Parking lot navigation method and device, electronic equipment and storage medium

Abstract

The invention relates to a parking lot navigation method and device, electronic equipment and a storage medium, and the method comprises the steps: creating a parking lot map which comprises parking space position information and a road network; a target parking space number and a starting point parking space number are obtained, the target parking space number is the parking space number of a parking space where a target vehicle is located, and the starting point parking space number is the parking space number determined by a user according to the current starting point position; determining a navigation terminal point Y and a navigation starting point A according to the target parking space number and the starting point parking space number in combination with a parking lot map, and generating a navigation path according to the navigation terminal point Y and the navigation starting point A in combination with the parking lot map; and determining the relative orientation of the user and the starting parking space, generating a navigation instruction according to the relative orientation, and determining the actual advancing direction of the user according to the navigation instruction. The navigation method can determine the actual advancing direction of the user, ensures that the user moves towards the correct navigation path direction, improves the navigation accuracy and precision, and is convenient for the user to use.

Description

Technical Field

[0001] The present invention relates to the technical field of parking management, and in particular to a parking lot navigation method, device, electronic equipment and storage medium. Background Art

[0002] With the development of society and the progress of the times, more and more car owners own vehicles. However, returning to the parking lot to find the target vehicle after parking has always been a thorny problem. The traditional way of finding a car requires the owner to remember the parking space number and the specific location of the parking space in the parking lot when parking, but this method requires a high memory and sense of direction of the owner. In addition, in large or complex parking lots, even if the owner parks and remembers the parking space number, if the owner returns to the parking lot from a different elevator, he or she still cannot find the original location, resulting in the owner often having to spend a lot of time looking for the vehicle.

[0003] At present, there are methods for finding cars in parking lots. Among them, indoor navigation based on beacon facilities such as Bluetooth and WIFI is relatively expensive, requires widespread deployment of beacons, and requires navigation manufacturers to calibrate on-site in advance, so it is difficult to apply on a large scale in the short term. The navigation technology that uses QR code positioning requires the corresponding QR code to be deployed in the mall in advance. In addition, this technology cannot determine the user's real-time location, resulting in poor navigation results. The navigation technology that uses image recognition requires the collection of a large amount of image data and the recognition of the image. The implementation is complex and costly, making it difficult to promote it widely. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a parking lot navigation method, the method comprising: Creating a parking lot map, the parking lot map including parking space location information and a road network, the road network including nodes and edges; Obtain the target parking space number and the starting parking space number, wherein the target parking space number is the parking space number of the target vehicle, and the starting parking space number is the parking space number determined by the user according to the current starting position; According to the target parking space number and the starting parking space number combined with the parking lot map, determine the navigation end point Y and the navigation starting point A, and generate a navigation path according to the navigation end point Y and the navigation starting point A combined with the parking lot map; The relative position between the user and the starting parking space is determined, a navigation instruction is generated according to the relative position, and the actual direction of travel of the user is determined according to the navigation instruction.

[0005] Further, obtaining the target parking space number and the starting parking space number includes: receiving user input information to determine the target parking space number and the starting parking space number, and the user input information includes one or more of text input information, voice input information or parking lot map click information.

[0006] Furthermore, after receiving the user input information and determining the starting parking space number, the method further includes: generating user correct position confirmation information, wherein the user correct position is located at one side of the parking space facing the starting parking space.

[0007] Furthermore, according to the target parking space number and the starting parking space number, in combination with the parking lot map, the navigation end point Y and the navigation starting point A are determined, including: determining the end point position Z according to the target parking space number and the parking space position information, and determining the navigation end point Y according to the end point position Z in combination with the road network; determining the starting point position S according to the starting parking space number and the parking space position information, and determining the navigation starting point A according to the starting point position S in combination with the road network.

[0008] Further, determining the navigation end point Y according to the end point position Z in combination with the road network includes: projecting the end point position Z along the parking space orientation of the target parking space to the edge of the road network closest to the end point position Z to obtain the end point node, and determining the navigation end point Y according to the end point node; determining the navigation starting point A according to the starting point position S in combination with the road network includes: projecting the starting point position S along the parking space orientation of the starting parking space to the edge of the road network closest to the starting point position S to obtain a first node, and determining the navigation starting point A according to the first node.

[0009] Furthermore, the determining of the relative position of the user to the starting parking space includes: determining a second node B adjacent to the first node according to the navigation path; determining a first line AS according to the navigation starting point A and the starting position S, and determining a second line AB according to the navigation starting point A and the second node B; determining an angle between the first line AS and the second line AB, and determining the relative position of the user to the starting parking space according to the value of the angle.

[0010] Further, determining the angle between the first line AS and the second line AB includes: obtaining the angle of rotation of the second line AB when it rotates counterclockwise around A to coincide with the first line AS, and determining the angle according to the rotation angle.

[0011] Further, determining the relative position of the user and the starting parking space according to the value of the angle includes: determining a corresponding relationship between a value range of the angle and the relative position, and determining the relative position of the user and the starting parking space according to an actual value range of the angle.

[0012] Furthermore, determining the correspondence between the value range of the angle and the relative orientation includes: when the value range of the angle is [22.5, 157.5], determining that the user is located on the left side of the starting parking space; when the value range of the angle is [202.5, 337.5], determining that the user is located on the right side of the starting parking space; when the value range of the angle is (157.5, 202.5), determining that the user is at the back side of the starting parking space.

