A multi-floor car searching method for underground garage

Abstract

The present application relates to the technical field of vehicle positioning, in particular to a multi-floor vehicle searching method for underground garage. The method comprises the following steps: establishing a garage information database; in response to the change of vehicle driving slope, obtaining height data of the vehicle from the garage entry position to the parking position; matching the height data with the height range interval corresponding to each floor number in the garage information database; determining the floor number corresponding to the vehicle parking position according to the matching result; and sending the determined floor number to the user terminal. The present application can obtain the specific floor position of the vehicle in the vertical dimension, thereby helping the user to accurately record and remind the floor where the parking position is located in the complex underground garage environment, so that the user can smoothly search for the vehicle when leaving the garage, and avoid the difficulty in searching for the vehicle due to the inaccurate parking floor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle positioning, in particular to a multi-floor vehicle searching method for underground garage. BACKGROUND

[0002] With the improvement of living standards, more and more families have family cars, and vehicles have also facilitated people's travel. For example, on weekends and holidays, many families will drive to large building areas such as shopping centers. Limited by land size, most shopping centers currently equipped are mainly underground parking lots. At the same time, as personal cars enter thousands of households, and even more and more families have multiple cars, the demand for parking has also grown. This has led to the gradual increase in the size of underground parking lots, the increasing number of floors, and the increasingly complex internal environment of parking lots, making it difficult for drivers to accurately remember the specific floor where the vehicle is parked, resulting in difficulty in searching for the vehicle when leaving.

[0003] The previous mainstream vehicle searching scheme mainly focuses on issuing sound and light information, obtaining position information, and vehicle calling, wherein the position information is horizontal dimension position information obtained based on GPS, and there is no mature scheme for obtaining vertical dimension position information related to underground parking lots, so the problem of searching for vehicles between different floors cannot be solved. SUMMARY

[0004] The technical problem to be solved by the embodiments of the present application is to provide a multi-floor vehicle searching method and system for underground garage to solve the problem of searching for vehicles between different floors in underground garage that cannot be solved by the prior art.

[0005] The present application discloses a multi-floor vehicle searching method for underground garage, comprising:

[0006] establishing a garage information database, wherein the garage information database comprises floor numbers of each floor of the underground garage and height range intervals corresponding to each floor number one by one;

[0007] in response to a change in vehicle driving slope, the cloud server obtains height data of the vehicle from the garage entry position to the parking position;

[0008] matching the obtained height data with the height range intervals corresponding to each floor number, and determining the floor number corresponding to the parking position of the vehicle according to the matching result;

[0009] in response to a vehicle searching request of a user, the cloud server sends the floor number corresponding to the parking position of the vehicle to the user terminal.

[0010] Optionally, the method for the cloud server to obtain the height data of the vehicle from the garage entry position to the parking position in response to the change in vehicle driving slope comprises:

[0011] In response to a change in the slope of the vehicle, a sensor is used to obtain a driving parameter of the vehicle on the ramp of the underground garage, the driving parameter including a driving slope, a driving time and an average speed;

[0012] According to the obtained driving parameter, the cloud server calculates a height difference of the vehicle from a parking-in position to a parking-out position, and a calculation formula of the height difference is:

[0013] h = vtsinθ

[0014] In the formula, h represents the height difference of the vehicle from the parking-in position to the parking-out position, v represents the average speed of the vehicle on the ramp of the underground garage, t represents the driving time of the vehicle on the ramp of the underground garage, and θ represents the driving slope of the vehicle on the ramp of the underground garage.

[0015] Optionally, the method of obtaining the driving parameter of the vehicle on the ramp of the underground garage by using the sensor comprises:

[0016] recording a driving slope when the vehicle is normally driving;

[0017] in response to monitoring that the driving slope of the vehicle exceeds a slope threshold value of normal driving, starting to record a driving time of the vehicle;

[0018] in response to monitoring that the driving slope of the vehicle re-lowers than the slope threshold value of normal driving, recording a driving slope and an average speed of the vehicle within a current driving time.

