Vehicle searching method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle searching method and device, electronic equipment and a storage medium, and the method comprises the steps: receiving a vehicle searching request sent by a user terminal, the vehicle searching request being used for searching the position of a target vehicle in a target parking lot, and the target parking lot comprising a plurality of floors; performing authentication certification on the user terminal; and after the authentication is passed, a parking track map of the target vehicle is sent to the user terminal, and the parking track map comprises driving tracks of the target vehicle on multiple floors of the target parking lot. According to the method provided by the invention, the user can quickly and accurately find the position of the vehicle in a complex parking lot.

Description

Technical Field

[0001] This application relates to the technical field of intelligent vehicles, and in particular, to a vehicle finding method, device, electronic device, and storage medium. Background Art

[0002] When a user picks up a vehicle, the vehicle can be triggered to sound the horn and flash the double flash through the vehicle key or the mobile phone Bluetooth key to inform the user of the location of the vehicle. However, if the vehicle is parked in a complex parking lot, for example, the parking lot has multiple floors, the user cannot correctly find the vehicle position through the horn and double flash of the vehicle, which brings inconvenience. Summary of the Invention

[0003] This application provides a vehicle finding method, device, electronic device, and storage medium, which facilitate the user to quickly and accurately find the vehicle position in a complex parking lot.

[0004] In a first aspect, this application provides a vehicle finding method, including: Receiving a vehicle finding request sent by a user terminal, where the vehicle finding request is used to find the position of a target vehicle in a target parking lot, and the target parking lot includes multiple floors; Performing authentication on the user terminal; After the authentication is passed, sending a parking trajectory map of the target vehicle to the user terminal, where the parking trajectory map includes the driving trajectories of the target vehicle on multiple floors of the target parking lot.

[0005] In one possible implementation, the formation of the driving trajectory includes: Obtaining the vehicle wheel speed, steering wheel angle, and acquisition frequency during the driving process of the target vehicle, where the acquisition frequency is used to represent the fixed frequency of acquiring the vehicle wheel speed and steering wheel angle; Generating a plurality of coordinate nodes based on the vehicle wheel speed, steering wheel angle, and acquisition frequency; Connecting the plurality of coordinate nodes in chronological order to form a driving trajectory.

[0006] In one possible implementation, the method further includes: Obtaining inertial navigation information collected by an inertial measurement unit; Using the inertial navigation information to smooth the driving trajectory.

[0007] In one possible implementation, the coordinate nodes include N consecutive first key nodes, and the method further includes: If the absolute values of the steering wheel angles of N consecutive first key nodes are all greater than or equal to a first preset value, it is determined that the target vehicle is turning at an intersection.

[0008] In one possible implementation, the coordinate nodes correspond one-to-one with the driving height values, where the driving height values are used to represent the position information of the target vehicle in the direction perpendicular to the ground. The coordinate nodes include M consecutive second key nodes. The method further includes: If the driving height values corresponding to the M consecutive second key nodes are all greater than or equal to the second preset value, or the change rate of the driving height values corresponding to the M consecutive second key nodes is greater than or equal to the third preset value, it is determined that the target vehicle is driving across floors, and the driving trajectory is statistically analyzed by floor.

[0009] In one possible implementation, the coordinate nodes include the trajectory end point. The method further includes: Collect the images around the vehicle at the trajectory end point, where the images around the vehicle include the parking space identification number and the parking area number.

[0010] In one possible implementation, the parking trajectory map further includes lane line, parking space, and column position information.

[0011] In a second aspect, the present application provides a vehicle searching device, including: A receiving module, which is used to receive the vehicle searching request sent by the user terminal. The vehicle searching request is used to find the position of the target vehicle in the target parking lot, and the target parking lot includes multiple floors; An authentication module, which is used to authenticate the user terminal; A sending module, which is used to send the parking trajectory map of the target vehicle to the user terminal after the authentication is passed. The parking trajectory map includes the driving trajectories of the target vehicle on multiple floors of the target parking lot.

[0012] In a third aspect, the present application provides an electronic device, including: a processor and a memory. The memory is used to store a computer program; the processor is used to run the computer program to implement the vehicle searching method as described in the first aspect.

[0013] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on a computer, it enables the computer to implement the vehicle searching method as described in the first aspect.