[0013] Further, the determining of the correspondence between the value range of the angle and the relative orientation includes: when the value range of the angle is [22.5, 67.5) When the angle is in the range of [67.5, 112.5), the user is determined to be located at the left front side of the starting parking space; when the angle is in the range of [112.5, 157.5), the user is determined to be located at the left rear side of the starting parking space; when the angle is in the range of [157.5, 202.5), the user is determined to be located at the rear side of the starting parking space; when the angle is in the range of [202.5, 247.5), the user is determined to be located at the right rear side of the starting parking space; when the angle is in the range of [247.5, 292.5), the user is determined to be located at the right side of the starting parking space; when the angle is in the range of [292.5, 337.5), the user is determined to be located at the right front side of the starting parking space.

[0014] Furthermore, the method also includes: when the user travels a certain distance from the navigation starting point A, receiving a current parking space number corresponding to the current position input by the user, updating the starting parking space number to the current parking space number, and dynamically adjusting the navigation path and navigation instructions according to the current parking space number until the user is guided to the target parking space.

[0015] Furthermore, the method also includes: when the user travels a certain distance from the navigation starting point A, receiving a current parking space number corresponding to the current position input by the user, updating the user's current position according to the current parking space number, and dynamically adjusting the navigation instructions according to the user's current position until the user is guided to the target parking space.

[0016] Furthermore, after receiving the current parking space number corresponding to the current position input by the user, it also includes: detecting the number of driving lanes adjacent to the current parking space according to the parking lot map, if the number of driving lanes is at least two, generating a projection point for each driving lane for the user to select, and confirming the user's relative position to the current parking space according to the projection point selected by the user.

[0017] Furthermore, the projection point is a vertical projection point of the center point of the parking space to the edge of the road network corresponding to each of the driving channels. The present invention also relates to a parking lot navigation device, the device comprising: A map creation module, used to create a parking lot map, wherein the parking lot map includes parking space location information and a road network; An information acquisition module is used to acquire a target parking space number and a starting parking space number, wherein the target parking space number is the parking space number of the target vehicle, and the starting parking space number is the parking space number determined by the user according to the current starting position; A path planning module is used to determine the navigation end point Y and the navigation starting point A according to the target parking space number and the starting parking space number in combination with the parking lot map, and generate a navigation path according to the navigation end point Y and the navigation starting point A in combination with the parking lot map; The navigation guidance module is used to determine the relative position between the user and the starting parking space, generate a navigation instruction according to the relative position, and determine the actual direction of travel of the user according to the navigation instruction.

[0018] The present invention also relates to an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned parking lot navigation method.

[0019] The present invention also relates to a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the aforementioned parking lot navigation method when executed by a processor.

[0020] The positive effects that can be achieved by adopting the technical solution of the present invention are: 1) The present invention does not require on-site hardware installation, on-site calibration, or on-site collection of image and other data, which greatly reduces costs and facilitates promotion.

[0021] 2) The present invention can determine the actual direction of travel of the user according to the relative position between the user and the parking space, thereby ensuring that the user moves along the correct navigation direction, improving navigation accuracy and efficiency, and facilitating user use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a first schematic diagram of the parking lot navigation method process in the first embodiment; Figures 2-1 to 2-2 The following is a parking space diagram. Figure 2-1 This is a longitudinal parking space diagram. Figure 2-2 This is a schematic diagram of a horizontal parking space; Figure 3 A schematic diagram of a navigation path for parking lot navigation in the first embodiment; Figure 4 This is a schematic diagram of the correct position of the user in the first embodiment; Figure 5 It is a second schematic diagram of the parking lot navigation method process in the first embodiment; Figure 6 The third schematic diagram of the parking lot navigation method process in the first embodiment; Figure 7 Schematic diagram of the relative positions of the user and the parking space in the first embodiment; Figure 8 Generate a projection point schematic diagram for each driving channel in the first embodiment; Fig. 9 A schematic diagram of the structure of a parking lot navigation device in the second embodiment; Fig.10 It is a schematic diagram of the structure of an electronic device in the third embodiment. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It should be noted that 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 making creative work are within the scope of protection of the present invention.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0026] First embodiment

[0027] See also Figure 1 As shown, this embodiment provides a parking lot navigation method, the method comprising: Step S100, creating a parking lot map, the parking lot map including parking space location information and a road network, the road network including nodes and edges; Exemplarily, the navigation method of this embodiment can be applied to a mobile terminal, which can be a mobile phone, a tablet computer, a PDA or a laptop computer. When creating a parking lot map, map software is used to establish a mark point and a route map for each venue area. For indoor navigation such as parking lots, a design plan is usually imported. In order to unify management and facilitate subsequent use, it is usually necessary to align the plan with an external geographic positioning map (such as a satellite-based map, a GIS map, etc.). In this embodiment, for parking lots, different areas and floors are managed separately, and different maps are made for subsequent selection. Among them, for parking lot maps, each area information contains the boundary polygon of the area and the latitude and longitude coordinates and codes of all points in the area, and the code is usually composed of English letters and numbers. The parking lot map in this embodiment includes parking space location information and a road network, wherein the parking space location information includes the point where the parking space is located in the map and the parking space number corresponding to the point, so that the point (specific location) of the parking space number in the parking lot map can be determined according to the parking space number combined with the parking lot map. The road network is a weighted directed graph, including nodes and edges. Among them, nodes represent intersections or road segment endpoints, edges represent road segments, and the weight of the edge represents the travel cost (distance) of the road segment.

