Underground parking lot vehicle navigation method and device, electronic equipment and storage medium

Abstract

The invention provides an underground parking lot vehicle navigation method and device, electronic equipment and a storage medium, and relates to the technical field of intelligent transportation, and the method comprises the steps: for each preset receiving equipment group in at least two preset receiving equipment groups, determining the spatial distance between each receiving equipment in the preset receiving equipment group and a Bluetooth beacon, determining a plane distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance; the Bluetooth beacon is arranged in a vehicle, and each preset receiving device group is arranged in an underground parking lot; based on the at least two plane distances, determining a target position corresponding to the vehicle; and determining navigation information corresponding to the vehicle based on an electronic map of the underground parking lot, the target position and the parking space position of the distributed parking space corresponding to the vehicle. According to the invention, the positioning accuracy of the vehicles in the underground parking lot can be improved, and the parking efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation, and particularly to a vehicle navigation method, device, electronic device and storage medium for an underground parking lot. Background Art

[0002] With the acceleration of the urbanization process, the number of vehicles has been increasing continuously, resulting in a growing shortage of parking spaces in the city, especially in busy commercial areas and downtown areas. As a way to make rational use of underground space, underground parking lots are used to alleviate the shortage of parking spaces in the city.

[0003] In the prior art, when parking in an underground parking lot, by pre-installing a Bluetooth beacon on the vehicle, using a Bluetooth gateway to obtain the data of the Bluetooth beacon on the vehicle, and determining the coordinates of the Bluetooth beacon according to the data and the distance between the Bluetooth gateway and the Bluetooth beacon, so as to determine the positioning position of the vehicle, and performing real-time navigation in the underground parking lot according to the positioning position.

[0004] However, in the above solution, the heights of the Bluetooth beacon and the Bluetooth gateway are set to the same height. In practice, due to the height difference between the Bluetooth beacon and the Bluetooth gateway, there will be a coordinate deviation when determining the coordinates of the Bluetooth beacon according to the distance between the Bluetooth gateway and the Bluetooth beacon. As Figure 1 shown, the spatial distance between the Bluetooth beacon and the Bluetooth gateway determined in the prior art is d, and the calculated spatial coordinates of the Bluetooth beacon are N2. In fact, due to the height difference between the Bluetooth beacon and the Bluetooth gateway, the planar distance between the Bluetooth beacon and the Bluetooth gateway is d', and the planar coordinates of the Bluetooth beacon are N1. There is a coordinate deviation between the spatial coordinates N2 and the planar coordinates N1, resulting in a low positioning accuracy of the vehicle in the underground parking lot, and further leading to low parking efficiency. Summary of the Invention

[0005] The present invention provides a vehicle navigation method, device, electronic device and storage medium for an underground parking lot, which are used to solve the defect that the positioning accuracy of the vehicle in the underground parking lot in the prior art is low, resulting in low parking efficiency, improve the positioning accuracy of the vehicle in the underground parking lot, and further improve the parking efficiency.

[0006] The present invention provides a vehicle navigation method for an underground parking lot, including:

[0007] For each preset receiving device group in at least two groups of preset receiving device groups, determining the spatial distance between each receiving device in the preset receiving device group and the Bluetooth beacon, and determining the planar distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance; the Bluetooth beacon is disposed in the vehicle, and each of the preset receiving device groups is disposed in the underground parking lot;

[0008] Determine the target position corresponding to the vehicle based on at least two planar distances;

[0009] Based on the electronic map of the underground parking lot, the target position, and the parking space position of the allocated parking space corresponding to the vehicle, determine the navigation information corresponding to the vehicle.

[0010] According to the underground parking lot vehicle navigation method provided by the present invention, the determining the planar distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance includes:

[0011] Obtain the distribution mode of the at least two groups of preset receiving device groups in the underground parking lot;

[0012] Based on the distribution mode and the spatial distances between each receiving device in each preset receiving device group and the Bluetooth beacon, determine the planar distance between the Bluetooth beacon and the preset receiving device group.

[0013] According to the underground parking lot vehicle navigation method provided by the present invention, the determining the planar distance between the Bluetooth beacon and the preset receiving device group based on the distribution mode and the spatial distances between each receiving device in each preset receiving device group and the Bluetooth beacon includes:

[0014] When the distribution mode is that each of the at least two groups of preset receiving device groups is set in the underground parking lot, and the number of receiving devices arranged coaxially in each preset receiving device group is greater than 1, based on the first installation height of the first receiving device in the upper layer and the second installation height of the second receiving device in the lower layer in the preset receiving device group, determine the first height difference between the first receiving device and the second receiving device;

[0015] Based on the first height difference, the first spatial distance between the Bluetooth beacon and the first receiving device, and the second spatial distance between the Bluetooth beacon and the second receiving device, determine the sine value of the first included angle formed by the Bluetooth beacon and the first receiving device;

[0016] Based on the Bluetooth beacon, the first spatial distance, and the sine value, determine the planar distance between the Bluetooth beacon and the preset receiving device group.

[0017] According to the underground parking lot vehicle navigation method provided by the present invention, the determining the planar distance between the Bluetooth beacon and the preset receiving device group based on the distribution mode and the spatial distances between each receiving device in each preset receiving device group and the Bluetooth beacon includes:

[0018] When the distribution mode is that the first preset receiving device group in the at least two preset receiving device groups is set at the entrance of the underground parking lot, and other preset receiving device groups except the first preset receiving device group are all set in the underground parking lot, and the number of devices of the receiving devices coaxially arranged in the first preset receiving device group is greater than 1, and the number of devices of the receiving devices coaxially arranged in the other preset receiving device groups is equal to 1, obtain the placement height corresponding to the Bluetooth beacon at the entrance of the underground parking lot; the placement height corresponds to the vehicle one by one;

[0019] Based on the change situation of the horizontal plane in the underground parking lot, determine a compensation height, which is used to correct the horizontal plane of the Bluetooth beacon and the horizontal plane of the third receiving device in the other preset receiving device groups to the same horizontal plane;

[0020] Based on the placement height, the compensation height and the third installation height of the third receiving device, determine the second height difference between the Bluetooth beacon and the third receiving device;

[0021] Based on the second height difference and the third spatial distance between the Bluetooth beacon and the third receiving device, determine the planar distance between the Bluetooth beacon and the other preset receiving device groups.

[0022] According to the underground parking lot vehicle navigation method provided by the present invention, the obtaining the placement height corresponding to the Bluetooth beacon at the entrance of the underground parking lot includes:

[0023] Based on the installation heights corresponding to the fourth receiving device at the upper layer and the fifth receiving device at the lower layer coaxially arranged in the first preset receiving device group, determine the third height difference between the fourth receiving device and the fifth receiving device;

[0024] Based on the third height difference, the fourth spatial distance between the Bluetooth beacon and the fourth receiving device, and the fifth spatial distance between the Bluetooth beacon and the fifth receiving device, determine the cosine value of the second included angle formed by the Bluetooth beacon and the fifth receiving device;

[0025] Based on the third height difference, the fourth spatial distance and the cosine value, determine the placement height corresponding to the Bluetooth beacon at the entrance of the underground parking lot.

[0026] According to the underground parking lot vehicle navigation method provided by the present invention, for each of the receiving devices, the determining the spatial distance between each receiving device in the preset receiving device group and the Bluetooth beacon includes:

[0027] Obtain the received signal power intensity corresponding to the receiving device, and the device path loss between the receiving device and the Bluetooth beacon;

[0028] Based on a preset signal power intensity, a Gaussian noise variable, and the received signal power intensity, determine the path loss exponent between the Bluetooth beacon and the receiving device;

[0029] Based on a preset path loss, the path loss exponent, the device path loss, and the Gaussian noise variable, determine the spatial distance between the Bluetooth beacon and the receiving device.

