Vehicle summoning method, terminal, server, system and medium

Abstract

The present application discloses a vehicle summoning method, terminal, server, system and medium, the method comprising: receiving a summoning message sent by a summoning terminal and forwarded by a field-side server; responding to the summoning instruction and sending a location identifier of a target vehicle to the field-side server; receiving the initial three-dimensional coordinates of the summoning terminal and the initial three-dimensional coordinates of the target vehicle sent by the field-side server; and determining the driving direction by the three-dimensional coordinates of the two. In the embodiment of the present application, in a complex multi-story parking garage, when a user operates a vehicle summoning terminal to summon a vehicle, the field-side server arranged therein calculates the three-dimensional coordinates of the summoning terminal and the target vehicle in real time and accurately according to the location identifiers reported by the summoning terminal and the vehicle-mounted terminal, accurately guides the target vehicle or user to the destination, enables the user to summon the vehicle efficiently and quickly, and improves the user experience.

Description

Technical Field

[0001] The present application generally relates to the field of vehicle technology, and more particularly to a vehicle summoning method, a vehicle-mounted terminal, a summoning terminal, a server, a system and a medium. Background Art

[0002] With the rapid development of cities, large-scale and multi-story parking lots are meeting people's parking needs. However, the corresponding problem of difficulty in finding a car is increasingly troubling the majority of car users, who often forget where they parked.

[0003] With the current indoor and outdoor vehicle summoning technology, the navigation and positioning module configured in the vehicle adopts planar positioning technology to obtain the real-time location information of the vehicle being summoned, and then controls the navigation and positioning module through the control module to plan the navigation path, so as to control the automatic driving module to automatically drive the vehicle to the target location according to the navigation path, and complete automatic parking / vehicle summoning.

[0004] The above-mentioned vehicle calling technology locates the vehicle and cannot meet the vehicle calling requirements of a three-dimensional multi-storey garage. Summary of the invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a vehicle summoning method, device, system and medium, which can calculate the three-dimensional coordinates of the summoning terminal and the target vehicle in real time through a positioning server, so as to realize fast and efficient vehicle summoning in a three-dimensional multi-storey garage.

[0006] In a first aspect, an embodiment of the present application provides a vehicle summoning method, which is used for an on-board terminal on a target vehicle, and the method includes:

[0007] Receiving a summoning message sent by the summoning terminal and forwarded by the field server, the summoning message is used to summon the target vehicle;

[0008] In response to the call instruction, the location identifier of the target vehicle is sent to the field server, so that the field server determines the initial three-dimensional coordinates of the target vehicle according to the location identifier of the target vehicle;

[0009] Receiving the initial three-dimensional coordinates of the calling terminal and the initial three-dimensional coordinates of the target vehicle sent by the field server, the three-dimensional coordinates of the calling terminal being determined by the position identifier of the calling terminal;

[0010] The three-dimensional coordinates of the calling terminal are taken as the end point and the three-dimensional coordinates of the target vehicle are taken as the starting point to determine the driving direction of the target vehicle.

[0011] Optionally, in the vehicle summoning method provided in an embodiment of the present application, the three-dimensional coordinates include coordinate values ​​of the summoning terminal and the target vehicle in the vertical direction, and the three-dimensional coordinates of the summoning terminal are used as the end point and the three-dimensional coordinates of the target vehicle are used as the starting point to determine the driving direction of the target vehicle:

[0012] Calculating the absolute value of the difference between the vertical coordinate values ​​of the calling terminal and the target vehicle;

[0013] Based on the absolute value of the difference and the magnitude relationship of a preset threshold, the driving direction of the target vehicle is determined.

[0014] Optionally, in the vehicle summoning method provided in an embodiment of the present application, the three-dimensional coordinates also include the plane coordinate values ​​of the summoning terminal and the target vehicle, and determining the driving direction of the target vehicle includes:

[0015] If the absolute value of the difference is not greater than the preset threshold, it means that the calling terminal and the target vehicle are located on the same floor.

[0016] The current plane coordinate value of the calling terminal is used as the driving direction;

[0017] If the difference is greater than a preset threshold, it means that the calling terminal and the target vehicle are located on different floors, and the vertical coordinate values ​​of the calling terminal and the target vehicle are compared.

[0018] Based on the comparison result, the driving direction of the target vehicle is determined.

[0019] Optionally, in the vehicle summoning method provided in the embodiment of the present application, determining the driving direction of the target vehicle based on the comparison result includes:

[0020] When the coordinate value of the calling terminal in the vertical direction is greater than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the upper floor;

[0021] When the coordinate value of the calling terminal in the vertical direction is smaller than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the next floor.

[0022] Optionally, the vehicle summoning method provided in the embodiment of the present application, when the target vehicle travels one floor to the upper floor or the lower floor according to the determined driving direction, the method further includes:

[0023] Receiving the real-time three-dimensional coordinates of the target vehicle sent by the field server;

[0024] Based on the vertical coordinate value of the real-time three-dimensional coordinates of the target vehicle, the initial three-dimensional coordinates of the summoning device, and a preset threshold, a new driving direction is re-determined.

[0025] Optionally, the vehicle summoning method provided in the embodiment of the present application, after determining the driving direction, the method further includes:

[0026] Start the visual module;

[0027] Based on the collection result of the visual module, the driving operation is performed according to the determined driving direction, and the collection result at least includes an indication mark.

[0028] Optionally, the vehicle summoning method provided in the embodiment of the present application further includes:

[0029] After the target vehicle reaches the destination, a prompt message is sent to the calling terminal through the field server, and the prompt message indicates that the target vehicle reaches the location of the calling terminal.

[0030] Optionally, the vehicle summoning method provided in the embodiment of the present application, after sending the prompt message to the summoning terminal, the method further includes:

[0031] When no vehicle unlocking operation or door opening operation is detected within a preset time period, a prompt message is resent to the calling terminal.

[0032] Optionally, in the vehicle summoning method provided in the embodiment of the present application, when the number of times the prompt message is sent reaches a preset upper limit, and the vehicle unlocking operation or the door opening operation is still not detected, the method further includes:

[0033] Performing a parking operation so that the target vehicle drives to a target parking space;

[0034] When the target vehicle completes re-parking, a prompt message is sent to the calling terminal.

[0035] In a second aspect, an embodiment of the present application provides a vehicle summoning method, which is used in a field-side server, and the method includes:

[0036] Receiving a summon message sent by a summon terminal, the summon message is used to summon a target vehicle, the summon message includes a location identifier of the summon terminal and identity information of the target vehicle;

[0037] Parsing the vehicle summoning message, and sending a summoning instruction to the vehicle-mounted terminal of the target vehicle;

[0038] Receiving a location identifier returned by the target vehicle in response to the summoning command;

[0039] Determine the three-dimensional coordinates of the calling terminal based on the position identifier of the calling terminal, and determine the three-dimensional coordinates of the target vehicle based on the position identifier of the target vehicle;

[0040] The three-dimensional coordinates of the calling terminal and the three-dimensional coordinates of the target vehicle are sent to the vehicle terminal, so that the vehicle terminal determines the driving direction of the target vehicle with the three-dimensional coordinates of the calling terminal as the end point and the three-dimensional coordinates of the target vehicle as the starting point.

[0041] Optionally, the vehicle summoning method of the embodiment of the present application further includes:

[0042] Receiving a prompt message sent by the vehicle-mounted terminal, the prompt message indicating that the target vehicle has traveled to the location of the calling terminal;

[0043] The prompt message is forwarded to the calling terminal.

[0044] In a third aspect, an embodiment of the present application provides a vehicle calling method, which is used in a vehicle calling terminal, including:

[0045] Receiving input instructions in the operation interface;

[0046] In response to the input instruction, a summon message is sent to the field server, the summon message is used to summon the target vehicle, the summon message includes the location identifier of the summon terminal and the identity information of the target vehicle, the location identifier is used to determine the three-dimensional coordinates of the summon terminal.

[0047] Optionally, the vehicle summoning method of the embodiment of the present application, before sending the summoning message to the field server, the method further includes:

[0048] The position identifier of the target positioning device in the three-dimensional parking lot is obtained, and the position identifier of the target positioning device is used as the position identifier of the calling terminal.

[0049] In a fourth aspect, an embodiment of the present application provides a vehicle calling method, which is used in a vehicle calling terminal, including:

[0050] Receiving input instructions in the operation interface;

[0051] In response to the input instruction, a summon message is sent to the field server, wherein the summon message includes a location identifier of the summon terminal and identity information of the target vehicle, wherein the location identifier is used to determine the three-dimensional coordinates of the summon terminal, and the summon message is used to summon the target vehicle;

[0052] Receiving the three-dimensional coordinates of the calling terminal and the three-dimensional coordinates of the target vehicle sent by the field server, the three-dimensional coordinates of the calling terminal being determined by the position identifier of the calling terminal, and the three-dimensional coordinates of the target vehicle being determined by the position identifier of the target vehicle;

[0053] The driving direction of the calling terminal is determined by taking the three-dimensional coordinates of the calling terminal as a starting point and the three-dimensional coordinates of the target vehicle as an end point.

