Shared vehicle returning method and device in parking spot, computer device and medium

Abstract

Embodiments of the application disclose a shared vehicle returning method and device in a parking spot, computer equipment and a medium, and relate to the field of vehicles. The method comprises: receiving marker information sent by a target vehicle in real time; then, determining a marker shooting sequence of the target vehicle based on each marker information; judging whether the marker shooting sequence meets a preset sequence; if yes, sending a returning instruction to the target vehicle when a returning request is received; and if no, generating a vehicle placement direction error prompt information and sending the vehicle placement direction error prompt information to a user terminal when the returning request is received. Based on this, in the returning process of the shared vehicle, the shared vehicle can only be returned in a neat placement condition, thereby avoiding the situation that the user randomly parks the shared vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more particularly to a method, apparatus, computer equipment, and medium for returning shared vehicles at parking spots. Background Technology

[0002] Typically, shared vehicles only require users to park them at designated parking spots upon return. However, this often results in a chaotic and disorganized arrangement of shared vehicles, negatively impacting the city's appearance. Therefore, ensuring that shared vehicles are parked neatly and orderly at designated parking spots is one of the most pressing issues that needs to be addressed. Summary of the Invention

[0003] In view of this, the present invention provides a method, apparatus, computer equipment and medium for returning shared vehicles in parking spots, which is used to solve the problem of how to ensure that shared vehicles can be parked neatly and orderly in parking spots.

[0004] In a first aspect, embodiments of the present invention provide a method for returning shared vehicles at a parking spot, applied to a server. The parking spot has a first marker, a second marker, and a third marker spaced apart on the ground. The method includes: The system receives real-time marker information from the target vehicle, wherein the target vehicle is equipped with a camera. When the vehicle speed is lower than a preset speed, the target vehicle controls the camera to capture an image of the ground below the front of the shared vehicle. When any one of the first marker, the second marker, and the third marker is present in the ground image, marker information is generated based on the present marker. Based on the information of each of the markers, the marker shooting order of the target vehicle is determined, wherein the marker shooting order represents the shooting order of the target vehicle for the first marker, the second marker, and the third marker; Determine whether the shooting order of the markers meets the preset order; If so, when a return request is received, a return instruction is sent to the target vehicle; If not, when the vehicle return request is received, a vehicle placement error message is generated and sent to the user terminal.

[0005] In the shared vehicle return method provided by this invention, the server first receives real-time marker information sent by the target vehicle. Then, based on the marker information, it determines the marker shooting order of the target vehicle, i.e., the markers the front of the shared vehicle passes over in sequence. Subsequently, it determines whether the marker shooting order meets the preset order. If yes, it indicates that the shared vehicle is neatly placed, and upon receiving a return request, a return instruction is sent to the target vehicle. If no, it indicates that the shared vehicle is not neatly placed, and upon receiving a return request, an incorrect vehicle placement direction prompt is generated and sent to the user terminal. Based on this, during the return process of the shared vehicle of this invention, the shared vehicle can only be returned when it is neatly placed, thereby avoiding the situation where users park the shared vehicle haphazardly. Furthermore, based on the markers and incorrect placement direction prompts in the parking area, this invention enables users to clearly determine the correct placement method of the shared vehicle, and thus can place the shared vehicle neatly in a relatively simple way, avoiding the situation where users do not know the correct placement method and have difficulty returning the vehicle, thereby improving the user's return experience.

[0006] Optionally, in one feasible embodiment of the present invention, after generating a vehicle placement error message and sending the vehicle placement error message to the user terminal upon receiving the vehicle return request, the method further includes: Based on the marker information received at the current moment, determine the first marker to be photographed for the target vehicle; Based on the first photographed marker and the preset order, the second and third photographed markers for the target vehicle are determined; If, based on subsequent marker information, it is determined that the marker captured in the second photograph of the target vehicle is not the same as the marker captured in the second photograph, or if it is determined that the marker captured in the third photograph of the target vehicle is not the same as the marker captured in the third photograph, then an error message indicating incorrect vehicle orientation is generated and sent to the user terminal.

[0007] Under this implementation method, the beneficial effects that the embodiments of the present invention can achieve are: enabling users to continuously adjust the placement of shared vehicles based on the received error prompts, thereby clearly knowing the correct placement method of shared vehicles.

[0008] Optionally, in one feasible embodiment of the present invention, each marker is composed of multiple marker patterns spaced apart along a straight line. The marker patterns of different markers are not the same. Each marker pattern includes a number for indicating the installation order. The first marker, the second marker, and the third marker are parallel to each other. The shared vehicle is also used to generate marker information based on the existing marker patterns and the numbers of the marker patterns when the ground image contains the marker patterns. Determining the photographing order of the target vehicle's markers based on the information of each marker includes: Based on the information of each of the markers, the photographing order of the markers of the target vehicle, the first number of the marker pattern of the first marker, the second number of the marker pattern of the second marker, and the third number of the marker pattern of the third marker are determined. The step of determining whether the shooting order of the markers meets the preset order includes: Determine whether the shooting order of the markers meets the preset order, and whether the first label, the second label, and the third label are consistent.

[0009] Under this implementation method, the beneficial effects achieved by the embodiments of the present invention are as follows: the various signs in the parking area can clearly show the neat arrangement of the shared vehicles, making it easy for users to park the vehicles neatly; and, when the shared vehicles are returned, the orientation of each shared vehicle will be consistent, thereby further ensuring parking order.

[0010] Optionally, in one feasible embodiment of the present invention, the target vehicle is further equipped with a display screen. The target vehicle is further configured to, when the ground image contains the sign pattern, use the ground image containing the existing sign pattern as a sign image, generate sign information based on the sign pattern and its number in the sign image, and send the sign image and the sign information to the server. The method further includes: When the sign image is received, the sign image is converted into an animation to obtain an animated image corresponding to the sign image, wherein the animated image is used to represent the sign captured by the target vehicle; The animated image is sent to the target vehicle so that it is displayed on the screen.

[0011] Under this implementation method, the beneficial effects that the embodiments of the present invention can achieve are: enabling shared vehicles to clearly and concisely prompt users on how to place the vehicles, and allowing users to determine the marker patterns that the front of the shared vehicle needs to pass through based on the content displayed on the screen, thereby enabling the shared vehicles to be placed neatly and efficiently.

