Vehicle data processing method and device, computer equipment and storage medium

Abstract

The invention relates to a vehicle data processing method and device, computer equipment, a storage medium and a computer program product. The embodiment of the invention can be applied to a vehicle-mounted scene. The method comprises the following steps: inputting a sensor signal generated by a vehicle sensor of a target vehicle into a preset state machine; the preset state machine comprises a logical relationship among a plurality of vehicle states; updating the shared signal set based on the received sensor signal under the current vehicle state of the target vehicle through a preset state machine, determining the next vehicle state of the target vehicle based on the current shared signal set, and switching from the current vehicle state to the next vehicle state; updating a special signal set corresponding to the target parking state based on the received sensor signal when switching to the target parking state through a preset state machine, and determining parking information of the target vehicle based on the current shared signal set and the current special signal set; the parking information is used as vehicle searching guide information of the target vehicle. By adopting the method, the vehicle searching efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a vehicle data processing method, apparatus, computer equipment, storage medium and computer program product. Background Art

[0002] With the development of transportation technology, more and more people use vehicles as a means of transportation. While using vehicles to travel is convenient, the problem of difficulty in finding a vehicle after parking is becoming more and more serious.

[0003] In the traditional technology, users are usually required to manually take photos to record the parking location, and then the user can find the car based on the photos. Then, the user needs to manually take photos to record the parking location every time he parks, which is time-consuming and labor-intensive, and there is a problem of low efficiency in finding the car. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle data processing method, device, computer equipment, computer-readable storage medium and computer program product that can improve vehicle search efficiency in response to the above technical problems.

[0005] The present application provides a vehicle data processing method, comprising:

[0006] Inputting a sensor signal generated by a vehicle sensor of a target vehicle into a preset state machine; the preset state machine includes a logical relationship between a plurality of vehicle states;

[0007] By means of the preset state machine, in the current vehicle state of the target vehicle, the shared signal set is updated based on the received sensor signal, the next vehicle state of the target vehicle is determined based on the current shared signal set, and the current vehicle state is switched to the next vehicle state; the shared signal set includes sensor signals shared by various vehicle states;

[0008] Through the preset state machine, when switching to the target parking state, the proprietary signal set corresponding to the target parking state is updated based on the received sensor signal, and the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set; the parking information is used as the vehicle search guidance information for the target vehicle.

[0009] In one embodiment, when switching to the target parking state, updating the proprietary signal set corresponding to the target parking state based on the received sensor signal, and determining the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set, includes:

[0010] When switching to an indoor parking state, updating the vehicle parking state in the proprietary signal set corresponding to the indoor parking state based on the received vehicle gear position signal; the indoor parking state is the target parking state;

[0011] When the parking state of the vehicle is a forward state, updating a vehicle camera image sequence in a shared signal set based on a received vehicle front camera image;

[0012] When the parking state of the vehicle is a reverse state, updating the vehicle camera image sequence in the shared signal set and the vehicle rear camera image sequence in the dedicated signal set based on the received vehicle rear camera image;

[0013] When a sensor signal indicating that the vehicle has stopped is received, parking space recognition is performed based on the current vehicle rear camera image sequence to obtain the parking space corresponding to the target vehicle, parking floors are recognized based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, the parking place corresponding to the target vehicle is determined based on the current vehicle positioning signal sequence, and parking information of the target vehicle in the indoor parking state is obtained based on the parking space, parking floor, parking place corresponding to the target vehicle and the current vehicle camera image sequence.

[0014] In one embodiment, updating the vehicle camera image sequence in the shared signal set and the vehicle rear camera image sequence in the proprietary signal set based on the received vehicle rear camera image includes:

[0015] Adding the received vehicle rear camera image to the vehicle camera image sequence in the shared signal set;

[0016] updating a vehicle mileage accumulation value of a second vehicle odometer in the proprietary signal set based on the received speed sensor signal;

[0017] When the vehicle mileage cumulative value of the second vehicle odometer is greater than a third preset threshold and it is determined that there is a vacant parking space within the preset range of the target vehicle, the currently received vehicle rear camera image is added to the vehicle rear camera image sequence in the proprietary signal set, and the second vehicle odometer is reset.

[0018] In one embodiment, the method further comprises:

[0019] Performing character recognition on the vehicle rear camera image in the vehicle rear camera image sequence added to the proprietary signal set to obtain a parking space identification and recognition confidence corresponding to the vehicle rear camera image;

[0020] The method of performing parking space recognition based on the current vehicle rear camera image sequence to obtain a parking space corresponding to the target vehicle includes:

[0021] From the current vehicle rear camera image sequence, a vehicle rear camera image with a recognition confidence greater than a preset confidence is used as a candidate rear camera image;

[0022] Based on the parking space identifications corresponding to the candidate rear-camera images, calculating the similarity of the parking space identifications between the candidate rear-camera images;

[0023] Determining a target rear-camera image from the candidate rear-camera images based on the parking space identification similarity;

[0024] The parking space mark corresponding to the target rear camera image is used as the parking space corresponding to the target vehicle.

[0025] In one embodiment, the method of identifying the number of parking floors based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle includes:

[0026] Determine the head vehicle travel angle sequence of the target vehicle based on the inertial sensor signal in the current vehicle motion signal sequence, and determine the travel speed sequence of the target vehicle based on the speed sensor signal in the current vehicle motion signal sequence;

[0027] Based on the head driving angle sequence and driving speed sequence of the target vehicle, the parking floor corresponding to the target vehicle is determined.

[0028] In one embodiment, determining the parking place corresponding to the target vehicle based on the current vehicle positioning signal sequence includes:

[0029] From the current vehicle positioning signal sequence, the vehicle positioning signal with a signal strength greater than a preset strength is obtained in reverse order of signal generation time as the target positioning signal;

[0030] The point of interest corresponding to the target positioning signal is used as the parking place corresponding to the target vehicle.

[0031] In one embodiment, the method further comprises:

[0032] When the parking state of the vehicle is updated from the forward state to the reverse state, based on the received speed sensor signal, the vehicle mileage cumulative value of the third vehicle odometer in the proprietary signal set is updated; the third vehicle odometer is used to count the vehicle mileage cumulative value from entering the indoor parking state to the last reverse termination;

[0033] When the difference between the current vehicle mileage accumulation value and the historical vehicle mileage accumulation value of the third vehicle odometer is greater than a fourth preset threshold, clearing the vehicle rear camera image sequence in the proprietary signal set;

[0034] After determining the parking information of the target vehicle in the indoor parking state, the vehicle positioning signal sequence, the vehicle camera image sequence in the current shared signal set and the vehicle rear camera image sequence in the proprietary signal set are cleared.

[0035] The present application also provides a vehicle data processing device, comprising:

[0036] A data acquisition module, for inputting a sensor signal generated by a vehicle sensor of a target vehicle into a preset state machine; the preset state machine includes a logical relationship between a plurality of vehicle states;

[0037] A data processing module, configured to update a shared signal set based on a received sensor signal in a current vehicle state of the target vehicle through the preset state machine, determine a next vehicle state of the target vehicle based on the current shared signal set, and switch from the current vehicle state to the next vehicle state; the shared signal set includes sensor signals shared by various vehicle states;

[0038] The data processing module is also used to update the proprietary signal set corresponding to the target parking state based on the received sensor signal through the preset state machine when switching to the target parking state, and determine the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set; the parking information is used as vehicle search guidance information for the target vehicle.

[0039] The present application provides a vehicle data processing method, comprising:

[0040] Display the parking notice corresponding to the target vehicle;

[0041] In response to a triggering event for the parking notification, displaying a vehicle search guidance interface, displaying vehicle search guidance information of the target vehicle in the vehicle search guidance interface;

[0042] The vehicle search guidance information is determined based on the current shared signal set and the current proprietary signal set by a preset state machine that controls the vehicle state switching and updates the shared signal set and the proprietary signal set corresponding to the target parking state based on the received sensor signal when switching to the target parking state; the preset state machine includes the logical relationship between multiple vehicle states, the shared signal set includes sensor signals shared by each vehicle state, and the shared signal set is also used to determine the next vehicle state of the target vehicle.

[0043] The present application also provides a vehicle data processing device, comprising:

[0044] A parking notice display module is used to display the parking notice corresponding to the target vehicle;

[0045] A parking information display module, configured to display a vehicle search guidance interface in response to a triggering event for the parking notification, and display vehicle search guidance information of the target vehicle in the vehicle search guidance interface;

[0046] The vehicle search guidance information is determined based on the current shared signal set and the current proprietary signal set by a preset state machine that controls the vehicle state switching and updates the shared signal set and the proprietary signal set corresponding to the target parking state based on the received sensor signal when switching to the target parking state; the preset state machine includes the logical relationship between multiple vehicle states, the shared signal set includes sensor signals shared by each vehicle state, and the shared signal set is also used to determine the next vehicle state of the target vehicle.

[0047] The present application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned vehicle data processing method when executing the computer program.

[0048] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned vehicle data processing method are implemented.

[0049] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned vehicle data processing method when executed by a processor.

[0050] The above-mentioned vehicle data processing method, device, computer equipment, storage medium and computer program product input the sensor signal generated by the vehicle sensor of the target vehicle into a preset state machine; the preset state machine includes the logical relationship between multiple vehicle states; through the preset state machine, in the current vehicle state of the target vehicle, the shared signal set is updated based on the received sensor signal, the next vehicle state of the target vehicle is determined based on the current shared signal set, and the current vehicle state is switched to the next vehicle state; the shared signal set includes the sensor signal shared by each vehicle state; through the preset state machine, when switching to the target parking state, the proprietary signal set corresponding to the target parking state is updated based on the received sensor signal, and the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set; the parking information is used as the vehicle search guidance information of the target vehicle. In this way, the preset state machine includes the logical relationship between multiple vehicle states, and can intelligently analyze the sensor signals generated by the vehicle in real time to switch the vehicle state and determine the parking information, thereby improving the efficiency of determining the parking information. The preset state machine determines the next vehicle state of the target vehicle based on the sensor signals shared by each vehicle state, switches from the current vehicle state to the next vehicle state, and determines the parking information of the target vehicle based on the sensor signals shared by each vehicle state and the sensor signals specific to the target parking state when switching to the target parking state. The shared signal set and the specific signal set corresponding to the target parking state can flexibly switch the vehicle state and quickly and accurately determine the vehicle search guidance information, which can effectively improve the efficiency of searching for vehicles and ensure the accuracy of searching for vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 A diagram showing an application environment of a vehicle data processing method in one embodiment;

[0053] Figure 2 A schematic flow chart of a vehicle data processing method in one embodiment;

[0054] Figure 3 A schematic diagram of a process for determining parking information of a target vehicle in an indoor parking state in one embodiment;

[0055] Figure 4 is a schematic diagram of switching between various vehicle states in one embodiment;

[0056] Figure 5A schematic diagram of an interface of a vehicle data processing method in another embodiment;

[0057] Figure 6 A schematic diagram of an interface for entering a car search guidance interface through a parking notification in an embodiment;

[0058] Figure 7 This is a schematic diagram of a car search guidance interface in one embodiment;

[0059] Figure 8 A schematic diagram of an interface for playing a parking video in one embodiment;

[0060] Fig. 9 A schematic diagram of an interface for paying parking fees in one embodiment;

[0061] Fig.10 A schematic diagram of an interface for setting a parking fee skipping entry in an embodiment;

[0062] Fig.11 A schematic diagram of an interface for setting parking fee skipping reminder conditions in an embodiment;

[0063] Fig.12 This is a schematic diagram of an interface of a vehicle search guidance interface on a vehicle machine side in an embodiment;

[0064] Fig.13 This is a schematic diagram of an interface of a car owner's car search guidance interface in an embodiment;

[0065] Fig.14 is a structural block diagram of a vehicle data processing device in one embodiment;

[0066] Fig.15 is a structural block diagram of a vehicle data processing device in another embodiment;

[0067] Fig.16 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0069] The embodiments of the present application can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, smart transportation, assisted driving, etc.

[0070] The vehicle data processing method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other servers. The terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented with an independent server or a server cluster consisting of multiple servers or a cloud server.

[0071] Specifically, a preset state machine is provided on the terminal. The terminal inputs the sensor signal generated by the vehicle sensor of the target vehicle into the preset state machine, wherein the preset state machine includes the logical relationship between multiple vehicle states. The terminal updates the shared signal set based on the received sensor signal in the current vehicle state of the target vehicle through the preset state machine, determines the next vehicle state of the target vehicle based on the current shared signal set, and switches from the current vehicle state to the next vehicle state, wherein the shared signal set includes the sensor signal shared by each vehicle state. The terminal updates the proprietary signal set corresponding to the target parking state based on the received sensor signal when switching to the target parking state through the preset state machine, determines the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set, and the parking information is used as the vehicle search guidance information of the target vehicle. The terminal can display the parking information. The terminal can directly send the parking information to other terminals. The terminal can also send the parking information to other terminals through the server, and the other terminals display the parking information.

[0072] For example, a preset state machine is set on the smart vehicle-mounted device, and the smart vehicle-mounted device determines the parking information of the target vehicle through the preset state machine. The smart vehicle-mounted device sends the parking information to the server, and the server sends the parking information to the owner's smart phone or computer or portable wearable device.

[0073] In one embodiment, Figure 2 As shown, a vehicle data processing method is provided, and the method is applied to Figure 1 The terminal in is used as an example for explanation. It can be understood that the method can also be executed by the terminal or the server itself alone, or can be implemented through the interaction between the terminal and the server. Among them:

[0074] Step S202, inputting the sensor signal generated by the vehicle sensor of the target vehicle into a preset state machine; the preset state machine includes a logical relationship between a plurality of vehicle states.