[0054] Optionally, the vehicle summoning method of the embodiment of the present application, before sending the summoning message to the field server, the method further includes:

[0055] The position identifier of the target positioning device in the three-dimensional parking lot is obtained, and the position identifier of the target positioning device is used as the position identifier of the calling terminal.

[0056] In the fifth aspect, an embodiment of the present application provides a vehicle-mounted terminal device, which is installed on a target vehicle. The vehicle-mounted terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is used to implement the vehicle summoning method described in the first aspect when executing the program.

[0057] In a sixth aspect, an embodiment of the present application provides a vehicle calling terminal, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is used to implement the vehicle calling method as described in the third aspect or the fourth aspect when executing the program.

[0058] In a seventh aspect, an embodiment of the present application provides a field-side server, the field-side server is used to execute the vehicle summoning method as described in the second aspect, the field-side server includes a communication server and a positioning server, the communication server is used to forward the message of the vehicle summoning terminal and the target vehicle;

[0059] The positioning server is used to locate the position of the vehicle calling terminal and the target vehicle in real time.

[0060] Optionally, in the field server of the embodiment of the present application, the communication server includes a Bluetooth server, and the positioning server includes an ultra-wideband server;

[0061] The Bluetooth server is used to communicate with the vehicle terminal;

[0062] The ultra-wideband server is used to determine the three-dimensional coordinates of the summoning terminal and the vehicle-mounted terminal.

[0063] In an eighth aspect, an embodiment of the present application provides a vehicle summoning system, the system comprising the vehicle-mounted terminal described in the fifth aspect, the vehicle summoning terminal described in the sixth aspect, and the field server described in the seventh aspect.

[0064] In a ninth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is used to implement the method described in the first aspect, the second aspect, the third aspect or the fourth aspect.

[0065] The vehicle summoning method, terminal, server, system and medium provided in the embodiments of the present application can, in a complex multi-story parking garage, enable a user to operate a vehicle summoning terminal to summon a vehicle, and through a field server, accurately calculate the three-dimensional coordinates of the summoning terminal and the target vehicle in real time based on the location identifiers reported by the summoning terminal and the on-board terminal, and then determine the driving direction of the target vehicle or user based on the three-dimensional coordinates, accurately guide the target vehicle or user to the destination, thereby enabling users to summon vehicles efficiently and quickly and improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0067] Figure 1 Shown is a schematic diagram of the architecture of the vehicle summoning method according to an embodiment of the present application;

[0068] Figure 2 A schematic diagram of a vehicle summoning method according to an embodiment of the present application;

[0069] Figure 3 A schematic flow chart of a vehicle summoning method according to some embodiments of the present application;

[0070] Figure 4 A schematic flow chart of a vehicle summoning method according to some embodiments of the present application;

[0071] Figure 5 A schematic flow chart of a vehicle summoning method according to some embodiments of the present application;

[0072] Figure 6 A schematic flow chart of a vehicle summoning method according to some embodiments of the present application;

[0073] Figure 7 A schematic diagram of the structure of a vehicle summoning device according to an embodiment of the present application;

[0074] Figure 8 A schematic diagram of the structure of a vehicle summoning device according to some embodiments of the present application;

[0075] Fig. 9 A schematic diagram of the structure of a vehicle summoning device according to some embodiments of the present application;

[0076] Fig.10 A schematic diagram of the structure of a vehicle summoning device according to some embodiments of the present application;

[0077] Fig.11 A schematic diagram of the structure of a computer of a processing device according to an embodiment of the present application. DETAILED DESCRIPTION

[0078] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant disclosure, rather than to limit the disclosure. It should also be noted that, for ease of description, only the parts related to the disclosure are shown in the accompanying drawings.

[0079] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0080] It is understandable that as a result of the rapid growth of the number of vehicles in a unit area, there is a greater demand for parking spaces. For example, in places such as shopping malls, office buildings and residential areas, the requirements for the number of vehicles in parking lots are getting higher and higher. Therefore, in order to meet the parking demand, the multi-story parking lots currently being constructed are becoming more and more common, and the number of floors they include is also increasing.

[0081] As parking lot structures become increasingly complex, the corresponding parking and car-finding problems also arise, and people often forget where they parked. At the same time, since the GPS positioning signal in the parking lot is unavailable, it is very difficult for users to find their cars when they forget where they parked.

[0082] The embodiments of the present application take into account the above-mentioned multi-story parking lot and the difficulty in positioning the vehicle, such as the unavailability of GPS signals, or the currently used three-point positioning in the plane to locate the two-dimensional coordinates of the plane, which makes it impossible to accurately position the vehicle in multi-story overlapping multi-story parking lots.

[0083] By using ultra-wideband (UWB) technology, multiple UWB base stations are arranged in the parking lot to achieve three-dimensional precise positioning function. That is, in multi-layer overlapping parking lots, the extended four-point positioning is expanded from two-dimensional plane to three-dimensional, so that when the user calls the vehicle, it can help the user to quickly and effectively locate the target vehicle, which greatly facilitates the user.

[0084] For example, in the scenario of an autonomous driving vehicle, the vehicle user can use a handheld electronic device at the parking lot exit, that is, the operating interface of the vehicle summoning terminal to input a summoning command, so that the target vehicle can automatically drive to the user based on its own position and the user's current position, using the above-mentioned precise three-dimensional positioning function, thus successfully realizing the "car finding person" strategy.

[0085] Alternatively, the user can also use a handheld device at the entrance of the parking lot and utilize the above-mentioned precise three-dimensional positioning function to accurately go to the parking location of the target vehicle.

[0086] In order to achieve accurate positioning in the above-mentioned multi-layer overlapping three-dimensional parking lot, the implementation method of the embodiment of the present application is based on Figure 1 The architecture shown is implemented.

[0087] like Figure 1 Shown is a schematic diagram of the architecture of the vehicle summoning method of an embodiment of the present application. As shown in the figure, the architecture includes a vehicle summoning terminal, a background server (such as a cloud server), a field server (including a Bluetooth server, a UWB server) and a vehicle-mounted terminal installed on the vehicle.

[0088] like Figure 1 As shown, the vehicle summoning terminal and the cloud server communicate via 4G / 5G signals, the cloud server, Bluetooth server, and UWB server communicate via TCP / IP Ethernet protocol, the UWB server and the UWB base station communicate via TCP / IP Ethernet protocol, and the Bluetooth server and the on-board terminal on the vehicle communicate via low-power Bluetooth (BLE) signals.

[0089] Among them, the vehicle summoning terminal can be a portable electronic device, such as a smart phone, a smart bracelet, or a tablet computer, which can communicate with the cloud server through 4G / 5G signals.

[0090] The vehicle summoning device is installed with a corresponding application (APP), or a mini-program is loaded by identifying an identification code of an already running application or following a public account, so that a client that can be operated by the user can be run on the vehicle summoning device.

[0091] The vehicle-mounted terminal is an electronic device installed in the vehicle that can realize data transmission, data processing and data storage.

[0092] The vehicle can be an ordinary car, or it can be an autonomous driving car, that is, during the driving process of the autonomous driving vehicle, it can provide guidance and decisions on the vehicle's driving tasks and perform control actions on behalf of the driver without the driver having to perform physical driving operations, that is, the on-board terminal is also equipped with an autonomous driving module.

[0093] The field-side server may be a background server arranged in a parking lot computer room, including a communication server for message transmission and a positioning server for three-dimensional positioning.

[0094] For example, the communication server may be a Bluetooth server, so that the summoning terminal and the vehicle-mounted terminal can achieve data communication through the communication server.

[0095] The positioning server may be a UWB server, so that during the vehicle summoning process, the UWB server can be used to accurately locate the summoning terminal and the vehicle-mounted terminal.

[0096] The Bluetooth server is responsible for communicating with the on-board terminal configured in the vehicle, and the UWB server is responsible for precise three-dimensional positioning. As a field-side server, the physical hosts of both can be arranged in the parking lot computer room.

[0097] Alternatively, in some other embodiments, as a field-side server, the Bluetooth server and the UWB server may share the same server, such as being arranged under the architecture of the same data system.

[0098] It can be understood that in order to achieve accurate positioning, multiple UWB base stations are arranged in the multi-story parking lot, so that each vehicle and the calling terminal can be detected by at least four UWB base stations that are not in the same plane, thereby achieving accurate three-dimensional coordinate determination.

[0099] On this basis, each vehicle's onboard terminal and vehicle summoning terminal in the multi-story parking garage are configured with a UWB chip to have a unique UWB tag, i.e., location identifier, to facilitate base station positioning.

[0100] It is understood that in some embodiments, when the vehicle summoning terminal is not equipped with a UWB chip, the UWB base station at the garage exit can be selected as the target point. At this time, the user can use the vehicle summoning terminal, such as a mobile phone, to scan the identification code on the base station, such as a QR code, to obtain the identity number of the base station and send it to the UWB server through the 4G signal. The UWB server obtains the three-dimensional coordinate point of the base station as the driving destination of the car summoning according to the base station identity number.

[0101] The backend server may be a server built by the automobile manufacturer, such as a cloud server, and may actually be deployed on the physical equipment of the automobile manufacturer. The communication between the vehicle summoning terminal and the Bluetooth server or UWB server of the parking lot may be transferred through the cloud server of the automobile manufacturer.

[0102] The cloud server database can store the identity information of all vehicles, and can also store user information corresponding to the vehicle identity information, etc.

