A vehicle route search method and a vehicle route search system

Abstract

The application discloses a vehicle route searching method and a vehicle route searching system. A route searching request is sent to a roadside device through a vehicle terminal; target sensing information is obtained based on the route searching request through the roadside device and the vehicle terminal, and the target sensing information and the route searching request are uploaded to a cloud device; target positioning information corresponding to the route searching request is obtained by information fusion and high-precision map matching of the target sensing information through the cloud device, and the target positioning information is sent to the roadside device; and the target positioning information is sent to the vehicle terminal through the roadside device, so that the problems of difficult location and difficult vehicle searching are solved, the vehicle position or the idle parking space is accurately positioned, the daily travel efficiency is improved, and the driving travel experience of the user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a vehicle route searching method and a vehicle route searching system. BACKGROUND

[0002] With the increase of the number of vehicles in the city, in order to solve the problem of the serious shortage of parking spaces in daily life, causing the disorder of driving and parking order, multi-storey parking buildings have emerged as the times require. The complex multi-storey building brings new challenges to intelligent networked vehicles.

[0003] At present, the design structure of the parking building is complex, and in the face of these large parking buildings, the space is large, the direction is not easy to distinguish, and it is difficult for the vehicle owner to remember the specific position of parking in daily life. The problem of "difficult to find a car" is widespread. Many car owners rely on their own memory or take photos to keep the parking space number to find a car. But even if there is a parking space number, it is very difficult to find a car in an unfamiliar parking lot. The vehicle is in a place where the GPS signal is weak and the signal is easily disturbed, which causes the GPS to be unstable or unable to transmit data, affecting the application of the vehicle terminal positioning system, so that the error of the vehicle positioning by GPS is large, and the vehicle terminal cannot complete the navigation application in the parking building.

[0004] In daily life, not only is parking difficult, but it is also difficult to find a parking space after entering the parking building. The vehicle is in a parking building without a display of the intelligent system, the position guidance is not clear, and there is no one to guide the parking. For the first time, the car owner enters the field, and it is difficult to park and find a parking space, and often looks for an empty parking space, wasting a lot of time. SUMMARY

[0005] The present application provides a vehicle route searching method and a vehicle route searching system to solve the problem of difficult to find a position and difficult to find a car, realize accurate positioning of the vehicle position or idle parking space, improve the efficiency of daily travel, and improve the driving experience of users.

[0006] According to an aspect of the present application, a vehicle route searching method is provided, comprising:

[0007] sending a route searching request to a roadside device through a vehicle terminal;

[0008] obtaining target perception information based on the route searching request through the roadside device and the vehicle terminal, respectively, and uploading the target perception information and the route searching request to a cloud device;

[0009] obtaining target positioning information corresponding to the route searching request by information fusion and high-precision map matching of the target perception information through the cloud device, and issuing the target positioning information to the roadside device;

[0010] sending the target positioning information to the vehicle terminal through the roadside device.

[0011] Further, the sending, by the vehicle terminal, of the route searching request to the roadside device comprises:

[0012] receiving, by the vehicle terminal, a vehicle searching request initiated by a mobile terminal, and sending the vehicle searching request to the roadside device; the vehicle searching request is used to request searching for a target vehicle;

[0013] Alternatively, sending, by the vehicle terminal, a position searching request to the roadside device; the position searching request is used to request searching for an idle parking space.

[0014] Further, the obtaining, by the roadside device and the vehicle terminal respectively, of target perception information based on the route searching request comprises:

[0015] obtaining, by the roadside device, first target perception information corresponding to the route searching request; the first target perception information comprises environment information of a target parking area;

[0016] obtaining, by the vehicle terminal, second target perception information corresponding to the route searching request; the second target perception information comprises pose information and vehicle end perception information of the target vehicle.

[0017] Further, the matching, by the cloud device, of the target perception information with a high-definition map to obtain target positioning information corresponding to the route searching request comprises:

[0018] performing, by the cloud device, information fusion on the first target perception information and the second target perception information to obtain fused perception information;

[0019] based on the vehicle searching request, matching a first target high-definition map with the fused perception information to obtain positioning information of the target vehicle.

