Navigation information determination method and device, vehicle and storage medium

Abstract

The invention discloses a navigation information determination method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring an environment image around a parking space where a vehicle is located; based on the environment image and parking lot map information of a parking lot where the vehicle is located, navigation information between the current position of the vehicle and an entrance and exit of the parking lot is determined; and sending the navigation information to the electronic equipment, so that the electronic equipment executes navigation based on the navigation information. According to the method, the navigation information between the current position of the vehicle and the entrance and exit of the parking lot is generated through the image of the environment around the parking space and the map information of the parking lot, and the navigation information is sent to the electronic equipment, so that a user holding the electronic equipment can quickly find the vehicle or the entrance and exit according to the navigation information.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of intelligent vehicles, and in particular, to a method, device, vehicle, and storage medium for determining navigation information. Background Art

[0002] With the acceleration of the urbanization process and the continuous increase in the number of automobiles, the usage frequency of parking lots, especially large underground garages, has increased significantly. In practical applications, users need to find the exit or their vehicle after parking.

[0003] However, most parking lots do not provide clear route guidance from the parking space to the elevator hall or other exits. Especially in large underground garages, the complex passage layout and similar environmental features make it easier for users to get lost. Even if users remember the parking space number, they may waste a lot of time looking for their vehicle due to unfamiliarity with the internal structure of the parking lot.

[0004] It can be seen that in the scenario of underground garages in complex environments, users still face many difficulties in finding the exit after parking or finding their vehicle when leaving. Summary of the Invention

[0005] The present invention provides a method, device, vehicle, and storage medium for determining navigation information to solve the problem that users cannot quickly find the exit or their vehicle after parking in the prior art.

[0006] According to one aspect of the present invention, there is provided a method for determining navigation information, the method including:

[0007] Obtaining an environmental image around the parking space where the vehicle is located;

[0008] Based on the environmental image and the parking lot map information of the parking lot where the vehicle is located, determining navigation information between the current position of the vehicle and the entrance / exit of the parking lot;

[0009] Sending the navigation information to an electronic device so that the electronic device performs navigation based on the navigation information

[0010] According to another aspect of the present invention, there is provided a device for determining navigation information, the device including:

[0011] An obtaining module, configured to obtain an environmental image around the parking space where the vehicle is located;

[0012] A navigation module, configured to determine navigation information between the current position of the vehicle and the entrance / exit of the parking lot based on the environmental image and the parking lot map information of the parking lot where the vehicle is located;

[0013] A sending module, configured to send the navigation information to an electronic device, so that the electronic device performs navigation based on the navigation information.

[0014] According to another aspect of the present invention, there is provided a vehicle, which includes: at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the navigation information determination method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, there is provided a computer-readable storage medium, which stores computer instructions for causing a processor to implement the navigation information determination method according to any embodiment of the present invention when executed.

[0018] A navigation information determination method, device, vehicle and storage medium according to an embodiment of the present invention. The method includes: acquiring an environmental image around a parking space where the vehicle is located; determining navigation information between the current position of the vehicle and the entrance / exit of the parking lot based on the environmental image and the parking lot map information of the parking lot where the vehicle is located; sending the navigation information to an electronic device, so that the electronic device performs navigation based on the navigation information. By using the environmental image around the parking space and the parking lot map information, the method generates navigation information between the current position of the vehicle and the entrance / exit of the parking lot, and sends the navigation information to the electronic device, enabling a user holding the electronic device to quickly find the vehicle or the entrance / exit according to the navigation information, improving the user experience, and solving the problem in the prior art that the user cannot quickly find the exit or the vehicle after parking.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only 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.

[0021] Figure 1 It is a schematic flowchart of a navigation information determination method provided in Embodiment 1 of the present invention;

[0022] Figure 2 A flowchart of a method for determining navigation information provided in the second embodiment of the present invention;

[0023] Figure 3 A structural diagram of a device for determining navigation information provided in the third embodiment of the present invention;

[0024] Figure 4 A structural diagram of a vehicle for the method for determining navigation information according to the embodiment of the present invention. Detailed implementation manners

[0025] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention. It should be understood that the various steps recorded in the method embodiments of the present invention can be executed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this regard.

