Vehicle searching method, vehicle and computer readable storage device

Abstract

The invention discloses a vehicle searching method, a vehicle and computer readable storage equipment. The method relates to the field of vehicles, and comprises the following steps: in response to a received vehicle searching instruction of a target vehicle sent by a preset terminal, obtaining map data of a parking lot where the target vehicle is located; determining the parking position of the target vehicle in the parking lot based on the associated information of the vehicle identifier; constructing a vehicle searching path between the terminal position and the parking position based on the map data; and sending the vehicle searching path to a preset terminal. According to the invention, the technical problem of low vehicle searching efficiency of the user is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a vehicle searching method, a vehicle and a computer-readable storage device. Background Art

[0002] With the improvement of economic level and productivity level, vehicles have gradually become popular in society. More and more people have bought vehicles as a means of transportation, and even some families or individuals will buy a second or third vehicle to meet family or personal needs. However, with more and more vehicles, parking has become one of the main considerations for driving. In order to meet the parking demand, many parking lots solve the problem of a large number of vehicles in parking demand by expanding the area or building multiple floors. Due to the expansion of the parking area or the increase in maturity, it becomes more troublesome for users to find vehicles. The vehicle search method in the related art has low accuracy, which makes it difficult for users to find their vehicles and even leads to detours or getting lost during the search for the vehicle, and the user's vehicle search efficiency is low.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a vehicle searching method, a vehicle and a computer-readable storage device, so as to at least solve the technical problem of low vehicle searching efficiency of users.

[0005] According to one aspect of an embodiment of the present invention, a vehicle searching method is provided, comprising: in response to receiving a vehicle searching instruction of a target vehicle sent by a preset terminal, obtaining map data of a parking lot where the target vehicle is located, wherein the vehicle searching instruction carries a vehicle identification of the target vehicle and a terminal position of a preset terminal; determining a parking position of the target vehicle in the parking lot based on associated information of the vehicle identification, wherein the associated information is used to record the parking position associated with the vehicle identification; constructing a vehicle searching path between the terminal position and the parking position based on the map data; and sending the vehicle searching path to the preset terminal, wherein the preset terminal is used to search for the target vehicle according to the vehicle searching path.

[0006] Furthermore, the method also includes: responding to a parking instruction for the target vehicle, collecting first driving environment data of the target vehicle between a first detection time point and a second detection time point, wherein the first detection time point is the time point when the target vehicle is detected entering the parking lot, and the second detection time point is the time point when the parking instruction is detected; constructing partial map data of the parking lot based on the first driving environment data; determining map data based on partial map data and other map data, or determining that partial map data is map data, wherein other map data is constructed based on second driving environment data collected from other vehicles entering the parking lot within a historical time period.

[0007] Furthermore, the method also includes: responding to a parking instruction for the target vehicle, collecting a parking space image of the target vehicle's current location; identifying the parking space image to obtain the target vehicle's parking position; and associating the vehicle identification and the parking position to obtain associated information.

[0008] Furthermore, the method also includes: in response to receiving a touch instruction for a preset control in a preset terminal, detecting whether the preset terminal is connected to a preset network; in response to the preset terminal being connected to the preset network, collecting the terminal position of the preset terminal through the preset network; in response to the preset terminal not being connected to the preset network, receiving a parking space identification fed back by the preset terminal, and determining the terminal position based on the parking space identification.

[0009] Furthermore, after sending the vehicle search path to the preset terminal, the method also includes: in response to the current position of the preset terminal being within the first preset area of ​​the parking position, controlling the target vehicle to output a first prompt message, wherein the first prompt message is used to prompt approaching the target vehicle; in response to the current position of the preset terminal not being within the second preset area of ​​the parking position, controlling the target vehicle to output a second prompt message, and / or sending a third prompt message to the target vehicle, wherein the area range of the second preset area is larger than the area range of the first preset area, wherein the second prompt message is used to prompt the target vehicle to stay away from the target vehicle, and the third prompt message is used to prompt the target vehicle to stay away from the target vehicle through the preset terminal.

[0010] Furthermore, after sending the vehicle search path to the preset terminal, the method also includes: in response to receiving feedback information from the preset terminal, determining the intersection position information based on the feedback information, wherein the intersection position information is the position where the user carrying the preset terminal intersects with the target vehicle; sending the intersection position information to the preset terminal; in response to receiving a determination instruction for the intersection position information from the preset terminal, controlling the movement of the target vehicle based on the intersection position information.

[0011] Furthermore, the method also includes: constructing an intersection movement trajectory between the current position of the preset terminal and the parking position based on map data; selecting an intersection position or an intersection position interval from the intersection movement trajectory based on the user's current moving speed and the preset moving speed of the vehicle to obtain the intersection position information.

[0012] According to another aspect of an embodiment of the present invention, a vehicle is provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the method of any one of claims 1 to 7 when running.

[0013] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0014] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0015] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0016] In an embodiment of the present invention, in response to receiving a vehicle search instruction of a target vehicle sent by a preset terminal, map data of the parking lot where the target vehicle is located is obtained; the parking position of the target vehicle in the parking lot is determined based on the associated information of the vehicle identification; a vehicle search path between the terminal position and the parking position is constructed based on the map data; and the vehicle search path is sent to the preset terminal. The present application can accurately determine the precise position of the vehicle in the parking lot through the associated information represented by the vehicle, and construct a vehicle search path between the terminal position and the parking position through map data to inform the user of the shortest distance from the current position of the terminal to the parking position, thereby preventing the user from having difficulty finding his or her vehicle or even taking a detour or getting lost during the vehicle search, thereby achieving the purpose of improving the accuracy of the vehicle search method, thereby achieving the technical effect of improving the user's vehicle search efficiency, and further solving the technical problem of low vehicle search efficiency of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of an optional vehicle finding method according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of an optional vehicle-finding path according to an embodiment of the present invention;