[0030] According to the underground parking lot vehicle navigation method provided by the present invention, the determining the target position corresponding to the vehicle based on at least two planar distances includes:

[0031] Obtain a combination of planar distances, the installation coordinates of the receiving devices corresponding to each planar distance in each combination of planar distances, and the received signal power intensity corresponding to each receiving device; each combination of planar distances includes planar distances corresponding to at least two receiving devices;

[0032] For each combination of planar distances, based on each planar distance and the installation coordinates corresponding to the planar distance, determine the position of the vehicle corresponding to the combination of planar distances;

[0033] Determine the received signal power intensity corresponding to each receiving device as the weight of the position corresponding to each combination of planar distances;

[0034] Based on each position and the weight corresponding to each position, determine the target position corresponding to the vehicle.

[0035] The present invention also provides an underground parking lot vehicle navigation device, including:

[0036] A first determination module, for each preset receiving device group in at least two preset receiving device groups, determine the spatial distance between each receiving device in the preset receiving device group and the Bluetooth beacon, and based on the spatial distance, determine the planar distance between the Bluetooth beacon and the preset receiving device group; the Bluetooth beacon is arranged in the vehicle, and each preset receiving device group is arranged in the underground parking lot;

[0037] A second determination module, based on at least two planar distances, determine the target position corresponding to the vehicle;

[0038] A third determination module, configured to determine the navigation information corresponding to the vehicle based on the electronic map of the underground parking lot, the target position, and the parking space position of the assigned parking space corresponding to the vehicle.

[0039] The present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the underground parking lot vehicle navigation method described in any one of the above is implemented.

[0040] The present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the underground parking lot vehicle navigation method described in any one of the above is implemented.

[0041] The underground parking lot vehicle navigation method, device, electronic device, and storage medium provided by the present invention determine the spatial distance between each receiving device in each preset receiving device group in the underground parking lot and the Bluetooth beacon, determine the planar distance between the Bluetooth beacon and the preset receiving device group according to the spatial distance, determine the target position of the vehicle according to the planar distance, and perform real-time navigation on the vehicle according to the electronic map of the underground parking lot, the target position, and the parking space position of the allocated parking space corresponding to the vehicle. Vehicle positioning is performed through the planar distance, correcting the deviation problem corresponding to the target position of the vehicle caused by the height difference between the Bluetooth beacon and each receiving device, improving the accuracy of vehicle positioning, thereby improving the parking efficiency, and optimizing the management of the underground parking lot. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 is a schematic diagram of the theoretical coordinates and actual coordinates corresponding to the Bluetooth beacon provided by the prior art;

[0044] Figure 2 is one of the flow schematic diagrams of the underground parking lot vehicle navigation method provided by the embodiment of the present invention;

[0045] Figure 3 is a top view of the deployment range of at least two preset receiving device groups provided by the embodiment of the present invention;

[0046] Figure 4 is a schematic structural diagram of the Bluetooth beacon allocation device provided by the embodiment of the present invention;

[0047] Figure 5 is the second flow schematic diagram of the underground parking lot vehicle navigation method provided by the embodiment of the present invention;

[0048] Figure 6It is one of the schematic diagrams showing the positional relationship between the receiving device and the Bluetooth beacon provided by the embodiment of the present invention;

[0049] Figure 7 It is another schematic diagram showing the positional relationship between the receiving device and the Bluetooth beacon provided by the embodiment of the present invention;

[0050] Figure 8 It is one of the schematic diagrams showing the positional relationship between the first preset receiving device group and the Bluetooth beacon provided by the embodiment of the present invention;

[0051] Figure 9 It is another schematic diagram showing the positional relationship between the first preset receiving device group and the Bluetooth beacon provided by the embodiment of the present invention;

[0052] Figure 10 It is one of the schematic diagrams showing the positional relationship between the third receiving device and the Bluetooth beacon provided by the embodiment of the present invention;

[0053] Figure 11 It is another schematic diagram showing the positional relationship between the third receiving device and the Bluetooth beacon provided by the embodiment of the present invention;

[0054] Figure 12 It is the third schematic diagram showing the positional relationship between the third receiving device and the Bluetooth beacon provided by the embodiment of the present invention;

[0055] Figure 13 It is the fourth schematic diagram showing the positional relationship between the third receiving device and the Bluetooth beacon provided by the embodiment of the present invention;

[0056] Figure 14 It is the third schematic diagram of the flowchart of the underground parking lot vehicle navigation method provided by the embodiment of the present invention;

[0057] Figure 15 It is the schematic diagram of the structure of the underground parking lot vehicle navigation device provided by the embodiment of the present invention;

[0058] Figure 16 It is the schematic diagram of the structure of the electronic device provided by the embodiment of the present invention. Detailed implementation manners

[0059] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] Aiming at the problem of low positioning accuracy of vehicles in the underground parking lot in the prior art, which leads to low parking efficiency, the embodiment of the present invention provides an underground parking lot vehicle navigation method,Figure 2 is one of the schematic flowcharts of the vehicle navigation method in the underground parking lot provided by the embodiment of the present invention. As Figure 2 shown, the method includes:

[0061] Step 210, for each preset receiving device group in at least two groups of preset receiving device groups, determine the spatial distance between each receiving device in the preset receiving device group and the Bluetooth beacon, and determine the planar distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance; the Bluetooth beacon is arranged in the vehicle, and each of the preset receiving device groups is arranged in the underground parking lot.

[0062] Specifically, at least two groups of preset receiving device groups are installed in the underground parking lot. The preset receiving device group is used to receive the signal emitted by the Bluetooth beacon, and determine the spatial distance between each receiving device in the preset receiving device group and the Bluetooth beacon according to the signal. The spatial distance can be understood as the theoretical distance determined when the heights corresponding to the Bluetooth beacon and each receiving device are set to different heights. Since there is a height difference between the Bluetooth beacon and each receiving device, the spatial distance can be planarized, that is, assuming that the heights corresponding to the Bluetooth beacon and each receiving device are set to the same height, the planar distance between the Bluetooth beacon and the preset receiving device group is obtained, avoiding subsequent position deviation of the Bluetooth beacon and improving the positioning accuracy of the Bluetooth beacon and the vehicle.

[0063] It should be noted that Figure 3 is the top view of the deployment range of at least two groups of preset receiving device groups provided by the embodiment of the present invention. As Figure 3 shown, the number of groups and distribution density of the preset receiving device group can be adjusted according to actual needs, as long as the coverage range of all preset receiving device groups covers the entire underground parking lot, that is, to ensure that when the vehicle travels in the underground parking lot, there are at least two preset receiving device groups that can receive the broadcast signal emitted by the Bluetooth beacon in the vehicle.

[0064] The above Bluetooth beacon is a hardware device that uses Bluetooth Low Energy (BLE) technology to send broadcast signals to each receiving device in a preset receiving device group. The Bluetooth beacon can broadcast its own presence and identification information within a short distance range, facilitating each receiving device to receive and identify the broadcast signal. In addition, the Bluetooth beacon is pre-registered in the cloud server through a unique UUID (Universally Unique Identifier). When a vehicle enters an underground parking lot, after the vehicle owner scans the QR code provided by the underground parking lot through a mobile device and enters the license plate number of the vehicle, the cloud server controls the Bluetooth beacon distribution device at the entrance of the underground parking lot to bind the UUID of any Bluetooth beacon in the Bluetooth beacon distribution device to the license plate number of the vehicle, and releases the Bluetooth beacon with the bound license plate number through the Bluetooth beacon distribution device. After the vehicle owner receives the Bluetooth beacon, the Bluetooth beacon is set in the vehicle.