[0019] Optionally, the method further comprises a method of obtaining height data of the vehicle from the parking-in position to the parking-out position after the vehicle passes through a plurality of ramps of the underground garage:

[0020] in response to monitoring that the driving slope of the vehicle exceeds the slope threshold value of normal driving, and then re-lowers than the slope threshold value of normal driving after a driving time, recording that the vehicle passes through one ramp of the underground garage;

[0021] in response to monitoring that the vehicle passes through the plurality of ramps of the underground garage in sequence, calculating a height difference of the vehicle after driving on each ramp according to the driving parameter of the vehicle obtained on each ramp;

[0022] calculating a multi-slope height difference of the vehicle from the parking-in position to the parking-out position according to the height difference of the vehicle after driving on each ramp, and a calculation formula of the multi-slope height difference is:

[0023]

[0024] In the formula, h represents the multi-slope height difference of the vehicle from the parking-in position to the parking-out position, v represents the average speed of the vehicle on the ramp of the underground garage, t represents the driving time of the vehicle on the ramp of the underground garage, and θ represents the driving slope of the vehicle on the ramp of the underground garage. a multi-gradient height difference of the vehicle from a parking-in position to a parking-out position, v i an average speed of the vehicle on the i-th ramp of the underground garage, t i a travel time of the vehicle on the i-th ramp of the underground garage, θ i a travel gradient of the vehicle on the i-th ramp of the underground garage.

[0025] Optionally, the method for the cloud server to calculate the height difference of the vehicle from a parking-in position to a parking-out position according to the obtained travel parameters comprises:

[0026] The travel parameters obtained by the sensors are collected based on a vehicle-mounted T-BOX, and the travel parameters are packaged into data packets and transmitted to a cloud server for analysis and storage;

[0027] In response to monitoring that the vehicle is parked, the cloud server calculates the height difference of the vehicle from a parking-in position to a parking-out position according to the received travel parameters;

[0028] In response to the sensors continuously collecting the travel parameters of the vehicle on the ramps of the underground garage, the vehicle-mounted T-BOX sends updated data at a fixed time, the cloud server performs real-time updating and calculation according to the received updated data, and the calculation results are stored in the garage information database.

[0029] Optionally, the method further comprises a method for triggering multi-floor vehicle searching when the vehicle enters the underground garage:

[0030] Collect light change data of a plurality of underground garages in a period of time, and extract light change characteristics of the underground garage according to the collected plurality of light change data;

[0031] Set the cloud server to trigger conditions for multi-floor vehicle searching according to the extracted light change characteristics, and store the trigger conditions in the garage information database;

[0032] In response to a change in the travel gradient of the vehicle, the vehicle obtains surrounding light information through a light sensor, the cloud server matches the obtained light information with the trigger conditions, and determines whether the vehicle enters the underground garage according to the matching result.

[0033] Optionally, the method for the cloud server to match the obtained light information with the trigger conditions and determine whether the vehicle enters the underground garage according to the matching result comprises:

[0034] When the light information and the trigger condition match, the cloud server determines that the vehicle has entered the underground garage and starts searching for the floor number corresponding to the vehicle position;

[0035] When the light information and the trigger condition do not match, the cloud server determines that the vehicle has not entered the underground garage.

[0036] Optionally, the method for the cloud server to send the floor number corresponding to the vehicle parking position to the user terminal in response to the user's vehicle search request comprises:

[0037] In response to the GPS acquiring the horizontal position information corresponding to the vehicle parking position, the cloud server stores the horizontal position information;

[0038] In response to the state instruction of the vehicle power-off and lock, the cloud server remotely transmits the floor number corresponding to the vehicle parking position and the horizontal position information to the user's mobile phone App;

[0039] The mobile phone App receives the floor number and the horizontal position information transmitted by the cloud server and stores them in the local database;

[0040] In response to the user's vehicle search request, the mobile phone App retrieves the floor number and the horizontal position information stored in the local database and displays the floor number and the horizontal position information corresponding to the vehicle parking position on the interface.