[0020] Figure 3 is a flow chart of a preferred vehicle searching method according to an embodiment of the present invention;

[0021] Figure 4 It is a schematic structural diagram of an optional vehicle finding device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] According to an embodiment of the present invention, an embodiment of a vehicle searching method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0025] The embodiment of the present application provides a vehicle search method. The vehicle search method can be used to provide a vehicle search function for a preset application scenario. The above-mentioned preset application scenarios may include the following scenarios in the vehicle field: commuting autonomous driving scenarios, artificial intelligence (AI) driving scenarios for family cars, automatic parking assist (APA) scenarios (such as memory parking for owned parking spaces in garages, smart parking for designated parking spaces in parking lots, etc.). In addition, the above-mentioned preset application scenarios may also include but are not limited to: vehicle search scenarios for smart driving trucks or unmanned trucks in the field of logistics and transportation, vehicle search scenarios for self-driving agricultural vehicles in the field of agricultural machinery, drone search scenarios for drones, and intelligent robot search scenarios for intelligent robots (such as cleaning robots, service robots, delivery robots, etc.).

[0026] When the above-mentioned preset application scenario is a scenario in a field other than the vehicle field, those skilled in the art should be able to understand that the vehicle in the above-mentioned vehicle search method can be replaced with other objects (such as agricultural machinery, drones, robots, etc.), and correspondingly, the vehicle search can be replaced with searches related to other objects. On this basis, in the embodiments of the present application, the specific implementation of the above-mentioned vehicle search method is exemplified by taking the vehicle field as an example.

[0027] Figure 1 is a flow chart of an optional vehicle searching method according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0028] Step S102, in response to receiving a vehicle search instruction of a target vehicle sent by a preset terminal, obtaining map data of a parking lot where the target vehicle is located, wherein the vehicle search instruction carries a vehicle identification of the target vehicle and a terminal position of the preset terminal.

[0029] The above-mentioned vehicles refer to vehicles that are parked and that the user needs to find, including but not limited to: gasoline-powered cars, gasoline-powered trucks, gasoline-powered trucks, gasoline-powered buses, electric cars, electric trucks, electric trucks, electric buses, hybrid cars, hybrid trucks, hybrid trucks or hybrid buses, etc.

[0030] The target vehicle is a vehicle parked by the user in the parking lot, and is also the vehicle that the user needs to find. In the present application, the vehicle search instruction corresponds to the target vehicle.

[0031] The above-mentioned preset terminal refers to a terminal device carried by the user and used to send a vehicle search instruction for the target vehicle. In this application, the user sends a vehicle search instruction for the target vehicle through the terminal device of the vehicle search instruction to obtain a vehicle search path between the terminal location and the parking location to improve the accuracy of the vehicle search method. Among them, the above-mentioned preset terminal can be a pre-set mobile phone, computer, tablet or watch and other devices.

[0032] The above-mentioned car search instruction refers to an instruction sent by the user to the network or the cloud through a preset terminal for finding the parked vehicle. The above-mentioned car search instruction can be: a Secure Shell (SSH) instruction, a Virtual Network Computing (VNC) instruction, a Remote Management Consoles instruction or a Hyper Text Transfer Protocol (HTTP) instruction, etc.

[0033] The parking lot is a place for parking vehicles. In this application, it is necessary to find vehicles parked in the parking lot. The parking lot includes but is not limited to: public parking lots, special parking lots, temporary parking lots, underground parking lots, ground parking lots, multi-story parking lots, self-service parking lots, smart parking lots, commercial parking lots, residential parking lots or industrial parking lots, etc. The parking lot can also be a parking space marked on the roadside.

[0034] The above map data refers to the detailed map data of the above parking lot. In this application, the car search path between the terminal location and the parking location is constructed through the above map data. The above map data includes but is not limited to: parking lot structure, parking lot vector data, parking lot raster data, parking lot elevation data, parking lot location data, parking lot traffic data or parking lot road data, etc.

[0035] The above-mentioned vehicle identification refers to the identification information of the target vehicle. The target vehicle can be identified in the parking lot through the above-mentioned vehicle identification information, wherein the above-mentioned vehicle identification includes but is not limited to: the license plate information of the target vehicle, the appearance information of the target vehicle or the special mark of the target vehicle, etc.

[0036] The terminal position refers to the current position of the preset terminal when sending the vehicle search instruction of the target vehicle. The terminal position represents the current position of the user.

[0037] In an optional embodiment, the user can send a vehicle search instruction of the target vehicle to the server through the network via the preset terminal, and the server retrieves the map data of the parking lot where the target vehicle is located. The vehicle search instruction of the target vehicle sent by the user through the preset terminal via the network carries the vehicle identification of the target vehicle and the terminal position of the preset terminal.

[0038] In another optional embodiment, the user can send the target vehicle search instruction to the server through the preset terminal using the network, and can also emit point cloud through the point cloud generator in the target vehicle and receive point cloud through the point cloud receiver to construct the point cloud map of the parking lot, and obtain the map data of the parking lot in combination with the point cloud map obtained by other vehicles. The target vehicle search instruction sent by the user through the preset terminal using the network carries the vehicle identification of the target vehicle and the terminal position of the preset terminal.

[0039] In the case where the vehicle search instruction is a hypertext transfer protocol instruction, the user can send the hypertext transfer protocol instruction to the server through the above-mentioned preset terminal using the network, and after receiving the above-mentioned hypertext transfer protocol instruction, the server retrieves the parking lot structure, parking lot vector data, parking lot raster data, parking lot elevation data, parking lot location data, parking lot traffic data or parking lot road data of the parking lot where the above-mentioned target vehicle is located. Among them, the above-mentioned hypertext transfer protocol instruction can also be replaced by: secure shell protocol instruction or virtual network computing instruction, etc.