[0075] The target vehicle can be any vehicle. The target vehicle is provided with various vehicle sensors for collecting various operating information during vehicle operation, such as vehicle speed, GPS signal, gear position signal, etc. The vehicle sensor can also be called a vehicle-mounted sensor.

[0076] A state machine is an abstract mathematical model that represents the behavior of a class of systems or programs. The preset state machine is a state machine that is preset for intelligent vehicle search. The preset state machine includes the logical relationship between multiple vehicle states. The vehicle state refers to the state that reflects the behavior of a specific vehicle during the operation and parking of the vehicle. For example, each vehicle state includes the initial state, parking state, and stop state. Logical relationships are used to describe the transition conditions between various vehicle states. The preset state machine can control the switching and transfer between vehicle states based on logical relationships.

[0077] In one embodiment, the preset state machine consists of three parts: a state set, a transition function, and an initial state. The state set represents all possible vehicle states of the intelligent vehicle search system, the transition function describes the process of the intelligent vehicle search system transferring from one vehicle state to another, and the initial state represents the initial state of the intelligent vehicle search system. The intelligent vehicle search system refers to a system or program that automatically analyzes the data generated by the vehicle sensors in real time according to the set program and algorithm during the operation and parking of the vehicle, and obtains the vehicle parking information used for searching the vehicle through the analysis.

[0078] Specifically, during the driving process of the target vehicle, the vehicle sensor of the target vehicle outputs relevant sensor signals in real time. The terminal inputs the sensor signals generated by the vehicle sensor of the target vehicle in real time into a preset state machine, and controls the switching of the vehicle state and generates parking information of the target vehicle when parking through the preset state machine, so that the user can quickly find the vehicle based on the parking information when needed. The preset state machine controls the switching of the vehicle state based on the received sensor signals, and generates parking information of the target vehicle in the parking state based on the received sensor signals.

[0079] In one embodiment, the terminal is a target vehicle. A preset state machine is provided on the target vehicle. The target vehicle inputs a sensor signal generated in real time by a vehicle sensor into the preset state machine, and the preset state machine controls the switching of the vehicle state and generates parking information of the target vehicle when parking.

[0080] Step S204, through the preset state machine, in the current vehicle state of the target vehicle, the shared signal set is updated based on the received sensor signal, the next vehicle state of the target vehicle is determined based on the current shared signal set, and the current vehicle state is switched to the next vehicle state; the shared signal set includes sensor signals shared by each vehicle state.

[0081] The current vehicle state refers to the current vehicle state. It can be understood that when the intelligent vehicle search system is started, the current vehicle state is the initial state.

[0082] The shared signal set includes sensor signals shared by various vehicle states. The sensor signals shared by various vehicle states may be sensor signals that need to be used when performing data processing in various vehicle states. Various vehicle states may share at least one sensor signal. For example, the sensor signals shared by various vehicle states include at least one of sensor signals such as vehicle positioning signals, vehicle motion signals, and vehicle camera images. The vehicle positioning signal refers to the GPS signal of the vehicle. The vehicle motion signal refers to a sensor signal that reflects the movement of the vehicle. For example, the vehicle motion signal may be the vehicle speed. The vehicle camera image refers to an image captured by a vehicle-mounted camera.

[0083] The current shared signal set refers to the latest shared signal set, which includes the latest sensor signals shared by each vehicle state.

[0084] Specifically, the preset state machine can control the switching of the vehicle state based on the shared signal set. Through the preset state machine, the terminal updates the shared signal set based on the received sensor signal in the current vehicle state of the target vehicle, determines the next vehicle state of the target vehicle based on the current shared signal set, and then switches from the current vehicle state to the next vehicle state. The preset state machine includes the transition conditions between each vehicle state. In the current vehicle state of the target vehicle, if the current shared signal set meets the transition condition of a certain vehicle state, the next vehicle state of the target vehicle is determined to be the vehicle state.

[0085] For example, the shared signal set may store a sensor signal indicating whether the vehicle is stopped. If the current shared signal set includes an ignition-off signal indicating that the vehicle is stopped, then the next vehicle state of the target vehicle is determined to be a stopped state.

[0086] Step S206, through the preset state machine, when switching to the target parking state, the proprietary signal set corresponding to the target parking state is updated based on the received sensor signal, and the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set; the parking information is used as the vehicle search guidance information for the target vehicle.

[0087] The parking state refers to the state of the vehicle during the parking process. If the preset state machine includes at least one parking state, the target parking state may be any one of the parking states. For example, if the preset state machine includes an initial state, an indoor parking state, an outdoor state, and a stop state, the target parking state may be an indoor parking state. For another example, if the preset state machine includes an initial state, an indoor parking state, an outdoor parking state, and a stop state, the target parking state may be an indoor parking state or an outdoor parking state.

[0088] The key to the intelligent vehicle search system is to determine the parking information of the vehicle. In order to obtain accurate parking information, a proprietary signal set is set for the target parking state. The proprietary signal set corresponding to the target parking state includes sensor signals that are private to the target parking state. For example, in the target parking state, it is necessary to record the vehicle rear camera image to identify the parking space. In other vehicle states, it is not necessary to specifically record the vehicle rear camera image, so that the proprietary signal set corresponding to the target parking state includes the vehicle rear camera image. The current proprietary signal set refers to the latest proprietary signal set. The current proprietary signal set includes the latest sensor signals that are private to the target parking state.

[0089] The parking information of the target vehicle refers to information related to the parking behavior of the target vehicle. For example, the parking information may include at least one information such as the parking place, parking floor, parking space, parking start time, parking video, parking fee, etc. The parking information of the target vehicle is used as the vehicle search guidance information of the target vehicle, and the user can quickly find the target vehicle based on the vehicle search guidance information of the target vehicle.

[0090] Specifically, the vehicle state includes a target parking state, and in the target parking state, the preset state machine can determine parking information based on the shared signal set and the proprietary signal set corresponding to the target parking state. The terminal controls the switching of the vehicle state through the preset state machine, and when switching to the target parking state, the preset state machine updates the proprietary signal set corresponding to the target parking state based on the received sensor signal, and determines the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set.

[0091] For example, in the target parking state, if the parking information generation condition is triggered, the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set. The parking place of the target vehicle can be determined based on the GPS signal in the current shared signal set, and the parking space of the target vehicle can be determined based on the vehicle rear camera image in the current proprietary signal set. The parking place and parking space of the target vehicle are used as the parking information of the target vehicle.

[0092] In one embodiment, the preset state machine includes a state set and a transfer function. The terminal establishes a base class containing shared variables, the shared variables correspond to the shared signal set, and establishes various sensor input functions, which are functions that accept sensor signal inputs. Furthermore, the terminal establishes subclasses corresponding to each vehicle state based on the base class, the subclass inherits the base class, the subclass includes the proprietary variables required for the vehicle state, and rewrites the sensor input function set corresponding to each subclass. The sensor input function set corresponding to the subclass includes the sensor input functions corresponding to the various sensor signals required for the vehicle state corresponding to the subclass. The sensor signals required for different vehicle states may be different, and the data processing based on the sensor signals may also be different. Therefore, the sensor input function set needs to be rewritten. Finally, based on the base class, each subclass and the sensor input function set corresponding to each subclass, the preset state machine is obtained. Specifically, based on the sensor input function set corresponding to each subclass, the transfer function required for the preset state machine is obtained. In the current vehicle state, data processing is performed based on the sensor input function set corresponding to the subclass corresponding to the current vehicle state. For example, the sensor input function specifies the conditions under which the sensor signal needs to be recorded. In the current vehicle state, the next vehicle state is determined based on the sensor input function set corresponding to the subclass corresponding to the current vehicle state. For example, the sensor input function set specifies which vehicle state needs to be jumped to under what conditions. When switching from the current vehicle state to the next vehicle state, the subclass corresponding to the next vehicle state is assigned to the base class, and the base class calls various required sensor modules to obtain sensor signals and then perform data processing.

[0093] In one embodiment, the terminal is a target vehicle. The target vehicle is provided with a vehicle search application, which is an application for searching the vehicle, and a preset state machine is provided in the vehicle search application. During the driving process of the target vehicle, if the user opens the vehicle search application on the target vehicle, the target vehicle enters the initial state. The target vehicle inputs the sensor signal generated by the vehicle sensor in real time into the preset state machine, and the preset state machine controls the switching of the vehicle state based on the sensor signal and generates parking information in the target parking state. The target vehicle can display the generated parking information in the vehicle search application.

[0094] Furthermore, the parking information can also be displayed on the car owner's terminal so that the user can check the parking information at any time through the car owner's terminal. The car owner's terminal refers to the terminal used by the driver of the target vehicle, such as a mobile phone, computer, smart watch, etc. used by the driver. The car owner's terminal can also be provided with a car search application, which pre-binds the car owner's terminal and the target vehicle. The target vehicle can send the generated parking information to the application server corresponding to the car search application, and the application server sends the parking information to the car owner's terminal corresponding to the target vehicle, and displays the parking information on the car search application of the car owner's terminal.

[0095] It can be understood that the car finding application can refer to the car finding client installed in the terminal, and the client refers to the program installed and running in the terminal; the car finding application can also refer to a car finding application that does not require installation. The installation-free application refers to an application that can be used without downloading and installing. This type of application can also be called a mini-program, which usually runs as a subprogram in the client; the car finding application can also refer to a web car finding application opened through a browser, and the web application is a program accessed through a browser; and so on.

[0096] In the above vehicle data processing method, the sensor signal generated by the vehicle sensor of the target vehicle is input into a preset state machine; the preset state machine includes a logical relationship between multiple vehicle states; through the preset state machine, in the current vehicle state of the target vehicle, the shared signal set is updated based on the received sensor signal, the next vehicle state of the target vehicle is determined based on the current shared signal set, and the current vehicle state is switched to the next vehicle state; the shared signal set includes sensor signals shared by each vehicle state; through the preset state machine, when switching to the target parking state, the proprietary signal set corresponding to the target parking state is updated based on the received sensor signal, and the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set; the parking information is used as the vehicle search guidance information of the target vehicle. In this way, the preset state machine includes a logical relationship between multiple vehicle states, and can intelligently analyze the sensor signals generated by the vehicle in real time to switch the vehicle state and determine the parking information, thereby improving the efficiency of determining the parking information. The preset state machine determines the next vehicle state of the target vehicle based on the sensor signals shared by each vehicle state, switches from the current vehicle state to the next vehicle state, and when switching to the target parking state, determines the parking information of the target vehicle based on the sensor signals shared by each vehicle state and the sensor signals exclusive to the target parking state. By using a shared signal set and a proprietary signal set corresponding to the target parking state, the vehicle state can be switched flexibly and the vehicle search guidance information can be determined quickly and accurately, which can effectively improve the vehicle search efficiency and ensure the vehicle search accuracy.

[0097] In one embodiment, updating the shared signal set based on the received sensor signal includes:

[0098] The received vehicle positioning signal is added to the vehicle positioning signal sequence in the shared signal set, and the received vehicle motion signal is added to the vehicle motion signal sequence in the shared signal set; the received vehicle front camera image that meets the first preset condition is added to the vehicle camera image sequence in the shared signal set; and the received multiple sensor signals that meet the second preset condition are added to the mixed signal sequence in the shared signal set.

[0099] The shared signal set includes a vehicle positioning signal sequence, a vehicle motion signal sequence, a vehicle camera image sequence, and a mixed signal sequence.

[0100] The vehicle positioning signal sequence includes orderly arranged vehicle positioning signals. The vehicle positioning signal refers to the GPS signal of the vehicle. The vehicle positioning signal can be used to determine the parking place. Determining the parking place with reference to the indoor and outdoor driving conditions can improve the accuracy of determining the parking place.

[0101] The vehicle motion signal sequence includes orderly arranged vehicle motion signals. The vehicle motion signal includes at least one of a speed sensor signal and an inertial sensor signal. The vehicle motion signal sequence can be used to determine the parking floor. Determining the parking floor with reference to indoor and outdoor driving conditions can improve the accuracy of determining the parking floor.

[0102] The vehicle camera image sequence includes orderly arranged vehicle camera images. The vehicle camera images include vehicle front camera images. The vehicle front camera images can be used to determine parking videos.

[0103] The mixed signal sequence includes mixed signals arranged in an orderly manner. The mixed signal includes multiple sensor signals. For example, the mixed signal includes a vehicle positioning signal, a vehicle motion signal, and a vehicle camera image. During driving, the mixed signal sequence can be used to determine whether the vehicle is located indoors or outdoors.

[0104] The first preset condition is a condition preset for the vehicle camera image, and is used to determine whether the received vehicle camera image is added to the vehicle camera image sequence. The first preset condition can be set according to actual needs. For example, the received vehicle camera image is added to the vehicle camera image sequence only after a preset time.

[0105] The second preset condition is a condition preset for the mixed signal, and is used to determine whether the received sensor signal belonging to the mixed signal is added to the mixed signal sequence. For example, the received sensor signal belonging to the mixed signal is added to the mixed signal sequence only after every preset driving distance.

[0106] It can be understood that the plurality of types is at least two types. The ordered arrangement can be arranged according to the signal acquisition time or according to the vehicle mileage.

[0107] Specifically, if the preset state machine receives a vehicle positioning signal, the vehicle positioning signal is added to the vehicle positioning signal sequence in the shared signal set. If the preset state machine receives a vehicle motion signal, the received vehicle motion signal is added to the vehicle motion signal sequence in the shared signal set.

[0108] If the preset state machine receives a vehicle front camera image, it determines whether the vehicle front camera image satisfies a first preset condition. If the first preset condition is satisfied, the vehicle front camera image is added to the vehicle camera image sequence in the shared signal set. If not, there is no need to add the vehicle front camera image to the vehicle camera image sequence in the shared signal set. For example, the most recently collected vehicle front camera image may be added to the vehicle camera image sequence in the shared signal set every first preset vehicle travel distance; the most recently collected vehicle front camera image may be added to the vehicle camera image sequence in the shared signal set every first preset travel time.