[0103] In this scenario, the terminal device has an application client installed, and the user can communicate with the cloud server by running the client and logging in to his account. In addition, the cloud server has various data layers of the application and account information of all users.

[0104] The server and the vehicle can communicate via BLE, or in other embodiments, via UWB technology, or via WIFI.

[0105] It can be understood that in the embodiment of the present application, in order to achieve accurate positioning in a multi-layer overlapping three-dimensional parking lot, Figure 1The architecture shown is based on the precise UWB three-dimensional positioning function, which enables users to quickly and accurately locate when the vehicle is summoned. That is, when the user needs to summon the vehicle, the user uploads the identity information of himself or the vehicle to the cloud server through the terminal device held by the user, so that the cloud server forwards it to the parking lot server, such as the Bluetooth server in the parking lot. The Bluetooth server then broadcasts a query signal to all vehicles in the parking lot through short-distance transmission technology to find the target vehicle and trigger the UWB of the on-board terminal on the vehicle. The UWB accurately locates the precise three-dimensional coordinates of the target vehicle, including the accurate coordinates of the two-dimensional plane and the coordinates in the vertical direction, so that precise positioning can be achieved in multi-layer overlapping three-dimensional parking lots.

[0106] In order to better understand and illustrate the vehicle summoning method provided in the embodiment of the present application, Figures 2 to 6 Elaborate in detail.

[0107] Figure 2 A flow chart of a vehicle summoning method provided in an embodiment of the present application, the method comprises: Figure 1 The vehicle-mounted terminal shown in is executed, and the method specifically includes:

[0108] S110, receiving a summoning message sent by the summoning terminal and forwarded by the field server, where the summoning message is used to summon the target vehicle.

[0109] S120, in response to the call instruction, sending the location identifier of the target vehicle to the field server, so that the field server determines the initial three-dimensional coordinates of the target vehicle according to the location identifier of the target vehicle.

[0110] S130, receiving the initial three-dimensional coordinates of the calling terminal and the initial three-dimensional coordinates of the target vehicle sent by the field server, wherein the three-dimensional coordinates of the calling terminal are determined by the position identifier of the calling terminal.

[0111] S140, taking the three-dimensional coordinates of the calling terminal as an end point and the three-dimensional coordinates of the target vehicle as a starting point, determining a driving direction of the target vehicle.

[0112] Specifically, in the embodiment of the present application, when the user calls the vehicle, the handheld device, i.e., the vehicle calling terminal, can be operated to send a calling message to the vehicle terminal installed on the target vehicle. Then the vehicle terminal on the target vehicle in the parking lot can receive the message through Figure 1 The cloud server and the summon message forwarded by the field server are shown in FIG.

[0113] The summon message may also include instructions, the security key of the target vehicle, and the user's identity information.

[0114] After receiving the call message, the vehicle terminal can respond to the call message and send the location identifier of the target vehicle to the field server, so that the field server uses the location identifier to detect the location of the target vehicle with the help of a base station arranged in the parking lot.

[0115] For example, in Figure 1 In the UWB positioning technology shown, the location identifier may be a tag of a UWB chip built into a vehicle-mounted terminal in the target vehicle.

[0116] It can be understood that in the embodiment of the present application, at least four UWB base stations that are not in the same plane can detect the UWB tag to achieve accurate positioning in the stereo garage.

[0117] Furthermore, after sending the location identifier of the target vehicle to the field server, the vehicle terminal can receive the current three-dimensional coordinates of the target vehicle calculated by the field server based on the location identifier. At the same time, the vehicle terminal can also receive the current three-dimensional coordinates of the calling terminal calculated by the terminal server based on the location identifier of the vehicle calling terminal.

[0118] Finally, the vehicle-mounted terminal can determine the driving direction of the target vehicle based on the three-dimensional coordinates of the calling terminal and the three-dimensional coordinates of the target vehicle, with the current position of the calling terminal as the end point and the current position of the vehicle-mounted terminal as the starting point, so that the target vehicle can reach the end point, that is, drive to the user's current position, after driving in the determined driving direction, thereby realizing the calling of the target vehicle.

[0119] In an embodiment of the present application, the on-board terminal can feedback the location tag of the target vehicle where it is located to the field server, so that the field server can use the location tag and the location tag of the calling terminal received in advance to calculate the three-dimensional coordinates of the two, thereby realizing precise navigation in the three-dimensional parking garage and realizing fast and accurate vehicle calling.

[0120] It can be understood that the three-dimensional coordinates can include coordinate values ​​on a two-dimensional plane and coordinate values ​​in the vertical direction. The coordinate values ​​in the vertical direction represent the height of the calling terminal and the target vehicle relative to the horizontal plane, which can be understood as the floor position.

[0121] When determining the driving direction according to the three-dimensional coordinates of the calling terminal and the three-dimensional coordinates of the target vehicle, the vehicle-mounted terminal may specifically perform the following steps:

[0122] S01, calculating the absolute value of the difference between the vertical coordinate values ​​of the calling terminal and the target vehicle;

[0123] S02: Determine the driving direction of the target vehicle based on the absolute value of the difference and a preset threshold.

[0124] Specifically, the vehicle-mounted terminal can first calculate the absolute value of the difference between the vertical coordinate value of the calling terminal and the vertical coordinate value of the target vehicle, and then compare the absolute value of the difference with the preset threshold, and then determine the driving direction based on the comparison result. That is, it can determine whether the calling terminal and the target vehicle are on the same floor based on the absolute value of the height difference and the size relationship of the preset threshold, so as to determine the driving direction of the target vehicle.

[0125] It can be understood that, according to the actual situation, the three-dimensional parking garage may include multiple floors, and each floor has a certain height. When the user and the target vehicle are located on the same floor, the height values ​​in their three-dimensional coordinates are basically the same, and when the user and the target vehicle are located on different floors, the height values ​​in their three-dimensional coordinates have a certain difference, and the absolute value of the difference is the general floor height value.

[0126] It can also be understood that in the embodiment of the present application, a threshold value, such as 0.5m, 1m, etc., can be set taking into account the slope relationship of the ground on the same floor.

[0127] When the absolute value of the difference between the height value of the calling terminal and the vertical coordinate value of the target vehicle is not greater than the preset threshold, it means that the two are located on the same floor. When determining the driving direction, the plane coordinate point in the current three-dimensional coordinates of the calling terminal can be directly used as the driving direction, that is, the target vehicle does not need to move up and down to drive to the user's current position.

[0128] Otherwise, it means that the two are located on different floors, which means that the target vehicle needs to switch between floors to drive to the user's current location. At this time, when determining the driving direction, the vehicle terminal needs to further compare the current height values ​​of the calling terminal and the target vehicle to determine whether the target vehicle needs to drive to the lower floor or the upper floor.

[0129] That is, the method specifically includes:

[0130] When the coordinate value of the calling terminal in the vertical direction is greater than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to an upper floor.

[0131] When the coordinate value of the calling terminal in the vertical direction is smaller than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the next floor.

[0132] Specifically, when the vertical coordinate value of the calling terminal is greater than the vertical coordinate value of the target vehicle, it means that the user's current location is on the upper floor of the target vehicle, and the target vehicle needs to travel to the upper floor, that is, travel to the upper floor in the determined driving direction.

[0133] When the vertical coordinate value of the calling terminal is less than the vertical coordinate value of the target vehicle, it means that the user's current position is on the lower floor of the target vehicle, and the target vehicle needs to travel to the lower floor, that is, travel to the upper floor in the determined driving direction.

[0134] It can be understood that in the embodiments of the present application, in a multi-story stereoscopic parking garage, through the accurate positioning of UWB, the on-board terminal can obtain the three-dimensional coordinates of the target vehicle and the user, including the coordinates in the vertical direction. Then, when determining the driving direction, it can determine whether the target vehicle needs to change floors based on the coordinate values ​​in the vertical direction, so as to realize the driving path planning in the three-dimensional space, and finally complete the efficient and fast vehicle summoning, realize the car finding person, and improve the user experience.

[0135] Furthermore, after the driving direction of the target vehicle is determined, the on-board terminal in the target vehicle can start the automatic driving module and perform driving operations to make the target vehicle move along the determined driving direction.

[0136] It can be understood that when it is determined through the above method that the target vehicle needs to change floors, and after the target vehicle travels one floor to the upper floor or the lower floor according to the determined driving direction, that is, after completing the conversion of one floor, in order to further realize the vehicle calling of the target vehicle, it is necessary to re-determine the new driving direction based on the current position coordinates of the target vehicle obtained in real time and the position coordinates of the calling terminal, that is, determine whether conversion between floors is still required, that is, the method also includes:

[0137] S03, receiving the real-time three-dimensional coordinates of the target vehicle sent by the field server.

[0138] S04, re-determining a new driving direction based on the vertical coordinate value of the real-time three-dimensional coordinates of the target vehicle, the initial three-dimensional coordinates of the summoning device, and a preset threshold.

[0139] Specifically, when changing floors according to the determined driving direction, the on-board terminal can continuously receive the real-time location information returned by the field server, that is, the UWB base station arranged in the garage detects the real-time location of the target vehicle in real time, and then analyzes and calculates it through the field server, and sends it to the on-board terminal of the target vehicle in real time.