[0040] In the case where the preset terminal is a mobile phone, the user can send a vehicle search instruction of the target vehicle to the server through the mobile phone. After receiving the vehicle search instruction, the server retrieves the map data of the parking lot where the target vehicle is located. The vehicle search instruction of the target vehicle sent by the user through the preset terminal using the network carries the vehicle identification of the target vehicle and the terminal location of the preset terminal. The mobile phone can also be replaced by a computer, a tablet or a watch.

[0041] In the case where the vehicle identification information of the vehicle is the vehicle license plate information, the user can send a vehicle search command to the cloud through the preset terminal using the network, and after receiving the vehicle search command, the cloud retrieves the map data of the parking lot where the target vehicle is located. The vehicle search command carries the license plate information of the target vehicle, and the license plate information of the vehicle and the current terminal position of the preset terminal are used.

[0042] In this application, the target vehicle's search command is sent to the server or cloud through a preset terminal, so that the server and the cloud can quickly retrieve the parking lot's map data, effectively improving the rate of obtaining the parking lot's map data, thereby effectively improving the rate of vehicle search and improving the user experience.

[0043] Step S104, determining the parking position of the target vehicle in the parking lot based on the associated information of the vehicle identification, wherein the associated information is used to record the parking position associated with the vehicle identification.

[0044] The above-mentioned association information refers to the association information between the vehicle identification of the above-mentioned target vehicle and the parking space where the target vehicle is located. Since there is a one-to-one relationship between the vehicle identification of the above-mentioned target vehicle and the above-mentioned vehicle, the above-mentioned association information is also the association information between the above-mentioned target vehicle and the parking space in the above-mentioned parking lot. The above-mentioned association information can be used to determine the parking space where the above-mentioned target vehicle is located, and then determine the parking position of the above-mentioned target vehicle in the parking lot.

[0045] In an optional embodiment, after the vehicle is parked, an image around the target vehicle can be obtained through a camera installed in the parking lot, and image recognition can be performed on the above image to determine the vehicle identification of the target vehicle, and determine the association information between the vehicle identification and the parking space where the target vehicle is located. After the server or cloud obtains the vehicle search instruction of the target vehicle sent by the above preset terminal, the vehicle identification of the target vehicle contained in the vehicle search instruction can be obtained, and the parking position of the above vehicle in the above parking lot can be determined based on the association information obtained by the camera installed in the parking lot after the vehicle is parked.

[0046] In another optional embodiment, after the vehicle is parked, the vehicle identification of the target vehicle and the parking number of the parking space where the target vehicle is located can be sent to the cloud through manual input by the user. After receiving the vehicle identification of the target vehicle and the parking number of the parking space where the target vehicle is located, the cloud determines the association information between the vehicle identification of the target vehicle and the parking space where the target vehicle is located. When the user needs to find a vehicle, the user sends a vehicle search instruction to the cloud through a preset terminal, and the vehicle search instruction contains the vehicle identification of the target vehicle. After receiving the vehicle search instruction, the cloud can determine the parking position of the above-mentioned vehicle in the above-mentioned parking lot through the association information based on the vehicle identification contained in the vehicle search instruction.

[0047] In the present application, the parking space corresponding to the vehicle identification of the target vehicle can be determined more accurately through the associated information of the above-mentioned vehicle identification, so as to accurately determine the parking position of the above-mentioned target vehicle in the parking lot, effectively improving the accuracy of determining the parking position of the above-mentioned target vehicle in the parking lot, thereby effectively improving the accuracy of vehicle search and improving the user experience.

[0048] Step S106, constructing a vehicle-finding path between the terminal location and the parking location based on the map data.

[0049] The above-mentioned car search path refers to the path from the terminal position of the above-mentioned preset terminal to the above-mentioned parking position. In this application, the above-mentioned car search path can avoid the situation where the user takes a detour or gets lost while searching for a car. Among them, the above-mentioned car search path can be the shortest path or the path with the least traffic.

[0050] Furthermore, the above-mentioned vehicle search path can also be a reference path between the terminal location and the parking location. After constructing the vehicle search path between the terminal location and the parking location based on map data, the user can use the above-mentioned vehicle search path as a reference to move to the parking location of the target vehicle.

[0051] In an optional embodiment, after the server or cloud obtains the parking position of the above-mentioned vehicle in the above-mentioned parking lot, the map data can be sent to the above-mentioned preset terminal. After the above-mentioned preset terminal obtains the above-mentioned map data, it constructs a vehicle search path between the terminal position and the parking position based on the above-mentioned map data.

[0052] In another optional embodiment, after the server or cloud obtains the parking position of the vehicle in the parking lot, the map data is sent to the preset terminal, and the preset terminal constructs a small map between the terminal position and the vehicle position according to the map data, and the preset terminal constructs multiple vehicle search paths between the terminal position and the parking position in the small map based on the terminal position of the preset terminal and the parking position of the vehicle. One of the multiple vehicle search paths is selected as the vehicle search path.

[0053] In the case where the above-mentioned vehicle search path is the shortest path, after the server or cloud obtains the parking position of the above-mentioned vehicle in the above-mentioned parking lot, the map data can be sent to the above-mentioned preset terminal. After the above-mentioned preset terminal obtains the above-mentioned map data, multiple paths between the terminal position and the parking position are constructed according to the above-mentioned map data, and the shortest path among the multiple paths is determined as the above-mentioned vehicle search path.