[0065] Optionally, Figure 4 is a schematic structural diagram of the Bluetooth beacon distribution device provided by an embodiment of the present invention. As Figure 4 shown, the QR code can be set on the Bluetooth beacon distribution device, and a pressure sensor communicatively connected to the cloud server can be set on the Bluetooth beacon distribution device. Figure 4 The dashed box shown in is the pressure sensor. After the Bluetooth beacon distribution device releases the Bluetooth beacon with the bound license plate number, the pressure sensor can detect the pressure data corresponding to the Bluetooth beacon. After the vehicle owner receives the Bluetooth beacon, the pressure data detected by the pressure sensor becomes 0. By detecting the process from the pressure data to the pressure data becoming 0, it is possible to detect whether the vehicle owner has received the Bluetooth beacon, facilitating the determination that the Bluetooth beacon is set in the vehicle after being received by the vehicle owner.

[0066] Optionally, environmental cameras, capture cameras, and electronic control gates are also deployed in the underground parking lot. The range of the environmental cameras can cover the entire underground parking lot, facilitating the confirmation of vehicle entry and exit records and abnormal handling. The capture cameras can be deployed at the entrance and exit of the underground parking lot. The capture camera can first capture the license plate number of the vehicle at the entrance and transmit the license plate number to the cloud server through the network. After the cloud server identifies the cloud server, the cloud server can detect the available parking spaces in the underground parking lot, determine the allocated parking space for the vehicle from the available parking spaces, bind the parking space location of the allocated parking space to the license plate number of the vehicle, and switch the status of the allocated parking space from the available status to the allocated status. The allocated parking space in the allocated status will not be allocated to other vehicles. The capture camera deployed at the exit can capture the license plate number of the vehicle when it leaves the parking lot and upload it to the cloud server to facilitate determining whether the parking behavior of the vehicle has ended. The electronic control gate is also deployed at the entrance and exit of the underground parking lot. The electronic control gate can be connected to the capture camera at the corresponding location through a serial port, and the capture camera controls the lifting of the electronic control gate to facilitate vehicle entry and exit.

[0067] Optionally, pressure sensors are also installed on each parking space in the underground parking lot. The pressure sensors are used to detect whether a vehicle is parked in the parking space, facilitating the subsequent determination of the status of the parking space, that is, determining whether the parking space is used by the allocated vehicle or occupied by other vehicles. For example, when the vehicle is driving according to the navigation information, if the pressure sensor of the allocated parking space detects pressure data and the distance between the target position of the vehicle and the parking space position is less than or equal to a preset threshold, it can be considered that the allocated parking space has been used by the vehicle, and the status of the allocated parking space can be switched from the allocated status to the used status. If the pressure sensor of the allocated parking space detects pressure data, and the distance between the target position of the vehicle and the parking space position is greater than the preset threshold, it can be considered that the allocated parking space has been occupied by other vehicles, and the status of the allocated parking space can be switched from the allocated status to the occupied status, and a new parking space can be re-allocated for the vehicle from the remaining available parking spaces, and the mapping relationship between the Bluetooth beacon, the vehicle, and the allocated parking space can be updated.

[0068] Further, determining the planar distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance includes:

[0069] Obtaining the distribution mode of the at least two groups of preset receiving device groups in the underground parking lot;

[0070] Based on the distribution mode and the spatial distance between each receiving device in each preset receiving device group and the Bluetooth beacon, determining the planar distance between the Bluetooth beacon and the preset receiving device group.

[0071] Specifically, Figure 5This is the second flowchart diagram of the vehicle navigation method in the underground parking lot provided by the embodiments of the present invention. As Figure 5 shown, the above method for planarizing the spatial distance includes the vertical coaxial method and the height compensation method, and the distribution patterns of at least two groups of preset receiving device groups corresponding to different determination methods are different in the underground parking lot. When the vehicle enters the parking lot, the method for converting the spatial distance into a planar distance can be determined by obtaining the distribution patterns of at least two groups of preset receiving device groups in the underground parking lot.

[0072] Furthermore, determining the planar distance between the Bluetooth beacon and the preset receiving device group based on the distribution pattern and the spatial distances between each receiving device in each preset receiving device group and the Bluetooth beacon includes:

[0073] When the distribution pattern is that each of the at least two groups of preset receiving device groups is arranged in the underground parking lot, and the number of receiving devices arranged coaxially in each preset receiving device group is greater than 1, based on the first installation height corresponding to the first receiving device in the upper layer and the second installation height corresponding to the second receiving device in the lower layer in the preset receiving device group, determine the first height difference between the first receiving device and the second receiving device;

[0074] Based on the first height difference, the first spatial distance between the Bluetooth beacon and the first receiving device, and the second spatial distance between the Bluetooth beacon and the second receiving device, determine the sine value of the first included angle formed by the Bluetooth beacon and the first receiving device;

[0075] Specifically, when the distribution pattern of at least two groups of preset receiving device groups in the underground parking lot is to pre-select preset points with known installation coordinates, and install a group of preset receiving device groups at each preset point, and at least two receiving devices are arranged coaxially in each group of preset receiving device groups, the vertical coaxial method can be used to planarize the spatial distance. The vertical coaxial method specifically includes: for each group of preset receiving device groups, select any two receiving devices from the preset receiving device group, and obtain the first installation height corresponding to the first receiving device in the upper layer and the second installation height corresponding to the second receiving device in the lower layer. Since the placement heights corresponding to the Bluetooth beacons are different, there are two shapes of the triangle formed by the Bluetooth beacon, the first receiving device, and the second receiving device, where:

[0076] 1) Figure 6 This is the first schematic diagram of the positional relationship between the receiving device and the Bluetooth beacon provided by the embodiments of the present invention. Figure 7 This is the second schematic diagram of the positional relationship between the receiving device and the Bluetooth beacon provided by the embodiments of the present invention. In the triangle formed by the Bluetooth beacon O, the first receiving device A, and the second receiving device B, asFigure 6 or Figure 7 When shown as such, using Equation (1), the absolute value of the difference between the first installation height h A and the second installation height h B is determined as the first height difference H1 between the first receiving device and the second receiving device. Equation (1) is:

[0077] H1 = |h A - h B |

[0078] where H1 represents the first height difference between the first receiving device and the second receiving device, h A represents the first installation height corresponding to the first receiving device A, and h B represents the second installation height corresponding to the second receiving device B.

[0079] 2) After determining the first installation height difference, using the cosine formula in the trigonometric function formula, based on the first height difference H1, the first spatial distance between the Bluetooth beacon and the first receiving device, and the second spatial distance between the Bluetooth beacon and the second receiving device, the cosine value corresponding to the first included angle α1 can be calculated. This first included angle is the included angle formed by the sides of the triangle formed by the Bluetooth beacon O and the first receiving device A, and the sides of the triangle formed by the first receiving device A and the second receiving device B. This cosine value is as shown in Equation (2), and Equation (2) is:

[0080]

[0081] where cosα1 represents the cosine value corresponding to the first included angle α1, and d A represents the first spatial distance between the Bluetooth beacon O and the first receiving device A, and d B represents the second spatial distance between the Bluetooth beacon O and the second receiving device B.