[0140] Then, when the target vehicle completes the first-level floor conversion, the vehicle-mounted terminal needs to re-determine the driving direction according to the received real-time position information, that is, re-execute the above steps.

[0141] For example, the absolute value of the difference between the vertical coordinate values ​​of the calling terminal and the target vehicle is first calculated, and then the absolute value of the difference is compared with the size of the preset threshold to determine whether the current position of the target vehicle and the current position of the user are on the same floor after the first floor is converted. If so, the plane coordinate point of the calling terminal is directly used as the driving direction, which means that the target vehicle is moved to the user's floor through the first floor conversion.

[0142] Alternatively, when it is found through comparison that the current position of the target vehicle is still on a different floor from the current position of the user, it is necessary to further compare the vertical coordinate values ​​of the calling terminal and the target vehicle, and then determine whether the vehicle is moving to the upper floor or the lower floor based on the comparison result.

[0143] It can be understood that, based on the height information of the calling terminal and the target vehicle, the above steps can be repeatedly executed until the calling terminal and the target vehicle are located on the same floor, and finally the target vehicle drives to the user's location.

[0144] In an embodiment of the present application, during the vehicle summoning process of the target vehicle, the on-board terminal can continuously receive the real-time location information returned by the field server, that is, after determining the driving direction, the UWB base station arranged in the garage detects the real-time location of the target vehicle in real time, and then after analysis and calculation by the field server, it is sent to the on-board terminal of the target vehicle in real time, so that the on-board terminal can update the driving direction multiple times according to the received real-time location information, and finally complete the vehicle summoning.

[0145] It can be understood that in the embodiment of the present application, after the vehicle-mounted terminal determines the driving direction, the navigation control module in the vehicle-mounted terminal can plan the driving route and perform driving operations according to the determined driving direction.

[0146] Optionally, in some embodiments, when planning a route, the navigation control module in the vehicle terminal can call a pre-downloaded and stored electronic map of the parking lot, and then perform route planning based on the electronic map to complete automatic driving during the entire vehicle summoning process.

[0147] It is understandable that in complex multi-story parking lots, or driving scenarios where there are no open public roads and no known detailed electronic route maps and multi-layer spatial driving routes overlap, the navigation control module in the vehicle terminal plans the driving route according to the driving direction to perform driving operations, and the electronic map cannot be called.

[0148] In this scenario, i.e., in some other embodiments of the present application, in order to further facilitate user use, a visual module (such as a camera) can be configured in the vehicle to identify various signs near the vehicle and on the driving route. The navigation control module can then plan the driving route based on the location of the target vehicle and the summoning device, i.e., the three-dimensional coordinates of the end point location, and the vehicle surrounding environment data collected by the visual module, so that the automatic driving control module can control the vehicle to drive out of the garage according to the driving route provided by the navigation control module.

[0149] For example, when the target vehicle is traveling in the driving direction, after the target vehicle receives the three-dimensional coordinates of the summoning terminal UWB and the vehicle-mounted UWB sent by the Bluetooth server, the navigation control module determines whether the target vehicle is at the same height as the current position of the summoning terminal based on the relative position between the two parties. If the vertical coordinates are basically the same, they are at the same height, and the control vehicle vision module collects the garage driving sign in real time, and the navigation control module identifies the sign and notifies the automatic driving module to control the target vehicle to drive to the target position, that is, the exit corresponding to the summoning terminal.

[0150] If the vertical coordinate difference is large, for example, greater than 1.5m, they are not at the same height, that is, they are on different floors. The navigation control module determines whether the destination position is higher or lower. If the vertical coordinate of the destination position is higher, it is necessary to drive to a higher floor. If the vertical coordinate of the target position is lower, it is necessary to drive to a lower floor. Then, using the previous / next floor signs at the entrance and exit of the garage floor collected by the vision module, the navigation control module and the autonomous driving module enter a higher or lower garage floor, and again determine whether the calling terminal, that is, the destination is on the same floor, and then use the same judgment logic to control the target vehicle until it drives to the destination position where the calling terminal is located.

[0151] Furthermore, in the embodiment of the present application, in order to facilitate user operation and improve user experience, when the target vehicle travels to the user's destination location according to the driving direction, the user can also be prompted.

[0152] For example, in some embodiments, the method may further include:

[0153] The vehicle-mounted terminal sends a prompt message to the calling terminal, and the prompt message indicates that the target vehicle has traveled to the location of the calling terminal.

[0154] Specifically, the vehicle terminal can send Figure 1 The Bluetooth server shown in sends a prompt message, so that the Bluetooth server forwards the prompt message to the cloud server, and the cloud server finally forwards the prompt message to the vehicle summoning terminal, so that the prompt message is displayed in a preset manner on the vehicle summoning terminal, such as displaying the prompt message on the client operation interface, or prompting in the form of vibration, beeping, etc.

[0155] For another example, in some other embodiments, when the target vehicle drives to the target location, the horn can be controlled to sound to remind the user that the target vehicle has arrived.

[0156] In an embodiment of the present application, when a vehicle is summoned in a multi-story complex parking lot, the three-dimensional positioning of the target vehicle is performed through the arranged UWB base station, and then the driving direction is determined through the three-dimensional positioning position mark, and then the automatic driving process is performed to the user's location, and then with the help of the visual function of the image acquisition module, the garage driving sign is collected in real time, so that the navigation control module recognizes the sign and implements the planned driving route to control the target vehicle to drive to the target location of the user, thereby achieving accurate positioning of the vehicle and driving direction guidance in an unknown complex multi-story space, thereby improving the user experience.

[0157] Figure 3 A flow chart of a vehicle summoning method provided in another embodiment of the present application, the method comprises: Figure 1 The method is executed by the farm-side server shown in the figure, and specifically comprises:

[0158] S210, receiving a summoning message sent by a summoning terminal, where the summoning message is used to summon a target vehicle, and the summoning message includes a location identifier of the summoning terminal and identity information of the target vehicle.

[0159] S220, parsing the vehicle summoning message, and sending a summoning instruction to the vehicle-mounted terminal of the target vehicle.

[0160] S230, receiving the location identifier returned by the target vehicle in response to the summoning instruction.

[0161] S240: Determine the three-dimensional coordinates of the calling terminal based on the position identifier of the calling terminal, and determine the three-dimensional coordinates of the target vehicle based on the position identifier of the target vehicle.

[0162] S250, sending the three-dimensional coordinates of the calling terminal and the three-dimensional coordinates of the target vehicle to the vehicle terminal, so that the vehicle terminal determines the driving direction of the target vehicle with the three-dimensional coordinates of the calling terminal as the end point and the three-dimensional coordinates of the target vehicle as the starting point.

[0163] Specifically, in Figure 1 In the scenario architecture shown, a vehicle is summoned. The user operates the client of the summoning terminal to forward the summoning message to the field server with the help of the cloud server. After receiving the summoning message, the field server can parse the summoning message to obtain the location identifier of the summoning terminal and the identity information of the target vehicle to be summoned carried in the summoning message.

[0164] The summon message may also include instructions, the security key of the target vehicle, and the user's identity information.

[0165] Furthermore, after parsing the above content, the field server may send a summoning instruction to the target vehicle, so that the target vehicle responds to the summoning instruction and feeds back its location identifier.

[0166] After receiving the location identifiers of the calling terminal and the target vehicle, the field server can detect the location information of the location identifiers through the base station arranged in the multi-story parking lot, and then use the detected location information to calculate and determine the three-dimensional coordinates of the calling terminal and the target vehicle; finally, the calculated three-dimensional coordinates are sent to the vehicle-mounted terminal, so that the vehicle-mounted terminal can determine the driving direction of the target vehicle according to the three-dimensional coordinates, with the calling terminal as the target point and the current position of the target vehicle as the starting point.

[0167] It can be understood that when the vehicle-mounted terminal determines the driving direction based on the starting point and the target point, and drives in the determined driving direction, the vehicle-mounted terminal collects the location information of the target vehicle in real time and sends it to the target vehicle, so that the target vehicle re-determines the driving direction with the updated starting point until it drives to the user's destination.

[0168] Optionally, in an embodiment of the present application, in order to improve the user experience, after the vehicle-mounted terminal drives to the target point, the field server can also receive a prompt message sent by the vehicle-mounted terminal indicating that the target vehicle has completed the driving route, and then forward the prompt message to the summoning terminal to prompt the user to pay attention to the target vehicle.

[0169] It can be understood that in the embodiments of the present application, Figure 1 As shown, the field server may include a Bluetooth server and a UWB server. The UWB server is used to achieve accurate positioning of the vehicle and the calling terminal through multiple base stations arranged in the three-dimensional parking lot.

[0170] The Bluetooth server is responsible for the communication between the cloud server, the UWB server and the vehicle terminal, that is, the Bluetooth server forwards the message sent by the calling terminal forwarded by the cloud server to the vehicle terminal. Alternatively, the message sent by the vehicle terminal through the Bluetooth module can be forwarded to the cloud server, so that the cloud server forwards it to the calling terminal. Alternatively, the message sent by the UWB server is forwarded to the vehicle terminal. Alternatively, the message sent by the vehicle terminal through the Bluetooth module can be forwarded to the UWB server.