[0054] In the case where the above-mentioned car-searching path is the path with the least pedestrian flow, after the server or the cloud obtains the parking position of the above-mentioned vehicle in the above-mentioned parking lot, the map data can be sent to the above-mentioned preset terminal. After the above-mentioned preset terminal obtains the above-mentioned map data, the server or the cloud obtains the pedestrian flow data in the parking lot through the camera equipment installed in the parking lot, and sends the pedestrian flow data to the above-mentioned preset terminal. The above-mentioned preset terminal constructs multiple paths between the terminal position and the parking position according to the above-mentioned map data, and determines the path with the least pedestrian flow among the multiple paths according to the pedestrian flow data as the above-mentioned car-searching path.

[0055] For example, Figure 2 is a schematic diagram of an optional vehicle-finding path according to an embodiment of the present invention, such as Figure 2 As shown, it mainly shows the car search navigation interface of the preset terminal. The navigation logo and the constructed map data can be displayed in the upper area of ​​the navigation interface, and the compass is displayed in the lower area of ​​the navigation interface. The current navigation logo reminds the user of the location and direction of the car search path. The map data marks the user's current location and the parking location of the target vehicle. A direction logo can be displayed at the user's current location. The map data also marks the parking spaces near the car search path. The compass displayed in the lower area of ​​the navigation interface also shows the direction of the target vehicle. There is also an exit virtual button in the lower left corner of the navigation interface. The user can exit the navigation by touching the above virtual button.

[0056] The parking position of the target vehicle is parking space 2800, and the parking space closest to the preset terminal is parking space 2000. After the server or cloud obtains the parking position of the target vehicle in the parking lot, the map data is sent to the user's mobile phone. After the user's mobile phone receives the map data of the parking lot, it constructs multiple paths between the terminal position and the parking position according to the map data, and selects the shortest path as the vehicle search path. After determining the vehicle search path, the user's direction is determined by the compass, and the user is guided to move straight or turn to the target vehicle position through navigation signs combining text and images. Among them, the user can also be prompted with the remaining moving distance from the vehicle on the car search path interface, and the user can be prompted with the parking space information of No. 2012, No. 2067, No. 2068, No. 2075, No. 2118, No. 2204, No. 2362, No. 2416, No. 2735, No. 2496, No. 2517 and No. 2713 near the car search path, so that the user can judge at any time whether he is moving correctly according to the car search path during the movement.

[0057] In this application, a relatively accurate vehicle search path between the terminal location and the parking location is constructed through map data, which effectively avoids the situation where users take a detour or get lost while searching for a vehicle. This effectively improves the accuracy of vehicle search and enhances the user experience.

[0058] Through the above steps, in response to receiving the vehicle search instruction of the target vehicle sent by the preset terminal, the map data of the parking lot where the target vehicle is located is obtained; the parking position of the target vehicle in the parking lot is determined based on the associated information of the vehicle identification; a vehicle search path between the terminal position and the parking position is constructed based on the map data; and the vehicle search path is sent to the preset terminal. The present application can accurately determine the precise position of the vehicle in the parking lot through the associated information represented by the vehicle, and construct a vehicle search path between the terminal position and the parking position through map data to inform the user of the shortest distance from the current position of the terminal to the parking position, thereby preventing the user from having difficulty finding his or her vehicle or even taking a detour or getting lost during the vehicle search, thereby achieving the purpose of improving the accuracy of the vehicle search method, thereby achieving the technical effect of improving the user's vehicle search efficiency, and thus solving the technical problem of low vehicle search efficiency of the user.

[0059] Optionally, the method also includes: responding to a parking instruction for the target vehicle, collecting first driving environment data of the target vehicle between a first detection time point and a second detection time point, wherein the first detection time point is the time point when the target vehicle is detected entering the parking lot, and the second detection time point is the time point when the parking instruction is detected; constructing partial map data of the parking lot based on the first driving environment data; determining map data based on partial map data and other map data, or determining that partial map data is map data, wherein other map data is constructed based on second driving environment data collected from other vehicles that entered the parking lot within a historical time period.

[0060] The above-mentioned first detection time point refers to the time point when the above-mentioned target vehicle drives into the above-mentioned parking lot. In the present application, the first driving environment data of the above-mentioned target vehicle between the above-mentioned first detection time point and the above-mentioned second detection time point is used to construct partial map data of the above-mentioned parking lot through the above-mentioned first driving environment data.

[0061] Furthermore, image data at the entrance of the parking lot can be obtained through a camera device installed at the entrance of the parking lot, and image recognition can be performed on the above image data. When the target vehicle is identified, the time point when the target vehicle is identified is recorded as the above-mentioned first detection time point; the time point when the target vehicle enters the parking lot entrance can also be obtained through a sensor installed at the entrance of the parking lot. When the above-mentioned sensor detects the target vehicle, the time point when the target vehicle is detected is determined to be the above-mentioned first detection time point.

[0062] The above-mentioned parking instruction refers to an instruction for the above-mentioned vehicle to be parked in the parking space in the above-mentioned parking lot. The above-mentioned parking instruction includes but is not limited to: a handbrake pull-up instruction, an engine shutdown instruction or a parking gear instruction, etc.

[0063] The above-mentioned second detection time point refers to the time point when the above-mentioned server or cloud detects the above-mentioned parking instruction. In the present application, the first driving environment data of the above-mentioned target vehicle between the above-mentioned first detection time point and the above-mentioned second detection time point is used to construct partial map data of the above-mentioned parking lot through the above-mentioned first driving environment data.

[0064] Furthermore, image data at the parking space can be obtained through a camera device installed in the parking space, and image recognition can be performed on the above image data. When the target vehicle is identified, the time point when the target vehicle is identified is recorded as the above second detection time point. The time point when the target vehicle is parked in the parking space can also be obtained through a sensor installed in the parking space. When the above sensor detects the target vehicle, the time point when the target vehicle is detected is determined to be the above second detection time point. When the vehicle is turned off, the shutdown command can be used as the above parking command, and the parking command can be sent to the above server or cloud, and the time point when the server or cloud detects the above parking command is determined to be the above second detection time point.