[0041] Optionally, the method further comprises determining the floor number corresponding to the vehicle parking position and synchronizing the floor number to the vehicle-mounted central control screen:

[0042] Based on the vehicle-mounted IHU, the gear parking state signal of the vehicle is monitored and sent to the vehicle-mounted T-Box of the vehicle;

[0043] After the vehicle-mounted T-Box receives the gear parking state signal of the vehicle, it initiates a vehicle search request to the cloud server;

[0044] In response to the vehicle search request initiated by the vehicle-mounted T-Box, the cloud server remotely transmits the floor number corresponding to the vehicle parking position to the vehicle-mounted T-Box;

[0045] After the vehicle-mounted T-Box receives the floor number corresponding to the vehicle parking position, it transmits the floor number to the vehicle-mounted central control screen of the vehicle for display.

[0046] Optionally, the method for establishing a garage information database comprises:

[0047] Statistically, the height parameters of the plurality of underground garages are counted, and the maximum height value of the single floor of the underground garage is determined from the counted height parameters;

[0048] According to the maximum height value of the single floor of the underground garage, the height range interval of each floor of the underground garage is sequentially set;

[0049] According to the corresponding floor of each height range interval, a unique floor number is established for each height range interval;

[0050] According to the height range interval and the corresponding floor number of each floor of the underground garage, a garage information database is established.

[0051] Compared with the prior art, the underground garage multi-floor car searching method provided by the embodiment of the present application has the beneficial effects that:

[0052] By establishing the garage information database, when the vehicle driving on the ramp of the underground garage changes the slope, the height data of the vehicle from the parking position to the parking position is obtained based on the cloud server, the height data and the height range interval in the garage information database are matched, and the floor number corresponding to the parking position of the vehicle is determined according to the matching result. The floor number determined by the user terminal is sent to the user for prompting by the interaction of the cloud server and the user terminal, so that on the basis of combining the GPS to obtain the horizontal position of the vehicle, the specific floor position of the vehicle in the vertical dimension is obtained by using the method of the present application, thereby helping the user to accurately record and remind the floor where the parking place is located in the complex underground garage, so that the user can smoothly search for the car when leaving, and avoid the difficulty of searching for the car due to the inaccurate parking floor. BRIEF DESCRIPTION OF DRAWINGS

[0053] The technical solutions of the present application will be further described in detail below with reference to the drawings and embodiments, and the drawings are as follows:

[0054] Figure 1 The steps of the underground garage multi-floor car searching method provided by the embodiment of the present application are shown in the schematic block diagram;

[0055] Figure 2 The flowchart of the method for obtaining the driving parameters of the vehicle on the ramp of the underground garage provided by the embodiment of the present application is shown in the schematic block diagram. DETAILED DESCRIPTION

[0056] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The preferred embodiments of the present application will be described in detail with reference to the drawings.

[0057] The present application discloses a kind of underground garage multi-floor car searching method, as shown in Figure 1 ​

[0058] S1, a garage information database is established, the garage information database includes floor numbers of each floor of the underground garage and height range intervals corresponding to the floor numbers one by one;

[0059] S2, in response to a change in the driving slope of the vehicle, the cloud server acquires height data of the vehicle from the parking-in position to the parking position;

[0060] S3, the acquired height data and the height range interval corresponding to each floor number are matched, and the floor number corresponding to the parking position of the vehicle is determined according to the matching result;

[0061] S4, in response to a vehicle search request of a user, the cloud server sends the floor number corresponding to the parking position of the vehicle to the user terminal.

[0062] Through the above-mentioned vehicle search method, the garage information database is established, when the driving slope of the vehicle changes on the ramp of the underground garage, the height data of the vehicle from the parking-in position to the parking position is acquired based on the cloud server, the height data and the height range interval in the garage information database are matched, and the floor number corresponding to the parking position of the vehicle is determined according to the matching result, the floor number determined by the cloud server and the user terminal is sent to the user terminal to prompt the user, so that on the basis of acquiring the horizontal position of the vehicle by GPS, the specific floor position of the vehicle in the vertical dimension can be acquired by the method of the application, so as to help the user accurately record and remind the floor where the parking position is located in the complex underground garage, so that the user can smoothly search for the vehicle when leaving, and avoid the difficulty in searching for the vehicle due to forgetting the parking floor.