[0020] Further, the target positioning information of the target vehicle comprises:

[0021] a planned path between the vehicle terminal of the target vehicle and the mobile terminal, and positioning information of the vehicle terminal.

[0022] Further, the matching, by the cloud device, of the target perception information with a high-definition map to obtain target positioning information corresponding to the route searching request comprises:

[0023] performing, by the cloud device, information fusion on the first target perception information and the second target perception information to obtain fused perception information;

[0024] based on the position searching request, matching a second target high-definition map with the fused perception information to obtain position information of a target idle parking space.

[0025] Further, the position information of the target idle parking space includes:

[0026] The planning path between the target idle parking space and the vehicle terminal, the map information of the target parking area where the target idle parking space is located, and the information of all parking spaces in the target parking area.

[0027] Further, after the target positioning information is sent to the vehicle terminal by the roadside device, the system further includes:

[0028] The position information of the target idle parking space is sent to the mobile terminal by the vehicle device.

[0029] According to another aspect of the present application, a vehicle navigation system is provided, comprising: a cloud device, and a roadside device and a vehicle device connected to the cloud device; and the roadside device and the vehicle device are connected.

[0030] The vehicle terminal is configured to send a navigation request to the roadside device, obtain first target sensing information based on the navigation request, and upload the first target sensing information and the navigation request to the cloud device.

[0031] The roadside device is configured to receive the navigation request sent by the vehicle terminal, obtain second target sensing information based on the navigation request, and upload the second target sensing information and the navigation request to the cloud device.

[0032] The cloud device is configured to receive the first target sensing information uploaded by the roadside device and the second target sensing information uploaded by the vehicle terminal, perform information fusion and high-precision map matching on the first target sensing information and the second target sensing information to obtain target positioning information corresponding to the navigation request, and send the target positioning information to the roadside device.

[0033] The roadside device is further configured to send the target positioning information to the vehicle terminal.

[0034] Further, the system further comprises a mobile terminal, and the mobile terminal is connected to the vehicle terminal.

[0035] The mobile terminal is configured to receive the navigation request and send the navigation request to the vehicle terminal, or receive the target positioning information corresponding to the navigation request sent by the vehicle terminal.

[0036] The technical scheme of the embodiment of the application is that the vehicle-mounted terminal sends a route searching request to the roadside device; the roadside device and the vehicle-mounted terminal respectively acquire target sensing information based on the route searching request, and upload the target sensing information and the route searching request to the cloud device; the cloud device performs information fusion and high-precision map matching on the target sensing information to obtain target positioning information corresponding to the route searching request, and sends the target positioning information to the roadside device; and the roadside device sends the target positioning information to the vehicle-mounted terminal, uses the C-V2X, sensing fusion and positioning fusion technologies of the Internet of Vehicles to comprehensively detect the parking building scene from the perspective, solves the problem of large positioning error of the vehicle in the parking building, improves the positioning precision, realizes accurate positioning of the vehicle position or the idle parking space, improves the daily travel efficiency, and improves the driving experience of the user.

[0037] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0039] Figure 1 is a flowchart of a vehicle route searching method provided by the first embodiment of the application;

[0040] Figure 2 is a flowchart of a vehicle searching method in a vehicle route searching method provided by the second embodiment of the application;

[0041] Figure 3 is a flowchart of a position searching method in a vehicle route searching method provided by the third embodiment of the application;

[0042] Figure 4 is a structural schematic diagram of a vehicle route searching system provided by the fourth embodiment of the application;

[0043] Figure 5 is another structural schematic diagram of a vehicle route searching system provided by the fourth embodiment of the application. DETAILED DESCRIPTION

[0044] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work should belong to the protection scope of the present application.

[0045] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product, or device.

[0046] Embodiment one

[0047] Figure 1 A flowchart of a vehicle route finding method is provided for the first embodiment of the present application. The present embodiment can be applied to the case of finding a vehicle or finding an empty parking space in a parking lot. The method can be executed by a vehicle route finding system in which a vehicle terminal, a cloud device, and a roadside device cooperate. As shown in Figure 1 The method comprises:

[0048] S110, sending a route finding request to the roadside device through the vehicle terminal.