[0065] Furthermore, the first detection time point may also be the time point when the target vehicle is started in the parking lot, and the second detection time point may also be the time point when the target vehicle leaves the parking lot.

[0066] The above-mentioned first driving environment data refers to the environmental data around the target vehicle between the first detection time point and the second detection time point, wherein the above-mentioned first driving environment data includes but is not limited to: data such as the structure, parking spaces, parking codes, routes or facilities of the parking lot around the target vehicle between the first detection time point and the second detection time point.

[0067] The above-mentioned other map data refers to other partial map data constructed by other vehicles in addition to the above-mentioned partial map data. In the present application, the above-mentioned other map data is constructed and obtained by collecting the second driving environment data from other vehicles in the parking lot.

[0068] The above-mentioned second driving environment data refers to the environmental data around the other vehicles between the first detection time point and the second detection time point, wherein the above-mentioned first driving environment data includes but is not limited to: data such as the structure, route or facilities of the parking lot around the other vehicles between the first detection time point and the second detection time point.

[0069] In an optional embodiment, after the server or cloud obtains the parking instruction of the target vehicle, the first driving environment data around the target vehicle between the first detection time point when the target vehicle enters the parking lot and the second detection time point when the target vehicle parks can be collected through the vehicle's super-resolution (Super Resolution, SR) recognition technology. Partial map data of the parking lot can be constructed based on the first driving environment data. Other map data can be constructed through the second driving environment data collected from other vehicles that entered the parking lot during the historical time period. After the other map data and the partial map data can be obtained, the server or cloud can determine the map data of the parking lot in combination with the other map data and the partial map data.

[0070] In another optional embodiment, after the server or cloud obtains the parking instruction of the target vehicle, the first driving environment data around the target vehicle between the first detection time point when the target vehicle enters the parking lot and the second detection time point when the target vehicle stops can be collected through camera recognition technology. Partial map data of the parking lot can be constructed based on the first driving environment data. If the second driving environment data is not collected for other vehicles that entered the parking lot during the historical time period, the server or cloud can determine that the partial map data is the map data of the parking lot.

[0071] In the present application, the first driving environment data of the target vehicle between the first detection time point and the second detection time point is used to quickly determine the environmental data of the above-mentioned parking lot, so that the environment in the above-mentioned parking lot can be obtained in time and more accurate environmental data can be established, which effectively improves the accuracy of constructing the above-mentioned map data and improves the user experience.

[0072] Optionally, the method further includes: responding to a parking instruction for the target vehicle, collecting a parking space image of the target vehicle's current location; identifying the parking space image to obtain the target vehicle's parking position; and associating the vehicle identification and the parking position to obtain associated information.

[0073] In an optional embodiment, after the server or cloud obtains the parking instruction of the target vehicle, the image of the parking space where the target vehicle is currently located can be captured by a camera installed in the parking lot. The image of the parking space where the target vehicle is currently located can be image recognized by feature extraction to determine the vehicle identification and parking position of the target vehicle, and the vehicle identification and the parking position can be associated to obtain the associated information.

[0074] Exemplarily, after the server obtains the parking instruction of the target vehicle, it collects the parking space image of the target vehicle's current location through the camera equipment installed in the parking lot, takes the vehicle's license plate number as a feature, and extracts the license plate number from the vehicle through feature extraction, determines the vehicle's license plate number as the vehicle identification, and determines the vehicle's parking position, associates the license plate number as the vehicle identification with the parking position, and obtains associated information.

[0075] In another optional embodiment, after the server or cloud obtains the parking instruction of the target vehicle, the image of the parking space where the target vehicle is currently located can be captured by a camera installed in the parking lot. The image of the parking space where the target vehicle is currently located can be image recognized by template matching to determine the vehicle identification and parking position of the target vehicle, and the vehicle identification and the parking position can be associated to obtain the associated information.

[0076] Exemplarily, after the server obtains the parking instruction of the target vehicle, the image of the parking space where the target vehicle is currently located is collected by a camera installed in the parking lot. The template is determined to be a license plate, and the license plate information of the vehicle is extracted from the parking space image by template matching, the license plate information and the parking position of the vehicle are determined, and the license plate information of the vehicle is used as the vehicle identification of the target vehicle, and then the license plate information as the vehicle identification is associated with the parking position to obtain associated information.

[0077] In the case where the vehicle identification is the license plate information of the target vehicle, after the server or cloud obtains the parking instruction of the target vehicle, the parking space image of the target vehicle can be captured by the camera installed in the parking lot. The parking space image of the target vehicle can be image-recognized by template matching to determine the license plate information of the target vehicle, and the vehicle identification and the parking position can be associated with the target vehicle through the license plate information and the parking position, so as to obtain the association information of the target vehicle and the parking space.

[0078] In the present application, the parking space image is identified to obtain the parking position of the target vehicle, and the vehicle identification and parking position are associated to accurately obtain the above-mentioned associated information, which effectively improves the accuracy of obtaining the associated information and improves the user experience.

[0079] Optionally, the method also includes: in response to receiving a touch instruction for a preset control in a preset terminal, detecting whether the preset terminal is connected to a preset network; in response to the preset terminal being connected to the preset network, collecting the terminal position of the preset terminal through the preset network; in response to the preset terminal not being connected to the preset network, receiving a parking space identification fed back by the preset terminal, and determining the terminal position based on the parking space identification.

[0080] The above-mentioned preset control refers to a control that is pre-set for sending a target vehicle search instruction. In the present application, the preset control can be a physical control, a virtual control, or a voice receiving module, etc. Among them, the above-mentioned preset control can be set according to a preset terminal state, the above-mentioned preset control can also be manually set according to experience and needs, and the above-mentioned preset control can also be set according to actual application scenarios.