[0028] Considering that the maps of different places and different areas of the same place are different, in order to achieve the correspondence between the parking map loaded by the mobile terminal and the parking lot where it is located, the user needs to match and select the place and area where it is located. In this embodiment, the user can use satellite or base station positioning through the mobile terminal to request a list of places within a certain range (such as 100 meters) from the server. After receiving the user's request, the server queries the places that meet the distance conditions from the database, sorts them from near to far according to the distance, and returns them to the mobile terminal. If the data returned by the server is not empty, the nearest place is used as the current place. The user confirms whether the place is correct. If not, it can be manually selected from the list or map. When the satellite positioning of the device is inaccurate, there may be a place matching error, and the user needs to modify it manually. When the positioning service is not available, the user can also query from the server by name, or select directly from the map. Considering that a place is usually divided into multiple areas for management (for example, the same shopping mall has area A and area B, and the parking lot in area A has different floors). In this embodiment, there are multiple parking spaces in an area, each parking space has a unique number, that is, the parking space number, and the corresponding area can be determined by the parking space number. In addition, in an optional manner, the parking space number can also be reported by the user and the area can be automatically matched from the parking space number. When the user completes the matching selection of the place and the area, the parking map of the area can be downloaded from the server.

[0029] Referring to FIG. 2 , the parking space orientation is described. Figure 2-11-2 is a longitudinal parking space, and 2-2 is a transverse parking space. When creating a parking lot map, for each parking space, its orientation information is stored. The coordinates of the four corner points (1, 2, 3, 4) of the parking space are stored in clockwise order in the parking lot map, where 1-2 is the parking entry side, close to the driving lane, and usually parallel to the driving lane. 4->1 (from 4 to 1) is used as the parking space orientation, that is, the parking entry side is used as the reference, and the parking entry side is the parking space orientation. Generally speaking, the parking space number (such as A001) is sprayed on the 1-2 side, and the parking space number is not sprayed on the other three sides (2-3, 3-4, 4-1), so that the user can clearly see the parking space number on the driving lane on the side facing the parking space, but cannot see, cannot see clearly, or is inconvenient to identify the parking space number on other sides. Therefore, the driving lane on the side facing the parking space is the best position for users to identify the parking space number of the parking space.

[0030] Step S200, obtaining a target parking space number and a starting parking space number, wherein the target parking space number is the parking space number of the target vehicle, and the starting parking space number is the parking space number determined by the user according to the current starting position; In order to obtain the target parking space number and the starting parking space number, this embodiment adopts the method of receiving user input information to determine the target parking space number and the starting parking space number, wherein the user input information includes one or more of text input information, voice input information or parking lot map click information.

[0031] See also Figure 3 As shown, illustratively, parking space number A103 is the starting parking space number, and parking space number A173 is the target parking space number. When the user inputs the target parking space number A173 into the mobile terminal, the target point corresponding to the user's target parking space A173 will be stored until the user covers the target point again in the same area. The user can input the target parking space number A173 into the mobile terminal by text input (such as keyboard typing, handwriting typing, etc.) or voice broadcast, or directly click on the target parking space on the parking space map displayed by the mobile terminal to input the target parking space number A173.

[0032] In this embodiment, the mobile terminal will prompt the user to stand on the driving channel before inputting the starting parking space number A103 into the mobile terminal. The driving channel is the driving channel located on the side facing the parking space, that is, the driving channel is located on the side where the parking entry side is located, facing the parking space entrance. In this embodiment, when the user is located on the driving channel on the side facing the parking space, the specific location of the user can be inferred based on the parking space number input by the user, and then the relevant travel direction guidance is provided to the user.

[0033] After receiving user input information to determine the starting parking space number, the method further includes: generating user correct position confirmation information, wherein the user correct position is located on a parking space facing side of the parking space corresponding to the starting parking space number.

[0034] Specifically, after the user enters the starting parking space number, the mobile terminal will pop up an interface to ask the user to confirm whether he is standing in the correct position, and give voice and text prompts "Please confirm that you are facing the XXX parking space, then click Continue" or "Please confirm that you are on the vehicle entry side, then click Continue."

[0035] See also Figure 4 As shown in the figure, when the parking space number of the parking space determined by the user's current position (for example, the parking space closest to the user) is A103, the user should be standing in the correct user position. The correct user position means that the user should be on the driving lane on the side marked with the parking space number (i.e. the side facing the parking space), rather than standing on other wrong sides, such as standing on the side facing away from the parking space number (the opposite side of the parking space direction) or on the side perpendicular to the parking space direction. Even if the user does not park at position A103, the user can identify the parking space number at other wrong sides, and the user is required to stand in the correct user position.

[0036] Step S300, determining the navigation end point Y and the navigation start point A according to the target parking space number and the starting parking space number in combination with the parking lot map, and generating a navigation path according to the navigation end point Y and the navigation start point A in combination with the parking lot map; When the navigation end point Y and the navigation starting point A are determined, the A* algorithm or genetic algorithm can be used to calculate the travel cost between the navigation end point Y and the navigation starting point A, and the optimal route (such as the shortest distance) can be planned based on the travel cost to determine the navigation path. In addition, in the process of generating the navigation path, the parking space number near each turn is extracted to remind and confirm that the user has arrived at a key intersection (such as a turning point) to prevent the user from going wrong or getting lost.