[0049] The route finding request can be understood as a request for requesting positioning information between a target vehicle and a target position. For example, it can include a vehicle finding request for requesting positioning information between a current position of a user and a position of a target vehicle, and a vehicle finding request for requesting positioning information between a position of a target vehicle and an empty parking space.

[0050] The on board unit (OBU) is a networked terminal with single-vehicle sensing devices and V2X communication capabilities. The vehicle obtains surrounding environmental information through single-vehicle sensing devices such as cameras, laser radars, and millimeter wave radars, and uploads the environmental information and its own pose information to the cloud through wireless network C-V2X through the OBU. The OBU can also exchange information between V2I and RSU.

[0051] The road side device (Road Side Unit, RSU) is a general term of a camera with sensing capability, a laser radar, and a road side network terminal with wireless communication capability, and can sense vehicles, pedestrians, parking building identifiers, and parking line identifiers within a visual range. The road side device can establish a connection with a vehicle terminal, and is used to receive a request instruction of the vehicle terminal or feed back a request result to the vehicle terminal.

[0052] Specifically, the vehicle device can send a route searching request to the road side device based on an operation instruction of a user, to search for positioning information of a target vehicle or an idle parking space in a target parking lot.

[0053] S120, the target sensing information is obtained by the road side device and the vehicle terminal based on the route searching request respectively, and the target sensing information and the route searching request are uploaded to a cloud device.

[0054] The cloud device can include an edge cloud (MEC) server deployed in the cloud. The cloud device is connected with the road side device (RSU) and the vehicle terminal (OBU) respectively, and is used to receive target sensing information collected by the road side device (RSU) and the vehicle terminal (OBU), and send a sensing result obtained by processing to the road side device and the vehicle terminal. The target sensing information can be sensing information related to a vehicle, such as a vehicle pose, a surrounding environment, or a parking lot where the vehicle is located or near.

[0055] Specifically, after receiving the route searching request, the road side device obtains surrounding environment information by using a camera and a laser radar and the like possessed by the road side device according to information contained in the route searching request and requested information, and uploads the sensed environment information to the cloud device; the vehicle terminal obtains a vehicle pose information or a surrounding environment information of the vehicle by using a camera and a laser radar and the like possessed by the vehicle according to information contained in the route searching request and requested information, and uploads the sensed information and the route searching request to the cloud device.

[0056] S130, the target positioning information corresponding to the route searching request is obtained by information fusion and high-precision map matching of the target sensing information by the cloud device, and the target positioning information is sent to the road side device.

[0057] The target positioning information can be understood as positioning information determined based on the route searching request, such as positioning information of a target vehicle corresponding to a car searching request, or positioning information of an idle parking space corresponding to a parking space searching request.

[0058] Specifically, after receiving the target perception information uploaded by the vehicle terminal and the roadside device, the cloud device can fuse the target perception information uploaded by the vehicle terminal and the roadside device, obtain more accurate and comprehensive vehicle-related perception results, obtain a high-precision map based on the perception information, and match the vehicle-related perception results and the high-precision map to determine the target positioning information of the vehicle-related perception results on the high-precision map. The target positioning information is sent to the vehicle terminal by the cloud device.

[0059] In S140, the target positioning information is sent to the vehicle terminal by the roadside device.

[0060] Specifically, after receiving the target positioning information, the roadside device sends the target positioning information to the vehicle terminal, so that the route-seeking request sent by the vehicle terminal is responded.

[0061] Optionally, the positioning information can include position information of a target area corresponding to the route-seeking request, or can include a planned path of the vehicle terminal or the mobile terminal to the target area.

[0062] The scheme adopts intelligent perception fusion, positioning fusion technology, and a method of fusing with networked C-V2X communication technology to solve the user's daily parking and car-finding problems. Compared with the traditional precise positioning solution, the present patent adopts a cloud computing mode, does not rely on the computing capability of the vehicle terminal itself, expands the "viewing angle" of the roadside, uploads more comprehensive perception information to the cloud, and detects obstacles, pedestrians, vehicles, and signs in the parking building more comprehensively. The cloud collects the perception information and performs matching calculation with the high-precision map in the parking building to obtain accurate positioning information, which is used to assist the trajectory planning and control of the advanced autonomous vehicle.