[0012] Optionally, in one feasible embodiment of the present invention, the server is further configured to delete the received sign information and the determined sign shooting order when the vehicle speed changes from zero. After sending the vehicle orientation error prompt information to the user terminal, the method further includes: When the order of shooting the markers meets the preset order, if the first marker is the same as the second marker and the first marker is different from the third marker, a vehicle head angle adjustment prompt message is generated and sent to the user terminal. The vehicle head angle adjustment prompt message is used to prompt the user to adjust the vehicle head direction so that the third marker in the subsequently captured ground image is the same as the first marker. The preset order is the first marker first, the second marker second, and the third marker last. If, based on the currently received marker information, it is determined that the third marker has been adjusted to match the first marker, then the vehicle return instruction is sent to the target vehicle.

[0013] Under this implementation method, the beneficial effects achieved by the embodiments of the present invention are: it allows users to correct the vehicle's orientation simply by adjusting the position of the front of the vehicle, avoiding the need for users to drive the vehicle away from the parking spot and reposition it, thereby improving the user's vehicle return experience.

[0014] Optionally, in one feasible embodiment of the present invention, the method further includes: Based on the sign image, the first abscissa of the sign pattern in the sign image corresponding to the first sign, the second abscissa of the sign pattern in the sign image corresponding to the second sign, and the third abscissa of the sign pattern in the sign image corresponding to the third sign are determined, wherein the first abscissa, the second abscissa, and the third abscissa are located on the horizontal axis of the parking point, and the horizontal axis of the parking point coincides with the straight line formed by the multiple sign patterns of the first sign. The step of determining whether the shooting order of the markers meets the preset order, and whether the first marker, the second marker, and the third marker are consistent, includes: Determine whether the shooting order of the markers meets the preset order, and whether the first label, the second label, and the third label are consistent, and whether the first horizontal coordinate, the second horizontal coordinate, and the third horizontal coordinate meet the preset rules, wherein the preset rules indicate that the distance difference between the first horizontal coordinate and the second horizontal coordinate is located in a first preset interval, the distance difference between the second horizontal coordinate and the third horizontal coordinate is located in a second preset interval, and the size of the first preset interval is smaller than the size of the second preset interval.

[0015] Under this implementation method, the beneficial effects achieved by the embodiments of the present invention are: enabling users to return the shared vehicle in a relatively simple way during the parking process, thereby improving the user's vehicle return experience.

[0016] Optionally, in one feasible embodiment of the present invention, after receiving the marker information sent in real time by the target vehicle, the method further includes: Obtain the vehicle speed; If the vehicle speed changes from zero within the first preset time period, the received marker information and the determined marker shooting order are deleted. If the shooting order of the marker does not meet the preset order and the vehicle return request is not received within the second preset time period, a shooting stop command is sent to the target vehicle.

[0017] Under this implementation, the beneficial effects achieved by the embodiments of the present invention are as follows: the server can delete useless data, thereby reducing the server load. Simultaneously, based on the received shooting stop command, the shared vehicle avoids invalid camera shooting, thereby reducing the power consumption of the shared vehicle and increasing its service life.

[0018] Optionally, in one feasible embodiment of the present invention, the method further includes: If the order of shooting the marker does not meet the preset order and the vehicle return request is received multiple times within the third preset time period, a terminal photo prompt message is sent to the user terminal. Receive photos sent by the user terminal and identify whether the placement direction of the target vehicle in the photo is consistent with the setting direction of the first marker, the second marker and the third marker corresponding to the preset order; If they match, the return instruction is sent to the target vehicle.

[0019] Under this implementation method, the beneficial effects that the embodiments of the present invention can achieve are: enabling users to return the vehicle by taking pictures based on the terminal when the shared vehicle is faulty, resulting in the vehicle being neatly placed but not triggering the return command, thereby ensuring the user's vehicle return experience.

[0020] Optionally, in one feasible embodiment of the present invention, the server stores a tag for each parking spot, the tag including a video parking spot tag and other tags, the parking spot tag indicating that the first marker, the second marker and the third marker are set in the parking spot; If so, then upon receiving a vehicle return request, a vehicle return instruction is sent to the target vehicle, including: If so, when a vehicle return request is received, determine whether the target vehicle is located within the parking area; If the vehicle is located within a parking spot, and the parking spot where the target vehicle is located is labeled with the video parking spot label, then a return instruction is sent to the target vehicle. If the target vehicle is not located within a parking spot, then the location of the nearest target parking spot is determined based on the target vehicle's location. Parking location guidance information is generated based on the location of the target parking spot, and the parking location guidance information is sent to the user terminal.

[0021] Under this implementation method, the beneficial effects achieved by the embodiments of the present invention are as follows: when users return the car, they need to place the vehicle in a designated area, i.e., a parking spot, thereby ensuring parking order; at the same time, parking guidance is completed based on parking spot guidance information, thereby ensuring the user's car return experience.

[0022] Secondly, embodiments of the present invention provide a shared vehicle return device for parking spots, applied to a server. The device includes a first marker, a second marker, and a third marker spaced apart on the ground within the parking spot. The receiving module is used to receive marker information sent in real time by the target vehicle. The target vehicle is equipped with a camera. When the vehicle speed is lower than a preset speed, the target vehicle controls the camera to capture an image of the ground under the front of the shared vehicle. When any one of the first marker, the second marker, and the third marker is present in the ground image, marker information is generated based on the present marker. The determining module is used to determine the target vehicle's marker shooting order based on the marker information, wherein the marker shooting order represents the target vehicle's shooting order for the first marker, the second marker, and the third marker; The judgment module is used to determine whether the shooting order of the markers meets the preset order; The first sending module is used to send a return instruction to the target vehicle when a return request is received, if the request is received. The second sending module is used to generate a vehicle placement error message when the vehicle return request is received, and send the vehicle placement error message to the user terminal if no error is found. Attached Figure Description

[0023] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope of protection of the present invention. In the various drawings, similar components are numbered similarly.

[0024] Figure 1 A flowchart illustrating the shared vehicle return method at a parking spot provided in an embodiment of the present invention is shown. Figure 2 A schematic diagram of the first type of parking spot provided in an embodiment of the present invention is shown; Figure 3 A schematic diagram of a second type of parking spot provided in an embodiment of the present invention is shown; Figure 4 A schematic diagram of the third type of parking spot provided in an embodiment of the present invention is shown; Figure 5 A schematic diagram of the fourth type of parking spot provided in an embodiment of the present invention is shown; Figure 6a , Figure 6b and Figure 6c The landmark images at the first time point, the second time point, and the third time point are shown respectively. Figure 7 A schematic diagram of the structure of the shared vehicle return method device at a parking spot provided in an embodiment of the present invention is shown. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0026] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0028] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0029] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0030] Reference Figure 1 , Figure 1 The diagram illustrates a flowchart of a shared vehicle return method at a parking spot provided by an embodiment of the present invention. The shared vehicle return method at a parking spot provided by the present invention is applied to a server. A first marker, a second marker, and a third marker are set at intervals on the ground within the parking spot.