[0081] The preset network refers to the wireless local area network (WI-FI) in the parking lot. Since part of the parking lot is underground, the preset terminal may not have a mobile data signal. Therefore, the preset network is connected to the preset terminal through the preset network. The preset network can also be a shopping mall network, a hotel network or a mobile network.

[0082] The parking space mark refers to the parking space mark that is closest to the preset terminal in the parking lot, and the terminal position of the preset terminal can be roughly determined through the parking space mark.

[0083] In an optional embodiment, after receiving a touch command for a preset control in a preset terminal, not only is a vehicle search command for the target vehicle sent to the server, but also a detection is made as to whether the preset terminal is connected to a preset network. When it is detected that the preset terminal is connected to the preset network, the terminal position of the preset terminal can be collected through the preset network; when it is not detected that the preset terminal is connected to the preset network, the parking space mark closest to the preset terminal can be photographed through the preset terminal, the parking space mark can be determined through image recognition, and the terminal position can be determined based on the parking space mark.

[0084] In another optional embodiment, when a touch command for a preset control in a preset terminal is received, not only is a vehicle search command for the target vehicle sent to the server, but also a detection is made as to whether the preset terminal is connected to a preset network. When it is detected that the preset terminal is connected to the preset network, the terminal position of the preset terminal can be collected through the preset network; when it is not detected that the preset terminal is connected to the preset network, the user can manually input the parking space number closest to the preset terminal, and the terminal position can be determined based on the parking space number.

[0085] In the present application, through the above-mentioned parking space identification, even when the preset terminal is not connected to the preset network, the above-mentioned terminal position can still be determined to determine the vehicle search path, which effectively improves the adaptability of the vehicle search method and improves the user experience.

[0086] Optionally, after sending the vehicle search path to the preset terminal, the method also includes: in response to the current position of the preset terminal being within the first preset area of ​​the parking position, controlling the target vehicle to output a first prompt message, wherein the first prompt message is used to prompt approaching the target vehicle; in response to the current position of the preset terminal not being within the second preset area of ​​the parking position, controlling the target vehicle to output a second prompt message, and / or sending a third prompt message to the target vehicle, wherein the area range of the second preset area is larger than the area range of the first preset area, wherein the second prompt message is used to prompt the target vehicle to stay away from the target vehicle, and the third prompt message is used to prompt the target vehicle to stay away from the target vehicle through the preset terminal.

[0087] The first prompt information refers to information sent by the preset terminal to prompt the user to approach the target vehicle, wherein the first prompt information includes but is not limited to: sound information, vibration information or image information.

[0088] The second prompt information refers to information sent by the target vehicle to prompt the user to stay away from the target vehicle. The second prompt information includes but is not limited to: sound information, vibration information or image information.

[0089] The third prompt information refers to the information sent by the preset terminal to prompt the user to stay away from the target vehicle. The second prompt information includes but is not limited to: sound information, vibration information or image information.

[0090] The first preset area refers to a pre-set area for judging that the preset terminal is close to the target vehicle, wherein the first preset area can be set according to the vehicle position, the first preset area can also be manually set according to experience and needs, and the first preset area can also be set according to actual application scenarios. The first preset area is used to remind the user to approach the target vehicle.

[0091] The second preset area refers to a pre-set area for judging that the preset terminal is far away from the target vehicle, wherein the second preset area can be set according to the vehicle position, the second preset area can also be manually set according to experience and needs, the second preset area can also be set according to the actual application scenario, and the range of the second preset area is larger than the range of the first preset area. The second preset area is used to remind the user to stay away from the target vehicle.

[0092] In an optional embodiment, when the current position of the preset terminal is within the first preset area of ​​the parking position, the target vehicle can be controlled to output a first prompt message to prompt the user to approach the target vehicle; when the current position of the preset terminal is not within the second preset area of ​​the parking position, the target vehicle can be controlled to output a second prompt message, and a third prompt message is sent to the preset terminal, so that the target vehicle and the preset terminal jointly prompt the user to stay away from the target vehicle. The range of the second preset area is larger than the range of the first preset area.

[0093] In another optional embodiment, when the current position of the preset terminal is within the first preset area of ​​the parking position, the target vehicle can be controlled to output a first prompt message to prompt the user to approach the target vehicle; when the current position of the preset terminal is not within the second preset area of ​​the parking position, the target vehicle can be controlled to output a second prompt message to prompt the user to stay away from the target vehicle through the target vehicle. The range of the second preset area is larger than the range of the first preset area.

[0094] In the present application, the user is prompted to approach or move away from the target vehicle through the first prompt information and the second prompt information, so as to increase the speed at which the user searches for the vehicle, thereby effectively improving the user's experience.

[0095] Optionally, after sending the vehicle search path to the preset terminal, the method also includes: in response to feedback information received from the preset terminal, determining the intersection position information based on the feedback information, wherein the intersection position information is the position where the user carrying the preset terminal intersects with the target vehicle; sending the intersection position information to the preset terminal; in response to receiving a determination instruction for the intersection position information from the preset terminal, controlling the movement of the target vehicle based on the intersection position information.

[0096] The above-mentioned intersection position information refers to the intersection position of the route from the user to the vehicle and the route from the vehicle to the user. The vehicle stops moving after automatically driving to the above-mentioned intersection position, and the user can get on the vehicle at the above-mentioned intersection position.

[0097] In an optional embodiment, after the server or cloud receives the feedback information from the preset terminal, the intersection position information is determined based on the feedback information, and the intersection position where the user of the preset terminal intersects with the target vehicle is determined. After the intersection position information is determined, the intersection position information is sent to the preset terminal, and the user can determine the intersection position information on the preset terminal. When the user determines the intersection position information, the target vehicle is controlled to move to the intersection position at a safe speed based on the intersection position information.