[0063] The technical scheme of the embodiment of the present application sends a route-seeking request to a roadside device by a vehicle terminal; acquires target perception information based on the route-seeking request by the roadside device and the vehicle terminal respectively, and uploads the target perception information and the route-seeking request to a cloud device; obtains target positioning information corresponding to the route-seeking request by information fusion of the target perception information and matching of a high-precision map by the cloud device, and issues the target positioning information to the roadside device; and sends the target positioning information to the vehicle terminal by the roadside device, uses C-V2X, perception fusion, and positioning fusion technologies to comprehensively detect the parking building scene with a "viewing angle", solves the problem of large positioning error of the vehicle in the parking building, improves the positioning accuracy, realizes accurate positioning of the vehicle position or the idle parking space, improves the daily travel efficiency, and improves the user's driving experience.

[0064] Embodiment two

[0065] Figure 2This is a flowchart of a vehicle navigation method provided in Embodiment 2 of the present invention. This embodiment further defines the method for finding the target vehicle in the vehicle navigation method of the above embodiments. Figure 2 As shown, the method includes:

[0066] S210. Receive a vehicle search request initiated by a mobile terminal through the vehicle-mounted terminal, and send the vehicle search request to the roadside equipment; the vehicle search request is used to request the search for the target vehicle.

[0067] A vehicle search request can be understood as a request to find a target vehicle. This request may carry information such as the target vehicle's Vehicle Identification Number (VIN) for vehicle identification. The target vehicle can be understood as the vehicle that needs to be found.

[0068] Specifically, when a user parks their vehicle in a complex parking garage or large parking lot, they can use an application on their mobile device to send a vehicle locator request carrying the target vehicle identification number to the vehicle terminal. After receiving the vehicle locator request, the vehicle terminal sends the request to the roadside unit (RSU) and requests the RSU to inform the RSU of the specific location of the target vehicle.

[0069] S220: Obtain the first target perception information corresponding to the vehicle search request through roadside equipment, and upload the first target perception information to the cloud equipment.

[0070] The first target perception information includes: environmental information of the target parking area; the target parking area corresponding to the car search request can be understood as the area where the target vehicle being searched for may be parked.

[0071] Specifically, after receiving a vehicle-to-vehicle (V2V) ...

[0072] S230: Obtain the second target perception information corresponding to the vehicle search request through the vehicle terminal, and upload the second target perception information and the vehicle search request to the cloud device.

[0073] The second target perception information includes: the target vehicle's pose information and vehicle-mounted perception information. Vehicle-mounted perception information can be environmental information collected by sensors on the target vehicle, where the onboard terminal is located.

[0074] Specifically, after receiving a vehicle-finding request from a mobile terminal, the vehicle-mounted terminal obtains the position and pose information of the target vehicle through the vehicle-mounted terminal, and collects the vehicle-end perception information of the target vehicle through sensors such as cameras, millimeter-wave radar, and lidar on the vehicle-mounted terminal. The position and pose information, vehicle-end perception information, and vehicle-finding request are then uploaded to the cloud device via the C-V2X wireless network.

[0075] S240. Information fusion is performed on the first target perception information and the second target perception information through cloud devices to obtain fused perception information.

[0076] Specifically, the cloud-based equipment includes a fusion module, which is used to fuse the first target perception information (environmental information of the area where the target vehicle is located) uploaded by the roadside equipment and the second target perception information (position and pose information of the target vehicle and vehicle-side perception information) uploaded by the vehicle terminal to obtain fused perception information.

[0077] S250: Based on the pathfinding request, the system matches the first target high-precision map with the fused perception information to obtain the target vehicle's location information and sends the location information to the roadside equipment.

[0078] The first target high-precision map can be understood as the high-precision map of the target vehicle's parking area obtained through matching.

[0079] Specifically, the cloud-based devices also include: high-precision map applications, which store high-precision maps of all or specified areas. The cloud-based devices can determine the approximate location of the target vehicle based on the fused perception information, and obtain the first target high-precision map of the target parking area corresponding to the route-finding request from the high-precision map application. Based on the fused perception information, the first target high-precision map is matched to accurately locate the target vehicle's location information in the first target high-precision map; and the location information of the target vehicle is then sent to the roadside equipment.