[0109] If the preset state machine receives a sensor signal belonging to a mixed signal, it determines whether the sensor signal satisfies a second preset condition. If so, the sensor signal is added to the mixed signal sequence in the shared signal set. If not, the sensor signal does not need to be added to the mixed signal sequence in the shared signal set. For example, the most recently collected sensor signal belonging to a mixed signal can be added to the mixed signal sequence in the shared signal set every second preset vehicle travel distance; the most recently collected sensor signal belonging to a mixed signal can be added to the mixed signal sequence in the shared signal set every second preset travel time.

[0110] In the above embodiment, the received vehicle positioning signal is added to the vehicle positioning signal sequence in the shared signal set, and the received vehicle motion signal is added to the vehicle motion signal sequence in the shared signal set, which can ensure that there is sufficient data in the vehicle positioning signal sequence and the vehicle motion signal sequence, and improve the accuracy of subsequent data processing. The received vehicle front camera image that meets the first preset condition is added to the vehicle camera image sequence in the shared signal set. The data volume of the vehicle front camera image is relatively large. The vehicle front camera image is filtered based on the first preset condition, which can save computer storage resources. The received multiple sensor signals that meet the second preset condition are added to the mixed signal sequence in the shared signal set. The mixed signal includes multiple sensor signals, and the data volume is relatively large. The mixed signal is filtered based on the second preset condition, which can save computer storage resources. In addition, each vehicle state includes a state where the vehicle is located indoors and a state where the vehicle is located outdoors. The received related sensor signals are added to the shared signal set, so that the shared signal set can include the sensor signal output by the vehicle when it is located indoors and the sensor signal output by the vehicle when it is located outdoors. Such a shared signal set helps to improve the accuracy of determining the vehicle state and helps to accurately distinguish the state where the vehicle is located indoors and the state where the vehicle is located outdoors.

[0111] In one embodiment, adding the received vehicle front camera image that meets the first preset condition to the vehicle camera image sequence in the shared signal set includes:

[0112] Based on the received speed sensor signal, the vehicle mileage cumulative value of the first vehicle odometer in the shared signal set is updated; when the vehicle mileage cumulative value of the first vehicle odometer is greater than a first preset threshold, the currently received vehicle front camera image is added to the vehicle camera image sequence in the shared signal set, and the vehicle mileage cumulative value of the first vehicle odometer is reset; when the number of images in the vehicle camera image sequence is greater than a second preset threshold, the images in the vehicle camera image sequence are deleted in positive order of image acquisition time.

[0113] The first vehicle odometer is a vehicle odometer for a vehicle camera image. The vehicle odometer is used to determine the travel distance of the vehicle. The vehicle camera image includes a vehicle front camera image. The vehicle front camera image is an image obtained by photographing the environment in front of the vehicle. For example, the vehicle front camera image is collected by a camera set at the front of the vehicle.

[0114] The speed sensor signal is a sensor signal that reflects the vehicle's moving speed or driving speed. For example, the speed sensor signal may be a wheel speed signal of the vehicle.

[0115] It can be understood that the first preset threshold and the second preset threshold can be set according to actual needs.

[0116] Specifically, if the preset state machine receives a vehicle front camera image, it is necessary to add the vehicle front camera image to the vehicle camera image sequence in the shared signal set when the vehicle front camera image meets the first preset condition. The first preset condition is related to the first vehicle odometer in the shared signal set. If the preset state machine receives a speed sensor signal, it updates the vehicle mileage accumulation value of the first vehicle odometer in the shared signal set based on the received speed sensor signal. The preset state machine can determine the vehicle speed based on the received speed sensor signal, determine the driving distance based on the vehicle speed and driving time, and update the vehicle mileage accumulation value of the first vehicle odometer based on the driving distance. If the preset state machine receives a vehicle front camera image, it compares the vehicle mileage accumulation value of the first vehicle odometer with the first preset threshold value. When the vehicle mileage accumulation value of the first vehicle odometer is greater than the first preset threshold value, the preset state machine adds the vehicle front camera image to the vehicle camera image sequence in the shared signal set and resets the vehicle mileage accumulation value of the first vehicle odometer. The vehicle mileage accumulation value of the first vehicle odometer can be reset to a preset value, for example, the vehicle mileage accumulation value of the first vehicle odometer is reset to zero.

[0117] Furthermore, when the number of images in the vehicle camera image sequence is greater than a second preset threshold, the images in the vehicle camera image sequence may be deleted in positive order of image acquisition time. That is, when the number of images in the vehicle camera image sequence is greater than the second preset threshold, the image that was first added to the vehicle camera image sequence may be deleted.

[0118] It can be understood that the generation process of the mixed signal sequence in the shared signal set can also refer to the generation process of the vehicle camera image sequence in the shared signal set, and different types of sensor signals belonging to the mixed signal can correspond to the same or different receiving frequencies for joining the mixed signal sequence.

[0119] In one embodiment, the second preset threshold corresponding to the indoor parking state is greater than the second preset threshold corresponding to other vehicle states. The vehicle camera image sequence is used to generate the parking video. In the indoor parking state, more vehicle front camera images are added to the vehicle camera image sequence in the shared signal set, which can increase the proportion of images captured indoors in the parking video, thereby ensuring the guidance accuracy of the parking video and improving the accuracy of finding the vehicle.

[0120] In the above embodiment, when the vehicle mileage cumulative value of the first vehicle odometer is greater than the first preset threshold, the currently received vehicle front camera image is added to the vehicle camera image sequence in the shared signal set, and the vehicle mileage cumulative value of the first vehicle odometer is reset. The vehicle front camera image can be added to the vehicle camera image sequence in the shared signal set at every preset vehicle driving distance by means of the vehicle mileage cumulative value of the first vehicle odometer, ensuring that the vehicle camera image sequence in the shared signal set can steadily hold guiding images. When the number of images in the vehicle camera image sequence is greater than the second preset threshold, the images in the vehicle camera image sequence are deleted in the positive order of the image acquisition time, so that images that occupy computer resources and have little guiding effect can be deleted in time from the vehicle camera image sequence.

[0121] In one embodiment, determining a next vehicle state of a target vehicle based on a current set of shared signals includes:

[0122] When the current vehicle state of the target vehicle is not a stopped state and no sensor signal indicating that the vehicle has stopped is received, the mixed signal sequence in the current shared signal set is input into the parking lot entry and exit recognition model to obtain a predicted vehicle state, and the predicted vehicle state is used as the next vehicle state of the target vehicle; the predicted vehicle state is an indoor parking state or an outdoor state; when a sensor signal indicating that the vehicle has stopped is received, the next vehicle state of the target vehicle is determined to be a stopped state; when a sensor signal indicating that the vehicle has started is received in the stopped state, the next vehicle state of the target vehicle is determined to be a started state.

[0123] Among them, the parking lot entry and exit recognition model is an artificial intelligence model used to identify whether a vehicle enters or leaves an indoor parking lot. The input data of the parking lot entry and exit recognition model is a mixed signal sequence, and the output data is the predicted vehicle state, which is the indoor parking state or the outdoor state. When the predicted vehicle state is the indoor parking state, it means that the vehicle is recognized to enter the indoor parking lot, and when the predicted vehicle state is the outdoor state, it means that the vehicle is recognized to leave the indoor parking lot.

[0124] Specifically, when the preset state machine receives a sensor signal indicating that the vehicle has stopped, it determines that the next vehicle state of the target vehicle is a stopped state. That is, after the vehicle is started, if it is detected that the vehicle has stopped, it determines that the next vehicle state of the target vehicle is a stopped state, and then switches to the stopped state.

[0125] In the stopped state, when the preset state machine receives a sensor signal indicating that the vehicle is started, it determines that the next vehicle state of the target vehicle is the started state. That is, after the vehicle stops, if the vehicle is detected to be started, the next vehicle state of the target vehicle is determined to be the started state, and then switched to the started state. It can be understood that the started state can also be called the initial state.

[0126] When the current vehicle state of the target vehicle is not a stopped state and no sensor signal indicating that the vehicle is stopped is received, the preset state machine inputs the mixed signal sequence in the current shared signal set into the parking lot entry and exit recognition model to obtain a predicted vehicle state, and uses the predicted vehicle state as the next vehicle state of the target vehicle. That is, after the vehicle is started, if it is recognized that the vehicle enters an indoor parking lot, the next vehicle state of the target vehicle is determined to be an indoor parking state, and then switched to the indoor parking state.

[0127] It is understood that the sensor signal indicating that the vehicle is stopped may be a parking gear, such as P gear, or other sensor signals. The sensor signal indicating that the vehicle is started may be a forward gear, such as N gear, or other sensor signals.

[0128] In one embodiment, the parking lot entry and exit recognition model is a multimodal model. A multimodal model is an artificial intelligence model that can process multiple types of data. By combining different types of data, the multimodal model can provide more comprehensive and accurate information. The latest mixed signal sequence can be input into the parking lot entry and exit recognition model at regular intervals. The parking lot entry and exit recognition model can output an accurate predicted vehicle state by combining multiple sensor signals in the mixed signal sequence.

[0129] In the above embodiment, the mixed signal sequence in the current shared signal set is input into the parking lot entry and exit recognition model to obtain the predicted vehicle state, which can accurately determine whether the vehicle enters or leaves the indoor parking lot by integrating sensor signals from multiple perspectives.

[0130] In one embodiment, Figure 3 As shown, when switching to the target parking state, the proprietary signal set corresponding to the target parking state is updated based on the received sensor signal, and the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set, including:

[0131] Step S302, when switching to the indoor parking state, based on the received vehicle gear position signal, the vehicle parking state in the dedicated signal set corresponding to the indoor parking state is updated; the indoor parking state is the target parking state.

[0132] The target parking state is an indoor parking state. The proprietary signal set corresponding to the indoor parking state includes the vehicle parking state. The vehicle parking state is divided into a forward state and a reverse state. When a vehicle gear position signal indicating a reverse gear is received, the vehicle parking state is determined to be a reverse state. When a vehicle gear position signal indicating a forward gear is received, the vehicle parking state is determined to be a forward state.

[0133] Step S304 : when the parking state of the vehicle is the forward state, based on the received vehicle front camera image, the vehicle camera image sequence in the shared signal set is updated.

[0134] Step S306 , when the parking state of the vehicle is the reverse state, based on the received vehicle rear camera image, the vehicle camera image sequence in the shared signal set and the vehicle rear camera image sequence in the dedicated signal set are updated.

[0135] The proprietary signal set corresponding to the indoor parking state also includes a vehicle rear camera image sequence. The vehicle rear camera image sequence includes orderly arranged vehicle rear camera images. The vehicle rear camera image is an image obtained by photographing the environment behind the vehicle. For example, the vehicle rear camera image is collected by a camera set at the rear of the vehicle. The vehicle rear camera image sequence is used to determine the parking space.

[0136] Specifically, when switching to the indoor parking state, if the preset state machine receives a vehicle gear signal, the vehicle parking state in the proprietary signal set corresponding to the indoor parking state is updated in a timely manner based on the vehicle gear signal. When the vehicle parking state is the forward state, if the preset state machine receives the vehicle front camera image, the vehicle camera image sequence in the shared signal set is updated based on the vehicle front camera image to record the front driving scene. When the vehicle parking state is the reverse state, if the preset state machine is based on the received vehicle rear camera image, the vehicle camera image sequence in the shared signal set is updated based on the received vehicle rear camera image to record the rear reverse scene. When the vehicle parking state is the reverse state, if the preset state machine is based on the received vehicle rear camera image, the vehicle rear camera image sequence in the proprietary signal set can also be updated based on the received vehicle rear camera image.

[0137] Step S308, when receiving the sensor signal indicating that the vehicle has stopped, the parking space is identified based on the current vehicle rear camera image sequence to obtain the parking space corresponding to the target vehicle, the parking floor number is identified based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, the parking place corresponding to the target vehicle is determined based on the current vehicle positioning signal sequence, and the parking space, parking floor, parking place corresponding to the target vehicle and the current vehicle camera image sequence are used to obtain the parking information of the target vehicle in the indoor parking state.

[0138] Among them, the vehicle rear camera image sequence in the proprietary signal set is used to identify the parking space, which refers to the parking space used for parking. For example, the parking space number is identified based on the vehicle rear camera image in the vehicle rear camera image sequence. The vehicle motion signal sequence in the shared signal set is used to identify the parking floor number, which refers to the parking floor of the vehicle. For example, the vehicle motion signal in the vehicle motion signal sequence is used to identify the vehicle driving floor number as the parking floor number. The vehicle positioning signal sequence in the shared signal set is used to identify the parking place, which refers to the vehicle parking building.

[0139] The current vehicle rear camera image sequence refers to the latest vehicle rear camera image sequence. The current vehicle motion signal sequence refers to the latest vehicle motion signal sequence. The current vehicle positioning signal sequence refers to the latest vehicle positioning signal sequence.

[0140] Specifically, if the preset state machine receives a sensor signal indicating that the vehicle has stopped, it performs parking space identification based on the current vehicle rear camera image sequence to obtain the parking space corresponding to the target vehicle, identifies the parking floor number based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, determines the parking place corresponding to the target vehicle based on the current vehicle positioning signal sequence, and obtains the parking information of the target vehicle in the indoor parking state based on the parking space, parking floor, parking place corresponding to the target vehicle and the current vehicle camera image sequence.