[0098] In the present application, through the above-mentioned intersection position information, the vehicle can move to the intersection position to meet the user, which effectively improves the speed of the user's vehicle search, reduces the time the user spends in the parking lot, and improves the user's experience.

[0099] Optionally, the method also includes: constructing an intersection movement trajectory between the current position of the preset terminal and the parking position based on map data; selecting an intersection position or an intersection position interval from the intersection movement trajectory based on the user's current moving speed and the preset moving speed of the vehicle to obtain the intersection position information.

[0100] The above-mentioned intersecting movement trajectory refers to the movement trajectory where the movement trajectory of the user from the terminal position to the vehicle position intersects with the movement trajectory of the vehicle from the vehicle position to the parking lot exit.

[0101] The above-mentioned preset moving speed refers to the preset speed at which the above-mentioned target vehicle moves in the above-mentioned parking lot. The above-mentioned preset moving speed ensures the safety of the above-mentioned target vehicle and the safety of people in the above-mentioned parking lot. The above-mentioned preset moving speed can be set according to the vehicle status, the above-mentioned preset moving speed can also be set manually according to experience and needs, and the above-mentioned preset moving speed can also be set according to the actual application scenario.

[0102] In an optional embodiment, a moving trajectory where the user's moving trajectory from the terminal location to the vehicle location intersects with the moving trajectory of the vehicle from the vehicle location to the parking lot exit is constructed based on the map data, and the moving trajectory is determined to be an intersecting moving trajectory. And based on the user's current moving speed and the preset moving speed of the vehicle, an intersecting position or an intersecting interval is selected from the intersecting trajectory to obtain the intersecting position information.

[0103] In this application, the intersection position or intersection position interval is selected from the intersection movement trajectory based on the user's current moving speed and the vehicle's preset moving speed to determine more accurate intersection position information, which effectively improves the accuracy of intersection information acquisition, improves the accuracy of vehicle search, and improves the user experience.

[0104] Combine the following Figure 3 A preferred embodiment of the present invention is described in detail, wherein: Figure 3 is a flow chart of a preferred vehicle searching method according to an embodiment of the present invention. Figure 3As shown, after the vehicle stops at the parking space in the parking lot, the user turns off the vehicle and sends the vehicle's ignition-off instruction to the cloud through the extensible processing unit (XPU). After the cloud receives the vehicle's ignition-off instruction, the first driving environment data around the target vehicle between the first detection time point when the target vehicle enters the parking lot and the second detection time point when the target vehicle stops is collected through the vehicle's camera recognition technology. And other map data is constructed through the second driving environment data collected by other vehicles entering the parking lot during the historical time period. After obtaining other map data and part of the map data, the cloud combines the other map data and part of the map data to determine the map data of the parking lot. After the cloud receives the vehicle's ignition-off instruction, it also collects the parking space image of the target vehicle's current area through the camera equipment installed in the parking lot. Image recognition is performed on the parking space image of the target vehicle's current area through feature extraction to determine the vehicle representation and parking position of the target vehicle. The cloud sends the vehicle's parking position and preset network data and parking lot map data to the extensible processing unit. The extensible processing unit sends the vehicle's parking position to the vehicle location service module, and sends the preset network data and parking lot map data to the parking lot map service module. After receiving the preset network data and parking lot map data, the parking lot map service module generates a line drawing map and stores the parking lot map data in the map database. After the line drawing map is generated, the line drawing map is optimized and the map is drawn.

[0105] When the user needs to find a vehicle, the user uses the preset terminal to send a vehicle search command for the target vehicle through a touch command. When the preset terminal detects the user's touch command, it detects whether the preset terminal is connected to the preset network. When the preset terminal is connected to the preset network, the terminal position of the preset terminal is determined by querying the parking lot map service module through the preset network; when the preset terminal is not connected to the preset network, the parking space identification feedback from the preset terminal is received, and the terminal position is determined based on the parking space identification. After obtaining the terminal position, the vehicle parking position stored in the vehicle location service module and the map are drawn to determine the vehicle search path between the terminal position and the parking position. The user can find the vehicle through the vehicle search path on the navigation interface.

[0106] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0107] According to an embodiment of the present invention, an embodiment of a vehicle searching device is provided. It should be noted that the device can be used to execute the above-mentioned vehicle searching method.

[0108] Figure 4 is a schematic diagram of the structure of an optional vehicle finding device according to an embodiment of the present invention, such as Figure 2 As shown, the device includes: an acquisition module 40, which is used to obtain map data of a parking lot where a target vehicle is located in response to receiving a vehicle search instruction of a target vehicle sent by a preset terminal, wherein the vehicle search instruction carries a vehicle identification of the target vehicle and a terminal position of a preset terminal; a determination module 42, which determines the parking position of the target vehicle in the parking lot based on the associated information of the vehicle identification, wherein the associated information is used to record the parking position associated with the vehicle identification; a construction module 44, which is used to construct a vehicle search path between the terminal position and the parking position based on the map data; and a sending module 46, which is used to send the vehicle search path to the preset terminal, wherein the preset terminal is used to find the target vehicle according to the vehicle search path.

[0109] Optionally, the device also includes: a first acquisition module, used to respond to a parking instruction for a target vehicle, and collect first driving environment data of the target vehicle between a first detection time point and a second detection time point, wherein the first detection time point is the time point when the target vehicle is detected entering the parking lot, and the second detection time point is the time point when the parking instruction is detected; an establishment module, used to construct partial map data of the parking lot based on the first driving environment data; a map data module, used to determine map data based on partial map data and other map data, or, determine that partial map data is map data, wherein other map data is constructed based on second driving environment data collected from other vehicles entering the parking lot within a historical time period.