[0063] Further, in response to a change in the driving slope of the vehicle, the method for acquiring the height data of the vehicle from the parking-in position to the parking position by the cloud server comprises:

[0064] In response to a change in the driving slope of the vehicle, a sensor is used to acquire driving parameters of the vehicle on the ramp of the underground garage, the driving parameters including the driving slope, the driving time and the average speed;

[0065] According to the acquired driving parameters, the cloud server calculates the height difference of the vehicle from the parking-in position to the parking position, and the calculation formula of the height difference is:

[0066] h = vtsinθ

[0067] In the formula, h represents the height difference of the vehicle from the parking-in position to the parking position, v represents the average speed of the vehicle on the ramp of the underground garage, t represents the driving time of the vehicle on the ramp of the underground garage, and θ represents the driving slope of the vehicle on the ramp of the underground garage.

[0068] By the above-mentioned vehicle searching method, the driving slope of the vehicle on the ramp of the underground garage is recorded by the angle sensor, and the driving time and average speed of the vehicle on the ramp of the underground garage are recorded by the acceleration sensor or the speed sensor. By obtaining the driving parameters, the height difference of the vehicle from the parking position to the garage position is calculated, and the specific floor where the vehicle is parked is calculated based on the height range interval where the height difference is located, thereby helping the user to accurately record and remind the floor where the parking position is located in the complex underground garage.

[0069] Further, in combination with Figure 2 As shown, the method for obtaining the driving parameters of the vehicle on the ramp of the underground garage by the sensor comprises:

[0070] recording the driving slope when the vehicle is normally driving;

[0071] in response to monitoring that the driving slope of the vehicle exceeds the slope threshold of normal driving, starting to record the driving time of the vehicle;

[0072] in response to monitoring that the driving slope of the vehicle reverts to below the slope threshold of normal driving, recording the driving slope and average speed of the vehicle within the current driving time.

[0073] By the above-mentioned vehicle searching method, since the driving process of the vehicle from the garage to the parking position mainly experiences the conversion of flat road-slope-flat road, only the driving slope, driving time and average speed of the vehicle during the downhill process need to be obtained to calculate the height difference of the vehicle from the parking position to the garage position. Therefore, the slope threshold of normal driving of the vehicle is set, the driving slope when the vehicle is normally driving is recorded in real time to monitor whether the vehicle is parking in real time, and until the driving slope of the vehicle exceeds the slope threshold of normal driving, it is judged that the vehicle starts to park, at which time the driving time of the vehicle and the driving slope of the vehicle on the ramp of the underground garage are recorded. At the same time, until the driving slope of the vehicle reverts to below the slope threshold of normal driving, it is judged that the vehicle has completely downhill and entered the garage, at which time the recording of the time is stopped, and the average speed is calculated according to the current driving time of the vehicle to obtain all the driving parameters of the vehicle during the downhill process, thereby providing accurate data for the height difference calculation of the vehicle from the parking position to the garage position.

[0074] Further, the method for obtaining the height data of the vehicle from the parking position to the garage position after the vehicle passes through multiple ramps of the underground garage comprises:

[0075] in response to monitoring that the driving slope of the vehicle exceeds the slope threshold of normal driving, and then reverts to below the slope threshold of normal driving after a driving time, recording that the vehicle passes through one ramp of the underground garage;

[0076] In response to the monitoring vehicle passing through multiple ramps in the underground parking garage in sequence, the height difference of the vehicle after traveling on each ramp is calculated based on the driving parameters obtained by the vehicle on each ramp.