[0141] In the above embodiment, when switching to the indoor parking state, based on the received vehicle gear signal, the vehicle parking state in the dedicated signal set corresponding to the indoor parking state is updated, and different vehicle parking states require different data processing to subsequently generate accurate parking information. When the vehicle parking state is the forward state, based on the received vehicle front camera image, the vehicle camera image sequence in the shared signal set is updated to record the front driving picture and generate a parking video containing the front driving picture. When the vehicle parking state is the reverse state, based on the received vehicle rear camera image, the vehicle camera image sequence in the shared signal set is updated to record the rear driving picture and generate a parking video containing the rear driving picture, and based on the received vehicle rear camera image, the vehicle rear camera image sequence in the dedicated signal set is used to identify the parking space. When receiving the sensor signal indicating that the vehicle is stopped, the parking space is identified based on the current vehicle rear camera image sequence, the number of parking floors is identified based on the current vehicle motion signal sequence, and the parking place is identified based on the current vehicle positioning signal sequence. Based on the parking space, parking floor, parking place and current vehicle camera image sequence corresponding to the target vehicle, comprehensive and accurate parking information of the target vehicle in the indoor parking state can be obtained.

[0142] In one embodiment, based on the received vehicle rear camera image, updating the vehicle camera image sequence in the shared signal set and the vehicle rear camera image sequence in the dedicated signal set includes:

[0143] The received vehicle rear camera image is added to the vehicle camera image sequence in the shared signal set; based on the received speed sensor signal, the vehicle mileage cumulative value of the second vehicle odometer in the proprietary signal set is updated; when the vehicle mileage cumulative value of the second vehicle odometer is greater than a third preset threshold and it is determined that there is a vacant parking space within a preset range of the target vehicle, the currently received vehicle rear camera image is added to the vehicle rear camera image sequence in the proprietary signal set, and the second vehicle odometer is reset.

[0144] The second vehicle odometer is a vehicle odometer for a vehicle rear camera image. It can be understood that the third preset threshold and the preset range can be set according to actual needs.

[0145] Specifically, in the indoor parking state, if the preset state machine receives a speed sensor signal, the vehicle mileage accumulation value of the second vehicle odometer in the proprietary signal set corresponding to the indoor parking state is updated based on the speed sensor signal. In the indoor parking state, when the vehicle parking state is the reverse state, if the preset state machine receives a vehicle rear camera image, the vehicle rear camera image is added to the vehicle camera image sequence in the shared signal set. When the vehicle mileage accumulation value of the second vehicle odometer is greater than the third preset threshold value and it is determined that there is an empty parking space within the preset range of the target vehicle, the preset state machine adds the currently received vehicle rear camera image to the vehicle rear camera image sequence in the proprietary signal set and resets the second vehicle odometer.

[0146] In one embodiment, a parking space recognition model can be used to identify whether there is an empty parking space within the preset range of the target vehicle. The parking space recognition model is an artificial intelligence model. The input data of the parking space recognition model is the vehicle surround camera image, and the output data is the predicted label. The predicted label is divided into a positive label and a negative label. The positive label indicates that there is an empty parking space within the preset range of the target vehicle, and the negative label indicates that there is no empty parking space within the preset range of the target vehicle.

[0147] In the above embodiment, the received vehicle rear camera image is added to the vehicle camera image sequence in the shared signal set to record the rear driving scene during the reversing process and generate a parking video containing the rear driving scene. When the vehicle mileage cumulative value of the second vehicle odometer is greater than the third preset threshold value and it is determined that there is an empty parking space within the preset range of the target vehicle, the currently received vehicle rear camera image is added to the vehicle rear camera image sequence in the dedicated signal set, which can avoid adding useless vehicle rear camera images to the vehicle rear camera image sequence in the dedicated signal set, thereby saving computer resources.

[0148] In one embodiment, the vehicle data processing method further includes:

[0149] Character recognition is performed on the vehicle rear camera image in the vehicle rear camera image sequence added to the proprietary signal set to obtain the parking space logo and recognition confidence corresponding to the vehicle rear camera image.

[0150] Based on the image sequence of the current vehicle's rear camera, the parking space is identified to obtain the parking space corresponding to the target vehicle, including:

[0151] From the current vehicle rear camera image sequence, the vehicle rear camera image with a recognition confidence greater than a preset confidence is used as a candidate rear camera image; based on the parking space signs corresponding to the candidate rear camera images, the parking space sign similarity between the candidate rear camera images is calculated; based on the parking space sign similarity, the target rear camera image is determined from the candidate rear camera images; the parking space sign corresponding to the target rear camera image is used as the parking space corresponding to the target vehicle.

[0152] Character recognition refers to OCR recognition. Performing character recognition on the vehicle rear camera image refers to performing OCR recognition on the vehicle rear camera image to recognize the parking space sign in the vehicle rear camera image. The parking space sign is a sign used to identify the parking space. For example, the parking space sign may be a parking space number.

[0153] The recognition confidence is used to indicate the recognition reliability and accuracy of the parking space sign. The higher the recognition confidence, the higher the accuracy of the recognition result. The preset confidence is a preset confidence threshold used to filter the vehicle rear camera image.

[0154] The parking space sign similarity between two rear camera images refers to the similarity between the parking space signs corresponding to the two rear camera images.

[0155] Specifically, the preset state machine can perform OCR recognition on the vehicle rear camera image added to the vehicle rear camera image sequence in the proprietary signal set to obtain the parking space identification and recognition confidence corresponding to the vehicle rear camera image. It can be understood that OCR recognition can be performed when the vehicle rear camera image is added to the vehicle rear camera image sequence, or when the parking space recognition is performed.

[0156] When performing parking space recognition, the preset state machine first filters the vehicle rear camera images based on the preset confidence, and from the current vehicle rear camera image sequence, the vehicle rear camera images with recognition confidence greater than the preset confidence are used as candidate rear camera images. Then, the preset state machine determines the target rear camera image from the screened candidate rear camera images, and uses the parking space sign corresponding to the target rear camera image as the parking space corresponding to the target vehicle. The preset state machine calculates the similarity of the parking space signs between each candidate rear camera image based on the parking space signs corresponding to the candidate rear camera images, and determines the target rear camera image from each candidate rear camera image based on the parking space sign similarity. For example, the candidate rear camera image with the highest similarity to the parking space signs of other candidate rear camera images is used as the target rear camera image; the candidate rear camera image with the parking space sign similarity greater than the preset similarity to other candidate rear camera images is used as the target rear camera image.

[0157] In the above embodiment, from the current vehicle rear camera image sequence, the vehicle rear camera images with recognition confidence greater than the preset confidence are used as candidate rear camera images, and the vehicle rear camera images with inaccurate recognition are filtered out, which helps to improve the accuracy of parking space recognition. Based on the parking space identification corresponding to the candidate rear camera images, the similarity of the parking space identification between each candidate rear camera image is calculated, and based on the similarity of the parking space identification, the target rear camera image is determined from each candidate rear camera image, and the candidate rear camera image containing the complete parking space identification can be used as the target rear camera image. The candidate rear camera image containing the complete parking space identification is a candidate rear camera image that is relatively similar to other candidate rear camera images. The parking space identification corresponding to the target rear camera image is used as the parking space corresponding to the target vehicle, which can ensure the accuracy of parking space recognition.

[0158] In one embodiment, the number of parking floors is identified based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, including:

[0159] Based on the inertial sensor signal in the current vehicle motion signal sequence, the target vehicle's front driving angle sequence is determined; based on the speed sensor signal in the current vehicle motion signal sequence, the target vehicle's driving speed sequence is determined; based on the target vehicle's front driving angle sequence and driving speed sequence, the parking floor corresponding to the target vehicle is determined.

[0160] Among them, the inertial sensor signal is used to determine the driving angle of the vehicle head. The speed sensor signal is used to determine the vehicle speed, and the driving angle and speed of the vehicle head are combined to determine the vehicle driving floor.

[0161] Specifically, when performing parking floor identification, the preset state machine determines the head driving angle sequence of the target vehicle based on the inertial sensor signal in the current vehicle motion signal sequence, and the head driving angle sequence includes the head driving angles arranged in order according to time. Based on the head driving angle, it can be determined whether the vehicle is traveling downward, upward, or horizontally. The preset state machine determines the driving speed sequence of the target vehicle based on the speed sensor signal in the current vehicle motion signal sequence, and the driving speed sequence includes the vehicle speeds arranged in order according to time. Based on the vehicle speed, the driving distance of the vehicle can be determined. The driving distance of the vehicle in the vertical surface direction can be determined by combining the head driving angle and the vehicle speed, thereby determining the parking floor. For example, if the vehicle first travels downward and then travels horizontally, and the driving distance in the vertical surface direction when traveling downward exceeds the preset distance, it is determined that the vehicle has traveled down one floor. The preset state machine determines the parking floor corresponding to the target vehicle based on the head driving angle sequence and the driving speed sequence of the target vehicle. When the target vehicle is identified to enter the indoor parking lot, it is determined that the target vehicle is located on the surface, and the floor passed by the target vehicle is determined based on the head driving angle sequence and the driving speed sequence to judge the parking floor.

[0162] In the above embodiment, the front driving angle sequence and driving speed sequence of the target vehicle are determined based on the current vehicle motion signal sequence, and the parking floor corresponding to the target vehicle is determined by combining the front driving angle sequence and driving speed sequence of the target vehicle, thereby ensuring the recognition accuracy of the parking floor.

[0163] In one embodiment, determining a parking place corresponding to a target vehicle based on a current vehicle positioning signal sequence includes:

[0164] From the current vehicle positioning signal sequence, the vehicle positioning signal with a signal strength greater than a preset strength is obtained in reverse order of signal generation time as the target positioning signal; the point of interest corresponding to the target positioning signal is used as the parking place corresponding to the target vehicle.

[0165] The vehicle positioning signal is a GPS signal, and the GPS signal has a corresponding signal strength. The preset strength is a pre-set signal strength threshold used to filter the GPS signal. The point of interest refers to the POI. The point of interest corresponding to the target positioning signal is the POI closest to the target positioning signal.

[0166] Specifically, when performing parking place identification, the preset state machine obtains the vehicle positioning signal with a signal strength greater than a preset strength from the current vehicle positioning signal sequence in reverse order of signal generation time as the target positioning signal, that is, the vehicle positioning signal with a signal strength greater than a preset strength that is recently collected from the current vehicle positioning signal sequence is obtained as the target positioning signal. The preset state machine queries the corresponding POI based on the target positioning signal, and uses the POI corresponding to the target positioning signal as the parking place corresponding to the target vehicle.

[0167] In the above embodiment, after the vehicle enters the indoor parking lot, the collected GPS signal will be relatively weak and inaccurate. When identifying the parking place, the vehicle positioning signal with a signal strength greater than a preset strength is obtained from the current vehicle positioning signal sequence in reverse order of the signal generation time as the target positioning signal. The GPS signal with a stronger signal collected near the indoor parking lot can be used as the target positioning signal, and the point of interest corresponding to the target positioning signal is used as the parking place corresponding to the target vehicle, which can ensure the accuracy of parking place identification.

[0168] In one embodiment, the vehicle data processing method further includes:

[0169] When the vehicle parking state is updated from the forward state to the reverse state, the vehicle mileage cumulative value of the third vehicle odometer in the proprietary signal set is updated based on the received speed sensor signal; the third vehicle odometer is used to count the vehicle mileage cumulative value from entering the indoor parking state to the last reversing termination; when the difference between the current vehicle mileage cumulative value and the historical vehicle mileage cumulative value of the third vehicle odometer is greater than a fourth preset threshold, the vehicle rear camera image sequence in the proprietary signal set is cleared; after determining the parking information of the target vehicle in the indoor parking state, the vehicle positioning signal sequence, the vehicle camera image sequence in the current shared signal set and the vehicle rear camera image sequence in the proprietary signal set are cleared.

[0170] The third vehicle odometer is used to count the vehicle mileage accumulation value from entering the indoor parking state to the last reversing termination. The current vehicle mileage accumulation value of the third vehicle odometer refers to the latest vehicle mileage accumulation value of the third vehicle odometer, which is used to indicate the vehicle mileage accumulation value from entering the indoor parking state to the last reversing termination. The historical vehicle mileage accumulation value of the third vehicle odometer refers to the last vehicle mileage accumulation value of the third vehicle odometer, which is used to indicate the vehicle mileage accumulation value from entering the indoor parking state to the last reversing termination.

[0171] It can be understood that the fourth preset threshold can be set according to actual needs.

[0172] Specifically, when the parking state of the vehicle is updated from the forward state to the reverse state, the preset state machine updates the vehicle mileage cumulative value of the third vehicle odometer in the proprietary signal set based on the received speed sensor signal. When the difference between the current vehicle mileage cumulative value and the historical vehicle mileage cumulative value of the third vehicle odometer is greater than the fourth preset threshold, it indicates that the driving distance between two adjacent reverses is large, which can reflect that the vehicle has selected a new parking space. At this time, the preset state machine can clear the vehicle rear camera image sequence in the proprietary signal set to avoid identifying the parking space abandoned by the vehicle during subsequent parking space identification. After determining the parking information of the target vehicle in the indoor parking state, the preset state machine can promptly clear the vehicle positioning signal sequence, vehicle camera image sequence and vehicle rear camera image sequence in the current shared signal set in the proprietary signal set to prepare data for the next parking of the target vehicle.

[0173] In the above embodiment, when the difference between the current vehicle mileage cumulative value and the historical vehicle mileage cumulative value of the third vehicle odometer is greater than the fourth preset threshold, the vehicle rear camera image sequence in the proprietary signal set is cleared, and after determining the parking information of the target vehicle in the indoor parking state, the vehicle positioning signal sequence, vehicle camera image sequence and vehicle rear camera image sequence in the current shared signal set are cleared, which can avoid data confusion between the two parkings and improve the accuracy of the parking information generated each time.

[0174] In one embodiment, the vehicle data processing method further includes:

[0175] Through the preset state machine, in the case of switching to the outdoor state, when a sensor signal indicating that the vehicle has stopped is received, the parking place corresponding to the target vehicle is determined based on the vehicle positioning signal sequence in the current shared signal set; the vehicle surround-view camera image is obtained; based on the parking place corresponding to the target vehicle and the vehicle surround-view camera image, the parking information of the target vehicle in the outdoor state is obtained.