[0080] Optional, the target vehicle's location information includes:

[0081] The planned path between the vehicle's onboard terminal and mobile terminal, as well as the location information of the onboard terminal.

[0082] Specifically, the cloud-based device also includes a route planning module. Based on the location of the in-vehicle terminal and the location information of the mobile terminal obtained through the in-vehicle terminal, it determines the planned route between the target vehicle's in-vehicle terminal and the mobile terminal, allowing users to reach the target vehicle's location according to the planned route. The location information of the in-vehicle terminal and the planned route are then used as the target vehicle's location information and transmitted to roadside equipment for user viewing. Within parking areas, this provides in-vehicle terminals or mobile terminals with more convenient, accurate, and reliable vehicle location information, parking space information, road maps, and guidance route information.

[0083] S260: The location information of the target vehicle is sent to the vehicle terminal through roadside equipment.

[0084] The technical solution of this invention involves receiving a vehicle-finding request initiated by a mobile terminal through an in-vehicle terminal and sending the request to roadside equipment. The vehicle-finding request is used to request the location of a target vehicle. The roadside equipment acquires first target perception information corresponding to the vehicle-finding request and uploads it to a cloud device. The in-vehicle terminal acquires second target perception information corresponding to the vehicle-finding request and uploads both the second target perception information and the vehicle-finding request to the cloud device. The cloud device fuses environmental information of the target vehicle's location, the target vehicle's pose information, and the vehicle-side perception information to obtain fused perception information. Based on the vehicle-finding request, the fused perception information is matched with a high-precision map of the first target to obtain the target vehicle's location information, which is then sent to the roadside equipment. The roadside equipment then sends the location information to the in-vehicle terminal. This solution solves the problem of difficulty in finding a vehicle, achieves accurate vehicle location, facilitates faster vehicle location for users, improves daily travel efficiency, and enhances the user's driving experience.

[0085] Example 3

[0086] Figure 3 This is a flowchart of a vehicle navigation method provided in Embodiment 3 of the present invention. This embodiment further defines the method for finding available parking spaces in the vehicle navigation method of the above embodiments. Figure 3 As shown, the method includes:

[0087] S310. Send a parking space search request to the roadside equipment through the vehicle terminal; the parking space search request is used to request the search for an available parking space.

[0088] The vehicle search request can be understood as a request to find an available parking space. This vehicle search request can carry the location information of the target vehicle and the target area for finding an available parking space, such as within a one-kilometer radius of the location, or within a parking lot.

[0089] Specifically, when a user drives into a complex parking garage or large parking lot and needs to find an available parking space, they can initiate a parking space search request through the vehicle terminal. After receiving the parking space search request, the vehicle terminal sends the request to the roadside unit (RSU) and requests the RSU to inform the user of the specific location of the available parking space.

[0090] S320: Obtain the first target perception information corresponding to the location search request through roadside equipment, and upload the first target perception information to the cloud equipment.

[0091] The first target perception information includes: environmental information of the target parking area; the target parking area is the area where there may be available parking spaces corresponding to the parking search request. This target parking area can be an area set by the user, or an area searched based on the nearest location of the user's vehicle; this embodiment of the invention does not impose any limitations on this.

[0092] Specifically, after receiving a vehicle-to-vehicle (V2V) ...

[0093] S330: Obtains the second target perception information corresponding to the positioning request through the vehicle terminal, and uploads the second target perception information and the positioning request to the cloud device.

[0094] The second target perception information includes: the target vehicle's pose information and vehicle-mounted perception information. Vehicle-mounted perception information can be environmental information collected by sensors on the target vehicle, where the onboard terminal is located.

[0095] Specifically, after receiving a location search request, the vehicle-mounted terminal obtains the position and pose information of the target vehicle through the vehicle-mounted terminal, and collects the vehicle-end perception information of the target vehicle equipped with the vehicle-mounted terminal through the sensors such as cameras, millimeter-wave radar and lidar. The position and pose information, vehicle-end perception information and location search request are then uploaded to the cloud device via the C-V2X wireless network.