[0014] Compared with the prior art, the present application has at least the following technical effects: The present application provides a vehicle searching method. When a user picks up a vehicle, a vehicle searching request is sent to the vehicle through the user terminal. The vehicle searching request is used to find the location of the target vehicle in the target parking lot, and the target parking lot includes multiple floors; the vehicle authenticates the user terminal; after the authentication is passed, a parking trajectory map of the target vehicle is sent to the user terminal, and the parking trajectory map includes the driving trajectories of the target vehicle on multiple floors of the target parking lot. Through the parking trajectory map displayed on the user terminal, the user can quickly and accurately find the vehicle location in a complex parking lot. Description of the Drawings

[0015] Figure 1 It is an application scenario architecture diagram provided by an embodiment of the present application; Figure 2 It is a schematic flowchart of the vehicle searching method provided by an embodiment of the present application; Figure 3 It is a schematic diagram of the parking trajectory map of the vehicle provided by the present application; Figure 4 It is a schematic structural diagram of the vehicle searching device provided by an embodiment of the present application; Figure 5 It is a schematic structural diagram of the electronic device provided by an embodiment of the present application. Detailed Embodiments

[0016] In the embodiments of the present application, unless otherwise specified, the character " / " indicates that the associated objects before and after are in an "or" relationship. For example, A / B may represent A or B. "And / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone, these three situations.

[0017] It should be noted that the terms "first", "second", etc. involved in the embodiments of the present application are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features, nor can they be understood as indicating or implying an order.

[0018] In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. In addition, "at least one of the following" or its similar expressions refer to any combination of these items, which can include any combination of single item or plural items. For example, at least one of A, B, or C can represent: A, B, C, A and B, A and C, B and C, or A, B, and C. Each of A, B, and C itself can be an element or a set containing one or more elements.

[0019] In the embodiments of the present application, terms such as "exemplary", "in some embodiments", and "in another embodiment" are used to give examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of the term "exemplary" is intended to present concepts in a specific manner.

[0020] In the embodiments of the present application, the words "of", "corresponding", and "corresponding" can sometimes be used interchangeably. It should be noted that when the differences are not emphasized, the intended meanings are the same. In the embodiments of the present application, communication and transmission can sometimes be used interchangeably. It should be noted that when the differences are not emphasized, the meanings expressed are the same. For example, transmission can include sending and / or receiving, and can be a noun or a verb.

[0021] In the embodiments of the present application, the equality involved can be used in conjunction with greater than, applicable to the technical solutions adopted when greater than, or can also be used in conjunction with less than, applicable to the technical solutions adopted when less than. It should be noted that when equality is used in conjunction with greater than, it cannot be used in conjunction with less than; when equality is used in conjunction with less than, it is not used in conjunction with greater than.

[0022] When the user picks up the vehicle, the vehicle can be triggered to honk and flash its hazard lights through the car key or the mobile phone Bluetooth key to inform the user of the location of the vehicle. However, if the vehicle is parked in a complex parking lot, for example, the parking lot has multiple floors, the user cannot correctly locate the vehicle through the honking and flashing of the vehicle, which brings inconvenience.

[0023] Based on the above problems, the embodiments of the present application propose a vehicle finding method to facilitate the user to quickly and accurately find the vehicle location in a complex parking lot.

[0024] Now in combination with Figures 1-3 the vehicle finding method provided by the embodiments of the present application will be described.

[0025] Figure 1 This is the application scenario architecture diagram provided by the embodiments of the present application. As Figure 1 shown, the user sends an instruction to obtain the vehicle location to the user terminal, and the user terminal sends a vehicle finding request to the vehicle in response to the user instruction. After the vehicle authenticates the user terminal and the authentication is passed, the vehicle sends a parking trajectory map to the user terminal. Among them, the parking trajectory map includes the driving trajectories of the vehicle on multiple floors of the parking lot. The user can quickly and accurately find the vehicle location through the parking trajectory map displayed on the user terminal, that is, which floor of the parking lot the vehicle is located on and which parking space on that floor.

[0026] Optionally, the user terminal may be, but is not limited to, intelligent devices such as smart phones, tablet computers, and smart wearable devices. Taking a smart phone as an example, the user can click on the car-finding APP (Application) on the smart phone and input an instruction to obtain the vehicle location through text or voice. The user can quickly and accurately find the vehicle location through the parking trajectory map displayed on the smart phone.

[0027] Optionally, the user terminal may communicate with the vehicle through a mobile network or a Bluetooth signal.

[0028] Figure 2 The flowchart of the car-finding method provided by the embodiment of the present application is shown as follows, which specifically includes the following steps: Step S21: Receive a car-finding request sent by the user terminal. The car-finding request is used to find the location of the target vehicle in the target parking lot, and the target parking lot includes multiple floors.