[0176] Among them, the vehicle surround camera image is an image obtained by photographing the environment around the vehicle.

[0177] Specifically, after the target vehicle leaves the indoor parking lot, the target vehicle can also generate corresponding parking information as vehicle search guidance information when parking outdoors. The terminal uses a preset state machine to determine the parking place corresponding to the target vehicle based on the vehicle positioning signal sequence in the current shared signal set when receiving a sensor signal indicating that the vehicle has stopped in the outdoor state. For example, the vehicle positioning signal with a signal strength greater than a preset strength in the current shared signal set is obtained in reverse order of the signal generation time as the target positioning signal, and the point of interest corresponding to the target positioning signal is used as the parking place corresponding to the target vehicle. The terminal uses a preset state machine to obtain the vehicle surround camera image in the outdoor state when receiving a sensor signal indicating that the vehicle has stopped, so as to record the surrounding environment when the vehicle is parked outdoors. Finally, the terminal obtains the parking information of the target vehicle in the outdoor state based on the parking place corresponding to the target vehicle and the vehicle surround camera image through the preset state machine.

[0178] It can be understood that the parking information in the outdoor state may also include other information, such as parking spaces.

[0179] In the above embodiment, in the outdoor state, when a sensor signal indicating that the vehicle has stopped is received, the parking place corresponding to the target vehicle is determined based on the vehicle positioning signal sequence in the current shared signal set, and the vehicle surround-view camera image is obtained. Based on the parking place corresponding to the target vehicle and the vehicle surround-view camera image, the simplified parking information of the target vehicle in the outdoor state can be quickly obtained.

[0180] In one embodiment, the vehicle data processing method further includes:

[0181] After determining the parking information of the target vehicle in an outdoor state through a preset state machine, the vehicle positioning signal sequence, vehicle motion signal sequence, and vehicle camera image sequence in the current shared signal set are cleared.

[0182] Specifically, after the terminal determines the parking information of the target vehicle in the outdoor state through the preset state machine, it clears the vehicle positioning signal sequence, vehicle motion signal sequence, and vehicle camera image sequence in the current shared signal set to prepare data for the next parking of the target vehicle.

[0183] In one embodiment, the vehicle data processing method further includes:

[0184] When the next vehicle state is determined to be an indoor parking state or an outdoor state through the preset state machine, the vehicle positioning signal sequence and the vehicle camera image sequence in the current shared signal set are cleared.

[0185] Specifically, when the terminal determines that the next vehicle state is indoor parking state or outdoor state through the preset state machine, the vehicle positioning signal sequence and vehicle camera image sequence in the current shared signal set are cleared to prepare data for the next parking of the target vehicle. When the terminal determines that the next vehicle state is indoor parking state or outdoor state through the preset state machine, the vehicle motion signal sequence is not cleared, which helps to correctly judge the parking floor when parking indoors.

[0186] In one embodiment, the vehicle data processing method further includes:

[0187] When switching from the target parking state to the stop state, the parking place and parking start time corresponding to the target vehicle are obtained from the parking information corresponding to the target vehicle, and the parking fee jump reminder condition corresponding to the target vehicle is determined based on the parking place and the parking start time; when the parking duration of the target vehicle meets the parking fee jump reminder condition, a parking fee reminder notification corresponding to the target vehicle is generated; the parking fee reminder notification is used to be displayed on at least one of the target vehicle and the owner terminal corresponding to the target vehicle.

[0188] The parking start time may be the time when the target parking state is entered. For example, for indoor parking state, the parking start time may be the time when the vehicle is identified to enter the parking lot. The parking start time may also be the time when the vehicle enters the stop state. For example, for indoor parking state, the parking start time may be the time when the vehicle is identified to enter the parking state. The parking duration refers to the duration of continuous parking starting from the parking start time.

[0189] Parking fee skipping reminder means that when the parking time of a vehicle exceeds the scheduled free time or prepaid parking time in the parking lot, the owner will be notified by reminder that he needs to pay additional parking fees. Usually, the parking lot will set a certain free parking time, such as 30 minutes or 1 hour, and after this time, additional parking fees will be required. When the parking time of the vehicle exceeds the free time, the corresponding fee can be automatically calculated and reminded to the owner.

[0190] The parking fee jump reminder condition refers to the condition that needs to be met to trigger the parking fee jump reminder, which can be set according to actual needs. For example, the parking fee jump reminder condition can be a reminder every 10 minutes; the parking fee jump reminder condition can be a reminder every additional 10 yuan. The parking fee reminder notification is a message that notifies the user that the parking fee needs to be paid.

[0191] Specifically, when switching from the target parking state to the stop state, the terminal obtains the parking place and parking start time corresponding to the target vehicle from the parking information corresponding to the target vehicle, and determines the parking fee jump reminder condition corresponding to the target vehicle based on the parking place and parking start time. It can be understood that different parking places correspond to different charging standards. When the parking duration of the target vehicle meets the parking fee jump reminder condition, the terminal generates a parking fee reminder notification corresponding to the target vehicle and displays the parking fee reminder notification to the user. The parking fee reminder notification can be displayed on the target vehicle or on the owner terminal corresponding to the target vehicle.

[0192] In the above embodiment, when switching from the target parking state to the stop state, the parking fee jump reminder condition corresponding to the target vehicle is determined based on the parking place and the parking start time. When the parking duration of the target vehicle meets the parking fee jump reminder condition, a parking fee reminder notification corresponding to the target vehicle is generated, which can automatically and timely remind the user of information related to the parking fee.

[0193] In a specific embodiment, the method of the present application can automatically determine, record and inform the user of the relevant information of the current vehicle parking location according to the vehicle sensor through the preset state machine, which can greatly reduce the time and energy cost in the actual vehicle search process. The preset state machine is an automatic finite state machine (DFA).

[0194] like Figure 4 As shown, the preset state machine consists of four states: [initial state, indoor parking state, outdoor state and stop state], which are defined as follows: initial state 1 is the default state entered after the system is started; indoor parking state 2 is the state corresponding to when the vehicle is judged to be in the indoor parking lot by the indoor parking lot entry and exit algorithm (i.e., the parking lot entry and exit recognition model); outdoor state 3 is the state corresponding to when the vehicle is judged to be outdoors by the indoor parking lot entry and exit algorithm; stop state 4: the state corresponding to when the sensor signal such as shifting into P gear (lower priority), turning off the engine, locking the vehicle, etc. indicates that the vehicle has entered the parking state.

[0195] In order to realize the functions of recording parking videos, parking space numbers, parking positions, parking floors, automatic message reminders, etc. during the parking process, each of the above states needs to maintain a set of shared variables. Shared variables include: a set of sensor sequences 1 arranged in sequence and of fixed length, including camera images, GPS signals, wheel speed and other data, which are used as inputs for the algorithm for entering and exiting the indoor parking lot, and finally output the judgment result of whether the vehicle is in the indoor parking lot; a set of GPS position sequences 2 arranged in sequence; a set of sensor signal sequences 3 for calculating the number of parking floors; a set of image frame sequences 4 arranged in sequence; a set of odometers (O1…On), which are used to determine the driving distance of the vehicle corresponding to different requirements. The sequence arrangement can be specifically arranged in chronological order or odometer order.

[0196] For each state, its private variables and state transition process are:

[0197] 1. Initial State 1

[0198] No private variables

[0199] State transfer:

[0200] 1. Receive the front camera image:

[0201] Update the odometer O2. If the mileage L2 output by the odometer O2 is greater than the preset threshold, add the front camera image to sequence 4. Then reset O2. If the number of images in sequence 4 is greater than the preset threshold T1, kick out the earliest added image.

[0202] When sequence 1 meets the requirements of the indoor parking lot entry and exit algorithm, sequence 1 is input into the indoor parking lot entry and exit algorithm. If the output result is outdoor, sequence 4 is cleared, sequence 2 is cleared, and the state is jumped to outdoor state 3. If the output result is indoor, the state is jumped to indoor parking state 2.

[0203] 2. Receive a stop signal such as P gear / ignition off:

[0204] Clear sequence 2, clear sequence 3, clear sequence 4, jump to stop state 4.

[0205] 3. Receive GPS signal:

[0206] Add GPS data to sequence 2.

[0207] 4. Receive signals from IMU (Inertial Measurement Unit), tachometer, etc.:

[0208] Add sequence 3.

[0209] 2. Indoor parking status 2

[0210] Private variables: the mileage L1 recorded by the odometer O1 from entering the parking lot to the end of the last reversing; the reversing status R, which is true if the vehicle is currently reversing; the image captured by the rear camera for OCR recognition and the sequence 5 of its corresponding OCR results.

[0211] State transfer:

[0212] 1. Receive the front camera image:

[0213] 1-1. When sequence 1 meets the requirements of the indoor parking lot entry and exit algorithm, sequence 1 is input into the indoor parking lot entry and exit algorithm. If the output result is outdoor, sequence 4 is cleared, sequence 2 is cleared, and the state 3 is jumped to outdoor state.

[0214] 1-2. If R is false:

[0215] Update the odometer O2. If the mileage L2 output by the odometer O2 is greater than the preset threshold, add the front camera image to sequence 4, and then reset O2. If the number of images in sequence 4 is greater than the preset threshold T2 (T2>T1), the earliest added image is kicked out.

[0216] 2. Receive GPS signal:

[0217] Add GPS data to sequence 2.

[0218] 3. Receive signals from IMU, tachometer, etc.:

[0219] Add sequence 3.

[0220] 4. Reverse gear signal received:

[0221] R is updated to true. If the difference between O1 and the previous recorded value is greater than the threshold, sequence 5 is cleared and the mileage corresponding to the current O1 is recorded.

[0222] 5. Receive forward gear signal

[0223] R is updated to false

[0224] 6. Receive the image from the rear camera:

[0225] 6-1. If R is true:

[0226] If the mileage L3 recorded by the odometer O3 is greater than the specified threshold and the parking space recognition model recognizes that there is a parking space within a certain distance nearby, O3 is reset, and the rear camera image is added to sequence 4. The rear camera image is preprocessed to improve the image quality, and OCR recognition is performed on the preprocessed image, and it is added to sequence 5 along with the recognition result, confidence and other parameters.

[0227] 7. When receiving a stop signal such as P gear / ignition off:

[0228] R is updated to false. The number of parking floors is calculated according to sequence 3, then sequence 3 is cleared and O1 and O3 are reset.

[0229] Select the most appropriate parking space number and its corresponding image from sequence 5, and generate a parking video based on sequence 4. Filter out the first GPS location with a signal strength greater than the threshold from sequence 2 in reverse order, and check the POI in reverse order to determine the timestamp when entering the parking lot based on the GPS information. If necessary, match the parking space recognition result with the indoor map to obtain more accurate absolute positioning and floor information. Desensitize relevant information such as images and videos according to compliance requirements. Upload parking videos, parking space numbers, parking space number images, parking floors, parking locations and other information to the background or user device, and notify the user. If there is no network or other reasons for not being able to provide parking information (such as unrecognized numbers, etc.), inform the user. Then, clear sequence 2, clear sequence 4, clear sequence 5, and jump to stop state 4.

[0230] The backend sets parking fee skipping reminders based on parking location or entry time.

[0231] 3. Outdoor Status 3

[0232] No private variables

[0233] 1. Receive the front camera image:

[0234] Update the odometer O2. If the mileage L2 output by the odometer O2 is greater than the preset threshold, add the front camera image to sequence 4, and then reset O2. If the number of images in sequence 4 is greater than the preset threshold T2 (T2>T1), the earliest added image is kicked out.

[0235] When sequence 1 meets the requirements of the indoor parking lot entry and exit algorithm, sequence 1 is input into the indoor parking lot entry and exit algorithm. If the output result is indoor, jump to indoor parking state 2.

[0236] 2. Receive a stop signal such as P gear / ignition off:

[0237] Filter out the first GPS location with a signal strength greater than the threshold from sequence 2 in reverse order, and check the POI in reverse order. Use the surround camera to take four photos of the vehicle's surrounding environment, record the current time as the parking time, desensitize relevant information such as photos according to compliance requirements, upload GPS and photos of the vehicle's surrounding environment to the background or user device, and notify the user at the same time. If the upload fails or the data acquisition fails, inform the user. Then, clear sequence 2, clear sequence 3, clear sequence 4, and jump to stop state 4.

[0238] The backend sets parking fee skipping reminders based on parking location or entry time.

[0239] 3. Receive GPS signal:

[0240] Add GPS data to sequence 2.

[0241] 4. Receive signals from IMU, tachometer, etc.:

[0242] Add sequence 3.

[0243] 4. Stop state 4:

[0244] No private variables

[0245] State transfer:

[0246] 1. Receive forward gear signal:

[0247] Jump to initial state 1.

[0248] In actual operation, the above design can be easily implemented in an object-oriented way. The specific method is to establish a base class containing basic variables and functions that accept various sensor inputs, and then the subclass inherits the base class and establishes its own private variables and rewrites the sensor input function. In actual operation, the state switching can be completed by dynamically binding and switching the instance at runtime.

[0249] The present application method proposes an automatic finite state machine with four states that can transfer states and perform functional operations only by relying on vehicle-mounted sensors. This state machine can handle complex problem spaces consisting of an infinite number of driving behaviors of drivers. The sensors relied on by the present application method are all hardware commonly equipped on vehicles, which does not increase the field cost and does not require the driver to spend extra energy to operate, which can effectively reduce the time and energy cost of drivers looking for cars in parking lots.

[0250] In one embodiment, Figure 5 As shown, a vehicle data processing method is provided, and the method is applied to a terminal as an example for explanation. It can be understood that the terminal can be a target vehicle or other terminal. Among them:

[0251] Step S502: display the parking notification corresponding to the target vehicle.