[0096] S340. Information fusion is performed on the first target perception information and the second target perception information through cloud devices to obtain fused perception information.

[0097] Specifically, the cloud-based equipment includes a fusion module, which is used to fuse the first target perception information (environmental information of the target parking area) uploaded by the roadside equipment and the second target perception information (position and pose information of the target vehicle and vehicle-side perception information) uploaded by the vehicle terminal to obtain fused perception information.

[0098] It is understandable that multiple target parking areas may be found, and each target parking area may have zero or one or more vacant parking spaces.

[0099] S350: Based on the location request, match the high-precision map of the second target with the fused perception information to obtain the location information of the target vacant parking space.

[0100] The target available parking space can be one or more eligible parking spaces selected from the available parking spaces. The conditions can be set by the user or set by default before leaving the factory. For example, it can be the available parking space closest to the vehicle, the available parking space with the shortest driving time, or the available parking space closest to the exit, etc. The second target high-definition map can be understood as a high-definition map of the target parking area or a high-definition map of a part of the target parking area.

[0101] Specifically, the cloud-based devices also include: a high-precision map application, used to store high-precision maps of all or specified areas. The cloud-based devices can determine the approximate location of vacant parking spaces based on the fusion perception information of the vacant parking spaces, and obtain a second target high-precision map corresponding to the target parking area from the high-precision map application. Based on the location request, the cloud-based devices match the second target high-precision map according to the fusion perception information to accurately locate the target vacant parking space in the second target high-precision map; and then send the location information of the target vacant parking space to the roadside devices.

[0102] Optional, the location information of the target available parking space includes:

[0103] The planned path between the target vacant parking space and the vehicle terminal, the map information of the target parking area where the target vacant parking space is located, and the information of all parking spaces in the target parking area.

[0104] Specifically, the cloud-based device also includes a route planning module. Based on the vehicle's location and the location information of the target vacant parking space, it determines the planned route between the target vacant parking space and the vehicle, and sends this route to the roadside equipment. This allows users to easily reach the target vacant parking space using the planned route. It can also send map information of the target parking area containing the target vacant parking space, along with information on all parking spaces within that area, to the roadside equipment for users to view and select a suitable vacant parking space. Within the parking area, this provides vehicle or mobile terminals with more convenient, accurate, and reliable vehicle location information, parking space information, road maps, and guidance route information.

[0105] S360 sends the location information of the target vacant parking space to the vehicle terminal through roadside equipment.

[0106] S370: The location information of the target vacant parking space is sent to the mobile terminal through the vehicle-mounted equipment.

[0107] Specifically, after receiving the location information of the target vacant parking space from the roadside equipment, the vehicle terminal can also push the location information to the application on the mobile terminal device for users to view.

[0108] The technical solution of this invention involves sending a parking space search request to a roadside device via an in-vehicle terminal. The request seeks a available parking space. The roadside device acquires first target perception information corresponding to the request and uploads it to a cloud device. The in-vehicle terminal acquires second target perception information and uploads both the second target perception information and the parking space search request to the cloud device. The cloud device fuses environmental information of the target parking area, the target vehicle's pose information, and in-vehicle perception information to obtain fused perception information. Based on the parking space search request, the fused perception information is matched with a high-precision map of the second target to obtain the location information of the target available parking space. The roadside device sends the location information of the target available parking space to the in-vehicle terminal. The in-vehicle device then sends the location information of the target available parking space to a mobile terminal. This solution solves the problem of difficult parking space search, achieves accurate location of available parking spaces, improves daily travel efficiency, and enhances the user's driving experience.

[0109] Example 4

[0110] Figure 4 This is a schematic diagram of a vehicle navigation system provided in Embodiment 4 of the present invention. Figure 4 As shown, the vehicle navigation system is based on three terminals: vehicle, road, and cloud. Specifically, it includes: a cloud device 41, a roadside device 42 and an in-vehicle device 43 connected to the cloud device; and the roadside device 42 and the in-vehicle device 43 are connected.

[0111] The vehicle-mounted terminal 43 is used to send a route-finding request to the roadside equipment, obtain first target perception information based on the route-finding request, and upload the first target perception information and the route-finding request to the cloud device 41.