[0077] Based on the height differences of the vehicle after traveling on each slope, calculate the multi-slope height difference from the vehicle's entry position to its parking position. The formula for calculating the multi-slope height difference is as follows:

[0078]

[0079] In the formula, This indicates the gradient height difference between the vehicle's entry point and parking position, v. i Let t represent the average speed of the vehicle on the i-th ramp of the underground parking garage. i θ represents the travel time of the vehicle on the i-th ramp in the underground parking garage. i This represents the gradient of the vehicle's travel on the i-th ramp of the underground parking garage.

[0080] With the above-described vehicle location method, in multi-level underground parking garages, where some floors are full, users need to park on a lower floor. In this case, the vehicle's journey involves multiple downhill sections, such as flat ground, downhill, flat ground, downhill, and flat ground. Therefore, by calculating the height difference of the vehicle on each slope and summing these differences, the multi-slope height difference from the entry point to the parking position can be obtained. This facilitates locating the specific floor the vehicle reaches after navigating multiple slopes from the entry point.

[0081] Furthermore, based on the acquired driving parameters, the cloud server calculates the height difference between the vehicle's entry position and parking position using the following methods:

[0082] The vehicle-mounted T-BOX collects driving parameters from sensors and packages these parameters into data packets, which are then transmitted to a cloud server for parsing and storage.

[0083] In response to the detection of a parked vehicle, the cloud server calculates the height difference between the vehicle's entry position and parking position based on the received driving parameters;

[0084] In response to the continuous collection of vehicle driving parameters on the underground parking garage ramp by sensors, the on-board T-BOX periodically sends updated data. The cloud server performs real-time updates and calculations based on the received updated data and stores the calculation results in the parking garage information database.

[0085] Through the setting of the above vehicle searching method, the driving parameters of the vehicle on the ramp of the underground garage can be accurately obtained, and the data is transmitted to the cloud server through the vehicle-mounted T-BOX for processing and calculation, so as to perform data analysis, monitoring and management, and finally obtain the height difference result of the vehicle during downhill process, so that these data can be used for vehicle performance evaluation, safety monitoring, intelligent driving and other application scenarios. The vehicle-mounted T-BOX plays the role of a bridge, transmitting sensor data inside the vehicle to an external system, realizing information interaction between the vehicle and the cloud server.

[0086] Further, the method further comprises:

[0087] Collecting light change data of multiple underground garages in a period of time, and extracting light change characteristics of the underground garages according to the collected multiple light change data;

[0088] Setting the cloud server to trigger the condition for multi-floor vehicle searching according to the extracted light change characteristics, and storing in the garage information database;

[0089] In response to the change of the vehicle driving slope, the vehicle obtains the surrounding light information through the light sensor, the cloud server matches the obtained light information with the trigger condition, and determines whether the vehicle enters the underground garage according to the matching result.

[0090] Through the setting of the above vehicle searching method, the light sensor is preferably installed on the vehicle, and it is ensured that it can accurately detect the surrounding light intensity. The light sensor can also be used to collect light change data of multiple underground garages in a period of time, analyze these data to extract light change characteristics in the underground garage, such as gradual change of light intensity, difference between day and night, etc. According to the light change characteristics of the underground garage, the trigger condition is set. For example, when the light intensity gradually weakens to a certain extent, it is considered that the vehicle enters the underground garage ramp. Only when the vehicle is on the underground garage ramp, the driving parameter acquisition and height difference calculation are triggered, and in other road conditions, such as elevated downhill road section, the input of the light sensor is ignored, thereby avoiding false positives and adapting to various driving scenarios.

[0091] Further, the method for the cloud server to match the obtained light information with the trigger condition and determine whether the vehicle enters the underground garage according to the matching result comprises:

[0092] When the light information and the trigger condition match, the cloud server determines that the vehicle enters the underground garage, and starts searching for the floor number corresponding to the vehicle position;

[0093] When the light information and the trigger condition do not match, the cloud server determines that the vehicle does not enter the underground garage.