[0031] For a clearer explanation of the parking points in the embodiments of the present invention, please refer to... Figure 2 This diagram illustrates a first type of parking spot provided by an embodiment of the present invention. Figure 2 Within parking spot 200, there are three markers: a first marker 210, a second marker 220, and a third marker 230. It is easy to see that the first marker 210, the second marker 220, and the third marker 230 are all different. Therefore, when the shared vehicle can continuously recognize the markers on the ground, the direction in which the vehicle enters the parking spot can be determined based on the order in which the vehicle recognizes each marker.

[0032] As an example, suppose a user wants to park a shared vehicle in such a location Figure 2 In the parking spot 200 shown, if the shared vehicle identifies the first marker 210, the second marker 220 and the third marker 230 in sequence within 5 seconds before stopping, it can be determined that the user is parking the shared vehicle from north to south. That is, the front of the shared vehicle is close to the third marker 230 and the rear of the vehicle is close to the first marker 210.

[0033] Furthermore, it should be noted that the markers in the embodiments of the present invention must be symbols composed of relatively obvious patterns, objects, or colors, which can be easily observed by the user. In one feasible embodiment, the markers in the embodiments of the present invention are three rectangles with significant differences; the lines of the three rectangles may be different, or the patterns, text, or other content contained within the rectangles may be different. In another feasible embodiment of the present invention, the markers are three lines of different colors.

[0034] Based on this, the shared vehicle return method at parking spots provided in this embodiment of the invention includes: Step S110: Receive marker information sent in real time by the target vehicle. The target vehicle is equipped with a camera. When the vehicle speed is lower than a preset speed, the target vehicle controls the camera to capture an image of the ground below the front of the shared vehicle. When any one of the first marker, the second marker, and the third marker is present in the ground image, marker information is generated based on the existing marker.

[0035] It is understood that the shared vehicle in this embodiment of the invention is equipped with a camera, which is used to photograph the ground below the front of the vehicle after receiving a corresponding instruction. It is also understood that the specific installation location of the camera can be selected according to actual conditions; this embodiment of the invention only requires that the camera be able to photograph the ground below the front of the vehicle.

[0036] It is also understandable that if the shared vehicle's speed is low, that is, lower than the preset speed, it indicates that the user may be pushing the shared vehicle to park, hence the low speed. Therefore, the embodiments of the present invention have made corresponding settings for the controller and / or processor of the shared vehicle to enable the vehicle's central control to send a shooting command to the camera when the vehicle speed is lower than the preset speed, thereby enabling the camera to capture an image of the ground below the front of the vehicle.

[0037] Furthermore, the camera of the shared vehicle in this embodiment of the invention is also used to send the ground image to the vehicle controller and / or processor after capturing it, so that the controller and / or processor can identify whether there are any landmarks in the ground image. If a landmark is identified, the controller and / or processor in the shared vehicle will generate landmark information based on the category of the identified landmark (the category is a first landmark, a second landmark, and a third landmark).

[0038] Furthermore, after generating the marker information, the controller and / or processor will also send the marker information to the server so that the server can classify the markers that the front of this shared vehicle passes through / passes.

[0039] Furthermore, it is understandable that the identification information sent by shared vehicles also includes the vehicle's identifier, i.e., the license plate number or vehicle registration number. Therefore, when the server receives identification information from multiple shared vehicles, it can determine the sender of the identification information based on the vehicle identifier within the identification information.

[0040] Step S120: Based on the information of each marker, determine the marker shooting order of the target vehicle, wherein the marker shooting order represents the shooting order of the target vehicle for the first marker, the second marker, and the third marker.

[0041] That is, each time the server in this embodiment of the invention receives the marker information sent by the shared vehicle, it determines which marker the marker information represents.

[0042] As an example, when the front of the shared vehicle passes the first marker 210 in the parking spot 200, that is, when the ground image includes the first marker 210 and the shared vehicle recognizes the first marker 210, the shared vehicle generates corresponding marker information for the first marker 210 and sends this marker information to the server. The server then parses and / or confirms the received marker information to determine that the front of the shared vehicle has passed the first marker 210.

[0043] Furthermore, when the front of the shared vehicle passes the first marker 210, the second marker 220, and the third marker 230 in the parking spot 200 in sequence, and generates corresponding marker information when passing the first marker 210, the second marker 220, and the third marker 230 respectively, and sends the marker information to the server, the server will determine the sequence of the front of the shared vehicle passing the first marker 210, the second marker 220, and the third marker 230 based on the time of the three marker information received and the marker represented by each marker information. That is, the marker shooting order is: first marker 210, second marker 220, and third marker 230.

[0044] Step S130: Determine whether the shooting order of the markers meets the preset order.

[0045] In other words, after the server determines the order in which the markers of the shared vehicles are photographed, it will verify the photographing order to determine whether the photographing order conforms to the preset order, and thus determine whether the shared vehicles are placed in the preset direction.

[0046] It's easy to see that if the markers are photographed in the order of "first marker 210, second marker 220, third marker 230", then the front of the shared vehicle will be facing south, and the rear will be facing north. However, if the markers are photographed in the order of "first marker 230, second marker 220, third marker 210", then the front of the shared vehicle will be facing north, and the rear will be facing south.

[0047] Step S140: If yes, then when a return request is received, a return instruction is sent to the target vehicle.

[0048] In other words, if the order in which the markers are photographed meets the preset order, it indicates that the placement of the shared vehicles meets the requirements. Then, after the user has placed the vehicle, if they send a return request for the target vehicle to the server via their terminal, the server will send a return instruction to the target vehicle to complete the return.

[0049] Step S150: If not, when the vehicle return request is received, generate a vehicle placement error message and send the vehicle placement error message to the user terminal.

[0050] In other words, if the order in which the markers are photographed does not meet the preset order, and the server receives a return request from the user through the terminal, it indicates that the user has not placed the vehicle neatly before returning it. Therefore, the server generates an error message indicating the vehicle is not placed correctly and sends the error message to the user's terminal so that the user knows that the shared vehicle is not placed correctly and must be placed correctly before returning the vehicle.

[0051] Based on this, the embodiments of the present invention ensure that shared vehicles can only be returned when they are neatly arranged, thereby preventing users from parking them haphazardly. Furthermore, the embodiments of the present invention also use signs and incorrect placement information at parking spots to help users clearly determine the correct placement method for shared vehicles, enabling them to place the vehicles neatly in a simpler way. This avoids situations where users are unaware of the correct placement method and have difficulty returning the vehicles, thereby improving the user's vehicle return experience.