[0082] 3) After determining this cosine value, according to (sinα1) 2 +(cosα1) 2 = 1, the sine value sinα1 corresponding to this first included angle α1 can be calculated as shown in Equation (3), and Equation (3) is:

[0083]

[0084] 4) As Figure 6 or Figure 7 shown, the planar distance d S between the Bluetooth beacon and the preset receiving device group is the height of this triangle, that is, sinα1 = d S / d A , then based on the sine value sinα1 corresponding to this first included angle α1 and the first spatial distance dA The product is calculated to obtain the planar distance d between the Bluetooth beacon and the preset receiving device group S This planar distance d S As shown in Equation (4), Equation (4) is:

[0085]

[0086] Further, determining the planar distance between the Bluetooth beacon and the preset receiving device group based on the distribution method and the spatial distances between the Bluetooth beacon and the receiving devices in each preset receiving device group includes:

[0087] When the distribution method is that the first preset receiving device group in the at least two preset receiving device groups is set at the entrance of the underground parking lot, and the other preset receiving device groups except the first preset receiving device group are all set in the underground parking lot, and the number of receiving devices coaxially arranged in the first preset receiving device group is greater than 1, and the number of receiving devices coaxially arranged in the other preset receiving device groups is equal to 1, obtain the placement height corresponding to the Bluetooth beacon at the entrance of the underground parking lot; the placement height corresponds to the vehicle one by one;

[0088] Based on the change of the horizontal plane in the underground parking lot, determine the compensation height, which is used to correct the horizontal plane of the Bluetooth beacon and the horizontal plane of the third receiving device in the other preset receiving device groups to the same horizontal plane; there is only one third receiving device in each preset receiving device group in the other preset receiving device groups;

[0089] Based on the placement height, the compensation height, and the third installation height of the third receiving device, determine the second height difference between the Bluetooth beacon and the third receiving device;

[0090] Based on the second height difference and the third spatial distance between the Bluetooth beacon and the third receiving device, determine the planar distance between the Bluetooth beacon and the other preset receiving device groups.

[0091] Specifically, the distribution method of at least two groups of preset receiving device groups in the underground parking lot is to set a first preset receiving device group at the entrance of the underground parking lot, and set other preset receiving device groups in the underground parking lot except the first preset receiving device group. At least two receiving devices are coaxially arranged in the first preset receiving device group, and only one third receiving device is set in each of the other preset receiving device groups. At this time, the height compensation method can be used to planarize the spatial distance. The height compensation method specifically includes: First, through any two receiving devices in the first preset receiving device group, determine the placement height corresponding to the Bluetooth beacon at the entrance, and bind the placement height to the license plate number of the vehicle.

[0092] Further, obtaining the placement height corresponding to the Bluetooth beacon at the entrance of the underground parking lot includes:

[0093] Based on the installation heights corresponding to the fourth receiving device at the upper layer and the fifth receiving device at the lower layer coaxially arranged in the first preset receiving device group, determine the third height difference between the fourth receiving device and the fifth receiving device;

[0094] Based on the third height difference, the fourth spatial distance between the Bluetooth beacon and the fourth receiving device, and the fifth spatial distance between the Bluetooth beacon and the fifth receiving device, determine the cosine value corresponding to the second included angle formed by the Bluetooth beacon and the fifth receiving device;

[0095] Based on the third height difference (the height difference between the fourth receiving device and the fifth receiving device), the fourth spatial distance (the spatial distance between the Bluetooth beacon and the fourth receiving device), and the cosine value, determine the placement height corresponding to the Bluetooth beacon at the entrance of the underground parking lot.

[0096] Specifically, for the first preset receiving device group, any two receiving devices can be selected from the first preset receiving device group, and the fourth installation height of the fourth receiving device at the upper layer and the fifth installation height of the fifth receiving device at the lower layer are obtained. Using Equation (5), the absolute value of the difference between the fourth installation height and the fifth installation height is determined as the third height difference between the fourth receiving device and the fifth receiving device. Equation (5) is:

[0097] H3 = |h C -h D |

[0098] Wherein, H3 represents the third height difference between the fourth receiving device and the fifth receiving device, h C represents the fourth installation height corresponding to the fourth receiving device C, and h D represents the fifth installation height corresponding to the fifth receiving device D.

[0099] Afterwards, due to the different heights of vehicles, there are two possible positional relationships between the Bluetooth beacon, the fourth receiving device, and the fifth receiving device. The first positional relationship is as follows: Since the vehicle chassis is relatively high, the installation height of the Bluetooth beacon is higher than the fifth installation height h corresponding to the fifth receiving device D, D but lower than the fourth installation height h corresponding to the fourth receiving device C. C The second positional relationship is as follows: Since the vehicle chassis is relatively low, the installation height of the Bluetooth beacon is lower than the fifth installation height h corresponding to the fifth receiving device D, D and at the same time, it is lower than the fourth installation height h corresponding to the fourth receiving device C. C The fourth installation height corresponding to the fourth receiving device C is higher than the first preset threshold, and the first preset threshold can be the maximum height of all vehicles allowed to park in this parking lot. Specifically as follows:

[0100] 1) In the first positional relationship, Figure 8 is one of the schematic diagrams of the positional relationship between the first preset receiving device group provided by the embodiment of the present invention and the Bluetooth beacon. The positional relationship among the Bluetooth beacon, the fourth receiving device, and the fifth receiving device is as Figure 8 shown.

[0101] After determining the third height difference, using the cosine formula in the trigonometric function formula, based on the third height difference H3, the fourth spatial distance between the Bluetooth beacon and the fourth receiving device, and the fifth spatial distance between the Bluetooth beacon and the fifth receiving device, the cosine value corresponding to the second included angle α2 can be calculated. The second included angle is the included angle formed by the straight line between the Bluetooth beacon O and the fourth receiving device C, and the straight line between the fourth receiving device C and the fifth receiving device D. The cosine value is shown in Equation (6), and Equation (6) is:

[0102]

[0103] where cosα2 represents the cosine value corresponding to the second included angle α2, d C represents the fourth spatial distance between the Bluetooth beacon O and the fourth receiving device C, and d D represents the fifth spatial distance between the Bluetooth beacon O and the fifth receiving device D.

[0104] After determining the cosine value corresponding to the second included angle, according to the product of the cosine value corresponding to the second included angle and the fourth spatial distance, the fourth height difference H4 between the fourth receiving device C and the Bluetooth beacon O can be calculated, and based on the difference between the third height difference and the fourth height difference, the fifth height difference between the Bluetooth beacon O and the fifth receiving device as shown in Equation (7) can be calculated. Equation (7) is:

[0105] H5 = H3 - d C × cosα2

[0106] Wherein, d C × cosα2 represents the fourth height difference H4 between the fourth receiving device C and the Bluetooth beacon O.

[0107] After determining the fifth height difference, according to the sum of the fifth height difference H5 and the fifth installation height h corresponding to the fifth receiving device D the placement height h corresponding to the Bluetooth beacon can be calculated, that is, h O , namely, h O = H5 + h D .

[0108] 2) In the second positional relationship Figure 9 is the second schematic diagram of the positional relationship between the first preset receiving device group provided by the embodiment of the present invention and the Bluetooth beacon. The positional relationship among the Bluetooth beacon, the fourth receiving device, and the fifth receiving device is as Figure 9 shown.

[0109] After determining the third height difference, the cosine value corresponding to the second included angle α2 can be determined by using Equation (6). After determining the cosine value corresponding to the second included angle, according to the product of the cosine value corresponding to the second included angle and the fourth spatial distance, the fourth height difference H4 between the fourth receiving device C and the Bluetooth beacon O is determined, and according to the difference between the fourth height difference and the third height difference, the fifth height difference between the fifth receiving device and the Bluetooth beacon O as shown in Equation (8) is calculated. Equation (8) is:

[0110] H5 = d C × cosα2 - H3

[0111] Wherein, d C × cosα2 represents the fourth height difference H4 between the fourth receiving device C and the Bluetooth beacon O.