[0252] Among them, the parking notification is a message that notifies the user to check the parking information.

[0253] Specifically, after generating the parking information of the target vehicle, the terminal can obtain the parking notification related to the parking information corresponding to the target vehicle, and the terminal displays the parking notification corresponding to the target vehicle for the user to check.

[0254] If the terminal is the target vehicle, after the target vehicle generates parking information through the preset state machine, it can generate a parking notification corresponding to the parking information and display the parking notification corresponding to the target vehicle. If the terminal is the owner terminal of the target vehicle, the owner terminal can receive the parking information sent by the server, generate a parking notification corresponding to the parking information, and display the parking notification corresponding to the target vehicle. If the terminal is the owner terminal of the target vehicle, the owner terminal can receive the parking notification sent by the server and display the parking notification corresponding to the target vehicle.

[0255] Step S504, in response to the triggering event for the parking notification, displaying a vehicle search guidance interface, and displaying vehicle search guidance information of the target vehicle in the vehicle search guidance interface.

[0256] The trigger event for the parking notification may be generated based on a user's trigger operation, for example, a user clicks on the parking notification to generate a trigger event for the parking notification. The trigger event for the parking notification may also be automatically triggered when certain conditions are met, for example, if the user does not check the parking notification within a certain period of time, a trigger event for the parking notification is automatically generated.

[0257] The vehicle search guidance information is determined based on the current shared signal set and the current proprietary signal set by controlling the vehicle state switching preset state machine, when switching to the target parking state, updating the shared signal set and the proprietary signal set corresponding to the target parking state based on the received sensor signal. The preset state machine includes the logical relationship between multiple vehicle states, the shared signal set includes the sensor signals shared by each vehicle state, and the shared signal set is also used to determine the next vehicle state of the target vehicle.

[0258] It can be understood that the specific process of determining the vehicle search guidance information can refer to the contents of the aforementioned embodiments, which will not be repeated here.

[0259] Specifically, in response to the triggering event for the parking notification, the terminal displays a vehicle search guidance interface, and displays the vehicle search guidance information of the target vehicle in the vehicle search guidance interface. The user can quickly learn the relevant parking information of the target vehicle by consulting the vehicle search guidance information.

[0260] For example, a parking notice corresponding to a target vehicle is displayed in a car-finding application. After the user clicks on the parking notice, car-finding guidance information is further displayed in the car-finding application.

[0261] In the above vehicle data processing method, the preset state machine includes a logical relationship between multiple vehicle states, and can intelligently analyze the sensor signals generated by the vehicle in real time to switch the vehicle state and determine the parking information, thereby improving the efficiency of determining the parking information. The preset state machine determines the next vehicle state of the target vehicle based on the sensor signals shared by each vehicle state, switches from the current vehicle state to the next vehicle state, and determines the parking information of the target vehicle based on the sensor signals shared by each vehicle state and the sensor signals exclusive to the target parking state when switching to the target parking state. Through the shared signal set and the exclusive signal set corresponding to the target parking state, the vehicle state can be flexibly switched and the vehicle search guidance information can be quickly and accurately determined, which can effectively improve the efficiency of searching for the vehicle and ensure the accuracy of searching for the vehicle. The parking notification corresponding to the target vehicle is displayed, and in response to the triggering event for the parking notification, a vehicle search guidance interface is displayed, and the vehicle search guidance information of the target vehicle is displayed in the vehicle search guidance interface. The displayed vehicle search guidance information can help users find the vehicle quickly in a timely manner.

[0262] In one embodiment, displaying a parking notice corresponding to a target vehicle includes:

[0263] When the target vehicle switches from the target parking state to the stopped state, a parking notification corresponding to the target vehicle is displayed in the parent application.

[0264] In response to a triggering event for a parking notification, a vehicle search guidance interface is displayed, and vehicle search guidance information of a target vehicle is displayed in the vehicle search guidance interface, including:

[0265] In response to the triggering operation for the parking notification, a car-finding sub-application in the parent application is entered, and the car-finding guidance information of the target vehicle is displayed in the car-finding guidance interface of the car-finding sub-application.

[0266] The parent application refers to an application that can run independently. The sub-application refers to an application that cannot run independently and needs to rely on the parent application to run. For example, the sub-application can be a small program. The car search sub-application refers to a sub-application used to find a car.

[0267] It can be understood that the trigger operation can be a touch operation, a cursor operation, a key operation or a voice operation. The touch operation can be a touch click operation, a touch press operation or a touch slide operation, and the touch operation can be a single-point touch operation or a multi-point touch operation; the cursor operation can be an operation of controlling the cursor to click or an operation of controlling the cursor to press; the key operation can be a virtual key operation or a physical key operation, etc.

[0268] Specifically, when the target vehicle switches from the target parking state to the stop state, the terminal obtains the parking notification corresponding to the target vehicle and displays the parking notification corresponding to the target vehicle in the parent application. The user can enter the car search sub-application in the parent application by clicking on the parking notification. In response to the triggering operation for the parking notification, the terminal enters the car search sub-application in the parent application and displays the parking notification corresponding to the target vehicle in the car search guidance interface of the car search application.

[0269] In one embodiment, the parking notification corresponding to the target vehicle is displayed on the car search platform of the parent application. The car search platform is a platform for publishing car search guidance information in the parent application. For example, the car search platform can be a car search public account in the parent application. The user can enter the car search sub-application in the parent application by clicking on the parking notification. In response to the triggering operation for the parking notification, the terminal enters the car search sub-application in the parent application, and displays the parking notification corresponding to the target vehicle in the car search guidance interface of the car search sub-application.

[0270] For example, refer to Figure 6 In (a), the parking notification 602 corresponding to the target vehicle is displayed in the parent application's car search public account (Big Goose Find Car). The parking notification 602 includes the target vehicle's license plate number, parking location (i.e. parking place), entry time (i.e. parking start time), parking space number (i.e. parking space), and parking floor number (i.e. parking floor). Users can click on the parking notification to enter the parent application's car search sub-application (Little Goose Find Car). Figure 6 In (b), the vehicle finding guidance information of the target vehicle is displayed in the vehicle finding guidance interface of the vehicle finding application.

[0271] In the above embodiment, the parking notification corresponding to the target vehicle is displayed in the parent application, and in response to the trigger operation for the parking notification, the car search sub-application in the parent application is entered, and the car search guidance information of the target vehicle is displayed in the car search guidance interface of the car search sub-application. Through the linkage between the parent application and the sub-application, the parking notification and car search guidance information corresponding to the target vehicle can be conveniently displayed.

[0272] In one embodiment, displaying the vehicle search guidance information of the target vehicle in the vehicle search guidance interface includes:

[0273] In the parking space guidance area of ​​the car finding guidance interface, the parking space information in the car finding guidance information of the target vehicle is displayed; the parking space information includes at least one of the parking space sign and the parking space image corresponding to the target vehicle; in the parking place guidance area of ​​the car finding guidance interface, the parking place information in the car finding guidance information of the target vehicle is displayed; the parking place information includes at least one of the parking place and the parking floor corresponding to the target vehicle; in the operation function area of ​​the car finding guidance interface, the car finding control set is displayed; the car finding control set includes at least one of a video playback control for playing the parking video in the car finding guidance information of the target vehicle, a parking fee payment control for paying the parking fee, and a parking sharing control for sharing the car finding guidance information of the target vehicle.

[0274] The car search guidance interface includes a parking space guidance area, a parking place guidance area, and an operation function area. The parking space guidance area is used to display parking space information, and the parking space information includes at least one of a parking space sign and a parking space image corresponding to the target vehicle. The parking place guidance area is used to display parking place information, and the parking place information includes at least one of a parking place and a parking floor corresponding to the target vehicle. The operation function area refers to a function area that can be operated by the user. The operation function area is used to display a car search control set. The car search control set includes at least one control related to car search. The user can apply and use related functions by triggering the control.

[0275] Specifically, the car search guidance interface includes a parking space guidance area, a parking place guidance area, and an operation function area. The terminal can display the parking space information in the car search guidance information of the target vehicle in the parking space guidance area of ​​the car search guidance interface, display the parking place information in the car search guidance information of the target vehicle in the parking place guidance area of ​​the car search guidance interface, and display the car search control set in the operation function area of ​​the car search guidance interface.

[0276] For example, refer to Figure 7 , Figure 7 702 is a parking space guidance area, in which a parking space sign 7021 and a parking space image 7022 are displayed. Figure 7 704 is a parking lot guidance area, and a parking floor 704 is displayed in the parking lot guidance area. Figure 7 706 in the figure is an operation function area, in which a parking fee payment control 7061 is displayed, and the user can click the parking fee payment control to pay the parking fee. A video playback control 7062 is displayed in the operation function area, and the user can click the video playback control to view the parking video. A parking sharing control 7063 is displayed in the operation function area, and the user can click the parking sharing control to share the car search guidance interface showing the parking guidance information of the target vehicle with other users.

[0277] In one embodiment, the parking space guidance area and the parking lot guidance area are editable areas. The user can edit and modify the relevant parking information in the parking space guidance area. For example, for the parking space sign displayed in the parking space guidance area, the user can modify the parking space sign and modify the incorrectly identified parking space sign to the correct parking space sign.

[0278] In the above embodiment, different types of parking information are displayed in different areas in the car search guide interface, which can improve the efficiency of users in viewing parking information, thereby helping to improve the efficiency of car search. Displaying a car search control set in the car search guide interface can realize different car search functions through different types of car search controls, which helps to improve the efficiency of car search.

[0279] In one embodiment, displaying the vehicle search guidance information of the target vehicle in the vehicle search guidance interface includes:

[0280] Display a video playback control in the vehicle finding guidance interface; in response to a trigger operation on the video playback control, play a parking video formed by a vehicle camera image sequence in the vehicle finding guidance information of the target vehicle; when playing the parking video, highlight the playback area of ​​the parking video; when playing the parking video, display a video closing control; in response to a trigger operation on the video closing control, cancel the playback of the parking video.

[0281] The video play control is used to start playing the parking video, and the video close control is used to close playing the parking video.

[0282] The highlighted display may be performed by marking the selected content with a different color or style, so that the selected content is visually distinguished from other content to highlight the importance of the selected content.

[0283] Specifically, the target vehicle's vehicle search guidance information also includes a vehicle camera image sequence for generating a parking video, and the user can trigger the parking video to be played in the vehicle search guidance interface to facilitate vehicle search. The terminal displays a video playback control in the vehicle search guidance interface, and the user can trigger the video playback control to start playing the parking video. In response to the triggering operation on the video playback control, the terminal plays a parking video formed based on the vehicle camera image sequence in the target vehicle's vehicle search guidance information. When playing the parking video, the terminal can also display a video closing control, and the user can trigger the video closing control to close the parking video. In response to the triggering operation on the video closing control, the terminal cancels the parking video.

[0284] Furthermore, when playing the parking video, the terminal can highlight the playback area of ​​the parking video.

[0285] For example, refer to Figure 8In (a), a video playback control 802 is displayed in the car search guidance interface, and the user clicks the video playback control to trigger the playback of the parking video. Figure 8 In (b), after the user clicks the video play control, a play area 804 is displayed on the upper layer of the car search guide interface, and the parking video is played in the play area. When the parking video is played, the play area of ​​the parking video is brightly displayed, and the lower car search guide interface is dimmed. A video close control 806 is displayed in the play area, and the user clicks the video close control to close the parking video and close the display of the play area.

[0286] In one embodiment, when the parking video is played, other areas in the car-finding guidance interface are in a prohibited operation state to prevent users from making misoperations while watching the parking video. After the parking video is finished playing or the user triggers the video close control, other areas in the car-finding guidance interface are restored to a permitted operation state.

[0287] In the above embodiment, a video playback control is displayed in the car search guidance interface, and the user can start playing the parking video by triggering the video playback control. Playing the parking video can further improve the car search efficiency.

[0288] In one embodiment, the vehicle data processing method further includes:

[0289] Display a parking fee payment control; in response to a trigger operation on the parking fee payment control, display a payment graphic code corresponding to the parking lot in the vehicle finding guidance information of the target vehicle; in response to a trigger operation on the payment graphic code, transfer the parking fee corresponding to the target vehicle to a parking fee account corresponding to the parking lot in the vehicle finding guidance information of the target vehicle.

[0290] The parking fee payment control is a control for paying parking fees. The payment graphic code is a graphic code for payment. For example, the payment graphic code may be a payment QR code. The parking fee account corresponding to the parking lot refers to an account held by the parking lot for collecting parking fees.

[0291] Specifically, the terminal can display a parking fee payment control, and the user can trigger the parking fee payment control to pay the parking fee. In response to the trigger operation on the parking fee payment control, the terminal displays the payment graphic code corresponding to the parking lot in the target vehicle's vehicle search guidance information, and the user can trigger the payment graphic code to complete the payment of the parking fee. The terminal can query the parking lot of the target vehicle from the target vehicle's vehicle search guidance information, and then query the payment graphic code corresponding to the parking lot from the background. In response to the trigger operation on the payment graphic code, the terminal transfers the parking fee corresponding to the target vehicle to the parking fee account corresponding to the parking lot in the target vehicle's vehicle search guidance information.

[0292] It is understandable that the terminal can display the parking fee payment control in the car search guidance interface. Fig. 9 In (a), a parking fee payment control 902 is displayed in the car search guidance interface, and the user clicks the parking fee payment control to trigger the display of the payment graphic code. Fig. 9 In (b), after the user clicks the parking fee payment control, the payment area 904 is displayed on the upper layer of the car search guidance interface, and the parking place in the car search guidance information of the target vehicle and the payment graphic code corresponding to the parking place are displayed in the payment area. The user can determine whether the displayed parking place is correct. If it is not correct, the user can perform an editing operation to correct the parking place. The user can transfer the parking fee corresponding to the target vehicle to the parking fee account corresponding to the parking place in the car search guidance information of the target vehicle by identifying the payment graphic code. When displaying the payment area, the payment area is displayed brightly, and the lower layer of the car search guidance interface is displayed dimly.