[0052] Optionally, in one embodiment of the present invention, after step S150, the method further includes: Based on the marker information received at the current moment, determine the first marker to be photographed for the target vehicle; Based on the first photographed marker and the preset order, the second and third photographed markers for the target vehicle are determined; If, based on subsequent marker information, it is determined that the marker captured in the second photograph of the target vehicle is not the same as the marker captured in the second photograph, or if it is determined that the marker captured in the third photograph of the target vehicle is not the same as the marker captured in the third photograph, then an error message indicating incorrect vehicle orientation is generated and sent to the user terminal.

[0053] In other words, if a user sends a return request to the server via their terminal without correctly parking the vehicle, and the server then sends an error message indicating incorrect vehicle orientation to the user's terminal, the user may choose to reposition the vehicle—that is, drive the vehicle away from the parking spot and then park it back in the parking spot. This is exemplified by... Figure 2For example, if the preset order is the first marker 210, the second marker 220, and the third marker 230, then when a user parks the vehicle, if the markers are photographed in the wrong order and the user terminal receives a message indicating that the vehicle is placed in the wrong direction, the user may choose to return the vehicle in the following way: move the shared vehicle northward to remove it from the parking spot 200, and then move it southward with the front of the vehicle facing south, so that the front of the vehicle passes the first marker 210, the second marker 220, and the third marker 230 in sequence, and then park it in the parking spot 200, thereby completing the repositioning.

[0054] To address this situation, this embodiment of the invention provides real-time reminders to the user during the process of repositioning the vehicle. For example, suppose the preset sequence includes two orders: "first marker 210, second marker 220, third marker 230" and "third marker 230, second marker 220, first marker 210". Then, when the user leaves the parking spot 200, if the first marker captured by the shared vehicle's camera is the first marker 210, then based on the preset sequence, the shared vehicle will subsequently capture the second marker 220 and the third marker 230 in sequence; conversely, if the first marker captured is the third marker 230, then the shared vehicle will subsequently capture the second marker 220 and the first marker 210 in sequence.

[0055] Furthermore, if the shared vehicle fails to capture the second marker 220 and the third marker 230 in sequence, or fails to capture the second marker 220 and the first marker 210 in sequence, the server in this embodiment of the invention will generate an error message again and send it to the user terminal, thereby prompting the user that the placement is incorrect and needs to be rearranged.

[0056] Furthermore, it's easy to imagine that if the markers initially captured by the shared vehicle cannot satisfy any of the preset sequences, the server will generate an error message and send it back to the user's terminal. For example, in the aforementioned case, if the marker initially captured by the shared vehicle is the second marker 220, then any preset sequence cannot be satisfied.

[0057] Therefore, through this feasible method, the embodiments of the present invention enable users to continuously adjust the placement of shared vehicles based on the received error prompts, thereby clearly knowing the correct placement of shared vehicles.

[0058] Optionally, in one feasible embodiment of the present invention, each marker is composed of multiple marker patterns spaced apart along a straight line. The marker patterns of different markers are not the same. Each marker pattern includes a number for indicating the installation order. The first marker, the second marker, and the third marker are parallel to each other. The shared vehicle is also used to generate marker information based on the existing marker patterns and the numbers of the marker patterns when the ground image contains the marker patterns. In this feasible method, step S120 specifically includes: Based on the information of each of the markers, the photographing order of the markers of the target vehicle, the first number of the marker pattern of the first marker, the second number of the marker pattern of the second marker, and the third number of the marker pattern of the third marker are determined. In this feasible method, step S130 specifically includes: Determine whether the shooting order of the markers meets the preset order, and whether the first label, the second label, and the third label are consistent.

[0059] Understandably, users are based on, for example Figure 2 When the shared vehicles are placed at the parking spots shown, there may be inconsistencies in the placement angles of different shared vehicles. For example, some shared vehicles may have their front facing southeast and their rear facing northwest, while others may have their front facing northeast and their rear facing southwest.

[0060] To address this issue, this embodiment of the invention provides a more intuitive and simple way for users to neatly arrange shared vehicles, therefore, the markers at parking spots are more finely divided. Specifically, for a better illustration of this feasible method, please refer to... Figure 3 This shows a schematic diagram of a second type of parking spot provided in an embodiment of the present invention. Figure 3 In the middle, the first marker 210, the first marker 220 and the third marker 230 are all composed of multiple letter marker patterns with labels.

[0061] It should be noted that using letter patterns for the logo is only one feasible option; the specific style of the logo can be set according to the actual situation. In one feasible option, the logo is text, such as the first logo including "Front 1", "Front 2", "Front 3", etc., the second logo including "Middle 1", "Middle 2", "Middle 3", etc., and the third logo including "Back 1", "Back 2", "Back 3", etc.

[0062] It should also be noted that, Figure 3The dashed boxes in the diagram are only used to indicate the first marker 210, the second marker 220, and the third marker 230, and do not represent that the dashed boxes are actually drawn on the ground at the parking spot. It is easy to understand that whether or not dashed boxes need to be drawn in actual application is a matter that can be set according to the actual situation.

[0063] It should be understood that in this feasible method, shared vehicles will also identify markings in the captured ground images to determine the landmark to which the identified marking belongs and the number within the marking. For example, when the shared vehicle's speed is below a preset speed, if the camera captures markings in the ground images... Figure 3 In the image, "A1" is identified. After identification, the shared vehicle determines that "A1" in the ground image belongs to the first marker 210 and is labeled as 1. Based on the identification results, it generates corresponding marker information based on "first marker 210" and "labeled as 1" and sends the marker information to the server. Upon receiving the marker information, the server determines that the front of the shared vehicle has passed A1 in the first marker 210.

[0064] Furthermore, embodiments of the present invention are based on similar... Figure 3 The parking spot 200 and various signs shown require that, when placing shared vehicles, users must ensure that the order in which the signs are photographed meets preset requirements, and that the numbers of the different signs photographed by the shared vehicle are consistent. For example, when the preset order is first sign 210, second sign 220, and third sign 230, if a user needs to park a shared vehicle in parking spot 200, the shared vehicle must enter parking spot 200 from north to south. Furthermore, if the shared vehicle first photographs sign pattern A1 from first sign 210 during the entry process, then the shared vehicle must subsequently photograph sign pattern B1 from second sign 220 and sign pattern C1 from third sign 210. This ensures that the photographing order matches the preset order, and that the numbers of the different signs are consistent, i.e., all are 1. Therefore, when the shared vehicle sends the information of each marker to the server, the server knows that the shared vehicle is parked vertically on the line segment formed by A1, B1 and C1, and is therefore neatly arranged. Thus, the server sends a return instruction to the shared vehicle.