[0171] For example, the cloud server forwards the vehicle summoning instruction, vehicle identity information, and vehicle security key information in the received summoning message to the Bluetooth server through the TCP / IP protocol, and forwards the vehicle identity information and the location identifier of the summoning terminal to the UWB server.

[0172] After the Bluetooth server receives the summoning command, vehicle identity information, and vehicle security key information forwarded by the cloud server, it starts Bluetooth broadcasting through the vehicle identity information and key information to find a paired autonomous driving car, i.e., the target driving vehicle, and at the same time forwards the user's summoning command to the target vehicle via Bluetooth signals.

[0173] In addition, the Bluetooth server can also forward the received vehicle identity information and location identifier sent by the target vehicle to the UWB server through the TCP / IP protocol, so that after receiving the vehicle identity information and the calling terminal identity information sent by the cloud server and the vehicle identity information and location identifier sent by the Bluetooth server, the UWB server can pair them according to the vehicle identity information to locate the three-dimensional coordinates of the paired calling terminal and the target vehicle in real time, and finally send the three-dimensional coordinates of the current calling terminal and the target vehicle to the Bluetooth server through the TCP / IP protocol. The Bluetooth server finally sends it to the vehicle terminal of the target vehicle.

[0174] In an embodiment of the present application, during the user's vehicle summoning process, the three-dimensional coordinates of the target vehicle accurately located by the UWB server in the field-side server are forwarded in real time to the on-board terminal of the target vehicle through the Bluetooth server in the field-side server, so that the on-board terminal can use the real-time three-dimensional coordinates to determine the driving direction of the target vehicle and the driving path, so as to quickly drive to the user's terminal location, thereby realizing efficient and convenient vehicle summoning for the user.

[0175] Figure 4 A flow chart of a vehicle summoning method provided in another embodiment of the present application, the method comprises: Figure 1 The vehicle calling terminal shown in is executed, and the method specifically includes:

[0176] S310, receiving an input instruction in the operation interface.

[0177] S320, in response to the input instruction, a summon message is sent to the field server, the summon message is used to summon the target vehicle, the summon message includes the location identifier of the summon terminal and the identity information of the target vehicle, the location identifier is used to determine the three-dimensional coordinates of the summon terminal.

[0178] Specifically, in this embodiment, when a user calls a vehicle, the call message of the target vehicle can be input by operating the client of the call terminal, such as downloading and installing an application, or by identifying an identification code provided by the parking lot, such as a QR code to run a small program, or a public account, etc. Then, the call terminal responds to the user's input operation and sends a call message including a call instruction, vehicle identity information, vehicle security key, call terminal identity information and location identification to the background server, so that the background server forwards the call message to the field server, and then the field server interacts with the target vehicle terminal according to the content of the call message, so as to call the target vehicle and ensure that the target vehicle drives to the user's location accurately and quickly.

[0179] Optionally, in an embodiment of the present application, when a UWB module is not installed in the calling terminal, when sending its own location identifier to the field server, the location identifier on the positioning device of the parking lot can be identified as the location identifier of the calling terminal and reported to the field server.

[0180] For example, if the user's mobile phone is not equipped with a UWB chip, that is, it does not support UWB. Then the UWB base station at the exit of the three-dimensional parking garage can be selected as the target point. The user scans the identification code provided on the base station, such as a QR code, with the mobile phone to obtain the identity number of the base station, that is, the location identifier of the positioning device, as the location identifier of the summoning terminal, and then sends it to the UWB server through the 4G signal. The UWB server obtains the three-dimensional coordinate point of the base station as the driving destination of the target vehicle based on the base station identity number.

[0181] Optionally, in other embodiments, in order to facilitate user operation, the summoning terminal can also receive a prompt message sent by the vehicle-mounted terminal, that is, when the target vehicle drives to the user's location determined by positioning, the vehicle-mounted terminal on the target vehicle can send a prompt message to the summoning terminal through the background server to prompt the user that the target vehicle has driven to its location.

[0182] Furthermore, after receiving the prompt information, the calling terminal can provide effective prompts to the user through display on the client interface, or by vibration or beeping.

[0183] In order to better understand the vehicle summoning method provided in the embodiment of the present application, Figure 4 The operations of each execution subject in the vehicle calling process are described in detail. Figure 1 The system shown in the figure is composed of a vehicle summoning terminal (such as a mobile phone), a cloud server, a Bluetooth server, a UWB server and an on-board terminal of the target vehicle, and the on-board terminal is equipped with an automatic driving module.

[0184] like Figure 5 As shown, the method specifically includes:

[0185] S410, receiving an input instruction in an operation interface of the calling terminal.

[0186] S420, the summoning terminal responds to the input command and sends the summoning command, the target vehicle identity information, the summoning terminal identity information, and the location identifier of the summoning terminal to the cloud server.

[0187] S430, the cloud server sends a summoning instruction and target vehicle identity information to the Bluetooth server.

[0188] S440, the cloud server forwards the target vehicle identity information and the summoning terminal identity information to the UWB server.

[0189] S450, the Bluetooth server sends a summoning instruction to the vehicle-mounted terminal of the target vehicle.

[0190] S460, the on-board terminal of the target vehicle receives the calling instruction.

[0191] S470, the vehicle-mounted terminal of the target vehicle sends the identity information of the target vehicle and its own location identifier to the Bluetooth server.

[0192] S480, the Bluetooth server receives the vehicle identity information and the location identifier of the target vehicle sent by the vehicle-mounted terminal of the target vehicle.

[0193] S490, the Bluetooth server forwards the vehicle identity information and the location identifier of the target vehicle to the UWB server.

[0194] S491, the UWB server receives the vehicle identity information and location identifier of the target vehicle, the identity information and location identifier of the summoning terminal; the UWB server performs pairing according to the vehicle identity information and the identity information of the summoning terminal, and after pairing, locates the three-dimensional coordinates of the summoning terminal and the vehicle-mounted terminal in real time.

[0195] S492, the UWB server sends the three-dimensional coordinates of the summoning terminal and the vehicle terminal to the Bluetooth server.

[0196] S493, the Bluetooth server forwards the three-dimensional coordinates of the calling terminal and the vehicle terminal to the vehicle terminal of the target vehicle.

[0197] S494, the vehicle-mounted terminal of the target vehicle determines the driving direction of the target vehicle with the three-dimensional coordinates of the calling terminal as the end point and the three-dimensional coordinates of the target vehicle as the starting point.

[0198] S495, when the target vehicle reaches the destination, a prompt message is generated.

[0199] S496, the on-board terminal of the target vehicle sends a prompt message to the Bluetooth server.

[0200] S497, the Bluetooth server forwards the prompt message to the cloud server and the UWB server.

[0201] S498, the cloud server sends the prompt message to the calling terminal.

[0202] Specifically, when a user needs to summon a vehicle, he opens the summoning terminal at any garage exit, such as the vehicle summoning client on a mobile phone, and clicks the vehicle summoning button. The summoning terminal sends the summoning vehicle command, vehicle identity information, summoning terminal location identifier and other user and command information to the cloud server via 4G / 5G signals. The cloud server forwards the summoning vehicle command, vehicle identity information, and vehicle security key information to the Bluetooth server via the TCP / IP protocol, and at the same time forwards the vehicle identity information and summoning terminal location identifier to the UWB server.

[0203] The Bluetooth server uses the vehicle identity information to start Bluetooth broadcasting to find the paired target vehicle, and at the same time forwards the user's vehicle summoning command to the target vehicle via Bluetooth signals.

[0204] Optionally, in some embodiments, for the security of data interaction, when the user sends a summoning command to the server, the vehicle security key can also be sent at the same time, so that when the Bluetooth server starts broadcasting to search for a paired target vehicle, the vehicle security key and the corresponding key information can be used for pairing, thereby ensuring the safety of the target vehicle and preventing others from summoning the target vehicle.

[0205] Furthermore, after the target vehicle receives the identity verification information from the Bluetooth server, it receives the vehicle summoning command sent by the Bluetooth server, and uploads the vehicle identity information and the location identification of the vehicle terminal to the Bluetooth server via the Bluetooth signal. After the vehicle terminal of the target vehicle receives the summoning command, it activates the vehicle UWB, so that the vehicle terminal in the target vehicle communicates with the UWB base station in the garage, so that the UWB base station can obtain the UWB location information of the target vehicle, that is, the three-dimensional coordinates.

[0206] The Bluetooth server receives the vehicle identity information and the location identifier of the vehicle terminal sent by the vehicle terminal of the target vehicle, and forwards the vehicle identity information and the location identifier of the vehicle terminal to the UWB server through the TCP / IP protocol.

[0207] After receiving the vehicle identity information and the location identifier of the summoning terminal sent by the cloud server, and the vehicle identity information and the location identifier of the vehicle-mounted terminal sent by the Bluetooth server, the UWB server pairs them according to the vehicle identity information, and locates the UWB positions of the paired summoning terminal and the vehicle-mounted terminal in real time, that is, the three-dimensional coordinates, and sends the three-dimensional coordinates of the current summoning terminal and the vehicle-mounted terminal to the Bluetooth server via the TCP / IP protocol.

[0208] The Bluetooth server receives the three-dimensional coordinates of the summoning terminal and the vehicle terminal sent by the UWB server, and forwards them to the target vehicle via Bluetooth signals.