[0026] The term "including" and its variants used herein are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, any variants of the terms "including" and "having" are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0028] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0029] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0030] Most existing car-finding solutions rely on network signals and cloud data interaction. However, in environments such as underground garages, due to reasons such as building structure occlusion and insufficient signal coverage, the network signal is usually weak or even completely absent. In this case, the network-based navigation system cannot work properly, and it is difficult for users to obtain accurate parking location information, resulting in a significant reduction in car-finding efficiency.

[0031] The underground garage environments are similar and dimly lit, with densely distributed parking spaces and repetitive spatial structures, which are likely to cause visual confusion for users. Even if the parking lot is equipped with numbered signs, it may be difficult for users to quickly confirm the specific parking space location due to the following reasons: the design of the numbered signs in some parking lots is not clear enough or the size is small, making it difficult to identify in insufficient light; long-term use may cause the numbered signs to be damaged, fallen off or blocked by other objects (such as vehicles, sundries), further increasing the recognition difficulty; during the parking process, users may not notice the parking space number or fail to accurately remember its location, and cannot effectively locate it during subsequent car-finding.

[0032] Embodiment 1

[0033] Figure 1 As shown in the figure, it is a flowchart of a method for determining navigation information provided by Embodiment 1 of the present invention. This method is applicable to the situation where after the vehicle enters the parking lot, the user needs to find the parking lot entrance / exit or find the vehicle. This method can be executed by a navigation information determination device, where the device can be implemented by software and / or hardware and is generally integrated in the vehicle. In this embodiment, the vehicle includes but is not limited to: intelligent vehicles such as small cars, medium-sized cars or large cars, etc.

[0034] As Figure 1 shown, a method for determining navigation information provided by Embodiment 1 of the present invention includes the following steps:

[0035] S110. Obtain the environmental image around the parking space where the vehicle is located.

[0036] Among them, the environmental image can be an omnidirectional image around the parking space, such as a 540-degree panoramic image.

[0037] In this embodiment, during the process of the vehicle driving to a parking space, the environmental image around the parking space can be obtained. Exemplarily, after the user parks the vehicle and turns off the engine, the camera can be automatically activated to capture an omnidirectional image including the surrounding environment. The camera can be an in-vehicle camera or a dedicated device. When collecting the image, it is ensured that the complete environmental information around the vehicle can be covered. The image collection range includes but is not limited to the front, rear, both sides, and upper environments of the vehicle, so that the user can quickly confirm the parking position through the image during the subsequent vehicle searching process.

[0038] S120. Based on the environmental image and the parking lot map information of the parking lot where the vehicle is located, determine the navigation information between the current position of the vehicle and the entrance and exit of the parking lot.

[0039] Among them, the parking lot map information can refer to the map data related to the parking lot, specifically including the positions and layouts in the parking lot, parking space-related information, entrances and exits, and other information. The current position can be the position where the vehicle is located in the parking lot. The entrances and exits of the parking lot can be entrances and exits such as elevator halls and staircases. The navigation information can be information related to navigation.

[0040] In this embodiment, the parking lot map information of the parking lot where the vehicle is located can be obtained. According to the environmental image and the parking lot map information, a path can be planned between the current position of the vehicle and the entrance and exit of the parking lot, and navigation information can be generated.

[0041] S130. Send the navigation information to an electronic device so that the electronic device executes navigation based on the navigation information.

[0042] Among them, the electronic device can be a device held by the user.

[0043] In this embodiment, the navigation information can be sent to the electronic device, so that the holder of the electronic device can execute navigation based on the navigation information.

[0044] A navigation information determination method provided in Embodiment 1 of the present invention includes: obtaining an environmental image around the parking space where the vehicle is located; determining the navigation information between the current position of the vehicle and the entrance and exit of the parking lot based on the environmental image and the parking lot map information of the parking lot where the vehicle is located; sending the navigation information to an electronic device so that the electronic device executes navigation based on the navigation information. This method generates the navigation information between the current position of the vehicle and the entrance and exit of the parking lot through the environmental image around the parking space and the parking lot map information, and sends the navigation information to the electronic device, enabling the user holding the electronic device to quickly find the vehicle or the entrance and exit according to the navigation information, improving the user experience, and solving the problem that the user cannot quickly find the exit or the vehicle after parking in the prior art.

[0045] Based on the above embodiments, variant embodiments of the above embodiments are proposed. Here, it should be noted that for the sake of brevity in description, only the differences from the above embodiments are described in the variant embodiments.