[0065] It is easy to imagine that if the order in which the markers are photographed does not meet the preset order, or if the first marker, the second marker, and the third marker are inconsistent, the server will generate an error message indicating the placement direction and send the error message to the user terminal.

[0066] Based on this feasible approach, the various markers in the parking spots of this invention can clearly display the neat arrangement of shared vehicles, making it easy for users to park their vehicles neatly; furthermore, when each shared vehicle is returned, the orientation of each shared vehicle will be consistent, thereby further ensuring parking order.

[0067] Optionally, to enable users to more clearly understand the method of neatly arranging shared vehicles, in one feasible embodiment of the present invention, the target vehicle is further equipped with a display screen. The target vehicle is also used to, when the ground image contains the marker pattern, use the ground image containing the existing marker pattern as a marker image, generate marker information based on the marker pattern and its number in the marker image, and send the marker image and the marker information to the server. The method further includes: When the sign image is received, the sign image is converted into an animation to obtain an animated image corresponding to the sign image, wherein the animated image is used to represent the sign captured by the target vehicle; The animated image is sent to the target vehicle so that it is displayed on the screen.

[0068] In other words, in this feasible method, the shared vehicle also displays the identified sign pattern on its screen, allowing the user to see the sign pattern captured by the vehicle at that moment and thus know which sign patterns the vehicle needs to capture in subsequent moments. For example, if the ground image captured by the shared vehicle contains... Figure 3 The system retrieves the ground image (i.e., the landmark image) from the location "A1" and sends it to the server. The server then converts it into an animation to obtain the corresponding animated image, which is then sent to the shared vehicle so that the vehicle's display shows the animated "A1".

[0069] Therefore, if users are aware of the return method that "the shared vehicle can only be returned when the order of the markers taken meets the preset order and the first, second, and third markers are consistent," then if users know that "A1" has been taken at the current moment, then "B1" and "C1" need to be taken in the subsequent moments.

[0070] Therefore, through this feasible method, the embodiments of the present invention enable shared vehicles to clearly and concisely guide users on how to park the vehicles. In turn, users can determine the marker patterns that the front of the shared vehicle needs to pass through based on the content displayed on the screen, thereby efficiently and neatly parking the shared vehicles.

[0071] Optionally, to enable users to easily complete vehicle placement, in one feasible method provided by this embodiment of the invention, the server is further configured to delete the received marker information and the determined marker shooting order when the vehicle speed changes from zero. After sending the vehicle placement direction error prompt information to the user terminal, the method further includes: When the order of shooting the markers meets the preset order, if the first marker is the same as the second marker and the first marker is different from the third marker, a vehicle head angle adjustment prompt message is generated and sent to the user terminal. The vehicle head angle adjustment prompt message is used to prompt the user to adjust the vehicle head direction so that the third marker in the subsequently captured ground image is the same as the first marker. The preset order is the first marker first, the second marker second, and the third marker last. If, based on the currently received marker information, it is determined that the third marker has been adjusted to match the first marker, then the vehicle return instruction is sent to the target vehicle.

[0072] Understandably, if the vehicle speed is lower than the preset speed but not zero, it indicates that the user may be returning the vehicle or temporarily slowing down, such as gradually reducing speed until stopping at a pedestrian crossing. Then, when the pedestrian crossing is passable (e.g., the green light at a traffic light is on), the user will restart the shared vehicle to gradually increase the speed from zero until it exceeds the preset speed.

[0073] In this case, since the user increases the vehicle speed above zero after it has reached zero, the server will determine that the user is not performing a parking operation. Therefore, the server will delete the parking-related records, namely the landmark information and the confirmed sequence of photographed objects.

[0074] It's also understandable that when the vehicle speed starts from zero, it might be because the user has moved the vehicle away from the parking spot to rearrange it. Therefore, the server will delete the relevant records before the vehicle speed reached zero (i.e., marker information and the confirmed order of photographed objects) to ensure that the parking process can proceed normally after the vehicle speed reaches zero.

[0075] Furthermore, one can imagine that if in such a situation... Figure 3 The parking spots shown are pre-set in the order CBA. If, during parking, the user photographs C1, B1, and A2 in sequence, meaning only the last sign's number doesn't match the others, the car cannot be returned. If the user moves the vehicle, they must then move it again to meet the pre-set order and numbering requirements, which is relatively complicated.

[0076] To address this situation, embodiments of the present invention allow users to adjust the front of the vehicle without changing its speed, thereby completing vehicle placement. For example, when the preset sequence is CBA, and the user's parking process captures the marker patterns C1, B1, and A2 in sequence, the server will send a vehicle angle adjustment prompt to the user's terminal, instructing the user to lift the front of the shared vehicle and place it at A1. Then, when the front of the shared vehicle is placed at A1, the shared vehicle's camera captures A1, generating marker information and sending it to the server. Based on the received information, the server determines that the user has moved the front of the vehicle from A2 to A1, thus confirming that the shared vehicle is properly placed, and then sends a return instruction to the shared vehicle.

[0077] Therefore, this embodiment of the invention allows users to correct the vehicle's orientation simply by adjusting the position of the front of the vehicle, avoiding the need for users to drive the vehicle away from the parking spot and reposition it, thereby improving the user's vehicle return experience.

[0078] Optionally, to enable users to complete vehicle placement in a simpler way, one feasible method provided in this embodiment of the invention further includes: Based on the sign image, the first abscissa of the sign pattern in the sign image corresponding to the first sign, the second abscissa of the sign pattern in the sign image corresponding to the second sign, and the third abscissa of the sign pattern in the sign image corresponding to the third sign are determined, wherein the first abscissa, the second abscissa, and the third abscissa are located on the horizontal axis of the parking point, and the horizontal axis of the parking point coincides with the straight line formed by the multiple sign patterns of the first sign. The step of determining whether the shooting order of the markers meets the preset order, and whether the first marker, the second marker, and the third marker are consistent, includes: Determine whether the shooting order of the markers meets the preset order, and whether the first label, the second label, and the third label are consistent, and whether the first horizontal coordinate, the second horizontal coordinate, and the third horizontal coordinate meet the preset rules, wherein the preset rules indicate that the distance difference between the first horizontal coordinate and the second horizontal coordinate is located in a first preset interval, the distance difference between the second horizontal coordinate and the third horizontal coordinate is located in a second preset interval, and the size of the first preset interval is smaller than the size of the second preset interval.