[0094] Further, in response to the user's request for finding the vehicle, the method for the cloud server to send the floor number corresponding to the vehicle parking position to the user terminal comprises:

[0095] In response to the GPS acquiring the horizontal position information corresponding to the vehicle parking position, the cloud server stores the horizontal position information;

[0096] In response to the state instruction of the vehicle's power-off lock, the cloud server remotely transmits the floor number and horizontal position information corresponding to the vehicle parking position to the user's mobile phone App;

[0097] The mobile phone App receives the floor number and horizontal position information transmitted by the cloud server and stores them in the local database;

[0098] In response to the user's request for finding the vehicle, the mobile phone App retrieves the floor number and horizontal position information stored in the local database and displays the floor number and horizontal position information corresponding to the vehicle parking position on the interface.

[0099] Through the above-mentioned method for finding the vehicle, the user can remotely obtain the floor number and horizontal position information of the vehicle parking position through the mobile phone App, and can not only obtain the horizontal positioning information of the vehicle when finding the vehicle, but also can see the floor information of the vehicle at the same time, and can go to the specified floor to find the vehicle according to the information, thereby improving the convenience and efficiency of finding the vehicle. At the same time, the cloud server plays a key role in the whole process, which is responsible for processing user requests, querying vehicle position information and interacting with the mobile phone App, ensuring the real-time and accuracy of the floor information and providing a better experience for the user to find the vehicle.

[0100] Further, it also includes a method for synchronizing the floor number corresponding to the vehicle parking position to the vehicle-mounted central control screen:

[0101] Based on the vehicle-mounted IHU, the gear parking state signal of the vehicle is monitored, and the gear parking state signal is sent to the vehicle-mounted T-Box of the vehicle;

[0102] After the vehicle-mounted T-Box receives the gear parking state signal of the vehicle, it initiates a request for finding the vehicle to the cloud server;

[0103] In response to the request for finding the vehicle initiated by the vehicle-mounted T-Box, the cloud server remotely transmits the floor number corresponding to the vehicle parking position to the vehicle-mounted T-Box;

[0104] After the vehicle-mounted T-Box receives the floor number corresponding to the vehicle parking position, it transmits it to the vehicle-mounted central control screen of the vehicle for display.

[0105] Through the setting of the above-mentioned vehicle searching method, the vehicle and the cloud server interact through state instructions, the cloud server transmits the floor number to the vehicle-mounted central control screen, and the vehicle-mounted central control screen is responsible for displaying to the user, so that the user can obtain the specific floor position after parking, so as to accurately record and remind the user of the floor of the parking position before the user gets off, further helping the user to quickly locate the vehicle, and improving the convenience and efficiency of vehicle searching. At the same time, the cloud server can also be integrated with other systems, such as a parking lot management system, to obtain more accurate parking information.

[0106] Further, the method for establishing the garage information database comprises:

[0107] Statistical parameters of the height of a plurality of underground garages, and determine the maximum height value of a single floor of an underground garage from the statistical height parameters;

[0108] According to the maximum height value of a single floor of an underground garage, the height range interval of each floor of an underground garage is set in turn;

[0109] According to the floor corresponding to each height range interval, a unique floor number is established for each height range interval;

[0110] According to the height range interval and the corresponding floor number of each floor of an underground garage, a garage information database is established.

[0111] Through the setting of the above-mentioned vehicle searching method, according to the industry standard JGJ100-2015 "Garage Building Design Specification", the minimum net height of the entrance and ramp of a microcar and a small car is 2.2m, considering the pipeline installation space, beam height, soil thickness, roof thickness and other factors, the conventional height experience data of an underground garage is 3.5-4m, therefore, 4.5m is set as the maximum height value of a single floor of an underground garage, the height range interval of each floor of an underground garage is set, and a unique floor number is established for each height range interval. Assuming that the height difference between the vehicle from the garage position to the parking position is h, and the floor number is L, the corresponding relationship is as follows:

[0112] When h < 4.5m, L = "negative one floor"; When 4.5m < h < 9m, L = "negative two floors";

[0113] When 9m < h < 13.5m, L = "negative three floors";

[0114] When 13.5m < h < 18m, L = "negative four floors"; ……

[0115]

