so that the user arrives at the parking location according to the final car-finding path; In a case where the parking lot car search strategy is the cross-floor car search strategy, determining the user's final car search path according to the parking lot car search strategy and the parking lot map data includes: Determining the starting floor where the user is located and the starting position and target position of the starting floor based on the current position and map data of the parking lot; Determining the final floor to be reached by the user and the starting position and target position of the final floor according to the parking position and map data of the parking lot; Determining the final vehicle-finding path according to the starting position and target position of the starting floor and the starting position and target position of the ending floor; The target position of the starting floor is the position of the first target channel node corresponding to the starting floor, and the first target channel node refers to all channel nodes on the starting floor that can be directly reached or transferred to the destination floor; The starting position of the terminal floor is the position of the second target channel node corresponding to the terminal floor, and the second target channel node refers to all channel nodes on the terminal floor that can be connected to the first target channel node; The parking lot car search strategy is the cross-floor car search strategy, and determining the final car search path according to the starting position and target position of the starting floor and the starting position and target position of the ending floor includes: Determine the horizontal movement cost of the starting floor according to the starting position and the target position of the starting floor; Determining a horizontal movement cost of the terminal floor according to the starting position and the target position of the terminal floor; Determine the vertical movement cost from the starting floor to the ending floor according to the channel node type; Determine path costs of multiple travel paths from the starting floor to the destination floor according to the horizontal movement cost of the starting floor, the horizontal movement cost of the destination floor, and the vertical movement cost from the starting floor to the destination floor; Determine the final vehicle-finding path according to the path costs of each travel path from the starting floor to the ending floor; The determining of the final vehicle search path according to the path costs of each travel path from the starting floor to the ending floor includes: Filtering multiple paths according to the path costs of each path from the starting floor to the terminal floor to obtain multiple filtered target paths; Determine the actual travel distance corresponding to each target travel path; The final vehicle-searching path is determined according to the actual travel distance corresponding to each target travel path.

2. The method according to claim 1, wherein: The determining of the starting floor where the user is located and the starting position and target position of the starting floor according to the current position and the map data of the parking lot includes: Determining the starting floor of the user and a first target channel node corresponding to the starting floor according to the current location and map data of the parking lot; Using the current position as the starting position of the starting floor; The position of the first target channel node corresponding to the starting floor is used as the target position of the starting floor.

3. The method according to claim 1, wherein: The step of determining the terminal floor to be reached by the user and the starting position and target position of the terminal floor according to the parking position and the map data of the parking lot includes: Determining a terminal floor to be reached by the user and a second target channel node corresponding to the terminal floor according to the parking location and map data of the parking lot; Using the position of the second target channel node corresponding to the terminal floor as the starting position of the terminal floor; The parking position is used as the target position of the terminal floor.

4. The method according to claim 1, wherein: The starting floor corresponds to a first target channel node, the ending floor corresponds to a second target channel node, and determining the final vehicle search path according to the starting position and target position of the starting floor and the starting position and target position of the ending floor includes: Obtaining the reachable floor information corresponding to the first target channel node; If the reachable floor information includes the destination floor, the final vehicle search path is determined directly according to the starting position and target position of the starting floor and the starting position and target position of the destination floor; If the reachable floor information does not include the destination floor, determining whether the reachable floor information includes an intermediate floor between the starting floor and the destination floor; If so, determining the final vehicle search path according to the starting position and target position of the starting floor, the starting position and target position of the intermediate floor, and the starting position and target position of the terminal floor; Otherwise, the first target channel node is removed.

5. The method according to claim 2, wherein: The determining, based on the current location and the map data of the parking lot, the starting floor where the user is located and the first target channel node corresponding to the starting floor includes: Determine the non-target channel node type according to the user's vehicle search request; Determine the starting floor of the user and all passage nodes corresponding to the starting floor and leading to the ending floor according to the current location and the map data of the parking lot; The channel nodes corresponding to the non-target channel node type are eliminated from all channel nodes corresponding to the starting floor and leading to the end floor to obtain the first target channel node.

6. A parking lot car search device, wherein: The device comprises: An acquisition unit, used to acquire a user's vehicle search request; a first determining unit, configured to determine a user's current location and a parking location according to the user's car search request; a second determining unit, configured to determine a corresponding parking lot car search strategy according to the current position and the parking position, the parking lot car search strategy including a cross-floor car search strategy and a same-floor car search strategy, the cross-floor car search strategy being implemented based on channel node information of each floor; a third determining unit, configured to determine a final car-searching path of the user according to the parking lot car-searching strategy and map data of the parking lot, so that the user arrives at the parking location according to the final car-searching path; When the parking lot car search strategy is the cross-floor car search strategy, the third determining unit is specifically configured to: Determining the starting floor where the user is located and the starting position and target position of the starting floor based on the current position and map data of the parking lot; Determining the final floor to be reached by the user and the starting position and target position of the final floor according to the parking position and map data of the parking lot; Determining the final vehicle-finding path according to the starting position and target position of the starting floor and the starting position and target position of the ending floor; The target position of the starting floor is the position of the first target channel node corresponding to the starting floor, and the first target channel node refers to all channel nodes on the starting floor that can be directly reached or transferred to the destination floor; The starting position of the terminal floor is the position of the second target channel node corresponding to the terminal floor, and the second target channel node refers to all channel nodes on the terminal floor that can be connected to the first target channel node; The parking lot car search strategy is the cross-floor car search strategy, and the third determination unit is specifically configured to: Determine the horizontal movement cost of the starting floor according to the starting position and the target position of the starting floor; Determining a horizontal movement cost of the terminal floor according to the starting position and the target position of the terminal floor; Determine the vertical movement cost from the starting floor to the ending floor according to the channel node type; Determine path costs of multiple travel paths from the starting floor to the destination floor according to the horizontal movement cost of the starting floor, the horizontal movement cost of the destination floor, and the vertical movement cost from the starting floor to the destination floor; Determine the final vehicle-finding path according to the path costs of each travel path from the starting floor to the ending floor; The third determining unit is specifically configured to: Filtering multiple paths according to the path costs of each path from the starting floor to the terminal floor to obtain multiple filtered target paths; Determine the actual travel distance corresponding to each target travel path; The final vehicle-searching path is determined according to the actual travel distance corresponding to each target travel path.

7. A parking lot car search system, wherein: The system includes a client, a server and a vehicle search management center, and the server is used to execute any one of the methods described in claims 1 to 5.

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