[0079] It is understandable that when a user parks a shared vehicle, the vehicle's trajectory may not be a straight line. For an example, please refer to [link / reference needed]. Figure 4 This diagram illustrates a third type of parking spot provided in an embodiment of the present invention. Figure 4In the diagram, the dashed lines with arrows passing through C1, B1, and A1 in sequence represent the movement trajectory of the shared vehicle. It's easy to see that the order in which the markers are photographed follows a preset order, with the first to third markers all numbered 1. Therefore, in this embodiment of the invention, the server will... Figure 4 In the parking situation shown, a return instruction is sent to the shared vehicle.

[0080] However, it needs to be clarified that, Figure 4 In the parking trajectory shown, there may be a situation where both A1 and A2 are captured. That is, the ground image captured by the shared vehicle contains both A1 and A2. Therefore, when the shared vehicle generates marker information based on the "ground image containing both A1 and A2" and sends the "ground image containing both A1 and A2" and the marker information to the server in this embodiment of the invention, the server will identify the horizontal coordinate of the marker in the marker image based on the received marker image (that is, the "ground image containing both A1 and A2").

[0081] To better illustrate this feasible approach, please refer to [link / reference]. Figure 5 The diagram shows a fourth type of parking spot provided in an embodiment of the present invention. Figure 3 and Figure 4 The difference is, Figure 4 There is a dashed line with an arrow pointing east; this dashed line is the horizontal axis in this embodiment of the invention. It should be noted that in actual application of this embodiment, parking points are not necessarily drawn as dashed lines. Figure 4 The dashed line with an arrow pointing east is only used to illustrate the horizontal axis in the embodiments of the present invention and is not used to limit the parking point.

[0082] Furthermore, in this embodiment of the invention, after determining the horizontal axis of the parking point based on pre-stored horizontal axis information, the server determines the horizontal coordinates of the marker patterns of different markers passed by the shared vehicles based on the received images and information of each marker, thereby determining whether the shared vehicles are neatly arranged. It should be noted that the horizontal coordinates in this embodiment refer to the horizontal coordinates of each marker in the captured image. For an illustrative example, please refer to... Figure 6a , Figure 6b and Figure 6c The images of the landmarks at the first, second, and third time points are shown respectively. It is not difficult to see that... Figure 6a , Figure 6b and Figure 6c It corresponds to Figure 3 The logo image.

[0083] Therefore, when based on such Figure 4 When the horizontal axis is shown, Figure 6a , Figure 6b and Figure 6c The horizontal coordinates of the various symbols in the diagram differ. For example, A1 has the highest horizontal coordinate value, followed by B1, and C1 has the lowest.

[0084] Based on this, this embodiment of the invention will determine whether each marker is closest in the vertical direction based on the comparison of the horizontal coordinates. That is, it will determine whether the distance difference between the first horizontal coordinate and the second horizontal coordinate is within a first preset interval, and whether the distance difference between the second horizontal coordinate and the third horizontal coordinate is within a second preset interval, wherein the size of the first preset interval is smaller than the size of the second preset interval. For example, when the horizontal coordinate of C1 is within 2-5, the horizontal coordinate of B1 can be within 0-7, and the horizontal coordinate of A1 can be within 2-9. That is, the first preset interval is [-5, 5], and the second preset interval is [-9, 5].

[0085] Furthermore, when both the received marker information and the marker image contain two marker patterns, the server will determine, based on the previously received marker information and image, whether the marker capture order and labeling are consistent between the two received sets. As an example, in... Figure 3 and Figures 6a to 6c In the middle, assuming Figure 6c There exists a condition that contains both A1 and A2, and this condition has been previously established based on... Figure 6b Once the second label is determined to be 2 and the second marker is identified, the server will base its actions on the fact that both A1 and A2 are included. Figure 6c Identify Figure 6c If the x-coordinates of A1 and B1 satisfy the aforementioned second preset interval, the server determines that the user has correctly placed the vehicle and thus sends a return instruction to the shared vehicle.

[0086] Therefore, based on this feasible method, the embodiments of the present invention enable users to return shared vehicles in a relatively simple way, thereby improving the user's vehicle return experience.

[0087] Optionally, in one feasible embodiment of the present invention, after step S110, the method further includes: Obtain the vehicle speed; If the vehicle speed changes from zero within the first preset time period, the received marker information and the determined marker shooting order are deleted. If the shooting order of the marker does not meet the preset order and the vehicle return request is not received within the second preset time period, a shooting stop command is sent to the target vehicle.

[0088] It is understandable that the change in vehicle speed from zero indicates that the user was only temporarily slowing down and stopping before the speed reached zero, and that the user would use the shared vehicle normally after the speed changed from zero. Therefore, this embodiment of the invention determines that the user has not returned the vehicle, and thus deletes the received marker information and the determined marker shooting order, thereby eliminating useless information stored in the server.

[0089] It is also understandable that if, within a certain period of time, the server determines, based on the marker information sent by the shared vehicle, that the shared vehicle has not met the return requirements (i.e., the marker shooting order is not the preset order), and has not received a return request from the user terminal, it indicates that the user has not performed the return operation and is only driving at a low speed. Therefore, in order to reduce the power consumption of the shared vehicle, this embodiment of the invention will send a shooting stop command to the shared vehicle so that the camera of the shared vehicle stops shooting.

[0090] Furthermore, it is understood that the first preset duration and the second preset duration in the embodiments of the present invention are both settings that can be adjusted according to actual conditions.

[0091] Therefore, based on this feasible method, the embodiments of the present invention enable the server to delete useless data, thereby reducing the server load. Simultaneously, the shared vehicle, based on the received shooting stop command, avoids invalid camera shots, thereby reducing the power consumption of the shared vehicle and increasing its lifespan.

[0092] Optionally, in one embodiment provided by the present invention, it further includes: If the order of shooting the marker does not meet the preset order and the vehicle return request is received multiple times within the third preset time period, a terminal photo prompt message is sent to the user terminal. Receive photos sent by the user terminal and identify whether the placement direction of the target vehicle in the photo is consistent with the setting direction of the first marker, the second marker and the third marker corresponding to the preset order; If they match, the return instruction is sent to the target vehicle.

[0093] Understandably, the excessive use of shared vehicles may cause the cameras to fail to capture accurate ground images or capture incorrect images. Consequently, even when shared vehicles are neatly parked, the server may interpret the parking information as inaccurate and refuse to send a return instruction. As a result, users are forced to repeatedly try to reposition the vehicle and send return requests to the server via their devices.

[0094] To address this issue, the server in this embodiment of the invention is further configured to: if multiple parking requests are received within a third preset time period, but the received marker information indicates that the vehicle is not neatly parked, then the server determines that the shared vehicle is faulty and sends a terminal photo prompt message to the user terminal. It is easy to understand that the terminal photo prompt message is used to remind the user that they can use their terminal to photograph the placement of the shared vehicle.