[0046] In one embodiment, when the parking lot map information is public map data, the navigation information for determining the current position of the vehicle and the entrance / exit of the parking lot based on the environmental image and the parking lot map information of the parking lot where the vehicle is located includes: determining the current position of the vehicle based on the environmental image and the public map data; determining the entrance / exit in the public map data that is closest to the current position; generating a navigation path between the entrance / exit and the current position; and generating navigation information based on the environmental image, the parking space identifier corresponding to the parking space, the navigation path, and the entrance / exit information corresponding to the entrance / exit.

[0047] Among them, the public map data can be map data that the parking lot allows others to access. The parking space identifier can be the unique identifier of the parking space. The entrance / exit information can be information such as the number and type of the entrance / exit, and the type can be an elevator or a staircase, etc.

[0048] In this embodiment, if there is public map data that the vehicle can access in the parking lot, the public map data can be used as the parking lot map information. Based on the environmental image and the public map data, the current position of the vehicle can be determined, and path planning can be performed to determine the entrance / exit in the public map data that is closest to the current position, generate a navigation path between the entrance / exit and the current position, and use the environmental image, the parking space identifier, the navigation path, and the entrance / exit information as navigation information.

[0049] Exemplarily, regardless of whether the map information is obtained by accessing the public map data of the parking lot or other means, the shortest path between the current position and the nearest elevator hall can be determined, a navigation route map from the current parking position to the nearest elevator hall can be generated, and key information (such as the parking space number, floor information, elevator hall number, etc.) can be sent to the user's mobile phone in text form. When generating the path, path planning algorithms such as Dijkstra's Shortest Path First Algorithm (Dijkstra) or A-star Algorithm (A*) can be used to generate the optimal navigation route and present it in a graphical way.

[0050] Most existing parking lots do not provide clear route guidance from the parking space to the elevator hall or other exits. Even if the user remembers the parking space number, they may waste a lot of time looking for their vehicle due to unfamiliarity with the internal structure of the parking lot. Especially in large underground garages, the complex passage layout and similar environmental features make it easier for users to get lost. Moreover, the car-finding information mainly consists of text descriptions and lacks intuitive graphical displays (such as panoramic views and route maps). In a complex environment, simple text descriptions may not accurately convey the surrounding environmental features or route details, increasing the user's cognitive burden. It is difficult for users to quickly understand and execute navigation instructions, affecting the car-finding efficiency and user experience. Therefore, in this embodiment, presenting the navigation path in a graphical manner can solve the above problems.

[0051] In one embodiment, determining the current position of the vehicle based on the environmental image and the publicly available map data includes: identifying the parking space identifier of the parking space based on the environmental image; and taking the position corresponding to the parking space identifier in the publicly available map data as the current position of the vehicle.

[0052] In this embodiment, the publicly available map data usually records the positions of each parking space in the parking lot and the corresponding parking space identifiers, and the parking spaces in the parking lot are also marked with parking space identifiers. To confirm the position of the vehicle, the environmental image can be recognized to obtain the parking space identifier in the environmental image, and the position corresponding to the parking space identifier can be found in the publicly available map data, and the corresponding position is taken as the current position of the vehicle.

[0053] Exemplarily, in the specific implementation process, it can also be first determined whether the current parking scenario is an underground garage through image recognition technology. For example, machine learning algorithms can be used to analyze image features (such as light intensity, identification text, spatial structure, etc.) to determine whether the parking environment is an underground garage. If the parking garage is an underground garage, the positioning signal of the vehicle may be poor and the current position of the vehicle cannot be directly obtained, and other methods need to be used to determine it. At this time, the parking space identifier can be extracted from the image through Optical Character Recognition (OCR) technology.

[0054] Furthermore, in this embodiment, the navigation information can be sent to the electronic device through multi-channel data transmission. For example, when the electronic device is a mobile phone, the key information can be sent to the user's mobile phone through Bluetooth, and the complete data is uploaded to the cloud server for subsequent use. Thus, it can support the offline mode and long-term storage, meeting the car-finding needs of users in different scenarios, whether it is short-term parking or long-term parking.

[0055] This embodiment adopts the Bluetooth Low Energy (BLE) technology, which can ensure the immediacy and low power consumption characteristics of data transmission. The transmission content can include marked panoramic images, parking space numbers in text form, and navigation information. For example, the parking space identification (such as "B123"), floor information (such as "-2F"), elevator hall number (such as "Elevator Hall No. 2"), and navigation path map can be sent to the user's mobile phone via Bluetooth. Most existing car-finding solutions rely on cloud data transmission. In the case of poor network signals, data transmission interruption will cause the function to fail. For example, when the user enters a signal blind area, they cannot obtain the parking location information or navigation guidance in a timely manner, seriously affecting the reliability and practicality of the system. This embodiment fully considers the data interaction requirements in the offline scenario and has flexible backup transmission means, which can ensure the stability of data transmission.