[0112] After determining the fifth height difference, according to the difference between the fifth installation height and the fifth height difference, the placement height h corresponding to the Bluetooth beacon can be calculated O , that is, h O = h D - H5, and finally the placement height h O is as shown in Equation (9). Equation (9) is:

[0113]

[0114] Secondly, after determining the placement height of the Bluetooth beacon at the entrance of the underground parking lot, as the vehicle enters the underground parking lot, there may be uphill or downhill roads in the underground parking lot, resulting in a change in the horizontal plane. At this time, the compensation height can be determined according to the change in the horizontal plane, and the horizontal plane of the Bluetooth beacon and the horizontal plane of the third receiving device in each preset receiving device group in other preset receiving device groups are corrected to the same horizontal plane. The specific steps are as follows:

[0115] 1) When the placement height corresponding to the Bluetooth beacon is lower than the third installation height corresponding to the third receiving device in other preset receiving device groups, Figure 10 This is one of the schematic diagrams of the positional relationship between the third receiving device and the Bluetooth beacon provided by the embodiment of the present invention. If there is an uphill road in the underground parking lot, resulting in a change in the horizontal plane, such as Figure 10 The height of the horizontal plane F corresponding to the Bluetooth beacon shown is lower than the height of the horizontal plane E corresponding to the third receiving device E. At this time, the horizontal plane F corresponding to the Bluetooth beacon can be used as a reference. According to the height interval between the horizontal plane F and the horizontal plane E, the compensation height H0 is determined to be +Hs. According to the sum of the compensation height and the third installation height corresponding to the third receiving device, the new third installation height corrected based on the horizontal plane F can be determined. Then, according to the difference between the new third installation height and the placement height of the Bluetooth beacon, the second height difference between the third receiving device and the Bluetooth beacon is obtained. The second height difference is shown in Equation (10), and Equation (10) is:

[0116] H2 = h C +Hs - h O

[0117] Wherein, H2 represents the second height difference between the third receiving device and the Bluetooth beacon, and h C represents the third installation height of the third receiving device corresponding to the horizontal plane E, +Hs represents the compensation height, and h C +Hs represents the new third installation height corrected based on the horizontal plane F, and h O represents the placement height corresponding to the Bluetooth beacon.

[0118] 2) If the placement height corresponding to the Bluetooth beacon is lower than the third installation height corresponding to the third receiving device in other preset receiving device groups, Figure 11 This is the second schematic diagram of the positional relationship between the third receiving device and the Bluetooth beacon provided by the embodiment of the present invention. If there is a downhill road in the underground parking lot, resulting in a change in the horizontal plane, such as Figure 11The change in the horizontal plane where the height of the horizontal plane F corresponding to the Bluetooth beacon shown is higher than the height of the horizontal plane E corresponding to the third receiving device E. At this time, based on the horizontal plane F corresponding to the Bluetooth beacon, according to the height interval between the horizontal plane F and the horizontal plane E, the compensation height H0 is determined to be -Hs. According to the sum of this compensation height and the third installation height corresponding to the third receiving device, the new third installation height corrected based on the horizontal plane F can be determined. Furthermore, based on the difference between the new third installation height and the placement height of the Bluetooth beacon, the second height difference between the third receiving device and the Bluetooth beacon is obtained. The second height difference is shown in Equation (11), and Equation (11) is:

[0119] H2 = h C -Hs - h O

[0120] where h C -Hs represents the new third installation height corrected based on the horizontal plane F, and -Hs represents the compensation height.

[0121] 3) When the placement height of the Bluetooth beacon is higher than the third installation height of the third receiving device in other preset receiving device groups, Figure 12 This is the third schematic diagram of the positional relationship between the third receiving device and the Bluetooth beacon provided by the embodiment of the present invention. If there is an uphill road surface in the underground parking lot resulting in a change in the horizontal plane, as shown in Figure 12 The change in the horizontal plane where the height of the horizontal plane F corresponding to the Bluetooth beacon shown is lower than the height of the horizontal plane E corresponding to the third receiving device E. At this time, based on the horizontal plane F corresponding to the Bluetooth beacon, according to the height interval between the horizontal plane F and the horizontal plane E, the compensation height H0 is determined to be +Hs. According to the sum of this compensation height and the third installation height corresponding to the third receiving device, the new third installation height corrected based on the horizontal plane F can be determined. Furthermore, based on the difference between the placement height of the Bluetooth beacon and the new third installation height, the second height difference between the Bluetooth beacon and the third receiving device is obtained. The second height difference is shown in Equation (12), and Equation (12) is:

[0122] H2 = h O -(h C +Hs)

[0123] where h C +Hs represents the new third installation height corrected based on the horizontal plane F, and +Hs represents the compensation height.

[0124] 4) If the placement height of the Bluetooth beacon is higher than the third installation height of the third receiving device in other preset receiving device groups, Figure 13 This is the fourth schematic diagram of the positional relationship between the third receiving device and the Bluetooth beacon provided by the embodiment of the present invention. If there is a downhill road surface in the underground parking lot resulting in a change in the horizontal plane, as shown inFigure 13 The change in the horizontal plane where the shown Bluetooth beacon is located, with the height of the horizontal plane F corresponding to the Bluetooth beacon being higher than the height of the horizontal plane E corresponding to the third receiving device E. At this time, taking the horizontal plane F corresponding to the Bluetooth beacon as the reference, according to the height interval between the horizontal plane F and the horizontal plane E, the compensation height H0 is determined to be -Hs. Based on the sum of this compensation height and the third installation height corresponding to the third receiving device, the new third installation height corrected based on the horizontal plane F can be determined. Then, according to the difference between the placement height of the Bluetooth beacon and the new third installation height, the second height difference between the Bluetooth beacon and the third receiving device is obtained. The second height difference is shown in Equation (13), and Equation (13) is:

[0125] H2 = h O -(h C -Hs)

[0126] Where h C -Hs represents the new third installation height corrected based on the horizontal plane F, and -Hs represents the compensation height.

[0127] After determining the second height difference, since the Bluetooth beacon, the third receiving device, and the horizontal plane where the Bluetooth beacon is located form a right triangle, the planar distance between the Bluetooth beacon and the third receiving device can be understood as the horizontal right side of this right triangle formed when the Bluetooth beacon is projected onto the vertical plane where the third receiving device is located. Therefore, using the Pythagorean theorem, based on the third spatial distance between the Bluetooth beacon and the third receiving device and the second height difference, the planar distance between the Bluetooth beacon and the preset receiving device group where the third receiving device is located is obtained. The planar distance is shown in Equation (14), and Equation (14) is:

[0128]

[0129] Where d S represents the planar distance between the Bluetooth beacon and the preset receiving device group where the third receiving device is located, and d E represents the third spatial distance between the third receiving device E and the Bluetooth beacon.

[0130] Furthermore, determining the spatial distances between each receiving device in the preset receiving device group and the Bluetooth beacon includes:

[0131] Obtain the received signal power intensity corresponding to the receiving device, and the device path loss between the receiving device and the Bluetooth beacon; after the Bluetooth beacon transmits a signal to the receiving device, due to factors such as absorption, scattering, diffraction, and multipath effects of the transmission medium during signal transmission, there is attenuation in the received signal power intensity received by the receiving device compared to the transmitted signal power intensity. Therefore, by determining the difference between the transmitted signal power intensity corresponding to the Bluetooth beacon and the received signal power intensity corresponding to the receiving device, the device path loss can be determined.

[0132] Based on the preset signal power intensity, Gaussian noise variable, and the received signal power intensity, determine the path loss exponent between the Bluetooth beacon and the receiving device; this preset signal power intensity is the ideal signal power intensity set for a certain location or preset distance according to specific scenarios and conditions in a wireless communication system.

[0133] Based on the preset path loss, the path loss exponent, the device path loss, and the Gaussian noise variable, determine the spatial distance between the Bluetooth beacon and the receiving device.