[0095] Furthermore, after the user takes a picture through the terminal and sends the picture to the server, the server identifies the shared vehicle and various signs in the picture. Then, when it is found that the orientation of the shared vehicle meets the return requirements corresponding to the preset order (that is, the vehicle body is parallel to the sequential orientation of the three signs), the server sends a return instruction to the shared vehicle.

[0096] Furthermore, it is easy to understand that the third preset duration in the embodiments of the present invention is a setting that can be adjusted according to actual circumstances.

[0097] Therefore, based on this feasible method, the embodiments of the present invention enable users to complete the return of a shared vehicle by taking a picture with the terminal when the vehicle is malfunctioning and the vehicle is neatly placed but the return instruction is not triggered, thus ensuring the user's return experience.

[0098] Optionally, in one embodiment of the present invention, the server stores tags for each parking spot, the tags including video parking spot tags and other tags, the parking spot tags indicating that the first marker, the second marker and the third marker are set in the parking spot; Therefore, step S140 above includes: If so, when a vehicle return request is received, determine whether the target vehicle is located within the parking area; If the vehicle is located within a parking spot, and the parking spot where the target vehicle is located is labeled with the video parking spot label, then a return instruction is sent to the target vehicle. If the target vehicle is not located within a parking spot, then the location of the nearest target parking spot is determined based on the target vehicle's location. Parking location guidance information is generated based on the location of the target parking spot, and the parking location guidance information is sent to the user terminal.

[0099] Understandably, if a shared vehicle mistakenly identifies other objects / patterns as markers in this embodiment of the invention, or if a user draws markers on the ground in a location that is not a designated parking spot, the shared vehicle should not be allowed to be returned. Therefore, in this embodiment of the invention, the server will also determine whether the shared vehicle is located within a parking spot based on pre-set parking spot distribution data after the user sends a return request through the terminal.

[0100] If it is determined that the shared vehicle is not located within the parking area, it means that the user / shared vehicle is not available for return at that location. Subsequently, the server will determine the location of the nearest parking area based on the user / shared vehicle's location and the pre-stored location data of each parking area, and generate parking area guidance information based on this location to send to the user's terminal, thereby guiding the user to return the vehicle correctly.

[0101] Once it's determined whether the shared vehicle is located within a parking spot, the server will also check if this parking spot is one that requires marker image capture sequence recognition, i.e., a video parking spot. Understandably, if a parking spot on the server corresponds to a video parking spot tag, then when returning the vehicle at that spot, the marker image capture sequence must be checked. It's also easy to imagine that if the parking spot tag is not a video parking spot tag, the server will directly issue a return instruction to the shared vehicle.

[0102] Furthermore, if the current parking spot of the shared vehicle is a video parking spot, the server will send a return instruction to the shared vehicle because the previously determined sequence of marker shots is consistent with the preset sequence.

[0103] Therefore, based on this feasible method, the embodiments of the present invention require users to place their vehicles in designated areas, i.e., parking spots, when returning the vehicles, thereby ensuring parking order; at the same time, parking guidance is provided based on parking spot guidance information, thereby ensuring the user's vehicle return experience.

[0104] Corresponding to the vehicle return method at a parking spot provided in the embodiments of the present invention, the embodiments of the present invention also provide a vehicle return device at a parking spot, as described above. Figure 7 , Figure 7 This diagram illustrates the structure of a vehicle return device within a parking spot according to an embodiment of the present invention. The vehicle return device 300 within a parking spot is applied to a server. A first marker, a second marker, and a third marker are spaced apart on the ground within the parking spot. The device includes: The receiving module 310 is used to receive marker information sent in real time by the target vehicle. The target vehicle is equipped with a camera. When the vehicle speed is lower than a preset speed, the target vehicle controls the camera to capture an image of the ground under the front of the shared vehicle. When any one of the first marker, the second marker, and the third marker is present in the ground image, marker information is generated based on the present marker. The determining module 320 is used to determine the target vehicle's marker shooting order based on the marker information, wherein the marker shooting order represents the target vehicle's shooting order for the first marker, the second marker, and the third marker; The judgment module 330 is used to determine whether the shooting order of the markers meets the preset order; The first sending module 340 is used to send a return instruction to the target vehicle when a return request is received, if so. The second sending module 350 is used to generate a vehicle placement error message when the vehicle return request is received, and send the vehicle placement error message to the user terminal if no error is found.

[0105] The parking space return device 300 provided in this embodiment can achieve... Figure 1 The corresponding method embodiments describe the various processes of the car return method at the parking point, and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0106] This invention also provides a computer device, including a memory and a processor. The memory stores a computer program, which executes actions such as... when run on the processor. Figure 1 The corresponding method embodiment discloses the method for returning a car at a parking spot.

[0107] This invention also provides a computer-readable storage medium storing a computer program, which executes the following commands when run on a processor: Figure 1 The corresponding method embodiment discloses the method for returning a car at a parking spot.

[0108] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0109] In addition, the functional modules or units in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0110] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0111] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for returning shared vehicles at a parking spot, characterized in that, Applied to servers, a method comprising: a first marker, a second marker, and a third marker spaced apart on the ground within a parking area; and the method further comprising: The system receives real-time marker information from the target vehicle, wherein the target vehicle is equipped with a camera. When the vehicle speed is lower than a preset speed, the target vehicle controls the camera to capture an image of the ground below the front of the shared vehicle. When any one of the first marker, the second marker, and the third marker is present in the ground image, marker information is generated based on the present marker. Based on the information of each of the markers, the marker shooting order of the target vehicle is determined, wherein the marker shooting order represents the shooting order of the target vehicle for the first marker, the second marker, and the third marker; Determine whether the shooting order of the markers meets the preset order; If so, when a return request is received, a return instruction is sent to the target vehicle; If not, when the vehicle return request is received, a vehicle placement error message is generated and sent to the user terminal. Each marker consists of multiple marker patterns spaced apart along a straight line. The marker patterns of different markers are different. Each marker pattern includes a number indicating the installation order. The first marker, the second marker, and the third marker are parallel to each other. The shared vehicle is also used to generate marker information based on the existing marker patterns and their numbers when the ground image contains the marker patterns. Determining the photographing order of the target vehicle's markers based on the information of each marker includes: Based on the information of each of the markers, the photographing order of the markers of the target vehicle, the first number of the marker pattern of the first marker, the second number of the marker pattern of the second marker, and the third number of the marker pattern of the third marker are determined. The step of determining whether the shooting order of the markers meets the preset order includes: Determine whether the shooting order of the markers meets the preset order, and whether the first label, the second label, and the third label are consistent.