[0110] Optionally, the device also includes: a second acquisition module, used to respond to a parking instruction for the target vehicle and acquire a parking space image of the target vehicle's current location; an identification module, used to identify the parking space image and obtain the parking position of the target vehicle; and an association module, used to associate the vehicle identification and the parking position to obtain association information.

[0111] Optionally, the device also includes: a detection module, used to detect whether the preset terminal is connected to the preset network in response to receiving a touch instruction for a preset control in the preset terminal; a third acquisition module, used to collect the terminal position of the preset terminal through the preset network in response to the preset terminal being connected to the preset network; a preset network module, used to receive the parking space identification fed back by the preset terminal in response to the preset terminal not being connected to the preset network, and determine the terminal position based on the parking space identification.

[0112] Optionally, the device also includes: a first control module, used to control the target vehicle to output a first prompt message in response to the current position of the preset terminal being within a first preset area of ​​the parking position, wherein the first prompt message is used to prompt approaching the target vehicle; a second control module, used to control the target vehicle to output a second prompt message in response to the current position of the preset terminal not being within a second preset area of ​​the parking position, and / or sending a third prompt message to the preset terminal, wherein the area range of the second preset area is larger than the area range of the first preset area, wherein the second prompt message is used to prompt the target vehicle to stay away from the target vehicle, and the third prompt message is used to prompt the preset terminal to stay away from the target vehicle.

[0113] Optionally, the device also includes: a first response module, used to respond to feedback information received from a preset terminal and determine the intersection position information based on the feedback information, wherein the intersection position information is the position where a user carrying the preset terminal intersects with the target vehicle; an intersection module, used to send the intersection position information to the preset terminal; and a second response module, used to respond to a determination instruction received from the preset terminal for the intersection position information and control the movement of the target vehicle based on the intersection position information.

[0114] Optionally, the device also includes: a trajectory module, used to construct an intersection movement trajectory between the current position of the preset terminal and the parking position based on map data; an acquisition module, used to select an intersection position or an intersection position interval from the intersection movement trajectory based on the user's current moving speed and the vehicle's preset moving speed to obtain the intersection position information.

[0115] An embodiment of the present application further provides a vehicle, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0116] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0117] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0118] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0119] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0121] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0122] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0123] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0124] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle search method, characterized in that: include: In response to receiving a vehicle search instruction of a target vehicle sent by a preset terminal, obtaining map data of a parking lot where the target vehicle is located, wherein the vehicle search instruction carries a vehicle identification of the target vehicle and a terminal position of the preset terminal; Determining a parking position of the target vehicle in the parking lot based on the associated information of the vehicle identification, wherein the associated information is used to record the parking position associated with the vehicle identification; constructing a vehicle-finding path between the terminal location and the parking location based on the map data; The vehicle search path is sent to the preset terminal, wherein the preset terminal is used to find the target vehicle according to the vehicle search path.

2. The vehicle searching method according to claim 1, characterized in that: The method further comprises: In response to a parking instruction for the target vehicle, first driving environment data of the target vehicle between a first detection time point and a second detection time point are collected, wherein the first detection time point is a time point when the target vehicle is detected to enter the parking lot, and the second detection time point is a time point when the parking instruction is detected; constructing partial map data of the parking lot based on the first driving environment data; The map data is determined based on the partial map data and other map data, or the partial map data is determined to be the map data, wherein the other map data is constructed based on second driving environment data collected from other vehicles that entered the parking lot within a historical time period.

3. The vehicle searching method according to claim 1, characterized in that: The method further comprises: In response to a parking instruction for the target vehicle, collecting a parking space image of an area where the target vehicle is currently located; Recognize the parking space image to obtain the parking position of the target vehicle; The vehicle identification and the parking position are associated to obtain the associated information.

4. The vehicle searching method according to claim 1, characterized in that: The method further comprises: In response to receiving a touch control instruction for a preset control in the preset terminal, detecting whether the preset terminal is connected to a preset network; In response to the preset terminal being connected to the preset network, collecting the terminal location of the preset terminal through the preset network; In response to the preset terminal not being connected to the preset network, receiving a parking space identifier fed back by the preset terminal, and determining the terminal position based on the parking space identifier.

5. The vehicle searching method according to any one of claims 1 to 4, characterized in that: After sending the vehicle search path to the preset terminal, the method further includes: In response to the current position of the preset terminal being within the first preset area of ​​the parking position, controlling the target vehicle to output first prompt information, wherein the first prompt information is used to prompt approaching the target vehicle; In response to the current position of the preset terminal not being within the second preset area of ​​the parking position, the target vehicle is controlled to output a second prompt message, and / or a third prompt message is sent to the preset terminal, wherein the area range of the second preset area is larger than the area range of the first preset area, wherein the second prompt message is used to prompt the target vehicle to stay away from the target vehicle, and the third prompt message is used to prompt the preset terminal to stay away from the target vehicle.

6. The vehicle searching method according to any one of claims 1 to 4, characterized in that: After sending the vehicle search path to the preset terminal, the method further includes: In response to receiving feedback information from the preset terminal, determining intersection position information based on the feedback information, wherein the intersection position information is a position where the user carrying the preset terminal intersects with the target vehicle; Sending the intersection position information to the preset terminal; In response to receiving a determination instruction from the preset terminal regarding the intersection position information, the target vehicle is controlled to move based on the intersection position information.

7. The vehicle searching method according to claim 6, characterized in that: The method further comprises: constructing an intersection movement trajectory between the current position of the preset terminal and the parking position based on the map data; An intersection position or an intersection position interval is selected from the intersection movement trajectory based on the current moving speed of the user and the preset moving speed of the vehicle to obtain the intersection position information.

8. A vehicle, characterized in that: include: A memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 7 when running.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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