[0134] Specifically, when determining the spatial distance between any receiving device and the Bluetooth beacon, first obtain the received signal power intensity corresponding to the receiving device, and the device path loss between the receiving device and the Bluetooth beacon. Then, using Equation (15), calculate the path loss exponent n based on the received signal power intensity corresponding to the receiving device at the reference distance, the preset signal power intensity, and the Gaussian noise variable. Equation (15) is:

[0135]

[0136] where n represents the path loss exponent; d 0 represents the reference distance, that is, the preset distance between the Bluetooth beacon and the receiving device, and this reference distance can be set according to actual needs; RSSI(d 0 ) represents the received signal power intensity corresponding to the receiving device at the reference distance d 0 ; RSSI 0 represents the preset signal power intensity, X represents the Gaussian noise variable, that is, X is a random variable and X follows a Gaussian distribution, which is used to consider environmental impacts such as multipath effects and shadow fading.

[0137] After determining the path loss exponent, using Equation (16), calculate the spatial distance between the receiving device and the Bluetooth beacon based on the device path loss, the path loss exponent, and the Gaussian noise variable corresponding to the receiving device at the spatial distance. Equation (16) is:

[0138]

[0139] Among them, PL(d) represents the device path loss corresponding to the receiving device at the spatial distance d, and PL 0 represents the preset path loss corresponding to the receiving device at the reference distance.

[0140] Optionally, the above-mentioned transmission signal power intensity can be pre-acquired by each receiving device, that is, the transmission signal power intensity of the Bluetooth beacon is a fixed value, or the transmission signal power intensity can be represented by a preset field of the transmitted signal. After the receiving device receives the transmitted signal, the transmitted signal can be parsed to obtain the transmission signal power intensity of the Bluetooth beacon. The embodiments of the present invention do not limit this.

[0141] In addition, since a Bluetooth beacon transmits signals in a broadcast manner, that is, a Bluetooth beacon can be received by multiple receiving devices with the broadcast information transmitted by the Bluetooth beacon, the cloud server can group the data uploaded by each receiving device to the cloud server according to the UUID corresponding to the Bluetooth beacon. The data in each group is the data received by each receiving device for the Bluetooth beacon corresponding to the vehicle. After grouping, the data within the group can be filtered according to the strength of the received signals corresponding to the data, and the data of the receiving device with a weaker signal can be filtered out to obtain the final grouped data corresponding to the Bluetooth beacon, which is convenient for subsequently determining the planar distance between each receiving device and the Bluetooth beacon.

[0142] Step 220: Determine the target position corresponding to the vehicle based on at least two planar distances.

[0143] Specifically, as Figure 5 shown, after determining the planar distances between the Bluetooth beacon and each preset receiving device group, the at least two planar distances can be cleaned, and the cleaned planar distances can be randomly combined, and then the target position corresponding to the vehicle can be determined. The target position is the real-time coordinate corresponding to the vehicle, which is convenient for the cloud server to navigate the vehicle according to the real-time coordinate and improve the parking efficiency.

[0144] Further, the determining the target position corresponding to the vehicle based on at least two planar distances includes:

[0145] Obtain the planar distance combinations, the installation coordinates of the receiving devices corresponding to each planar distance in each of the planar distance combinations, and the received signal power intensities corresponding to each of the receiving devices; each of the planar distance combinations includes the planar distances corresponding to at least two receiving devices;

[0146] For each of the planar distance combinations, determine the position of the vehicle corresponding to the planar distance combination based on each of the planar distances and the installation coordinates corresponding to the planar distance;

[0147] Determine the received signal power intensity corresponding to each of the receiving devices as the weight of the position corresponding to each of the plane distance combinations;

[0148] Based on each of the positions and the weights corresponding to each of the positions, determine the target position corresponding to the vehicle.

[0149] Exemplarily, taking each group including two plane distances and the preset receiving device groups where the receiving devices corresponding to the two plane distances are different as an example, after determining at least two plane distances according to the above grouping data, all the plane distances can be grouped in units of two plane distances per group. Then, the number of combinations corresponding to the determined plane distance combinations is: C(m, 2), where m represents the number of all plane distances determined by the grouping data. For the two plane distances in any one plane distance combination, substitute the two plane distances into the coordinate model shown in Equation (17). Equation (17) is:

[0150]

[0151] where x1 represents the abscissa in the installation coordinates corresponding to the first group of preset receiving device groups, y1 represents the ordinate in the installation coordinates corresponding to the first group of preset receiving device groups, d S1 represents the plane distance determined according to the data received by the first group of preset receiving device groups, x2 represents the abscissa in the installation coordinates corresponding to the second group of preset receiving device groups, y2 represents the ordinate in the installation coordinates corresponding to the second group of preset receiving device groups, d S2 represents the plane distance determined according to the data received by the second group of preset receiving device groups, x represents the abscissa in the position corresponding to the Bluetooth beacon, and y represents the ordinate in the position corresponding to the Bluetooth beacon.

[0152] After that, by solving the binary linear equations in Equation (17), the position (x, y) corresponding to the Bluetooth beacon can be obtained, that is, the position (x, y) corresponding to the vehicle. According to multiple plane distance combinations, multiple positions of the vehicle at the same moment can be calculated. At this time, by determining the mean coordinates corresponding to each position, removing the positions with large deviations from the mean coordinates, and determining the received signal power intensity corresponding to the receiving device corresponding to each position among the remaining positions, and taking this received signal power intensity as the weight corresponding to this position, and performing weighted averaging according to each position and the weight corresponding to each position, the target position corresponding to the vehicle can be obtained, improving the accuracy corresponding to the target position.

[0153] Step 230: Based on the electronic map of the underground parking lot, the target position, and the parking space position of the allocated parking space corresponding to the vehicle, determine the navigation information corresponding to the vehicle.

[0154] Specifically, after obtaining the target location in real time, the cloud server can perform path planning using algorithms such as Dijkstra algorithm or A* algorithm based on the electronic map of the underground parking lot, the target location, and the parking space location of the allocated parking space, determine the real-time navigation information of the vehicle, and send the navigation information to the mobile terminal of the vehicle owner.

[0155] In addition, Figure 14 is the third flowchart of the vehicle navigation method in the underground parking lot provided by the embodiment of the present invention. As Figure 14 shown, when the vehicle exits the parking lot, the capture camera deployed at the exit can capture the license plate number of the vehicle and upload the license plate number to the cloud server. The cloud server queries the vehicle entry record of the vehicle according to the license plate number of the vehicle and reminds the user to return the Bluetooth beacon to the recycling device. The cloud server can judge whether the Bluetooth beacon is successfully recycled by detecting the distance between the Bluetooth beacon and the recycling device. When the cloud server detects that there is a Bluetooth beacon corresponding to the UUID bound to the license plate number of the vehicle in the recycling device and can query the vehicle entry record corresponding to the vehicle, it can be considered that the parking behavior of the vehicle ends. At this time, the allocated parking space can be unbound from the vehicle. The allocated parking space is switched from the used state to the idle state, and a gate opening instruction is sent to the capture camera at the exit. The capture camera issues the gate opening instruction to the electronic gate at the exit through the serial port to control the opening of the electronic gate, facilitating the normal exit of the vehicle.

[0156] The vehicle navigation method in the underground parking lot provided by the embodiment of the present invention determines the spatial distance between each receiving device in each preset receiving device group in the underground parking lot and the Bluetooth beacon, determines the planar distance between the Bluetooth beacon and the preset receiving device group according to the spatial distance, determines the target location of the vehicle according to the planar distance, and performs real-time navigation on the vehicle according to the electronic map of the underground parking lot, the target location, and the parking space location of the allocated parking space corresponding to the vehicle. The vehicle is positioned through the planar distance, correcting the deviation problem corresponding to the target location of the vehicle caused by the height difference between the Bluetooth beacon and each receiving device, improving the accuracy of vehicle positioning, thereby improving the parking efficiency, and optimizing the management of the underground parking lot. In addition, by deploying at least two groups of preset receiving device groups inside the underground parking lot and through the cooperation of the preset receiving device groups and the Bluetooth beacon, the problem of inability to position the vehicle due to unstable GPS signals or lost GPS signals in the underground parking lot can be solved.