2. The method for returning shared vehicles at parking spots according to claim 1, characterized in that, After generating a vehicle placement error message upon receiving the vehicle return request and sending the vehicle placement error message to the user terminal, the method further includes: Based on the marker information received at the current moment, determine the first marker to be photographed for the target vehicle; Based on the first photographed marker and the preset order, the second and third photographed markers for the target vehicle are determined; If, based on subsequent marker information, it is determined that the marker captured in the second photograph of the target vehicle is not the same as the marker captured in the second photograph, or if it is determined that the marker captured in the third photograph of the target vehicle is not the same as the marker captured in the third photograph, then an error message indicating incorrect vehicle orientation is generated and sent to the user terminal.

3. The method for returning shared vehicles at parking spots according to claim 1, characterized in that, The target vehicle is also equipped with a display screen. When the ground image contains the marker pattern, the target vehicle is further configured to use the ground image containing the existing marker pattern as a marker image, generate marker information based on the marker pattern and its number in the marker image, and send the marker image and the marker information to the server. The method further includes: When the sign image is received, the sign image is converted into an animation to obtain an animated image corresponding to the sign image, wherein the animated image is used to represent the sign captured by the target vehicle; The animated image is sent to the target vehicle so that it is displayed on the screen.

4. The method for returning shared vehicles at parking spots according to claim 3, characterized in that, The server is also configured to delete received marker information and the determined marker shooting order when the vehicle speed changes from zero. After sending the vehicle orientation error message to the user terminal, the method further includes: When the order of shooting the markers meets the preset order, if the first marker is the same as the second marker and the first marker is different from the third marker, a vehicle head angle adjustment prompt message is generated and sent to the user terminal. The vehicle head angle adjustment prompt message is used to prompt the user to adjust the vehicle head direction so that the third marker in the subsequently captured ground image is the same as the first marker. The preset order is the first marker first, the second marker second, and the third marker last. If, based on the currently received marker information, it is determined that the third marker has been adjusted to match the first marker, then the vehicle return instruction is sent to the target vehicle.

5. The method for returning shared vehicles at parking spots according to claim 4, characterized in that, Also includes: Based on the sign image, the first abscissa of the sign pattern in the sign image corresponding to the first sign, the second abscissa of the sign pattern in the sign image corresponding to the second sign, and the third abscissa of the sign pattern in the sign image corresponding to the third sign are determined, wherein the first abscissa, the second abscissa, and the third abscissa are located on the horizontal axis of the parking point, and the horizontal axis of the parking point coincides with the straight line formed by the multiple sign patterns of the first sign. The step of determining whether the shooting order of the markers meets the preset order, and whether the first marker, the second marker, and the third marker are consistent, includes: Determine whether the shooting order of the markers meets the preset order, and whether the first label, the second label, and the third label are consistent, and whether the first horizontal coordinate, the second horizontal coordinate, and the third horizontal coordinate meet the preset rules, wherein the preset rules indicate that the distance difference between the first horizontal coordinate and the second horizontal coordinate is located in a first preset interval, the distance difference between the second horizontal coordinate and the third horizontal coordinate is located in a second preset interval, and the size of the first preset interval is smaller than the size of the second preset interval.

6. The method for returning shared vehicles at parking spots according to claim 1, characterized in that, After receiving the marker information sent in real time by the target vehicle, the method further includes: Obtain the vehicle speed; If the vehicle speed changes from zero within the first preset time period, the received marker information and the determined marker shooting order are deleted. If the shooting order of the marker does not meet the preset order and the vehicle return request is not received within the second preset time period, a shooting stop command is sent to the target vehicle.

7. The method for returning shared vehicles at parking spots according to claim 6, characterized in that, Also includes: If the order of shooting the marker does not meet the preset order and the vehicle return request is received multiple times within the third preset time period, a terminal photo prompt message is sent to the user terminal. Receive photos sent by the user terminal and identify whether the placement direction of the target vehicle in the photo is consistent with the setting direction of the first marker, the second marker and the third marker corresponding to the preset order; If they match, the return instruction is sent to the target vehicle.

8. The method for returning shared vehicles at parking spots according to claim 1, characterized in that, The server stores tags for each parking spot, including video parking spot tags and other tags. The parking spot tags indicate that the first marker, the second marker, and the third marker are set up within the parking spot. If so, then upon receiving a vehicle return request, a vehicle return instruction is sent to the target vehicle, including: If so, when a vehicle return request is received, determine whether the target vehicle is located within the parking area; If the vehicle is located within a parking spot, and the parking spot where the target vehicle is located is labeled with the video parking spot label, then a return instruction is sent to the target vehicle. If the target vehicle is not located within a parking spot, then the location of the nearest target parking spot is determined based on the target vehicle's location. Parking location guidance information is generated based on the location of the target parking spot, and the parking location guidance information is sent to the user terminal.

9. A shared vehicle return device at a parking spot, characterized in that, Applied to servers, the device includes a first marker, a second marker, and a third marker spaced apart on the ground within a parking area. The receiving module is used to receive marker information sent in real time by the target vehicle. The target vehicle is equipped with a camera. When the vehicle speed is lower than a preset speed, the target vehicle controls the camera to capture an image of the ground under the front of the shared vehicle. When any one of the first marker, the second marker, and the third marker is present in the ground image, marker information is generated based on the present marker. The determining module is used to determine the target vehicle's marker shooting order based on the marker information, wherein the marker shooting order represents the target vehicle's shooting order for the first marker, the second marker, and the third marker; The judgment module is used to determine whether the shooting order of the markers meets the preset order; The first sending module is used to send a return instruction to the target vehicle when a return request is received, if the request is received. The second sending module is used to generate a vehicle placement error message when the vehicle return request is received, and send the vehicle placement error message to the user terminal if no. Each marker consists of multiple marker patterns spaced apart along a straight line. The marker patterns of different markers are different. Each marker pattern includes a number indicating the installation order. The first marker, the second marker, and the third marker are parallel to each other. The shared vehicle is also used to generate marker information based on the existing marker patterns and their numbers when the ground image contains the marker patterns. Determining the photographing order of the target vehicle's markers based on the information of each marker includes: Based on the information of each of the markers, the photographing order of the markers of the target vehicle, the first number of the marker pattern of the first marker, the second number of the marker pattern of the second marker, and the third number of the marker pattern of the third marker are determined. The step of determining whether the shooting order of the markers meets the preset order includes: Determine whether the shooting order of the markers meets the preset order, and whether the first label, the second label, and the third label are consistent.

Images