[0037] Continue to see Figure 3 As shown, the parking spaces near turning points B and C are A105 and A205 respectively, and these key parking space numbers will be highlighted on the map. In addition, in this embodiment, the method for extracting parking space numbers near key intersections is to search for the parking space number of the parking space closest to the key intersection. When there are multiple identical and closest parking space numbers, the first parking space number is taken. When the optimal route is determined, step-by-step navigation instructions can be further generated according to the route.

[0038] See also Figure 5 As shown, for step 300, determining the navigation end point Y and the navigation start point A specifically includes the following steps: Step 310, determining the end position Z according to the target parking space number and the parking space position information; For example, see Figure 3 As shown, when A173 is the target parking space number, the coordinates of the end position Z can be obtained from the parking lot map according to the target parking space number A173. The coordinates of the end position Z can be the midpoint coordinates of the parking entry edge of the end parking space A173 or the center point coordinates of the end parking space A173.

[0039] Step 320, determine the navigation end point Y according to the end point position Z and the road network. In this embodiment, the end point position Z is projected along the parking direction of the target parking space to the edge of the road network closest to the end point position Z to obtain the end point node, and the navigation end point Y is determined according to the end point node; in this embodiment, the navigation end point Y and the end point node are the same point, and the two overlap with each other; Step 330, determining the starting position S according to the starting parking space number and the parking space position information; Continue to see Figure 3 As shown, A103 is the starting parking space number. According to the starting parking space number A103, the coordinates of the starting position S can be queried from the parking lot map. The coordinates of the starting position S can be the midpoint coordinates of the parking entry side of the starting parking space A103 or the center point coordinates of the starting parking space A103.

[0040] Step 340, determine the navigation starting point A based on the starting position S in combination with the road network. In this embodiment, the starting position S is projected along the parking direction of the starting parking space to the edge of the road network closest to the starting position S to obtain a first node, and the navigation starting point A is determined based on the first node. For example, the coordinates of the starting position S are projected along the parking direction of the starting parking space A103 to the road network closest to it to obtain a first node, and the navigation starting point A is determined based on the first node. At this time, the first node coincides with the navigation starting point A, and the two are the same point.

[0041] In this embodiment, the starting position S and the end position Z are projected onto the nearest road network as nodes (S->A, Z->Y) according to the parking space orientations corresponding to their respective positions, so that the projected nodes are incorporated into the road network and constitute the navigation starting point A and the navigation end point Y.

[0042] The above-mentioned step 330 and step 310 may be performed simultaneously, and step 330 is not limited to be located after step 320 .

[0043] Step S400, determining the relative position between the user and the starting parking space, generating a navigation instruction according to the relative position, and determining the actual direction of travel of the user according to the navigation instruction.

[0044] See also Figure 6 As shown, for step 400, determining the relative position between the user and the starting parking space specifically includes the following steps: Step 410, determining a second node B adjacent to the first node according to the navigation path, and determining a first connection line AS according to the navigation starting point A and the starting point position S; Among them, the road network itself includes multiple nodes, assuming that it includes nodes such as B, C, D, E, F..., where each node is a two-dimensional coordinate point, and two adjacent nodes are connected as a straight line segment. In this embodiment, the starting position S is projected into the road network to generate the first node A1, and the end position Z is projected into the road network to generate the end node Y1. Exemplarily, when a navigation path is generated using A* based on the A1 node (navigation starting point) and the end node Y1 (navigation end point), the navigation path is composed of multiple nodes, the first node is the navigation starting point, and the last node is the navigation end point. A directed polyline composed of all nodes connected in sequence constitutes the navigation path. Assuming that the navigation path includes nodes A1, B, E, and Y1, node B is adjacent to the first node A1 and is the next node of the first node A1, that is, the second node B in this embodiment, and the connection between the first node A1 and the second node B is a straight line segment.

[0045] Step 420, determining a second line AB according to the navigation starting point A and the second node B; Step 430, determining the angle between the first connecting line AS and the second connecting line AB; Determining the angle between the first connecting line AS and the second connecting line AB includes: obtaining the angle of rotation of the second connecting line AB when it rotates counterclockwise around A to coincide with the first connecting line AS, and determining the angle according to the rotation angle.

[0046] The following is a description of a method for calculating the angle ∠BAS between the first connecting line AS and the second connecting line AB. The calculation method comprises the following steps: Convert the latitude and longitude coordinates (WGS84 coordinate system) of points S, A, and B into plane coordinates (UTM coordinate system); determine the vector and vector , as follows:

[0047]

[0048] The coordinates of point A are , the coordinates of point B are , the coordinates of point S are .

[0049] vector and vector Angle The calculation method is as follows:

[0050] Among them, atan2 is a commonly used mathematical function that can calculate the angle between a vector and the x-axis. It takes into account the quadrant problem of the vector and returns an angle (radian) ranging from −π to −π.

[0051] Considering In radians, convert it into degrees using the following calculation formula:

[0052] To ensure that the angle ∠BAS is between 0 and 360 degrees, The specific formula for conversion is as follows:

[0053] In the above formula That is the angle ∠BAS.

[0054] For step 440, determining the relative position of the user and the starting parking space based on the value of the angle includes: determining the corresponding relationship between the value range of the angle and the relative position, and determining the relative position of the user and the starting parking space based on the actual value range of the angle.