[0056] Furthermore, during the data transmission and storage processes, encryption technology can also be adopted to ensure the security of user data. For example, the data transmitted via Bluetooth can be encrypted using the Advanced Encryption Standard (AES) encryption algorithm to prevent the leakage of sensitive information. For the data stored in the cloud, strict access permissions can also be set to ensure that only authorized users can view and use the relevant data. Most existing car-finding solutions do not fully consider user privacy protection during the data transmission and storage processes. The user's parking environment data (such as vehicle location, surrounding images, etc.) may be misused or leaked, increasing security risks. This embodiment can ensure the security of user data by adopting encryption technology and permission management measures.

[0057] Embodiment 2

[0058] Figure 2 It is a schematic flowchart of a method for determining navigation information provided by Embodiment 2 of the present invention. Embodiment 2 of the present invention is optimized based on the above-mentioned embodiments. For the content not elaborated in this embodiment, please refer to Embodiment 1.

[0059] As Figure 2 shown, a method for determining navigation information provided by Embodiment 2 of the present invention, when the parking lot map information is the pre-stored parking lot structure information, includes the following steps:

[0060] S210. Obtain the environmental image around the parking space where the vehicle is located.

[0061] S220. Obtain the parking space position of the parking space where the vehicle is located in the parking lot structure information.

[0062] Among them, the parking lot structure information can include information such as the physical composition, spatial layout, and related facility configuration of the parking lot. The parking lot structure information can also include the historically stored navigation information.

[0063] In this embodiment, during the driving process of the vehicle, the vehicle can collect images in the parking lot, and determine the position corresponding to the vehicle in the parking lot structure information by comparing the identifiers in the images (such as the numbers of parking areas) with the images in the parking lot structure information. When the vehicle drives into a parking space, the position of the parking space can be obtained.

[0064] S230. Take the position of the parking space as the current position of the vehicle.

[0065] In this embodiment, the position of the parking space can be taken as the current position of the vehicle.

[0066] In one embodiment, the method further includes: when there is no corresponding parking space identifier for the parking space in the parking lot structure information, identifying the parking space identifier of the parking space based on the environmental image.

[0067] In this embodiment, if there is no corresponding parking space identifier for the parking space in the parking lot structure information, the environmental image can be identified to obtain the parking space identifier of the parking space.

[0068] S240. Determine the navigation information between the current position of the vehicle and the entrance / exit of the parking lot based on the parking space identifier corresponding to the parking space in the parking lot structure information and the parking lot structure information.

[0069] In this embodiment, after obtaining the current position of the vehicle, the navigation information between the current position and the entrance / exit of the parking lot can be obtained through path planning.

[0070] In one embodiment, the determining the navigation information between the current position of the vehicle and the entrance / exit of the parking lot based on the parking space identifier corresponding to the parking space in the parking lot structure information and the parking lot structure information includes: determining whether there is historical navigation information corresponding to the parking space identifier in the parking lot structure information based on the parking space identifier corresponding to the parking space in the parking lot structure information; if so and there are no obstacles in the navigation path corresponding to the historical navigation information in the current parking lot structure information, taking the historical navigation information as the navigation information between the current position and the entrance / exit of the parking lot; if not, planning a path based on the distance between the current position and each entrance / exit in the parking lot structure information to obtain a navigation path; generating navigation information based on the environmental image, the parking space identifier, the navigation path, and the entrance / exit information corresponding to the entrance / exit.

[0071] In this embodiment, first, according to the parking space identifier of the parking space, it can be determined whether the historical navigation information corresponding to the parking space identifier is stored in the parking lot structure information. If so, and there are no obstacles in the current parking lot structure information for the navigation path corresponding to the historical navigation information, then the historical navigation information can be used as the navigation information between the current position and the entrance / exit of the parking lot. If not, then it is necessary to plan a path based on the distances between the current position and the entrances / exits in the parking lot structure information to obtain a navigation path, and use the environmental image, parking space identifier, navigation path, and the entrance / exit information corresponding to the entrance / exit as the navigation information.

[0072] S250. Send the navigation information to the electronic device so that the electronic device performs navigation based on the navigation information.