[0112] The roadside device 42 is used to receive the route-finding request sent by the vehicle terminal 43, obtain the second target perception information based on the route-finding request, and upload the second target perception information to the cloud device 41;

[0113] The cloud device 41 is used to receive the first target perception information uploaded by the roadside device 42 and the second target perception information uploaded by the vehicle terminal 43, perform information fusion and high-precision map matching on the first target perception information and the second target perception information to obtain the target positioning information corresponding to the route-finding request, and send the target positioning information to the roadside device 42.

[0114] The roadside device 42 is also used to send the target location information to the vehicle terminal 43.

[0115] The navigation request can include a vehicle-finding request requesting location information between the user's current location and the target vehicle's location, as well as a vehicle-finding request requesting location information between the target vehicle's location and an available parking space. The first target perception information can include the vehicle's pose information and the surrounding environment information collected by the in-vehicle terminal. The second target perception information can include environmental information of the target parking area (the area where the vehicle is already parked or needs to be parked).

[0116] The Onboard Unit (OBU) 43 is a connected terminal equipped with vehicle-mounted sensors and V2X communication capabilities. It acquires first target perception information through vehicle-mounted sensors such as cameras, LiDAR, and millimeter-wave radar, and then uploads this information to the cloud device 41 via the C-V2X wireless network. The Roadside Unit (RSU) 42 is a collective term for roadside connected terminals equipped with sensing capabilities such as cameras and LiDAR, as well as wireless communication capabilities. The RSU acquires second target perception information through its sensors, including cameras and LiDAR, and uploads this information to the cloud device 41. The RSU can also establish a connection with the Onboard Unit 43 to receive requests from or send feedback to the Onboard Unit 43.

[0117] Figure 5 This is a schematic diagram of another vehicle navigation system provided in Embodiment 4 of the present invention. Figure 5 As shown, the cloud-based device includes: a perception fusion module, a high-precision map application, a perception positioning module, and a path planning module. The perception fusion module is used to fuse the first target perception information uploaded by the roadside equipment and the second target perception information uploaded by the vehicle terminal to obtain fused target perception information. The high-precision map application is used to store high-precision maps of various areas. The perception positioning module is used to obtain target positioning information based on the matching of the fused target perception information and the high-precision map. The path planning module is used to determine the planned path based on the target positioning information and the current location of the vehicle terminal; or it can determine the planned path based on the target positioning information and the current location of the vehicle terminal or the current location of the mobile terminal, and send the positioning information and the planned path to the vehicle terminal or the mobile terminal.

[0118] Optionally, the vehicle navigation system further includes: a mobile terminal; the mobile terminal and the vehicle-mounted terminal are connected;

[0119] The mobile terminal is used to receive the routing request and send the routing request to the vehicle terminal, or to receive the target location information corresponding to the routing request sent by the vehicle terminal.

[0120] Specifically, the vehicle navigation system may also include a mobile terminal 44 connected to an in-vehicle terminal 43, used to initiate a navigation request to the in-vehicle terminal 43 or receive the navigation result returned by the in-vehicle terminal 43, that is, the target location information corresponding to the navigation request.

[0121] The vehicle navigation system provided in this embodiment of the invention includes: a cloud device, and roadside devices and vehicle-mounted devices connected to the cloud device; the roadside devices and vehicle-mounted devices are connected; the vehicle-mounted terminal is used to send a navigation request to the roadside device; the roadside device is used to receive the navigation request sent by the vehicle-mounted terminal, obtain target perception information based on the navigation request, and upload the target perception information to the cloud device; the cloud device is used to receive the target perception information uploaded by the roadside device and the vehicle-mounted terminal, perform information fusion and high-precision map matching on the target perception information to obtain the target positioning information corresponding to the navigation request, and send the target positioning information to the roadside device; the roadside device is also used to send the target positioning information to the vehicle-mounted terminal. It uses intelligent perception fusion, positioning fusion technology, and a method integrating with connected C-V2X communication technology to solve users' daily parking and car-finding problems, achieving accurate positioning of vehicle location or available parking spaces, improving daily travel efficiency, and enhancing users' driving experience.