[0157] Next, the vehicle navigation device provided by the present invention will be described. The vehicle navigation device described below can be mutually referred to with the vehicle navigation method described above.

[0158] The embodiment of the present invention also provides a vehicle navigation device for an underground parking lot, Figure 15It is a schematic structural diagram of a vehicle navigation device in an underground parking lot provided by an embodiment of the present invention. As Figure 15 shown, the vehicle navigation device 1500 in the underground parking lot includes: a first determination module 1510, a second determination module 1520, and a third determination module 1530, where:

[0159] The first determination module 1510 determines, for each preset receiving device group in at least two groups of preset receiving device groups, the spatial distance between each receiving device in the preset receiving device group and the Bluetooth beacon, and determines the planar distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance; the Bluetooth beacon is disposed in the vehicle, and each of the preset receiving device groups is disposed in the underground parking lot;

[0160] The second determination module 1520 determines the target position corresponding to the vehicle based on at least two planar distances;

[0161] The third determination module 1530 is configured to determine the navigation information corresponding to the vehicle based on the electronic map of the underground parking lot, the target position, and the parking space position of the assigned parking space corresponding to the vehicle.

[0162] The vehicle navigation device in the underground parking lot provided by the embodiment of the present invention determines the spatial distance between each receiving device in each preset receiving device group in the underground parking lot and the Bluetooth beacon, determines the planar distance between the Bluetooth beacon and the preset receiving device group according to the spatial distance, determines the target position of the vehicle according to the planar distance, and performs real-time navigation on the vehicle according to the electronic map of the underground parking lot, the target position, and the parking space position of the assigned parking space corresponding to the vehicle. The vehicle is positioned by the planar distance, and the deviation problem corresponding to the target position of the vehicle caused by the height difference between the Bluetooth beacon and each receiving device is corrected, the accuracy of vehicle positioning is improved, and thus the parking efficiency is improved, and the management of the underground parking lot is optimized. In addition, by deploying at least two groups of preset receiving device groups inside the underground parking lot and through the cooperation of the preset receiving device groups and the Bluetooth beacon, the problem that the vehicle cannot be positioned due to unstable GPS signals or GPS signal loss in the underground parking lot can be solved.

[0163] Optionally, the first determination module 1510 is specifically configured to:

[0164] Obtain the distribution mode of the at least two groups of preset receiving device groups in the underground parking lot;

[0165] Determine the planar distance between the Bluetooth beacon and the preset receiving device group based on the distribution mode and the spatial distance between each receiving device in each preset receiving device group and the Bluetooth beacon.

[0166] Optionally, the first determination module 1510 is specifically configured to:

[0167] When the distribution mode is that each of the at least two preset receiving device groups is arranged in the underground parking lot, and the number of receiving devices arranged coaxially in each preset receiving device group is greater than 1, based on the first installation height corresponding to the first receiving device at the upper layer and the second installation height corresponding to the second receiving device at the lower layer in the preset receiving device group, determine the first height difference between the first receiving device and the second receiving device;

[0168] Based on the first height difference, the first spatial distance between the Bluetooth beacon and the first receiving device, and the second spatial distance between the Bluetooth beacon and the second receiving device, determine the sine value of the first included angle formed by the Bluetooth beacon and the first receiving device;

[0169] Based on the Bluetooth beacon, the first spatial distance, and the sine value, determine the planar distance between the Bluetooth beacon and the preset receiving device group.

[0170] Optionally, the first determination module 1510 is specifically configured to:

[0171] When the distribution mode is that the first preset receiving device group in the at least two preset receiving device groups is arranged at the entrance of the underground parking lot, the other preset receiving device groups except the first preset receiving device group are all arranged in the underground parking lot, the number of receiving devices arranged coaxially in the first preset receiving device group is greater than 1, and the number of receiving devices arranged coaxially in the other preset receiving device groups is equal to 1, obtain the placement height corresponding to the Bluetooth beacon at the entrance of the underground parking lot; the placement height corresponds to the vehicle one by one;

[0172] Based on the change situation of the horizontal plane in the underground parking lot, determine the compensation height, and the compensation height is used to correct the horizontal plane of the Bluetooth beacon and the horizontal plane of the third receiving device in the other preset receiving device groups to the same horizontal plane;

[0173] Based on the placement height, the compensation height, and the third installation height of the third receiving device, determine the second height difference between the Bluetooth beacon and the third receiving device;

[0174] Based on the second height difference and the third spatial distance between the Bluetooth beacon and the third receiving device, determine the planar distance between the Bluetooth beacon and the other preset receiving device groups.

[0175] Optionally, the first determination module 1510 is specifically configured to:

[0176] Determine a third height difference between the fourth receiving device and the fifth receiving device based on the respective installation heights of the fourth receiving device at the upper layer and the fifth receiving device at the lower layer that are coaxially arranged in the first preset receiving device group;

[0177] Determine the cosine value of the second included angle formed by the Bluetooth beacon and the fifth receiving device based on the third height difference, the fourth spatial distance between the Bluetooth beacon and the fourth receiving device, and the fifth spatial distance between the Bluetooth beacon and the fifth receiving device;

[0178] Determine the placement height of the Bluetooth beacon corresponding to the entrance of the underground parking lot based on the third height difference, the fourth spatial distance, and the cosine value.

[0179] Optionally, the first determination module 1510 is specifically configured to:

[0180] Obtain the received signal power intensity corresponding to the receiving device and the device path loss between the receiving device and the Bluetooth beacon;

[0181] Determine the path loss exponent between the Bluetooth beacon and the receiving device based on a preset signal power intensity, a Gaussian noise variable, and the received signal power intensity;

[0182] Determine the spatial distance between the Bluetooth beacon and the receiving device based on a preset path loss, the path loss exponent, the device path loss, and the Gaussian noise variable.

[0183] Optionally, the second determination module 1520 is specifically configured to:

[0184] Obtain plane distance combinations, the installation coordinates of the receiving devices corresponding to each plane distance in each plane distance combination, and the received signal power intensity corresponding to each receiving device; each plane distance combination includes plane distances corresponding to at least two receiving devices;

[0185] For each plane distance combination, determine the position of the vehicle corresponding to the plane distance combination based on each plane distance and the installation coordinates corresponding to the plane distance;

[0186] Determine the received signal power intensity corresponding to each receiving device as the weight of the position corresponding to each plane distance combination;

[0187] Determine the target position corresponding to the vehicle based on each position and the weight corresponding to each position.

[0188] Figure 16 It is a schematic structural diagram of the electronic device provided by an embodiment of the present invention, as Figure 16As shown, the electronic device may include: a processor 1610, a communications interface 1620, a memory 1630, and a communication bus 1640. Among them, the processor 1610, the communications interface 1620, and the memory 1630 communicate with each other through the communication bus 1640. The processor 1610 may call logical instructions in the memory 1630 to execute the vehicle navigation method in the underground parking lot. The method includes:

[0189] For each preset receiving device group in at least two preset receiving device groups, determine the spatial distance between each receiving device in the preset receiving device group and the Bluetooth beacon, and determine the planar distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance; the Bluetooth beacon is set in the vehicle, and each of the preset receiving device groups is set in the underground parking lot;

[0190] Determine the target position corresponding to the vehicle based on at least two planar distances;

[0191] Determine the navigation information corresponding to the vehicle based on the electronic map of the underground parking lot, the target position, and the parking space position of the assigned parking space corresponding to the vehicle.