[0073] A method for determining navigation information provided in the second embodiment of the present invention. When the parking lot map information is the pre-stored parking lot structure information, the method for determining the navigation information between the current position of the vehicle and the entrance / exit of the parking lot based on the environmental image and the parking lot map information of the parking lot where the vehicle is located includes: obtaining the parking space position of the parking space where the vehicle is located in the parking lot structure information; using the parking space position as the current position of the vehicle; and determining the navigation information between the current position of the vehicle and the entrance / exit of the parking lot based on the parking space identifier corresponding to the parking space in the parking lot structure information and the parking lot structure information. This method can plan a path for the user even when the parking lot does not provide public map data by determining the navigation information according to the pre-stored parking lot structure information.

[0074] In one embodiment, after obtaining the navigation information, the method further includes: updating the parking lot structure information based on the navigation information corresponding to the current position; and storing the parking lot structure information locally and / or in a cloud server.

[0075] In this embodiment, after obtaining the navigation information, the parking lot structure information can be updated according to the navigation information corresponding to the current position, and the parking lot structure information can be stored locally and / or in a cloud server. Uploading the complete parking environment data (including images, numbers, routes, etc.) to the cloud server can support long-term storage and cross-platform access.

[0076] In this embodiment, the parking lot structure information can be pre-constructed. For example, the parking lot structure information can be constructed based on the environmental information collected when the vehicle last entered the parking lot. When the vehicle enters the parking lot this time, the parking lot structure information can also be updated or supplemented with the environmental information collected during this driving, so as to form a more complete parking lot structure information.

[0077] In one embodiment, the method further includes: when driving in a parking lot, scanning the parking lot environment data in the parking lot; updating the parking lot structure information based on the parking lot environment data to obtain updated parking lot structure information.

[0078] In this embodiment, when the vehicle is driving in the parking lot, it can scan the parking lot environment data in the parking lot and update the parking lot structure information based on the parking lot environment data to obtain updated parking lot structure information.

[0079] In one embodiment, the method further includes: marking the area where the parking space identifier is located in the environment image to obtain a marked environment image; using the marked environment image as a new environment image.

[0080] In this embodiment, after identifying the parking space identifier in the environment image, the area where the parking space identifier is located can be marked in the environment image to obtain a marked environment image, and the marked environment image is used as a new environment image, so that the environment image can be sent to an electronic device subsequently, enabling the user to conveniently find the parking space identifier in the image.

[0081] Based on the technical solutions of the above embodiments, several specific implementation manners are provided in the embodiments of the present invention.

[0082] As a specific implementation manner of this embodiment, the user can park the vehicle in a certain parking space in the underground garage (number B123, located on the second basement floor -2F). The vehicle automatically takes a 540-degree panoramic image, and uses OCR technology to identify the parking space number "B123", and at the same time marks and frames the area in the image. The vehicle accesses the public map data of the parking lot, generates a navigation route map from parking space B123 to the nearest elevator hall (such as elevator hall No. 2), and sends the following information to the user's mobile phone via Bluetooth: the marked panoramic image; the front view; the rear view; the left view; the right view; the text information: "Parking space number: B123, Floor: -2F, Nearest elevator hall: Elevator hall No. 2"; the navigation route map. At the same time, the complete parking environment data can be uploaded to the cloud server for subsequent use.

[0083] The technical solution of the embodiment of the present invention, through panoramic image acquisition and parking space number recognition, and generating a navigation route map to recommend the nearest elevator hall, can provide users with an intuitive visual reference and accurate location information, significantly improving the user's car-finding efficiency. It can still work normally in an environment with poor or missing network signals through Bluetooth transmission, realizing data interaction in an offline scenario and reducing the dependence on network signals; combining graphical display and text information enables users to quickly understand and execute navigation instructions; thus solving problems such as missing signals in the underground garage, difficult parking space positioning, and lack of guidance for navigation routes.

[0084] Embodiment 3

[0085] Figure 3 FIG. 4 is a schematic structural diagram of a navigation information determination device provided in Embodiment 3 of the present invention. The device is applicable to the situation where a user needs to find the entrance or exit of a parking lot or find a vehicle after the vehicle enters the parking lot. The device can be implemented by software and / or hardware and is generally integrated on the vehicle.