[0209] After the on-board terminal of the target vehicle receives the three-dimensional coordinates of the calling terminal and the on-board terminal sent by the Bluetooth server, the navigation recognition control module thereon determines whether the target vehicle is at the same height as the calling terminal according to the relative position between the two parties.

[0210] That is, if the vertical coordinates are basically the same, they are at the same height, that is, the same floor. The visual module that controls the vehicle collects the garage driving sign in real time, the navigation control module identifies the sign, and notifies the automatic driving module to control the target vehicle to drive to the corresponding position indicated by the summoning terminal, such as the parking lot exit; if the vertical coordinate difference is large, for example, greater than 1.5m, it means that they are not on the same floor. The navigation control module determines the position of the summoning terminal, that is, whether the end position is higher or lower. If the vertical coordinate of the end position is higher, it is necessary to drive to a higher floor. If the vertical coordinate of the target position is lower, it is necessary to drive to a lower floor.

[0211] At the same time, using the previous / next floor signs at the garage floor entrances and exits collected by the vision module, the navigation control module and the autonomous driving module enter a higher or lower garage floor, and again determine whether the vertical coordinates are on the same floor, and then use the same judgment logic to control the target vehicle until it reaches the target position. The target vehicle stops at the target position, ending the vehicle summoning autonomous driving, and can flash the lights and honk to remind the user that the vehicle has arrived, and send the vehicle summoning end information to the Bluetooth server via Bluetooth signals.

[0212] The Bluetooth server receives a prompt message from the vehicle terminal of the target vehicle indicating that the vehicle summoning is over, and forwards the prompt message to the UWB server and the cloud server via a TCP / IP signal.

[0213] The UWB server receives a prompt message indicating that the target vehicle's current call has ended, stops the real-time positioning communication between the calling terminal and the vehicle-mounted terminal corresponding to the target vehicle call, and ends the current positioning service.

[0214] The cloud server forwards the vehicle summoning end prompt message forwarded by the Bluetooth server to the user's mobile client through the 4G / 5G signal. The user client prompts the user that the vehicle summoning is over and please drive the vehicle away in time.

[0215] It can also be understood that after the target vehicle sends the prompt message that the vehicle summoning is over, it can also start timing. When no vehicle unlocking operation or door opening operation is detected within a preset time period, such as the vehicle is not unlocked or the door is not opened within 1 minute of timing, the vehicle summoning end prompt message will be sent to the user client again.

[0216] Furthermore, when the cumulative number of transmissions reaches a preset upper limit, such as after accumulating 3 times, if the user still does not unlock the vehicle or open the door after the third 1-minute timer ends, the vehicle terminal starts the automatic driving system and performs driving operations to control the target vehicle to drive back to the target parking space in the parking garage, such as the nearest empty parking space. In practice, the nearest empty parking space can be automatically found according to the vehicle vision module, and after the target vehicle parks in the empty parking space, a prompt message indicating that the target vehicle has parked nearby is sent to the summoning terminal.

[0217] In the embodiment of the present application, based on the precise UWB three-dimensional positioning function and the automatic driving function based on visual navigation, when the user summons the vehicle, the car user uses a handheld device to summon it on the spot at the parking lot exit. The vehicle automatically drives to the user based on its own position and the user's target position using automatic driving technology, turning "people looking for cars" into "car looking for people", accurately guiding the target vehicle to the user's location, enabling users to efficiently and quickly summon vehicles, and improving user experience.

[0218] It can also be understood that in reality, there are still a large number of non-autonomous driving vehicles. In the vehicle summoning process in this scenario, it is necessary to realize people finding cars. Users can use the summoning terminal to accurately and quickly go to the location of the target vehicle, that is, with the user's location as the end point and the target vehicle's location as the starting point, the UWB base station and UWB server arranged in the multi-story parking lot can accurately locate the user's three-dimensional coordinates in real time to guide the user to switch between floors and quickly go to the end point where the target vehicle is located to complete the vehicle summoning.

[0219] That is Figure 6 As shown, the embodiment of the present application also provides a vehicle calling method, which is used for a vehicle calling terminal, and the method specifically includes:

[0220] S510, receiving an input instruction in the operation interface.

[0221] S510, in response to the input instruction, a summon message is sent to the field server, the summon message including the location identifier of the summon terminal and the identity information of the target vehicle, the location identifier is used to determine the three-dimensional coordinates of the summon terminal, and the summon message is used to summon the target vehicle.

[0222] S530, receiving the three-dimensional coordinates of the calling terminal and the three-dimensional coordinates of the target vehicle sent by the field server, the three-dimensional coordinates of the calling terminal being determined by the position identifier of the calling terminal, and the three-dimensional coordinates of the target vehicle being determined by the position identifier of the target vehicle.

[0223] S540: Determine the driving direction of the calling terminal with the three-dimensional coordinates of the calling terminal as the starting point and the three-dimensional coordinates of the target vehicle as the end point.

[0224] It can be understood that the vehicle summoning method in this embodiment is similar to Figure 2 The vehicle summoning method embodiment shown in is similar to that in the embodiment, such as the judgment of the floor height, etc., the only difference is that the determination of the driving direction is executed by the user's summoning terminal, that is, the user's driving direction is planned and guided on the user's summoning terminal, so that the user can quickly and accurately reach the location of the target vehicle and realize the person finding the car.

[0225] The specific implementation process will not be described in detail here.

[0226] Optionally, in this embodiment, when the UWB module is not installed in the calling terminal, when sending its own location identifier to the field server, it can also identify the location identifier on the positioning device of the parking lot as the location identifier of the calling terminal and report it to the field server.

[0227] For example, the user's mobile phone uses the UWB base station at the exit of the multi-story parking garage as the target point, scans the identification code provided on the base station, such as a QR code, obtains the identity number of the base station as the location identifier of the summoning terminal, and sends it to the UWB server via 4G signals. The UWB server obtains the three-dimensional coordinate point of the base station based on the base station identity number as the user's starting point during the vehicle summoning process.

[0228] The vehicle summoning method of the embodiment of the present application, in a complex multi-story parking garage, when a user operates a vehicle summoning terminal to summon a vehicle, the positioning server in the field server can accurately calculate the three-dimensional coordinates of the summoning terminal and the target vehicle in real time based on the location identifiers reported by the summoning terminal and the on-board terminal, and then determine the user's driving direction based on the three-dimensional coordinates, accurately guide the user to the location of the target vehicle, thereby enabling the user to efficiently and quickly summon the vehicle and improving the user experience.

[0229] On the other hand, the embodiment of the present application also provides a vehicle calling device, such as Figure 7 As shown, the device comprises:

[0230] The first receiving module 610 is used to receive a summoning message sent by the summoning terminal and forwarded by the field server, where the summoning message is used to summon the target vehicle;

[0231] The first sending module 620 is used to respond to the call instruction and send the location identifier of the target vehicle to the field server, so that the field server determines the initial three-dimensional coordinates of the target vehicle according to the location identifier of the target vehicle;

[0232] The second receiving module 630 is used to receive the initial three-dimensional coordinates of the calling terminal and the initial three-dimensional coordinates of the target vehicle sent by the field server, and the three-dimensional coordinates of the calling terminal are determined by the position identifier of the calling terminal;

[0233] The first determination module 640 is used to determine the driving direction of the target vehicle with the three-dimensional coordinates of the calling terminal as the end point and the three-dimensional coordinates of the target vehicle as the starting point.

[0234] Optionally, in the vehicle summoning device of the embodiment of the present application, the three-dimensional coordinates include coordinate values ​​of the summoning terminal and the target vehicle in the vertical direction, and the determination module 640 includes:

[0235] The calculation unit 641 is used to calculate the absolute value of the difference between the vertical coordinate values ​​of the calling terminal and the target vehicle;

[0236] The determination unit 642 is used to determine the driving direction of the target vehicle based on the absolute value of the difference and the magnitude relationship of a preset threshold.

[0237] Optionally, in the vehicle summoning device of the embodiment of the present application, the three-dimensional coordinates also include plane coordinate values ​​of the summoning terminal and the target vehicle, and the determining unit is specifically used for:

[0238] If the absolute value of the difference is not greater than the preset threshold, it means that the calling terminal and the target vehicle are located on the same floor.

[0239] The current plane coordinate value of the calling terminal is used as the driving direction;

[0240] If the difference is greater than a preset threshold, it means that the calling terminal and the target vehicle are located on different floors, and the vertical coordinate values ​​of the calling terminal and the target vehicle are compared.

[0241] Based on the comparison result, the driving direction of the target vehicle is determined.

[0242] Optionally, in the vehicle summoning device of the embodiment of the present application, the determining unit is specifically used for:

[0243] When the coordinate value of the calling terminal in the vertical direction is greater than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the upper floor;

[0244] When the coordinate value of the calling terminal in the vertical direction is smaller than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the next floor.

[0245] Optionally, the vehicle summoning device of the embodiment of the present application, when the target vehicle travels one floor to a higher floor or a lower floor according to the determined driving direction, the device further includes:

[0246] The third receiving module 650 is used to receive the real-time three-dimensional coordinates of the target vehicle sent by the field server;

[0247] The second determination module 660 is used to re-determine a new driving direction based on the vertical coordinate value in the real-time three-dimensional coordinates of the target vehicle, the initial three-dimensional coordinates of the summoning device, and a preset threshold.