[0293] The terminal can also display parking fee payment controls in other interfaces. For example, refer to Fig.10 , a parking fee payment control 1002 is displayed in the car search public account, and the user clicks the parking fee payment control to trigger the display of the payment graphic code. The user can transfer the parking fee corresponding to the target vehicle to the parking fee account corresponding to the parking lot in the car search guidance information of the target vehicle by identifying the payment graphic code.

[0294] In the above embodiment, the user can conveniently pay the parking fee by triggering the parking fee payment control.

[0295] In one embodiment, the vehicle data processing method further includes:

[0296] A parking fee jump setting entry is displayed in the vehicle search guidance interface; in response to a trigger operation on the parking fee jump setting entry, a parking fee jump reminder attribute is displayed; in response to an edit operation on the parking fee jump reminder attribute, the parking fee jump reminder attribute is updated and displayed as the parking fee jump reminder attribute edited by the editing operation, so that the parking fee jump reminder condition of the target vehicle is updated to the edited parking fee jump reminder attribute.

[0297] The parking fee jump setting entry is an entry for setting parking fee jump reminder conditions. The parking fee jump reminder conditions include at least one parking fee jump reminder attribute. The parking fee jump reminder attribute includes reminder factors such as the parking fee jump reminder cycle, reminder time, and reminder times.

[0298] Specifically, the user can trigger the parking fee jump setting entry in the car search guidance interface to set the parking fee jump reminder condition. The terminal displays the parking fee jump setting entry in the car search guidance interface, and the user can trigger the parking fee jump setting entry to display the parking fee jump reminder attribute, which is a component element of the parking fee jump reminder condition. In response to the triggering operation on the parking fee jump setting entry, the terminal displays the parking fee jump reminder attribute, and the user can modify the parking fee jump reminder attribute to set the required parking fee jump reminder condition. For example, the user can enter the required parking fee jump reminder attribute through the input box, and the user can select the required parking fee jump reminder attribute through the option box. In response to the editing operation on the parking fee jump reminder attribute, the terminal updates and displays the parking fee jump reminder attribute as the parking fee jump reminder attribute edited by the editing operation, so that the parking fee jump reminder condition of the target vehicle is updated to the edited parking fee jump reminder attribute.

[0299] For example, refer to Fig.11 In (a), a parking fee skipping setting entry 1102 and a parking fee skipping reminder opening control 1104 are displayed in the car search guidance interface. The user can turn on or off the parking fee skipping reminder function by clicking the parking fee skipping reminder opening control. The user can click the parking fee skipping setting entry to trigger the display of the parking fee skipping reminder attribute. Fig.11 In (b), after the user clicks on the parking fee jump setting entry, a setting area 1106 is displayed on the upper layer of the car search guidance interface, and the parking fee jump reminder attribute is displayed in the setting area. The user can select a specific attribute value of the parking fee jump reminder attribute from the drop-down option box as needed. The attribute values ​​selected by the user are combined into a parking fee jump reminder condition. When the parking fee jump reminder condition is met, a parking fee reminder notification is generated and displayed.

[0300] In the above embodiment, the user can conveniently set the parking fee jump reminder condition by triggering the parking fee jump setting entry.

[0301] In a specific embodiment, the method of the present application can be applied to intelligent car search on the vehicle side. Download the car search application on the target vehicle, open the car search application while the target vehicle is driving, and the car search application controls the switching of the vehicle state through a preset state machine, generates parking information in the target parking state through the preset state machine, and displays the generated parking information as car search guidance information in the car search application. The car search guidance interface on the vehicle side can refer to Fig.12 .

[0302] In a specific embodiment, the method of the present application can be applied to intelligent car search on the owner's side. Download the car search application on the owner's terminal and the target vehicle, and bind the owner's terminal and the target vehicle. For example, log in to the car search application on the owner's terminal and the target vehicle through the license plate number of the target vehicle, so as to bind the owner's terminal and the target vehicle through the license plate number of the target vehicle. The target vehicle can send parking information as car search guidance information to the owner's terminal, and the owner's terminal can display the car search guidance information in the car search application. The car search guidance interface on the owner's side can refer to Fig.13 .

[0303] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0304] Based on the same inventive concept, the embodiment of the present application also provides a vehicle data processing device for implementing the vehicle data processing method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle data processing device embodiments provided below can refer to the limitations of the vehicle data processing method above, and will not be repeated here.

[0305] In one embodiment, Fig.14 As shown, a vehicle data processing device 1400 is provided, including: a data acquisition module 1402 and a data processing module 1404, wherein:

[0306] The data acquisition module 1402 is used to input the sensor signal generated by the vehicle sensor of the target vehicle into a preset state machine; the preset state machine includes the logical relationship between multiple vehicle states.

[0307] The data processing module 1404 is used to update the shared signal set based on the received sensor signal in the current vehicle state of the target vehicle through a preset state machine, determine the next vehicle state of the target vehicle based on the current shared signal set, and switch from the current vehicle state to the next vehicle state; the shared signal set includes sensor signals shared by each vehicle state.

[0308] The data processing module 1404 is also used to update the proprietary signal set corresponding to the target parking state based on the received sensor signal through a preset state machine when switching to the target parking state, and determine the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set; the parking information is used as vehicle search guidance information for the target vehicle.

[0309] In one embodiment, the data processing module 1404 is further configured to:

[0310] Adding the received vehicle positioning signal to the vehicle positioning signal sequence in the shared signal set, and adding the received vehicle motion signal to the vehicle motion signal sequence in the shared signal set;

[0311] Adding the received vehicle front camera image that meets the first preset condition to the vehicle camera image sequence in the shared signal set;

[0312] The received multiple sensor signals that meet the second preset condition are added to the mixed signal sequence in the shared signal set.

[0313] In one embodiment, the data processing module 1404 is further configured to:

[0314] updating a vehicle mileage accumulation value of a first vehicle odometer in a shared signal set based on the received speed sensor signal;

[0315] When the vehicle mileage cumulative value of the first vehicle odometer is greater than a first preset threshold, adding the currently received vehicle front camera image to the vehicle camera image sequence in the shared signal set, and resetting the vehicle mileage cumulative value of the first vehicle odometer;

[0316] When the number of images in the vehicle camera image sequence is greater than a second preset threshold, the images in the vehicle camera image sequence are deleted in positive order of image acquisition time.

[0317] In one embodiment, the data processing module 1404 is further configured to:

[0318] When the current vehicle state of the target vehicle is not a stopped state and no sensor signal indicating that the vehicle is stopped is received, the mixed signal sequence in the current shared signal set is input into the parking lot entry and exit recognition model to obtain a predicted vehicle state, and the predicted vehicle state is used as the next vehicle state of the target vehicle; the predicted vehicle state is an indoor parking state or an outdoor state;

[0319] Upon receiving a sensor signal indicating that the vehicle is stopped, determining that the next vehicle state of the target vehicle is a stopped state;

[0320] When a sensor signal indicating vehicle start is received in a stopped state, it is determined that the next vehicle state of the target vehicle is a start state.

[0321] In one embodiment, the data processing module 1404 is further configured to:

[0322] When switching to the indoor parking state, the vehicle parking state in the dedicated signal set corresponding to the indoor parking state is updated based on the received vehicle gear position signal; the indoor parking state is the target parking state;

[0323] When the parking state of the vehicle is the forward state, updating the vehicle camera image sequence in the shared signal set based on the received vehicle front camera image;

[0324] When the parking state of the vehicle is a reverse state, updating the vehicle camera image sequence in the shared signal set and the vehicle rear camera image sequence in the dedicated signal set based on the received vehicle rear camera image;

[0325] When a sensor signal indicating that the vehicle has stopped is received, parking space recognition is performed based on the current vehicle's rear camera image sequence to obtain the parking space corresponding to the target vehicle, parking floors are recognized based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, the parking place corresponding to the target vehicle is determined based on the current vehicle positioning signal sequence, and parking information of the target vehicle in an indoor parking state is obtained based on the parking space, parking floor, parking place corresponding to the target vehicle and the current vehicle camera image sequence.

[0326] In one embodiment, the data processing module 1404 is further configured to:

[0327] Adding the received vehicle rear camera image to the vehicle camera image sequence in the shared signal set;

[0328] updating a vehicle mileage accumulation value of a second vehicle odometer in the proprietary signal set based on the received speed sensor signal;

[0329] When the vehicle mileage cumulative value of the second vehicle odometer is greater than a third preset threshold and it is determined that there is an empty parking space within a preset range of the target vehicle, the currently received vehicle rear camera image is added to the vehicle rear camera image sequence in the proprietary signal set, and the second vehicle odometer is reset.

[0330] In one embodiment, the data processing module 1404 is further configured to:

[0331] Performing character recognition on the vehicle rear camera image in the vehicle rear camera image sequence added to the proprietary signal set to obtain a parking space logo and recognition confidence corresponding to the vehicle rear camera image;

[0332] Based on the image sequence of the current vehicle's rear camera, the parking space is identified to obtain the parking space corresponding to the target vehicle, including:

[0333] From the current vehicle rear camera image sequence, a vehicle rear camera image with a recognition confidence greater than a preset confidence is used as a candidate rear camera image;

[0334] Based on the parking space signs corresponding to the candidate rear camera images, calculating the similarity of the parking space signs between the candidate rear camera images;

[0335] Determine a target rear camera image from each candidate rear camera image based on the parking space identification similarity;

[0336] The parking space mark corresponding to the target rear camera image is used as the parking space corresponding to the target vehicle.

[0337] In one embodiment, the data processing module 1404 is further configured to:

[0338] Based on the inertial sensor signal in the current vehicle motion signal sequence, determine the head vehicle driving angle sequence of the target vehicle, and based on the speed sensor signal in the current vehicle motion signal sequence, determine the driving speed sequence of the target vehicle;

[0339] The parking floor corresponding to the target vehicle is determined based on the head driving angle sequence and driving speed sequence of the target vehicle.

[0340] In one embodiment, the data processing module 1404 is further configured to:

[0341] From the current vehicle positioning signal sequence, the vehicle positioning signal with a signal strength greater than a preset strength is obtained in reverse order of signal generation time as the target positioning signal;

[0342] The point of interest corresponding to the target positioning signal is used as the parking place corresponding to the target vehicle.

[0343] In one embodiment, the data processing module 1404 is further configured to:

[0344] When the parking state of the vehicle is updated from the forward state to the reverse state, the vehicle mileage accumulation value of the third vehicle odometer in the proprietary signal set is updated based on the received speed sensor signal; the third vehicle odometer is used to count the vehicle mileage accumulation value from entering the indoor parking state to the last reverse termination;

[0345] When the difference between the current vehicle mileage accumulation value and the historical vehicle mileage accumulation value of the third vehicle odometer is greater than a fourth preset threshold, clearing the vehicle rear camera image sequence in the proprietary signal set;

[0346] After determining the parking information of the target vehicle in the indoor parking state, the vehicle positioning signal sequence, the vehicle camera image sequence in the current shared signal set and the vehicle rear camera image sequence in the proprietary signal set are cleared.

[0347] In one embodiment, the data processing module 1404 is further configured to:

[0348] By means of a preset state machine, when the vehicle is switched to the outdoor state, when a sensor signal indicating that the vehicle has stopped is received, a parking place corresponding to the target vehicle is determined based on a sequence of vehicle positioning signals in the current shared signal set;

[0349] Get the vehicle surround view camera image;

[0350] Based on the parking space corresponding to the target vehicle and the vehicle surround camera image, the parking information of the target vehicle in the outdoor state is obtained.

[0351] In one embodiment, the data processing module 1404 is further configured to:

[0352] After determining the parking information of the target vehicle in an outdoor state through a preset state machine, the vehicle positioning signal sequence, vehicle motion signal sequence, and vehicle camera image sequence in the current shared signal set are cleared.

[0353] In one embodiment, the data processing module 1404 is further configured to:

[0354] When the next vehicle state is determined to be an indoor parking state or an outdoor state through the preset state machine, the vehicle positioning signal sequence and the vehicle camera image sequence in the current shared signal set are cleared.

[0355] In one embodiment, the data processing module 1404 is further configured to:

[0356] When switching from the target parking state to the stop state, obtaining the parking place and parking start time corresponding to the target vehicle from the parking information corresponding to the target vehicle, and determining the parking fee skipping reminder condition corresponding to the target vehicle based on the parking place and parking start time;

[0357] When the parking duration of the target vehicle meets the parking fee jump reminder condition, a parking fee reminder notification corresponding to the target vehicle is generated; the parking fee reminder notification is used to be displayed on at least one of the target vehicle and the owner terminal corresponding to the target vehicle.

[0358] In one embodiment, Fig.15 As shown, a vehicle data processing device 1500 is provided, including: a parking notification display module 1502 and a parking information display module 1504, wherein:

[0359] The parking notification display module 1502 is used to display the parking notification corresponding to the target vehicle.

[0360] The parking information display module 1504 is used to display a vehicle finding guidance interface in response to a triggering event for a parking notification, and display the vehicle finding guidance information of the target vehicle in the vehicle finding guidance interface.

[0361] The vehicle search guidance information is obtained by controlling a preset state machine that switches the vehicle state. When switching to the target parking state, the shared signal set and the proprietary signal set corresponding to the target parking state are updated based on the received sensor signal, and the information is determined based on the current shared signal set and the current proprietary signal set. The preset state machine includes the logical relationship between multiple vehicle states, and the shared signal set includes sensor signals shared by each vehicle state. The shared signal set is also used to determine the next vehicle state of the target vehicle.