[0055] See also Figure 7 As shown, the corresponding relationship between the range of the angle and the relative orientation is explained. Considering the situation that the parking lot is not parallel or directly opposite to the driving channel, the orientation of the parking space and the user is divided into 7 orientations, and the fan angle range of each orientation is 45 degrees. When the parking space A103 is located in front of the left of the user, the relative angle between the two is about 45 degrees. In this embodiment, about means that the upper and lower deviations are 22.5, that is, when the angle is between 22.5 and 67.5, it is about 45 degrees.

[0056] Specifically, when the value range of the angle is [22.5, 67.5), it is determined that the user is located at the left front side of the starting parking space; when the value range of the angle is [67.5, 112.5), it is determined that the user is located at the left side of the starting parking space; when the value range of the angle is [112.5, 157.5), it is determined that the user is located at the left rear side of the starting parking space; when the value range of the angle is [157.5, 202.5), it is determined that the user is located at the rear side of the starting parking space; when the value range of the angle is [202.5, 247.5), it is determined that the user is located at the right rear side of the starting parking space; when the value range of the angle is [247.5, 292.5) , the user is determined to be on the right side of the starting parking space; when the angle is in the range of [292.5, 337.5], the user is determined to be on the right front side of the starting parking space. The relative position of the user and the starting parking space can be determined based on the actual range of the angle. For example, when the angle is 90 degrees, the angle is in the range of [67.5, 112.5), and the user is determined to be on the left side of the starting parking space; when the angle is 45 degrees, the angle is in the range of [22.5, 67.5), and the user is determined to be on the left front side of the starting parking space.

[0057] In this embodiment, the angle is divided into 7 directions according to different values, which basically covers all directions in the plane. The accurate and comprehensive division of directions enables the navigation method of this embodiment to adapt to parking lots in various scenarios (for example, some parking spaces are not arranged vertically or parallel to the driving channel, but are arranged obliquely), thereby improving navigation accuracy and efficiency.

[0058] During outdoor navigation, the user's direction of travel can be confirmed by means of positioning methods such as satellites and inertial sensors of mobile phones. In this embodiment, it is assumed that the user's direction is consistent with the direction of travel, that is, the direction in which the user is facing is the direction in which he moves. For example, in Gaode or Baidu Maps, the marked points on the map represent the location of the mobile terminal, and the navigation indicator arrow on the map represents the user's moving direction. When the outdoor navigation software generates the initial navigation path, the user has not started to move, or has just come out of the underground garage, and the satellite positioning has not yet taken effect, it is not easy for the user to determine the initial direction (which direction to go on a road). The outdoor navigation software cannot suggest which direction the user should go when the user is not moving, and the user usually has to judge by himself. However, as long as the GPS positioning is successful, once the user starts to move, the outdoor navigation software can calculate the user's moving direction according to the moving trajectory of the user's GPS positioning, and draw an arrow in the map software to indicate the moving direction. Therefore, the outdoor navigation software is usually easy to determine the user's initial moving direction. As long as the user moves, even if he goes the wrong way at the beginning, it is easy to quickly remind the user to turn around, so that the user's forward direction is consistent with the forward direction planned in the navigation. However, during navigation in indoor environments such as parking lots, the user's direction of travel cannot be inferred through satellite signals due to weak satellite signals. Especially for indoor parking lots, since they are in a closed environment and the surrounding environment of the parking lot is similar, there are few reference objects, and it is difficult for users to identify the specific direction and determine the specific direction of travel. When the navigation prompts "Please go forward", the user cannot confirm which direction is the front prompted by the navigation (unable to determine the specific direction), and the navigation software cannot confirm the user's actual direction of travel.

[0059] In view of the above problem, S400 in this embodiment first determines the relative position between the user and the starting parking space. After the relative position between the user and the starting parking space is determined, a navigation instruction can be generated according to the relative position, and the actual direction of travel of the user is determined according to the navigation instruction.

[0060] The navigation instruction can be converted into navigation voice through the speech synthesis engine of the mobile terminal. For example, when the angle is 90 degrees, the angle is within [67.5, 112.5), and it can be determined that the user is on the left side of the starting parking space. The mobile terminal voice prompts "Please go forward and confirm that parking space A103 is on your left." When the angle is 45 degrees, the angle is within [22.5, 67.5), and it can be determined that the user is on the left front side of the starting parking space. The mobile terminal voice prompts "Please go forward and confirm that parking space A103 is in front of your left." The above navigation instructions can provide users with travel direction guidance, so that the actual walking direction of the user is the direction indicated by the navigation path, avoiding users from walking in the wrong direction.

[0061] For example, when the mobile terminal voice prompts "Please go forward and confirm that parking space A103 is on your left", and the user adjusts the direction so that the actual position of parking space A103 is on the left of the user, then it can be confirmed that the user's actual direction of travel is the forward direction in the navigation path, so as to ensure that the user's actual moving direction is consistent with the direction of the navigation path, and prevent the user from deviating from the navigation path due to the inconsistency between the user's actual direction of travel and the forward direction of the navigation path. Therefore, in this embodiment, a navigation instruction is generated according to the relative position, and the navigation instruction has a prompt information function to guide the user's direction of travel, so as to facilitate the determination of the user's actual direction of travel, so as to improve navigation efficiency, prevent the user from deviating from the navigation path, and ensure that the user can quickly find the target parking space. In addition, S400 in this embodiment can determine the relative position of the user and the parking space by determining the angle between the relative positions of the two. According to the relative position of the two, the user can be guided to adjust the direction and determine the user's direction of travel. There is no need to collect and recognize images of the parking lot, and the requirements for hardware and computing power are low. The low cost is convenient for large-scale promotion.