[0086] As Figure 3 shown, the device includes:

[0087] An acquisition module 310, configured to acquire an environmental image around the parking space where the vehicle is located;

[0088] A navigation module 320, configured to determine navigation information between the current position of the vehicle and the entrance / exit of the parking lot based on the environmental image and the parking lot map information of the parking lot where the vehicle is located;

[0089] A sending module 330, configured to send the navigation information to an electronic device so that the electronic device performs navigation based on the navigation information.

[0090] This embodiment provides a navigation information determination device, including: an acquisition module, configured to acquire an environmental image around the parking space where the vehicle is located; a navigation module, configured to determine navigation information between the current position of the vehicle and the entrance / exit of the parking lot based on the environmental image and the parking lot map information of the parking lot where the vehicle is located; a sending module, configured to send the navigation information to an electronic device so that the electronic device performs navigation based on the navigation information. By generating navigation information between the current position of the vehicle and the entrance / exit of the parking lot through the environmental image around the parking space and the parking lot map information, and sending the navigation information to the electronic device, it enables the user holding the electronic device to quickly find the vehicle or the entrance / exit according to the navigation information, improves the user experience, and solves the problem that the user cannot quickly find the exit or the vehicle after parking in the prior art.

[0091] Further, when the parking lot map information is public map data, the navigation module 320 includes:

[0092] Determine the current position of the vehicle based on the environmental image and the public map data;

[0093] Determine the entrance / exit in the public map data that is closest to the current position;

[0094] Generate a navigation path between the entrance / exit and the current position;

[0095] Generate navigation information based on the environmental image, the parking space identifier corresponding to the parking space, the navigation path, and the entrance / exit information corresponding to the entrance / exit.

[0096] Further, determining the current position of the vehicle based on the environmental image and the public map data includes:

[0097] Identifying the parking space identifier of the parking space based on the environmental image;

[0098] Taking the position corresponding to the parking space identifier in the public map data as the current position of the vehicle.

[0099] Further, when the parking lot map information is pre-stored parking lot structure information, the navigation module 320 includes:

[0100] Obtaining the parking space position of the parking space where the vehicle is located in the parking lot structure information;

[0101] Taking the parking space position as the current position of the vehicle;

[0102] Based on the parking space identifier corresponding to the parking space in the parking lot structure information and the parking lot structure information, determining the navigation information between the current position of the vehicle and the entrance / exit of the parking lot.

[0103] Further, the device further includes:

[0104] When there is no corresponding parking space identifier for the parking space in the parking lot structure information, identifying the parking space identifier of the parking space based on the environmental image.

[0105] Further, the device further includes:

[0106] When driving in the parking lot, scanning the parking lot environmental data;

[0107] Updating the parking lot structure information based on the parking lot environmental data to obtain the updated parking lot structure information.

[0108] Further, the determining the navigation information between the current position of the vehicle and the entrance / exit of the parking lot based on the parking space identifier corresponding to the parking space in the parking lot structure information and the parking lot structure information includes:

[0109] Based on the parking space identifier corresponding to the parking space in the parking lot structure information, determining whether there is historical navigation information corresponding to the parking space identifier in the parking lot structure information;

[0110] If so and there are no obstacles in the navigation path corresponding to the historical navigation information in the current parking lot structure information, taking the historical navigation information as the navigation information between the current position and the entrance / exit of the parking lot;

[0111] Otherwise, plan a path based on the distance between the current position and each entrance / exit in the parking lot structure information to obtain a navigation path; generate navigation information based on the environmental image, the parking space identifier, the navigation path, and the entrance / exit information corresponding to the entrance / exit.

[0112] Further, the device further includes:

[0113] Mark the area where the parking space identifier is located in the environmental image to obtain a marked environmental image;

[0114] Use the marked environmental image as the new environmental image.

[0115] Further, after obtaining the navigation information, the device further includes:

[0116] Update the parking lot structure information based on the navigation information corresponding to the current position;

[0117] Store the parking lot structure information locally and / or in a cloud server.

[0118] The above navigation information determination device can execute the navigation information determination method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0119] Embodiment 4

[0120] Figure 4 Fig. shows a schematic structural diagram of a vehicle 10 that can be used to implement an embodiment of the present invention. The vehicle can be an intelligent vehicle such as a small car, a medium-sized car, or a large car. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0121] As Figure 4 shown, the vehicle 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vehicle 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0122] Multiple components in vehicle 10 are connected to I / O interface 15, including: input unit 16, such as a keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as a magnetic disk, optical disc, etc.; and communication unit 19, such as a network card, modem, wireless communication transceiver, etc. Communication unit 19 allows vehicle 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0123] Processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 executes the various methods and processes described above, such as the navigation information determination method.