[0362] In one embodiment, the parking notification display module 1502 is further used to: when the target vehicle switches from the target parking state to the stop state, display the parking notification corresponding to the target vehicle in the parent application.

[0363] The parking information display module 1504 is also used to: in response to a trigger operation for a parking notification, enter a vehicle search sub-application in the parent application, and display vehicle search guidance information of the target vehicle in the vehicle search guidance interface of the vehicle search sub-application.

[0364] In one embodiment, the parking information display module 1504 is further used to:

[0365] In the parking space guidance area of ​​the vehicle search guidance interface, the parking space information in the vehicle search guidance information of the target vehicle is displayed; the parking space information includes at least one of a parking space mark and a parking space image corresponding to the target vehicle;

[0366] In the parking place guidance area in the vehicle search guidance interface, the parking place information in the vehicle search guidance information of the target vehicle is displayed; the parking place information includes at least one of the parking place and the parking floor corresponding to the target vehicle;

[0367] A car finding control set is displayed in the operation function area of ​​the car finding guidance interface; the car finding control set includes at least one of a video playback control for playing the parking video in the car finding guidance information of the target vehicle, a parking fee payment control for paying the parking fee, and a parking sharing control for sharing the car finding guidance information of the target vehicle.

[0368] In one embodiment, the parking information display module 1504 is further used to:

[0369] Display video playback controls in the car-finding guidance interface;

[0370] In response to a trigger operation on a video playback control, a parking video formed by a vehicle camera image sequence in the vehicle search guidance information of the target vehicle is played;

[0371] When playing the parking video, the playback area of ​​the parking video is highlighted;

[0372] When playing parking videos, display the video closing control;

[0373] In response to a trigger operation on a video off control, playing of the parking video is canceled.

[0374] In one embodiment, the parking information display module 1504 is further used to:

[0375] Display the parking fee payment control;

[0376] In response to a trigger operation on a parking fee payment control, displaying a payment graphic code corresponding to the parking lot in the vehicle search guidance information of the target vehicle;

[0377] In response to a triggering operation on the payment graphic code, the parking fee corresponding to the target vehicle is transferred to a parking fee account corresponding to the parking lot in the vehicle search guidance information of the target vehicle.

[0378] In one embodiment, the parking information display module 1504 is further used to:

[0379] Display the parking fee skipping setting entry in the car search guidance interface;

[0380] In response to a trigger operation on a parking fee skipping setting entry, displaying a parking fee skipping reminder attribute;

[0381] In response to the editing operation on the parking fee jump reminder attribute, the parking fee jump reminder attribute is updated and displayed as the parking fee jump reminder attribute edited by the editing operation, so that the parking fee jump reminder condition of the target vehicle is updated to the edited parking fee jump reminder attribute.

[0382] The above-mentioned vehicle data processing device, the preset state machine includes a logical relationship between multiple vehicle states, and can intelligently analyze the sensor signals generated by the vehicle in real time to switch the vehicle state and determine the parking information, thereby improving the efficiency of determining the parking information. The preset state machine determines the next vehicle state of the target vehicle based on the sensor signals shared by each vehicle state, switches from the current vehicle state to the next vehicle state, and when switching to the target parking state, determines the parking information of the target vehicle based on the sensor signals shared by each vehicle state and the sensor signals exclusive to the target parking state. By using the shared signal set and the exclusive signal set corresponding to the target parking state, the vehicle state can be flexibly switched and the vehicle search guidance information can be quickly and accurately determined, which can effectively improve the efficiency of searching for the vehicle and ensure the accuracy of searching for the vehicle.

[0383] Each module in the above vehicle data processing device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0384] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.16 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a vehicle data processing method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0385] Those skilled in the art will understand that Fig.16 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0386] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0387] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0388] In one embodiment, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0389] 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 relevant regulations.

[0390] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0391] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0392] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle data processing method, characterized in that: The method comprises: Inputting a sensor signal generated by a vehicle sensor of a target vehicle into a preset state machine; the preset state machine includes a logical relationship between a plurality of vehicle states; By means of the preset state machine, in the current vehicle state of the target vehicle, the shared signal set is updated based on the received sensor signal, the next vehicle state of the target vehicle is determined based on the current shared signal set, and the current vehicle state is switched to the next vehicle state; the shared signal set includes sensor signals shared by various vehicle states; Through the preset state machine, when switching to the target parking state, the proprietary signal set corresponding to the target parking state is updated based on the received sensor signal, and the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set; the parking information is used as the vehicle search guidance information for the target vehicle.

2. The method according to claim 1, characterized in that The updating of the shared signal set based on the received sensor signal comprises: Adding the received vehicle positioning signal to the vehicle positioning signal sequence in the shared signal set, and adding the received vehicle motion signal to the vehicle motion signal sequence in the shared signal set; Adding the received vehicle front camera image that meets the first preset condition to the vehicle camera image sequence in the shared signal set; The received multiple sensor signals that meet the second preset condition are added to the mixed signal sequence in the shared signal set.

3. The method according to claim 2, characterized in that The step of adding the received vehicle front camera image that meets the first preset condition to the vehicle camera image sequence in the shared signal set includes: updating a vehicle mileage accumulation value of a first vehicle odometer in the shared signal set based on the received speed sensor signal; When the vehicle mileage cumulative value of the first vehicle mileage meter is greater than a first preset threshold, adding the currently received vehicle front camera image to the vehicle camera image sequence in the shared signal set, and resetting the vehicle mileage cumulative value of the first vehicle mileage meter; When the number of images in the vehicle camera image sequence is greater than a second preset threshold, the images in the vehicle camera image sequence are deleted in positive order of image acquisition time.

4. The method according to claim 1, characterized in that The determining the next vehicle state of the target vehicle based on the current shared signal set includes: When the current vehicle state of the target vehicle is not a stopped state and no sensor signal indicating that the vehicle is stopped is received, a mixed signal sequence in the current shared signal set is input into a parking lot entry and exit recognition model to obtain a predicted vehicle state, and the predicted vehicle state is used as the next vehicle state of the target vehicle; the predicted vehicle state is an indoor parking state or an outdoor state; Upon receiving a sensor signal indicating that the vehicle is stopped, determining that the next vehicle state of the target vehicle is the stopped state; When a sensor signal indicating vehicle start is received in the stopped state, it is determined that the next vehicle state of the target vehicle is a start state.

5. The method according to claim 1, characterized in that When switching to the target parking state, updating the proprietary signal set corresponding to the target parking state based on the received sensor signal, and determining the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set, comprises: When switching to an indoor parking state, updating the vehicle parking state in the proprietary signal set corresponding to the indoor parking state based on the received vehicle gear position signal; the indoor parking state is the target parking state; When the parking state of the vehicle is a forward state, updating a vehicle camera image sequence in a shared signal set based on a received vehicle front camera image; When the parking state of the vehicle is a reverse state, updating the vehicle camera image sequence in the shared signal set and the vehicle rear camera image sequence in the dedicated signal set based on the received vehicle rear camera image; When a sensor signal indicating that the vehicle has stopped is received, parking space recognition is performed based on the current vehicle rear camera image sequence to obtain the parking space corresponding to the target vehicle, parking floors are recognized based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, the parking place corresponding to the target vehicle is determined based on the current vehicle positioning signal sequence, and parking information of the target vehicle in the indoor parking state is obtained based on the parking space, parking floor, parking place corresponding to the target vehicle and the current vehicle camera image sequence.

6. The method according to claim 1, characterized in that The method further comprises: By means of the preset state machine, in the case of switching to the outdoor state, when receiving a sensor signal indicating that the vehicle has stopped, a parking place corresponding to the target vehicle is determined based on a vehicle positioning signal sequence in a current shared signal set; Get the vehicle surround view camera image; Based on the parking place corresponding to the target vehicle and the vehicle surround view camera image, parking information of the target vehicle in the outdoor state is obtained.

7. The method according to claim 6, characterized in that The method further comprises: After the parking information of the target vehicle in the outdoor state is determined by the preset state machine, the vehicle positioning signal sequence, the vehicle motion signal sequence, and the vehicle camera image sequence in the current shared signal set are cleared.

8. The method according to claim 1, characterized in that The method further comprises: When it is determined by the preset state machine that the next vehicle state is an indoor parking state or an outdoor state, the vehicle positioning signal sequence and the vehicle camera image sequence in the current shared signal set are cleared.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: When switching from the target parking state to the stop state, obtaining a parking place and a parking start time corresponding to the target vehicle from the parking information corresponding to the target vehicle, and determining a parking fee skipping reminder condition corresponding to the target vehicle based on the parking place and the parking start time; When the parking duration of the target vehicle meets the parking fee jump reminder condition, a parking fee reminder notification corresponding to the target vehicle is generated; the parking fee reminder notification is used to be displayed on at least one of the target vehicle and the owner terminal corresponding to the target vehicle.

10. A vehicle data processing method, characterized in that: The method comprises: Display the parking notice corresponding to the target vehicle; In response to a triggering event for the parking notification, displaying a vehicle search guidance interface, displaying vehicle search guidance information of the target vehicle in the vehicle search guidance interface; The vehicle search guidance information is determined based on the current shared signal set and the current proprietary signal set by a preset state machine that controls the vehicle state switching and updates the shared signal set and the proprietary signal set corresponding to the target parking state based on the received sensor signal when switching to the target parking state; the preset state machine includes the logical relationship between multiple vehicle states, the shared signal set includes sensor signals shared by each vehicle state, and the shared signal set is also used to determine the next vehicle state of the target vehicle.

11. The method according to claim 10, characterized in that The display of the parking notice corresponding to the target vehicle includes: When the target vehicle switches from the target parking state to the stopped state, a parking notification corresponding to the target vehicle is displayed in the parent application; The method of displaying a vehicle search guidance interface in response to a triggering event for the parking notification, wherein the vehicle search guidance information of the target vehicle is displayed in the vehicle search guidance interface, comprises: In response to the triggering operation for the parking notification, a vehicle finding sub-application in the parent application is entered, and vehicle finding guidance information of the target vehicle is displayed in a vehicle finding guidance interface of the vehicle finding sub-application.

12. The method according to claim 10, characterized in that The displaying of the vehicle search guidance information of the target vehicle in the vehicle search guidance interface includes: In the parking space guidance area in the vehicle search guidance interface, the parking space information in the vehicle search guidance information of the target vehicle is displayed; the parking space information includes at least one of a parking space mark and a parking space image corresponding to the target vehicle; In the parking place guidance area in the vehicle search guidance interface, the parking place information in the vehicle search guidance information of the target vehicle is displayed; the parking place information includes at least one of the parking place and parking floor corresponding to the target vehicle; A car finding control set is displayed in the operation function area of ​​the car finding guidance interface; the car finding control set includes at least one of a video playback control for playing the parking video in the car finding guidance information of the target vehicle, a parking fee payment control for paying the parking fee, and a parking sharing control for sharing the car finding guidance information of the target vehicle.

13. The method according to claim 10, characterized in that The displaying of the vehicle search guidance information of the target vehicle in the vehicle search guidance interface includes: Displaying a video playback control in the vehicle search guidance interface; In response to a trigger operation on the video playback control, playing a parking video formed based on a vehicle camera image sequence in the vehicle search guidance information of the target vehicle; When playing the parking video, highlighting the playback area of ​​the parking video; When playing the parking video, display a video closing control; In response to a trigger operation on the video closing control, playing of the parking video is canceled.

14. The method according to claim 10, characterized in that The method further comprises: Display the parking fee payment control; In response to a trigger operation on the parking fee payment control, displaying a payment graphic code corresponding to the parking lot in the vehicle search guidance information of the target vehicle; In response to a triggering operation on the payment graphic code, the parking fee corresponding to the target vehicle is transferred to a parking fee account corresponding to the parking lot in the vehicle search guidance information of the target vehicle.

15. The method according to claim 10, characterized in that The method further comprises: Displaying a parking fee skipping setting entry in the car search guidance interface; In response to a triggering operation on the parking fee skipping setting entry, displaying a parking fee skipping reminder attribute; In response to an editing operation on the parking fee jump reminder attribute, the parking fee jump reminder attribute is updated and displayed as the parking fee jump reminder attribute edited by the editing operation, so that the parking fee jump reminder condition of the target vehicle is updated to the edited parking fee jump reminder attribute.

16. A vehicle data processing device, characterized in that: The device comprises: A data acquisition module, for inputting a sensor signal generated by a vehicle sensor of a target vehicle into a preset state machine; the preset state machine includes a logical relationship between a plurality of vehicle states; A data processing module, configured to update a shared signal set based on a received sensor signal in a current vehicle state of the target vehicle through the preset state machine, determine a next vehicle state of the target vehicle based on the current shared signal set, and switch from the current vehicle state to the next vehicle state; the shared signal set includes sensor signals shared by various vehicle states; The data processing module is also used to update the proprietary signal set corresponding to the target parking state based on the received sensor signal through the preset state machine when switching to the target parking state, and determine the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set; the parking information is used as vehicle search guidance information for the target vehicle.

17. A vehicle data processing device, characterized in that: The device comprises: A parking notice display module is used to display the parking notice corresponding to the target vehicle; A parking information display module, configured to display a vehicle search guidance interface in response to a triggering event for the parking notification, and display vehicle search guidance information of the target vehicle in the vehicle search guidance interface; The vehicle search guidance information is determined based on the current shared signal set and the current proprietary signal set by a preset state machine that controls the vehicle state switching and updates the shared signal set and the proprietary signal set corresponding to the target parking state based on the received sensor signal when switching to the target parking state; the preset state machine includes the logical relationship between multiple vehicle states, the shared signal set includes sensor signals shared by each vehicle state, and the shared signal set is also used to determine the next vehicle state of the target vehicle.

18. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 15 are implemented.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 15 are implemented.

20. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 15 are implemented.

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