[0062] In one embodiment, in addition to confirming the user's direction of travel, the navigation instructions also include specific navigation instructions for the user during the travel process. Specifically, step-by-step navigation instructions are generated according to the navigation path, each step of the navigation instruction corresponds to a path segment, and the navigation instructions are displayed on the mobile terminal screen and can be voice broadcast. Figure 3 As shown, the first navigation instruction is, "Please go forward 6 meters and turn right when you see A105". When the user turns right after B and reports that he sees A105 or A135, the navigation determines that the user has arrived at point B. The navigation will rotate the map, display the BC segment vertically, and broadcast the voice, "Please go forward 15 meters and turn left when you see parking space A205".

[0063] In other embodiments, the orientation of the parking space and the user may be divided into three orientations. Specifically, when the value range of the angle is [22.5, 157.5], the user is determined to be on the left side of the starting parking space; when the value range of the angle is [202.5, 337.5], the user is determined to be on the right side of the starting parking space; when the value range of the angle is (157.5, 202.5), the user is determined to be at the back side of the starting parking space. At this time, after the navigation instruction is converted into navigation speech by the speech synthesis engine of the mobile terminal, the voice prompt "Please go forward and confirm that parking space A103 is on your left" or "Please go forward and confirm that parking space A103 is on your right" or "Please go forward and confirm that parking space A103 is behind you" will be given according to the specific value range of the angle. By simply dividing the parking space and the user's position into three positions, the navigation voice type can be simplified and easier for users to understand. Users only need to determine the approximate position of the left side, right side or front side of the parking space, without having to determine whether they are located at the "left front" or "right rear" etc. For example, when the voice prompts, "Please go forward and confirm that parking space A103 is on your left", the user does not need to determine whether it is located at the left front side, left rear side or just on the left side of the parking space, as long as the user is on the left side of the parking space (not the front or rear).

[0064] The parking lot navigation method in this embodiment also includes the following steps: When the user travels a certain distance from the navigation starting point A, the current parking space number corresponding to the current position is received from the user, the starting parking space number is updated to the current parking space number, and the navigation path and navigation guidance information are dynamically adjusted according to the current parking space number until the user is guided to the target parking space.

[0065] In this embodiment, the user can report the parking space number he sees while walking, and the reported parking space will be highlighted on the mobile terminal. In addition, the mobile terminal will update the user's location and update the navigation instructions (such as distance prompt changes) according to the latest reported location. The mobile terminal updates the latest reported parking space location and the user's location inferred based on the reported parking space, and displays it on the interface. The user can use the latest reported parking space number shown on the left or right side of the route to help determine whether he is walking in the right direction and avoid walking in the wrong direction.

[0066] In other embodiments, the parking lot navigation method further includes the following steps: When the user travels a certain distance from the navigation starting point A, the current parking space number corresponding to the current position is received from the user, the user's current position is updated according to the current parking space number, and the navigation instruction is dynamically adjusted according to the user's current position until the user is guided to the target parking space.

[0067] At this time, there is no need to update the starting parking space number, nor to re-plan the navigation path after the starting parking space number is updated. The user's current location is only determined and updated based on the current parking space number reported by the user, and the navigation instructions are dynamically adjusted based on the user's current location to determine whether the user is walking along the previously planned navigation path, so that the user can confirm whether he has deviated from the navigation path. For example, see Figure 3 As shown, when the user walks from parking space A103 to parking space A104, the user reports "I am in A104" by voice, and the navigation instruction is dynamically adjusted and a voice prompt "Please confirm that A104 is on your left" is given. At this time, if the user confirms that his current position is on the left side of parking space A104, it means that the user is walking along the previous navigation path and has not deviated from the navigation path. In addition, the user's current position can be determined by projecting the center point of the parking space or the midpoint of the parking entry side onto the previously planned navigation path to obtain the nearest projection point, and the user's current position is determined according to the position of the nearest projection point.

[0068] In one embodiment, after the mobile terminal receives the current parking space number corresponding to the current position input by the user, it also includes: detecting the number of driving lanes adjacent to the current parking space according to the parking lot map, if the number of driving lanes is at least two, generating a projection point for each driving lane and providing it for the user to select, and confirming the relative position of the user relative to the current parking space according to the projection point selected by the user. The projection point is a vertical projection point of the center point of the parking space to the edge of the road network corresponding to each driving lane.

[0069] Specifically, see Figure 3 As shown in FIG. 1 , for parking space A135, it is adjacent to two lanes. At this time, the mobile terminal needs to determine which lane the user is on to confirm the user's position relative to the current parking space. Figure 8 As shown, after the user reports the parking space A135, the mobile terminal detects that the parking space is adjacent to two driving lanes, and then the vertical projection points 1 and 2 of the center point of the parking space A135 on the edges of the road network corresponding to the two driving lanes are popped up for the user to choose. The user can select by clicking or voice input. For example, when the user is at the position of vertical projection point 1, he can directly report by voice "I am below A135". The relative positions that the user can report include up, down, left, right, etc. The specific position is based on the text of the parking space number. For example, vertical projection point 1 is below the text A135, and vertical projection point 2 is to the left of the text A135.

[0070] Embodiment 2

[0071] Based on the same technical concept as the method embodiment for parking lot navigation method of the above-mentioned embodiment 1, this embodiment provides a parking lot car finding device.