[0116] ​​The underground garage multi-floor vehicle searching method of the present application establishes a garage information database, when the vehicle driving on the ramp of the underground garage changes the slope, the driving parameters including the driving slope, driving time and average speed are collected by the sensor, the height difference of the vehicle from the garage position to the parking position is calculated by the cloud server, and the calculated height difference and the height range interval in the garage information database are matched to determine the floor number corresponding to the vehicle parking position according to the matching result, the floor number determined by the vehicle parking position is sent to the user for prompting by the interaction of the cloud server and the mobile phone App end and the vehicle-mounted central control screen, so that on the basis of combining the GPS to obtain the horizontal position of the vehicle, the specific floor position of the vehicle in the vertical dimension can be obtained, thereby helping the user to accurately record and remind the floor where the parking place is located in the complex underground garage environment, so that the user can smoothly search for the vehicle when leaving, and avoid the difficulty in searching for the vehicle caused by forgetting the parking floor.

[0117] It should be understood that the above embodiments are only used to illustrate the technical solutions of the present application, but not limit it, for those skilled in the art, the technical solutions recorded in the above embodiments can be modified, or some technical features can be replaced by equivalent; all these modifications and replacements shall belong to the protection scope of the appended claims of the present application.

Claims

1. A method for locating a car on multiple floors in an underground parking garage, characterized in that, The multi-level vehicle locating method in the underground parking garage includes: Establish a garage information database, which includes the floor numbers of each underground garage and the height range range corresponding to each floor number; In response to changes in the vehicle's driving gradient, the cloud server obtains the vehicle's height data from its entry point to its parking position. The acquired height data is matched with the height range corresponding to each floor number, and the floor number corresponding to the vehicle parking position is determined based on the matching result. In response to a user's car-finding request, the cloud server sends the floor number corresponding to the vehicle's parking location to the user terminal. The establishment of the garage information database includes: The floor height parameters of multiple underground parking garages are statistically analyzed, and the maximum floor height value of a single floor in the underground parking garage is determined from the statistically analyzed floor height parameters; The height range of each floor in the underground parking garage is sequentially set according to the maximum floor height of a single floor in the underground parking garage. Based on the floors corresponding to each height range, a unique floor number is established for each height range; A garage information database is established based on the height range of each floor in the underground garage and the corresponding floor number.

2. The method for locating a car on multiple floors in an underground parking garage according to claim 1, characterized in that, The method for the cloud server to obtain the height data of the vehicle from the entry position to the parking position in response to changes in the vehicle's driving slope includes: In response to changes in the vehicle's driving gradient, sensors are used to acquire the vehicle's driving parameters on the underground parking garage ramp, including driving gradient, driving time, and average speed. Based on the acquired driving parameters, the cloud server calculates the height difference between the vehicle's entry position and parking position. The formula for calculating the height difference is as follows: In the formula, h represents the height difference between the vehicle's entry position and its parking position, v represents the average speed of the vehicle on the underground parking garage ramp, and t represents the travel time of the vehicle on the underground parking garage ramp. This indicates the driving gradient of the vehicle on the ramp of the underground parking garage.

3. The method for locating a car on multiple floors in an underground parking garage according to claim 2, characterized in that, The method for acquiring the vehicle's driving parameters on the underground parking garage ramp using sensors includes: Record the driving gradient of the vehicle during normal driving; In response to the detection that the vehicle's driving gradient exceeds the normal driving gradient threshold, the vehicle's driving time is recorded. In response to the detection that the vehicle's driving gradient has fallen below the normal driving gradient threshold again, the driving gradient and average speed of the vehicle during the current driving time are recorded.