[0124] In some embodiments, the navigation information determination method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto vehicle 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the navigation information determination method described above can be executed. Alternatively, in other embodiments, processor 11 can be configured to execute the navigation information determination method by any other suitable means (e.g., by means of firmware).

[0125] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), system on a chip systems (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0126] A computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, a special purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0127] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0128] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input received from the user can be in any form (including acoustic input, voice input, or tactile input).

[0129] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend, middleware, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0130] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0131] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0132] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for determining navigation information, characterized in that: The method comprises: Acquire an environmental image around the parking space where the vehicle is located; Determining navigation information between the current position of the vehicle and the entrance and exit of the parking lot based on the environment image and the parking lot map information of the parking lot where the vehicle is located; The navigation information is sent to an electronic device, so that the electronic device performs navigation based on the navigation information.

2. The method according to claim 1, characterized in that: When the parking lot map information is public map data, determining navigation information between the current position of the vehicle and the entrance and exit of the parking lot based on the environment image and the parking lot map information of the parking lot where the vehicle is located includes: determining a current position of the vehicle based on the image of the environment and the public map data; Determine the entrance and exit closest to the current location in the public map data; generating a navigation path between the entrance and exit and the current location; Navigation information is generated based on the environment image, the parking space identification corresponding to the parking space, the navigation path, and the entrance and exit information corresponding to the entrance and exit.

3. The method according to claim 2, characterized in that Determining the current position of the vehicle based on the environment image and the public map data includes: recognizing a parking space identification of the parking space based on the environment image; The position corresponding to the parking space mark in the public map data is used as the current position of the vehicle.

4. The method according to claim 1, characterized in that When the parking lot map information is pre-stored parking lot structure information, determining navigation information between the current position of the vehicle and the entrance and exit of the parking lot based on the environment image and the parking lot map information of the parking lot where the vehicle is located includes: Obtaining the parking space position of the vehicle in the parking lot structure information; Using the parking space position as the current position of the vehicle; Based on the parking space identifier corresponding to the parking space in the parking lot structure information and the parking lot structure information, navigation information between the current position of the vehicle and the entrance and exit of the parking lot is determined.

5. The method according to claim 4, characterized in that The method further comprises: When there is no corresponding parking space mark for the parking space in the parking lot structure information, the parking space mark of the parking space is identified based on the environment image.

6. The method according to claim 4, characterized in that The method further comprises: When driving in a parking lot, scanning parking lot environment data in the parking lot; The parking lot structure information is updated based on the parking lot environment data to obtain updated parking lot structure information.

7. The method according to claim 4, characterized in that The determining of navigation information between the current position of the vehicle and the entrance and exit of the parking lot based on the parking space identifier corresponding to the parking space in the parking lot structure information and the parking lot structure information includes: Based on the parking space identification corresponding to the parking space in the parking lot structure information, determining whether there is historical navigation information corresponding to the parking space identification in the parking lot structure information; If there is no obstacle in the navigation path corresponding to the historical navigation information in the current parking lot structure information, the historical navigation information is used as the navigation information between the current position and the entrance and exit of the parking lot; If not, a path is planned based on the distance between the current position and each entrance and exit in the parking lot structure information to obtain a navigation path; and navigation information is generated based on the environment image, the parking space identification, the navigation path and the entrance and exit information corresponding to the entrance and exit.

8. The method according to claim 3 or 6, characterized in that: The method further comprises: Marking the area where the parking space mark is located in the environment image to obtain a marked environment image; The marked environment image is used as a new environment image.

9. The method according to claim 1, characterized in that: After obtaining the navigation information, the method further includes: updating parking lot structure information based on navigation information corresponding to the current location; The parking lot structure information is stored locally and / or in a cloud server.

10. A navigation information determination device, characterized in that: The device comprises: An acquisition module is used to acquire an environmental image around the parking space where the vehicle is located; A navigation module, configured to determine navigation information between the current position of the vehicle and an entrance and exit of the parking lot based on the environment image and parking lot map information of the parking lot where the vehicle is located; The sending module is used to send the navigation information to an electronic device so that the electronic device performs navigation based on the navigation information.

11. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the navigation information determination method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the navigation information determination method according to any one of claims 1 to 9 when executed.

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