[0072] See also Fig. 9 As shown, this embodiment provides a parking lot navigation device, and the navigation device 500 includes: A map creation module 510 is used to create a parking lot map, which includes parking space location information and a road network; The information acquisition module 520 is used to acquire the target parking space number and the starting parking space number, wherein the target parking space number is the parking space number of the target vehicle, and the starting parking space number is the parking space number determined by the user according to the current starting position; A path planning module 530 is used to determine a navigation end point Y and a navigation start point A according to the target parking space number and the starting parking space number in combination with a parking lot map, and to generate a navigation path according to the navigation end point Y and the navigation start point A in combination with the parking lot map; The navigation guidance module 540 is used to determine the relative position between the user and the starting parking space, generate a navigation instruction according to the relative position, and determine the actual direction of travel of the user according to the navigation instruction.

[0073] The embodiment of the present invention provides a parking lot navigation device, which can determine the navigation end point and starting point according to the current location of the user and the location of the target vehicle, and generate a navigation path according to the navigation end point and starting point; on the other hand, while generating the navigation path, the navigation guidance module of the navigation device of this embodiment generates a navigation instruction according to the relative position, and determines the actual direction of the user according to the navigation instruction. The navigation instruction guides the user to confirm the direction of travel, so that the user can adjust the direction in time according to the navigation instruction to determine the direction of travel, ensure that the actual direction of travel is consistent with the direction of travel of the navigation path, ensure that the user walks along the navigation route, and prevent the user from going astray and causing navigation failure.

[0074] Embodiment 3

[0075] Based on the same technical concept, an embodiment of the present invention further provides an electronic device, see Fig.10 As shown, the electronic device 700 may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the steps of the parking lot car search method described in the above embodiments. For example, it includes: Step S100: creating a parking lot map, wherein the parking lot map includes parking space location information and a road network; Step S200, obtaining a target parking space number and a starting parking space number, wherein the target parking space number is the parking space number of the target vehicle, and the starting parking space number is the parking space number determined by the user according to the current starting position; Step S300: Determine the navigation end point Y and the navigation start point A according to the target parking space number and the starting parking space number in combination with the parking lot map, and generate a navigation path according to the navigation end point Y and the navigation start point A in combination with the parking lot map; Step S400, determining the relative position between the user and the starting parking space, generating a navigation instruction according to the relative position, and determining the actual direction of travel of the user according to the navigation instruction.

[0076] The processor 710 may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0077] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several 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, mobile hard disk, read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0078] The memory 730 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0079] Embodiment 4

[0080] Based on the same technical concept, an embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program, and the computer program includes at least one code segment, which can be executed by a main control device to control the main control device to implement the steps of the parking lot car search method described in the above embodiments. For example, it includes: Step S100: creating a parking lot map, wherein the parking lot map includes parking space location information and a road network; Step S200, obtaining a target parking space number and a starting parking space number, wherein the target parking space number is the parking space number of the target vehicle, and the starting parking space number is the parking space number determined by the user according to the current starting position; Step S300: Determine the navigation end point Y and the navigation start point A according to the target parking space number and the starting parking space number in combination with the parking lot map, and generate a navigation path according to the navigation end point Y and the navigation start point A in combination with the parking lot map; Step S400, determining the relative position between the user and the starting parking space, generating a navigation instruction according to the relative position, and determining the actual direction of travel of the user according to the navigation instruction.

[0081] Based on the same technical concept, an embodiment of the present invention further provides a computer program, which is used to implement the above method embodiment when executed by a main control device.

[0082] The program may be stored in whole or in part on a storage medium packaged together with the processor, or may be stored in whole or in part on a memory not packaged together with the processor.

[0083] Based on the same technical concept, an embodiment of the present invention further provides a processor, which is used to implement the above method embodiment. The above processor can be a chip.

[0084] In summary, the parking lot navigation method, device, electronic device and storage medium provided by the present invention generate navigation path guidance information while generating a navigation path. The guidance path guidance information includes prompt information guiding the user's direction of travel, thereby prompting the user's direction of travel to prompt the user to adjust the direction in time so that the actual direction of travel is consistent with the navigation direction in the navigation path, ensuring that the user walks along the navigation path in the correct direction, thereby improving navigation efficiency.

[0085] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0086] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A parking lot navigation method, characterized in that: The method comprises: Creating a parking lot map, the parking lot map including parking space location information and a road network, the road network including nodes and edges; Obtain the target parking space number and the starting parking space number, wherein the target parking space number is the parking space number of the target vehicle, and the starting parking space number is the parking space number determined by the user according to the current starting position; According to the target parking space number and the starting parking space number combined with the parking lot map, determine the navigation end point Y and the navigation starting point A, and generate a navigation path according to the navigation end point Y and the navigation starting point A combined with the parking lot map; The relative position between the user and the starting parking space is determined, a navigation instruction is generated according to the relative position, and the actual direction of travel of the user is determined according to the navigation instruction.

2. The parking lot navigation method according to claim 1, characterized in that: The obtaining of the target parking space number and the starting parking space number includes: receiving user input information to determine the target parking space number and the starting parking space number, wherein the user input information includes one or more of text input information, voice input information, or parking lot map click information.

3. The parking lot navigation method according to claim 2, characterized in that: After receiving the user input information to determine the starting parking space number, the method further includes: generating user correct position confirmation information, wherein the user correct position is located at one side of the parking space facing the starting parking space.