[0192] In addition, when the logical instructions in the above-mentioned memory 1630 are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0193] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program. The computer program can be stored on a computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the vehicle navigation method in the underground parking lot provided by the above-mentioned various methods. The method includes:

[0194] For each preset receiving device group among at least two groups of preset receiving device groups, determine the spatial distance between each receiving device in the preset receiving device group and the Bluetooth beacon, and determine the planar distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance; the Bluetooth beacon is arranged inside the vehicle, and each of the preset receiving device groups is arranged in an underground parking lot;

[0195] Based on at least two planar distances, determine the target position corresponding to the vehicle;

[0196] Based on the electronic map of the underground parking lot, the target position, and the parking space position of the assigned parking space corresponding to the vehicle, determine the navigation information corresponding to the vehicle.

[0197] In another aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is used to execute the underground parking lot vehicle navigation method provided by the above-mentioned various methods. The method includes:

[0198] For each preset receiving device group among at least two groups of preset receiving device groups, determine the spatial distance between each receiving device in the preset receiving device group and the Bluetooth beacon, and determine the planar distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance; the Bluetooth beacon is arranged inside the vehicle, and each of the preset receiving device groups is arranged in an underground parking lot;

[0199] Based on at least two planar distances, determine the target position corresponding to the vehicle;

[0200] Based on the electronic map of the underground parking lot, the target position, and the parking space position of the assigned parking space corresponding to the vehicle, determine the navigation information corresponding to the vehicle.

[0201] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0202] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0203] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle navigation method for an underground parking lot, characterized in that: include: For each of at least two preset receiving device groups, determining a spatial distance between each receiving device in the preset receiving device group and a Bluetooth beacon, and determining a plane distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance; the Bluetooth beacon is set in a vehicle, and each of the preset receiving device groups is set in an underground parking lot; Determining a target position corresponding to the vehicle based on at least two plane distances; Navigation information corresponding to the vehicle is determined based on an electronic map of the underground parking lot, the target location, and the parking space location of the allocated parking space corresponding to the vehicle.

2. The underground parking lot vehicle navigation method according to claim 1, characterized in that: The determining the plane distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance includes: Obtaining a distribution mode of the at least two groups of preset receiving devices in the underground parking lot; Based on the distribution mode and the spatial distance between each receiving device in each of the preset receiving device groups and the Bluetooth beacon, a plane distance between the Bluetooth beacon and the preset receiving device group is determined.

3. The underground parking lot vehicle navigation method according to claim 2, characterized in that: The determining the plane distance between the Bluetooth beacon and the preset receiving device group based on the distribution mode and the spatial distance between each receiving device in each preset receiving device group and the Bluetooth beacon includes: In the case where the distribution mode is that each of the at least two preset receiving device groups is arranged in the underground parking lot, and the number of receiving devices coaxially arranged in each of the preset receiving device groups is greater than 1, based on a first installation height corresponding to a first receiving device on an upper layer and a second installation height corresponding to a second receiving device on a lower layer in the preset receiving device groups, a first height difference between the first receiving device and the second receiving device is determined; Determine a sine value corresponding to a first angle formed by the Bluetooth beacon and the first receiving device based on the first height difference, a first spatial distance between the Bluetooth beacon and the first receiving device, and a second spatial distance between the Bluetooth beacon and the second receiving device; Based on the Bluetooth beacon, the first spatial distance and the sine value, a plane distance between the Bluetooth beacon and the preset receiving device group is determined.

4. The underground parking lot vehicle navigation method according to claim 2, characterized in that: The determining the plane distance between the Bluetooth beacon and the preset receiving device group based on the distribution mode and the spatial distance between each receiving device in each preset receiving device group and the Bluetooth beacon includes: In the case where the distribution mode is that the first preset receiving device group among the at least two preset receiving device groups is arranged at the entrance of the underground parking lot, and other preset receiving device groups except the first preset receiving device group are arranged in the underground parking lot, and the number of coaxially arranged receiving devices in the first preset receiving device group is greater than 1, and the number of coaxially arranged receiving devices in the other preset receiving device groups is equal to 1, the placement height corresponding to the Bluetooth beacon at the entrance of the underground parking lot is obtained; and the placement height corresponds to the vehicle one by one; Based on the change of the horizontal plane in the underground parking lot, determining a compensation height, wherein the compensation height is used to correct the horizontal plane of the Bluetooth beacon and the horizontal plane of the third receiving device in the other preset receiving device group to the same horizontal plane; Determining a second height difference between the Bluetooth beacon and the third receiving device based on the placement height, the compensation height, and a third installation height of the third receiving device; Based on the second height difference and the third spatial distance between the Bluetooth beacon and the third receiving device, the plane distance between the Bluetooth beacon and the other preset receiving device groups is determined.

5. The underground parking lot vehicle navigation method according to claim 4, characterized in that: The obtaining of the placement height of the Bluetooth beacon corresponding to the entrance of the underground parking lot includes: Determine a third height difference between the fourth receiving device and the fifth receiving device based on respective corresponding installation heights of a fourth receiving device on an upper layer and a fifth receiving device on a lower layer coaxially arranged in the first preset receiving device group; Determine a cosine value corresponding to a second angle formed by the Bluetooth beacon and the fifth receiving device based on the third height difference, a fourth spatial distance between the Bluetooth beacon and the fourth receiving device, and a fifth spatial distance between the Bluetooth beacon and the fifth receiving device; Based on the third height difference, the fourth spatial distance and the cosine value, it is determined that the Bluetooth beacon is at a placement height corresponding to the entrance of the underground parking lot.

6. The underground parking lot vehicle navigation method according to any one of claims 1 to 5, characterized in that: The determining the spatial distance between each receiving device in the preset receiving device group and the Bluetooth beacon includes: Obtaining a received signal power strength corresponding to the receiving device and a device path loss between the receiving device and the Bluetooth beacon; Determine a path loss index between the Bluetooth beacon and the receiving device based on a preset signal power strength, a Gaussian noise variable and the received signal power strength; Based on a preset path loss, the path loss index, the device path loss and the Gaussian noise variable, a spatial distance between the Bluetooth beacon and the receiving device is determined.

7. The underground parking lot vehicle navigation method according to any one of claims 1 to 5, characterized in that: The determining of the target position corresponding to the vehicle based on at least two plane distances includes: Acquire a plane distance combination, an installation coordinate of a receiving device corresponding to each plane distance in each plane distance combination, and a received signal power strength corresponding to each receiving device; each plane distance combination includes plane distances corresponding to at least two receiving devices; For each of the planar distance combinations, based on each of the planar distances and the installation coordinates corresponding to the planar distances, determining a position of the vehicle corresponding to the planar distance combination; Determine the received signal power strength corresponding to each of the receiving devices as the weight of the position corresponding to each of the plane distance combinations; Based on the positions and the weights corresponding to the positions, a target position corresponding to the vehicle is determined.

8. A vehicle navigation device for an underground parking lot, characterized in that: include: A first determination module determines, for each of at least two preset receiving device groups, a spatial distance between each receiving device in the preset receiving device group and a Bluetooth beacon, and determines a plane distance between the Bluetooth beacon and the preset receiving device group based on the spatial distance; the Bluetooth beacon is set in a vehicle, and each of the preset receiving device groups is set in an underground parking lot; A second determination module determines a target position corresponding to the vehicle based on at least two plane distances; The third determination module is used to determine the navigation information corresponding to the vehicle based on the electronic map of the underground parking lot, the target location and the parking space location of the allocated parking space corresponding to the vehicle.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the underground parking lot vehicle navigation method as described in any one of claims 1-7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the underground parking lot vehicle navigation method as described in any one of claims 1-7 is implemented.

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