[0248] Optionally, the vehicle summoning device of the embodiment of the present application further includes:

[0249] A startup module 670, used to start the visual module;

[0250] The execution module 680 is used to perform driving operations according to the determined driving direction based on the collection results of the visual module, and the collection results at least include an indication mark.

[0251] Optionally, the vehicle summoning device of the embodiment of the present application further includes:

[0252] The second sending module 690 is used to send a prompt message to the calling terminal through the field server after the target vehicle drives to the end point, and the prompt message indicates that the target vehicle drives to the location of the calling terminal.

[0253] Optionally, in the vehicle summoning device of the embodiment of the present application, the second sending module is further used for:

[0254] When no vehicle unlocking operation or door opening operation is detected within a preset time period, a prompt message is resent to the calling terminal.

[0255] Optionally, the vehicle summoning device of the embodiment of the present application, when the number of times of sending the prompt message reaches a preset upper limit, the vehicle unlocking operation or the door opening operation is still not detected, the device further includes:

[0256] The parking module 691 is used to perform a parking operation so that the target vehicle drives to a target parking space;

[0257] The third sending module 692 is used to send a prompt message to the calling terminal after the target vehicle completes re-parking.

[0258] On the other hand, the embodiment of the present application also provides a vehicle calling device, such as Figure 8 As shown, the device comprises:

[0259] The first receiving module 710 is used to receive a summoning message sent by a summoning terminal, where the summoning message is used to summon a target vehicle, and the summoning message includes a location identifier of the summoning terminal and identity information of the target vehicle;

[0260] The parsing module 720 is used to parse the vehicle summoning message and send a summoning instruction to the vehicle-mounted terminal of the target vehicle;

[0261] The second receiving module 730 is used to receive the location identifier returned by the target vehicle in response to the calling instruction;

[0262] A determination module 740, configured to determine the three-dimensional coordinates of the calling terminal based on the location identifier of the calling terminal, and determine the three-dimensional coordinates of the target vehicle based on the location identifier of the target vehicle;

[0263] The sending module 750 is used to send the three-dimensional coordinates of the calling terminal and the three-dimensional coordinates of the target vehicle to the vehicle-mounted terminal, so that the vehicle-mounted terminal determines the driving direction of the target vehicle with the three-dimensional coordinates of the calling terminal as the end point and the three-dimensional coordinates of the target vehicle as the starting point.

[0264] Optionally, the vehicle summoning device provided in the embodiment of the present application further includes:

[0265] The third receiving module 760 is used to receive a prompt message sent by the vehicle-mounted terminal, where the prompt message indicates that the target vehicle has traveled to the location of the calling terminal;

[0266] The forwarding module 770 is used to forward the prompt message to the calling terminal.

[0267] On the other hand, the embodiment of the present application also provides a vehicle calling device, such as Fig. 9 As shown, the device comprises:

[0268] The receiving module 810 is used to receive input instructions in the operation interface;

[0269] The sending module 820 is used to respond to the input instruction and send a summon message to the field server. The summon message is used to summon the target vehicle. The summon message includes the location identifier of the summon terminal and the identity information of the target vehicle. The location identifier is used to determine the three-dimensional coordinates of the summon terminal.

[0270] Optionally, the vehicle summoning device of the embodiment of the present application further includes:

[0271] The acquisition module 830 is used to acquire the position identifier of the target positioning device in the three-dimensional parking lot, and use the position identifier of the target positioning device as the position identifier of the calling terminal.

[0272] On the other hand, the embodiment of the present application also provides a vehicle calling device, such as Fig.10 As shown, the device comprises:

[0273] A first receiving module 910 is used to receive an input instruction in the operation interface;

[0274] The sending module 920 is used to respond to the input instruction and send a summon message to the field server, wherein the summon message includes a location identifier of the summon terminal and identity information of the target vehicle, wherein the location identifier is used to determine the three-dimensional coordinates of the summon terminal, and the summon message is used to summon the target vehicle;

[0275] A second receiving module 930 is used to receive the three-dimensional coordinates of the calling terminal and the three-dimensional coordinates of the target vehicle sent by the field server, wherein the three-dimensional coordinates of the calling terminal are determined by the position identifier of the calling terminal, and the three-dimensional coordinates of the target vehicle are determined by the position identifier of the target vehicle;

[0276] The determination module 940 is used to determine the driving direction of the calling terminal with the three-dimensional coordinates of the calling terminal as the starting point and the three-dimensional coordinates of the target vehicle as the end point.

[0277] Optionally, the vehicle summoning device of the embodiment of the present application further includes:

[0278] The acquisition module 950 is used to acquire the position identifier of the target positioning device in the three-dimensional parking lot, and use the position identifier of the target positioning device as the position identifier of the calling terminal.

[0279] On the other hand, an embodiment of the present application also provides a processing device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the vehicle summoning method described in the above embodiment when executing the program.

[0280] Reference below Fig.11 , Fig.11A schematic diagram of the structure of a computer electronic device which is a processing device of an embodiment of the present application.

[0281] like Fig.11 As shown, the computer electronic device includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage part 502 to the random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device are also stored. The CPU 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0282] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage section 508 as needed.

[0283] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a machine-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 509, and / or installed from a removable medium 511. When the computer program is executed by a central processing unit (CPU) 501, the above-mentioned functions defined in the electronic device of the present application are executed.

[0284] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electronic device, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction-executing electronic device, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction-executing electronic device, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0285] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the processing equipment, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the aforementioned module, program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based electronic device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0286] The units or modules involved in the embodiments of the present application may be implemented by software or hardware. The units or modules described may also be provided in a processor, for example, may be described as: a processor comprising: a first receiving module, a sending module, a second receiving module and a determining module. Among them, the names of these units or modules do not constitute limitations on the units or modules themselves under certain circumstances. For example, the second receiving module may also be described as "used to receive the initial three-dimensional coordinates of the calling terminal sent by the field server, and the initial three-dimensional coordinates of the target vehicle, the three-dimensional coordinates of the calling terminal being determined by the location identifier of the calling terminal, and the three-dimensional coordinates of the target vehicle being determined by the location identifier of the target vehicle".

[0287] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiment; or may exist independently and not be assembled into the electronic device. The above computer-readable storage medium stores one or more programs, and when the above programs are used by one or more processors to execute the vehicle summoning method described in the present application:

[0288] Receiving a summoning message sent by a summoning terminal and forwarded by a field-side server, wherein the summoning message is used to summon the target vehicle;

[0289] In response to the call command, the location identifier of the target vehicle is sent to the field server;

[0290] Receiving the initial three-dimensional coordinates of the calling terminal and the initial three-dimensional coordinates of the target vehicle sent by the field server, the three-dimensional coordinates of the calling terminal being determined by the position identifier of the calling terminal, and the three-dimensional coordinates of the target vehicle being determined by the position identifier of the target vehicle;

[0291] The three-dimensional coordinates of the calling terminal are taken as an end point and the three-dimensional coordinates of the target vehicle are taken as a starting point to determine the driving direction of the target vehicle.

[0292] To summarize, the vehicle summoning method, terminal, server, system and medium provided in the embodiments of the present application, in a complex multi-story parking garage, when a user operates a vehicle summoning terminal to summon a vehicle, the positioning server in the field server can accurately calculate the three-dimensional coordinates of the summoning terminal and the target vehicle in real time based on the location identifiers reported by the summoning terminal and the on-board terminal, and then determine the driving direction of the target vehicle or user based on the three-dimensional coordinates, accurately guide the target vehicle or user to the destination, thereby enabling users to efficiently and quickly summon vehicles and improve user experience.

[0293] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A vehicle summoning method, characterized in that: The method is used for an on-board terminal on a target vehicle, and the method comprises: receiving a summoning message sent by a summoning terminal and forwarded by a field-side server, wherein the summoning message is used to summon the target vehicle, and the summoning message includes a summoning instruction; In response to the call command, the location identifier of the target vehicle is sent to the field server, so that the field server determines the initial three-dimensional coordinates of the target vehicle according to the location identifier of the target vehicle, wherein the location identifier of the target vehicle is a tag of a UWB chip on an on-board terminal built into the target vehicle, and the tag of the UWB chip on the on-board terminal can be detected by a UWB base station arranged in the three-dimensional parking lot; Receiving the initial three-dimensional coordinates of the summoning terminal and the initial three-dimensional coordinates of the target vehicle sent by the field server, wherein the initial three-dimensional coordinates of the summoning terminal are determined by the field server according to the location identifier of the summoning terminal; the location identifier of the summoning terminal is a tag of a UWB chip built into the summoning terminal; Taking the initial three-dimensional coordinates of the calling terminal as the end point and the initial three-dimensional coordinates of the target vehicle as the starting point, determining the driving direction of the target vehicle; The three-dimensional coordinates include coordinate values ​​of the calling terminal and the target, and the three-dimensional coordinates of the calling terminal are used as the end point and the three-dimensional coordinates of the target vehicle are used as the starting point to determine the driving direction of the target vehicle, including: Calculating the absolute value of the difference between the vertical coordinate values ​​of the calling terminal and the target vehicle; If the absolute value of the coordinate value difference is not greater than the preset threshold, it means that the calling terminal and the target vehicle are located on the same floor, and the current plane coordinate value of the calling terminal is used as the driving direction; If the difference is greater than a preset threshold, it indicates that the calling terminal and the target vehicle are located on different floors, and the vertical coordinate values ​​of the calling terminal and the target vehicle are compared; When the coordinate value of the calling terminal in the vertical direction is greater than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the upper floor; When the coordinate value of the calling terminal in the vertical direction is less than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the next floor; Wherein, when the target vehicle travels one floor to a higher floor or a lower floor according to the determined travel direction, the method further includes: Receiving the real-time three-dimensional coordinates of the target vehicle sent by the field server; Based on the vertical coordinate value of the real-time three-dimensional coordinates of the target vehicle, the initial three-dimensional coordinates of the summoning device, and a preset threshold, a new driving direction is re-determined.