4. The parking lot navigation method according to claim 1, characterized in that: According to the target parking space number and the starting parking space number, in combination with the parking lot map, the navigation end point Y and the navigation starting point A are determined, including: determining the end point position Z according to the target parking space number and the parking space position information, and determining the navigation end point Y according to the end point position Z in combination with the road network; determining the starting point position S according to the starting parking space number and the parking space position information, and determining the navigation starting point A according to the starting point position S in combination with the road network.

5. The parking lot navigation method according to claim 4, characterized in that: The method of determining the navigation end point Y according to the end point position Z in combination with the road network includes: projecting the end point position Z along the parking space orientation of the target parking space to the edge of the road network closest to the end point position Z to obtain the end point node, and determining the navigation end point Y according to the end point node; the method of determining the navigation starting point A according to the starting point position S in combination with the road network includes: projecting the starting point position S along the parking space orientation of the starting parking space to the edge of the road network closest to the starting point position S to obtain a first node, and determining the navigation starting point A according to the first node.

6. The parking lot navigation method according to claim 4, characterized in that: The determining of the relative position of the user to the starting parking space includes: determining a second node B adjacent to the first node according to the navigation path; determining a first line AS according to the navigation starting point A and the starting position S, and determining a second line AB according to the navigation starting point A and the second node B; determining an angle between the first line AS and the second line AB, and determining the relative position of the user to the starting parking space according to the value of the angle.

7. The parking lot navigation method according to claim 6, characterized in that: Determining the angle between the first connecting line AS and the second connecting line AB includes: obtaining the angle of rotation of the second connecting line AB when it rotates counterclockwise around A to coincide with the first connecting line AS, and determining the angle according to the rotation angle.

8. The parking lot navigation method according to claim 6, characterized in that: Determining the relative position of the user and the starting parking space according to the value of the angle includes: determining the corresponding relationship between the value range of the angle and the relative position, and determining the relative position of the user and the starting parking space according to the actual value range of the angle.

9. The parking lot navigation method according to claim 8, characterized in that: Determining the correspondence between the value range of the angle and the relative orientation includes: when the value range of the angle is [22.5, 157.5], determining that the user is located on the left side of the starting parking space; when the value range of the angle is [202.5, 337.5], determining that the user is located on the right side of the starting parking space; when the value range of the angle is (157.5, 202.5), determining that the user is at the back side of the starting parking space.

10. The parking lot navigation method according to claim 8, characterized in that: Determining the correspondence between the value range of the angle and the relative orientation includes: when the value range of the angle is [22.5, 67.5), it is determined that the user is located at the left front side of the starting parking space; when the value range of the angle is [67.5, 112.5), it is determined that the user is located at the left side of the starting parking space; when the value range of the angle is [112.5, 157.5), it is determined that the user is located at the left rear side of the starting parking space; when the value range of the angle is [157.5, 202.5), it is determined that the user is located at the rear side of the starting parking space; when the value range of the angle is [202.5, 247.5), it is determined that the user is located at the right rear side of the starting parking space; when the value range of the angle is [247.5, 292.5) When the angle is in the range of [292.5, 337.5)], it is determined that the user is located at the right side of the starting parking space. When the angle is in the range of [292.5, 337.5)], it is determined that the user is located at the right front side of the starting parking space.

11. The parking lot navigation method according to any one of claims 1 to 10, characterized in that: The method also includes: when the user travels a certain distance from the navigation starting point A, receiving a current parking space number corresponding to the current position input by the user, updating the starting parking space number to the current parking space number, and dynamically adjusting the navigation path and navigation instructions according to the current parking space number until the user is guided to the target parking space.

12. The parking lot navigation method according to any one of claims 1 to 10, characterized in that: The method also includes: when the user travels a certain distance from the navigation starting point A, receiving a current parking space number corresponding to the current position input by the user, updating the user's current position according to the current parking space number, and dynamically adjusting the navigation instruction according to the user's current position until the user is guided to the target parking space.

13. The parking lot navigation method according to claim 12, characterized in that: After receiving the current parking space number corresponding to the current position input by the user, it also includes: detecting the number of driving lanes adjacent to the current parking space according to the parking lot map, if the number of driving lanes is at least two, generating a projection point for each driving lane for the user to select, and confirming the relative position of the user with respect to the current parking space according to the projection point selected by the user.

14. The parking lot navigation method according to claim 13, characterized in that: The projection point is a vertical projection point of the center point of the parking space to the edge of the road network corresponding to each of the driving passages.

15. A parking lot navigation device, characterized in that: The device comprises: A map creation module, used to create a parking lot map, wherein the parking lot map includes parking space location information and a road network; An information acquisition module is used to acquire a target parking space number and a starting parking space number, wherein the target parking space number is the parking space number of the target vehicle, and the starting parking space number is the parking space number determined by the user according to the current starting position; A path planning module is used to determine the navigation end point Y and the navigation starting point A according to the target parking space number and the starting parking space number in combination with the parking lot map, and generate a navigation path according to the navigation end point Y and the navigation starting point A in combination with the parking lot map; The navigation guidance module is used to determine the relative position between the user and the starting parking space, generate a navigation instruction according to the relative position, and determine the actual direction of travel of the user according to the navigation instruction.

16. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: The processor executes the computer program to implement the parking lot navigation method according to any one of claims 1 to 14.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the parking lot navigation method according to any one of claims 1 to 14 is implemented.

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