[0122] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0123] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle routing method, characterized by, A vehicle navigation system is executed by a vehicle terminal, a cloud device and a roadside device, comprising: sending a navigation request to the roadside device by the vehicle terminal; obtaining target perception information based on the navigation request by the roadside device and the vehicle terminal respectively, and uploading the target perception information and the navigation request to the cloud device; obtaining target positioning information corresponding to the navigation request by the cloud device through information fusion and high-precision map matching of the target perception information, and issuing the target positioning information to the roadside device; sending the target positioning information to the vehicle terminal by the roadside device; the sending of the navigation request to the roadside device by the vehicle terminal comprises: receiving a vehicle search request initiated by a mobile terminal by the vehicle terminal, and sending the vehicle search request to the roadside device; the vehicle search request is used to request to find a target vehicle; alternatively, sending a location search request to the roadside device by the vehicle terminal; the location search request is used to request to find an idle parking space; the obtaining of the target perception information based on the navigation request by the roadside device and the vehicle terminal respectively comprises: obtaining first target perception information corresponding to the navigation request by the roadside device, the first target perception information comprising environmental information of a target parking area; obtaining second target perception information corresponding to the navigation request by the vehicle terminal, the second target perception information comprising pose information and vehicle-end perception information of a target vehicle.

2. The method of claim 1, wherein, the obtaining of the target positioning information corresponding to the navigation request by the cloud device through information fusion and high-precision map matching of the target perception information comprises: obtaining fused perception information by the cloud device through information fusion of the first target perception information and the second target perception information; obtaining positioning information of the target vehicle by matching a first target high-precision map based on the vehicle search request and the fused perception information.

3. The method of claim 2, wherein, the positioning information of the target vehicle comprises: a planned path between the vehicle terminal of the target vehicle and the mobile terminal, and positioning information of the vehicle terminal.

4. The method of claim 1, wherein, the obtaining of the target positioning information corresponding to the navigation request by the cloud device through information fusion and high-precision map matching of the target perception information comprises: obtaining fused perception information by the cloud device through information fusion of the first target perception information and the second target perception information; obtaining position information of a target idle parking space by matching a second target high-precision map based on the location search request and the fused perception information.

5. The method of claim 4, wherein, the position information of the target idle parking space comprises: a planned path between the target idle parking space and the vehicle terminal, map information of a target parking area where the target idle parking space is located, and information of all parking spaces in the target parking area.

6. The method of claim 5, wherein, after the sending of the target positioning information to the vehicle terminal by the roadside device, further comprising: sending the position information of the target idle parking space to the mobile terminal by the vehicle terminal.

7. A vehicle navigation system characterized by comprising: comprising: a cloud device, and a roadside device and a vehicle terminal connected to the cloud device; and the roadside device and the vehicle terminal are connected. The vehicle terminal is configured to send a route searching request to the roadside device; The first target perception information is obtained based on the route searching request, and the first target perception information and the route searching request are uploaded to a cloud device. The first target perception information includes environment information of a target parking area. The vehicle terminal is configured to send a route searching request to the roadside device, including: The vehicle terminal receives a vehicle searching request initiated by a mobile terminal, and sends the vehicle searching request to the roadside device. The vehicle searching request is used to request to find a target vehicle. Alternatively, the vehicle terminal sends a location searching request to the roadside device. The location searching request is used to request to find an idle parking space. The roadside device is configured to receive the route searching request sent by the vehicle terminal, obtain second target perception information based on the route searching request, and upload the second target perception information and the route searching request to a cloud device. The second target perception information includes pose information and vehicle end perception information of a target vehicle. The cloud device is configured to receive the first target perception information uploaded by the roadside device and the second target perception information uploaded by the vehicle terminal, perform information fusion and high-precision map matching on the first target perception information and the second target perception information to obtain target positioning information corresponding to the route searching request, and send the target positioning information to the roadside device. The roadside device is further configured to send the target positioning information to the vehicle terminal. The system further includes a mobile terminal connected to the vehicle terminal. The mobile terminal is configured to receive the route searching request and send the route searching request to the vehicle terminal.

8. The system of claim 7, wherein, The system further includes that the mobile terminal is further configured to receive the target positioning information corresponding to the route searching request sent by the vehicle terminal.

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