2. The vehicle summoning method according to claim 1, characterized in that: After determining the driving direction, the method further includes: Start the visual module; Based on the collection results of the visual module, the driving operation is performed according to the determined driving direction, and the collection results at least include an indication mark.

3. The vehicle summoning method according to any one of claims 1-2, characterized in that: The method further comprises: After the target vehicle drives to the destination, a prompt message is sent to the calling terminal through the field server, and the prompt message indicates that the target vehicle has driven to the location of the calling terminal.

4. The vehicle summoning method according to claim 3, characterized in that: After sending the prompt message to the calling terminal, the method further includes: When no vehicle unlocking operation or door opening operation is detected within a preset time period, a prompt message is resent to the calling terminal.

5. The vehicle summoning method according to claim 4, characterized in that: When the number of times the prompt message is sent reaches a preset upper limit, and the vehicle unlocking operation or the door opening operation is still not detected, the method further includes: Performing a parking operation so that the target vehicle drives to a target parking space; When the target vehicle completes re-parking, a prompt message is sent to the calling terminal.

6. A vehicle summoning method, characterized in that: The method is used for a field-side server, and the method comprises: Receiving a summon message sent by a summon terminal, wherein the summon message is used to summon a target vehicle, and the summon message includes a location identifier of the summon terminal and identity information of the target vehicle; Parsing the vehicle summoning message, and sending a summoning instruction to the vehicle-mounted terminal of the target vehicle; Receiving a location identifier returned by the target vehicle in response to the summoning instruction; The initial three-dimensional coordinates of the calling terminal are determined based on the position identifier of the calling terminal, and the initial three-dimensional coordinates of the target vehicle are determined based on the position identifier of the target vehicle, wherein the position identifier of the target vehicle is a tag of a UWB chip on a vehicle-mounted terminal built into the target vehicle; the tag of the UWB chip on the vehicle-mounted terminal can be detected by a UWB base station arranged in a three-dimensional parking lot, and the position identifier of the calling terminal is a tag of a UWB chip built into the calling terminal; Sending the initial three-dimensional coordinates of the calling terminal and the initial three-dimensional coordinates of the target vehicle to the vehicle-mounted terminal, so that the vehicle-mounted terminal determines the driving direction of the target vehicle with the initial three-dimensional coordinates of the calling terminal as an end point and the initial three-dimensional coordinates of the target vehicle as a starting point; The vehicle-mounted terminal determines the driving direction of the target vehicle with the initial three-dimensional coordinates of the calling terminal as the end point and the initial three-dimensional coordinates of the target vehicle as the starting point, including: Calculating the absolute value of the difference between the vertical coordinate values ​​of the calling terminal and the target vehicle; If the absolute value of the coordinate value difference is not greater than the preset threshold, it means that the calling terminal and the target vehicle are located on the same floor, and the current plane coordinate value of the calling terminal is used as the driving direction; If the difference is greater than a preset threshold, it indicates that the calling terminal and the target vehicle are located on different floors, and the vertical coordinate values ​​of the calling terminal and the target vehicle are compared; When the coordinate value of the calling terminal in the vertical direction is greater than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the upper floor; When the coordinate value of the calling terminal in the vertical direction is less than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the next floor; Wherein, when the target vehicle travels one floor to a higher floor or a lower floor according to the determined travel direction, the method further includes: Receiving the real-time three-dimensional coordinates of the target vehicle sent by the field server; Based on the vertical coordinate value of the real-time three-dimensional coordinates of the target vehicle, the initial three-dimensional coordinates of the summoning device, and a preset threshold, a new driving direction is re-determined.

7. The vehicle summoning method according to claim 6, characterized in that: The method further comprises: Receiving a prompt message sent by the vehicle-mounted terminal, the prompt message indicating that the target vehicle has traveled to the location of the summoning terminal; The prompt message is forwarded to the calling terminal.

8. A vehicle summoning method, characterized in that: The method is used in a vehicle calling terminal, comprising: Receiving input instructions in the operation interface; In response to the input instruction, a summon message is sent to the field server, the summon message is used to summon the target vehicle, the summon message includes the location identifier of the summoning terminal and the identity information of the target vehicle, the location identifier is used to determine the three-dimensional coordinates of the summoning terminal, and the location identifier is a tag of the UWB chip built into the vehicle summoning terminal.

9. The vehicle summoning method according to claim 8, characterized in that: Before sending the summon message to the field server, the method further includes: The position identifier of the target positioning device in the three-dimensional parking lot is obtained, and the position identifier of the target positioning device is used as the position identifier of the calling terminal.

10. A vehicle summoning method, characterized in that: The method is used in a vehicle calling terminal, comprising: Receiving input instructions in the operation interface; In response to the input command, a summon message is sent to the field server, wherein the summon message includes a location identifier of the summon terminal and identity information of the target vehicle, wherein the location identifier is used to determine the three-dimensional coordinates of the summon terminal, and the summon message is used to summon the target vehicle, and the location identifier is a tag of a UWB chip built into the vehicle summon terminal; Receiving the three-dimensional coordinates of the calling terminal and the three-dimensional coordinates of the target vehicle sent by the field server, wherein the three-dimensional coordinates of the calling terminal are determined by the position identifier of the calling terminal, and the three-dimensional coordinates of the target vehicle are determined by the position identifier of the target vehicle; Taking the three-dimensional coordinates of the calling terminal as a starting point and the three-dimensional coordinates of the target vehicle as an end point, determining the driving direction of the calling terminal; Wherein, determining the driving direction of the calling terminal with the three-dimensional coordinates of the calling terminal as the starting point and the three-dimensional coordinates of the target vehicle as the end point includes: Calculating the absolute value of the difference between the vertical coordinate values ​​of the calling terminal and the target vehicle; If the absolute value of the coordinate value difference is not greater than the preset threshold, it means that the calling terminal and the target vehicle are located on the same floor, and the current plane coordinate value of the calling terminal is used as the driving direction; If the difference is greater than a preset threshold, it indicates that the calling terminal and the target vehicle are located on different floors, and the vertical coordinate values ​​of the calling terminal and the target vehicle are compared; When the coordinate value of the calling terminal in the vertical direction is greater than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the upper floor; When the coordinate value of the calling terminal in the vertical direction is less than the coordinate value of the target vehicle in the vertical direction, it is determined that the target vehicle is traveling to the next floor; Wherein, when the target vehicle travels one floor to a higher floor or a lower floor according to the determined travel direction, the method further includes: Receiving the real-time three-dimensional coordinates of the target vehicle sent by the field server; Based on the vertical coordinate value of the real-time three-dimensional coordinates of the target vehicle, the initial three-dimensional coordinates of the summoning device, and a preset threshold, a new driving direction is re-determined.

11. The vehicle summoning method according to claim 10, characterized in that: Before sending the summon message to the field server, the method further includes: The position identifier of the target positioning device in the three-dimensional parking lot is obtained, and the position identifier of the target positioning device is used as the position identifier of the calling terminal.

12. A vehicle-mounted terminal device, characterized in that: The vehicle-mounted terminal device is installed on the target vehicle to be summoned, and includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is used to implement the vehicle summoning method as described in any one of claims 1-5 when executing the program.

13. A vehicle calling terminal, characterized in that: The vehicle summoning terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the vehicle summoning method as described in any one of claims 10 to 11 when executing the program.

14. A field-side server, characterized in that: The field-side server is used to execute the vehicle summoning method according to claim 6 or claim 7, and the field-side server includes a communication server and a positioning server, and the communication server is used to forward transmission messages between the summoning terminal, the positioning server and the vehicle-mounted terminal on the target vehicle; The positioning server is used to locate the positions of the summoning terminal and the target vehicle in real time.

15. The field-side server according to claim 14, characterized in that: The communication server includes a Bluetooth server, and the positioning server includes an ultra-wideband server; The Bluetooth server is used to communicate with the vehicle terminal; The ultra-wideband server is used to determine the three-dimensional coordinates of the summoning terminal and the vehicle-mounted terminal.

16. A vehicle summoning system, characterized in that: The system comprises the vehicle-mounted terminal as claimed in claim 12, the vehicle summoning terminal as claimed in claim 13 and the field-side server as claimed in claim 14 or 15.

17. A computer-readable storage medium having a computer program stored thereon, wherein the computer program is used to implement the method according to any one of claims 1 to 11.

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