4. The method for locating a car on multiple floors in an underground parking garage according to claim 3, characterized in that, It also includes a method for obtaining the vehicle's height data from its entry position to its parking position after the vehicle has passed through multiple ramps in the underground parking garage: In response to the detection that the vehicle's driving gradient exceeds the normal driving gradient threshold, and then falls below the normal driving gradient threshold again after a period of driving time, the system records that the vehicle has passed through a ramp of the underground parking garage. In response to monitoring the vehicle sequentially passing through multiple ramps in the underground parking garage, the height difference of the vehicle after traveling on each ramp is calculated based on the driving parameters obtained by the vehicle on each ramp. Based on the height difference of the vehicle after traveling on each slope, the multi-slope height difference of the vehicle from the entry position to the parking position is calculated. The formula for calculating the multi-slope height difference is as follows: In the formula, This indicates the multiple slope height differences between the vehicle's entry point and parking position. This represents the average speed of the vehicle on the i-th ramp of the underground parking garage. This represents the travel time of the vehicle on the i-th ramp of the underground parking garage. This represents the driving gradient of the vehicle on the i-th ramp of the underground garage.

5. The method for locating a car on multiple floors in an underground parking garage according to claim 2, characterized in that, The method by which the cloud server calculates the height difference between the vehicle's entry position and parking position based on the acquired driving parameters includes: The vehicle-mounted T-BOX collects the driving parameters obtained by the sensors, packages the driving parameters into data packets, and transmits them to the cloud server for parsing and storage. In response to the detection that the vehicle is parked, the cloud server calculates the height difference between the vehicle's entry position and parking position based on the received driving parameters; In response to the sensor continuously collecting the vehicle's driving parameters on the underground garage ramp, the on-board T-BOX periodically sends updated data, and the cloud server performs real-time updates and calculations based on the received updated data, storing the calculation results in the garage information database.

6. The method for locating a car on multiple floors in an underground parking garage according to claim 1, characterized in that, It also includes a method for triggering a multi-level vehicle search when the vehicle enters the underground parking garage: Collect light change data of multiple underground parking garages over a period of time, and extract the light change characteristics of the underground parking garages based on the collected light change data; Based on the extracted light change features, the cloud server is set to perform multi-floor car search triggering conditions, and the results are stored in the garage information database; In response to changes in the vehicle's driving slope, the vehicle acquires ambient light information through a light sensor. The cloud server matches the acquired light information with the triggering conditions and determines whether the vehicle should enter the underground parking garage based on the matching result.

7. The method for locating a car on multiple floors in an underground parking garage according to claim 6, characterized in that, The method by which the cloud server matches the acquired light information with the triggering conditions and determines whether the vehicle has entered the underground parking garage based on the matching result includes: When the light information and the triggering condition match, the cloud server determines that the vehicle has entered the underground parking garage and begins to search for the floor number corresponding to the vehicle's location. When the light information and the triggering condition do not match, the cloud server determines that the vehicle has not entered the underground parking garage.

8. The method for locating a car on multiple floors in an underground parking garage according to claim 1, characterized in that, The method by which the cloud server sends the floor number corresponding to the vehicle's parking location to the user terminal in response to a user's vehicle locator request includes: In response to GPS acquiring horizontal position information corresponding to the vehicle's parking location, the cloud server stores the horizontal position information; In response to the vehicle's power-off and locking status command, the cloud server remotely transmits the floor number and horizontal position information corresponding to the vehicle's parking location to the user's mobile app. The mobile app receives the floor number and horizontal position information transmitted from the cloud server and stores them in a local database; In response to a user-triggered car-finding request, the mobile app retrieves the floor number and horizontal position information stored in the local database and displays the floor number and horizontal position information corresponding to the vehicle's parking location on the interface.

9. The method for locating a car on multiple floors in an underground parking garage according to claim 1, characterized in that, It also includes a method for synchronizing the floor number corresponding to the vehicle's parking location to the vehicle's central control screen after determining the floor number: Based on the vehicle-mounted IHU, the vehicle's gear engagement and parking status signal is monitored and sent to the vehicle's vehicle-mounted T-Box; After receiving the signal indicating that the vehicle is in gear and parked, the vehicle-mounted T-Box sends a vehicle search request to the cloud server. In response to the vehicle-mounted T-Box's vehicle-finding request, the cloud server remotely transmits the floor number corresponding to the vehicle's parking location to the vehicle-mounted T-Box; After receiving the floor number corresponding to the vehicle's parking location, the vehicle-mounted T-Box transmits it to the vehicle's central control screen for display.

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