[0029] Specifically, the user sends a car-finding request to the vehicle through the user terminal to find the location of the vehicle in a parking lot with multiple floors.

[0030] Step S22: Authenticate the user terminal.

[0031] Specifically, after receiving the car-finding request sent by the user terminal, the vehicle authenticates the user terminal, and verifies the identity legality of the user terminal through a security mechanism to ensure that only authorized user terminal devices can communicate and interact with the vehicle.

[0032] In some alternative embodiments, the terminal sends identity information to the vehicle, such as a device serial number, a SIM card number, or other unique identifiers. These information are used to initially identify whether the device is a legal terminal. After receiving the car-finding request from the terminal, the vehicle end authenticates the terminal according to a preset security policy (such as a key, an algorithm, or server verification). For example, the vehicle end can generate a random number and send it to the terminal, and the terminal calculates a response value according to a preset algorithm and key and returns it to the vehicle end, and the vehicle end compares the calculation results to verify the legality of the terminal.

[0033] Step S23: After the authentication is passed, send the parking trajectory map of the target vehicle to the user terminal. The parking trajectory map includes the driving trajectories of the target vehicle on multiple floors of the target parking lot.

[0034] Specifically, after verifying the legal identity of the user terminal, the vehicle sends the parking trajectory map of the target vehicle to the user terminal. Among them, the parking trajectory map includes the driving trajectories of the vehicle on multiple floors of the parking lot. The user can quickly and accurately find the vehicle location through the parking trajectory map displayed on the user terminal, that is, which floor of the parking lot the vehicle is located on and which parking space on that floor.

[0035] In this application, when a user picks up a vehicle, a vehicle search request is sent to the vehicle through the user terminal. The vehicle search request is used to find the location of the target vehicle in the target parking lot, and the target parking lot includes multiple floors; the vehicle authenticates the user terminal; after the authentication is passed, a parking trajectory map of the target vehicle is sent to the user terminal, and the parking trajectory map includes the driving trajectories of the target vehicle on multiple floors of the target parking lot. Through the parking trajectory map displayed on the user terminal, the user can quickly and accurately find the vehicle location in a complex parking lot.

[0036] In some optional embodiments, the formation of the driving trajectory includes: obtaining the vehicle wheel speed, steering wheel angle, and acquisition frequency during the driving process of the target vehicle, where the acquisition frequency is used to represent the fixed frequency of acquiring the vehicle wheel speed and steering wheel angle; generating a plurality of coordinate nodes based on the vehicle wheel speed, steering wheel angle, and acquisition frequency; and connecting the plurality of coordinate nodes in chronological order to form a driving trajectory.

[0037] Specifically, after the target vehicle enters the target parking lot, sensors on the target vehicle collect the vehicle wheel speed and steering wheel angle at a fixed frequency during the driving process, generate a plurality of coordinate nodes according to the vehicle wheel speed, steering wheel angle, and acquisition frequency, and the driving trajectory is formed by connecting the plurality of coordinate nodes in chronological order.

[0038] Among them, taking the longitudinal driving direction of the vehicle on the ground (i.e., the horizontal plane) as the x-axis, the lateral driving direction of the vehicle on the ground as the y-axis, and the driving direction of the vehicle perpendicular to the ground as the z-axis, the coordinate node can be expressed as P(a, b, c), where a represents the position on the x-axis, b represents the position on the y-axis, and c represents the position on the z-axis. Taking the position corresponding to when the target vehicle enters the target parking lot as the trigger point, with the trigger point as the starting point of the trajectory, the starting point coordinates are expressed as P0(0, 0, 0). The coordinates of each point are calculated based on the coordinates of the previous point, combined with the vehicle wheel speed, steering wheel angle, and fixed frequency, and finally a series of coordinate nodes are formed, and the connection is the vehicle driving trajectory.

[0039] Optionally, since the friction during the vehicle driving process will affect the accuracy of the steering wheel angle, therefore, this application also proposes that a series of coordinate nodes can be directly generated according to the inertial navigation information collected by the Inertial Measurement Unit (IMU), and finally the driving trajectory of the vehicle is formed. Among them, the inertial navigation information includes the vehicle's acceleration, angular velocity, attitude information, etc.

[0040] When connecting coordinate nodes in chronological order, the driving trajectory may appear serrated or discontinuous. Therefore, the present application further proposes: obtaining the inertial navigation information collected by the inertial measurement unit, using the inertial navigation information to smooth the driving trajectory, reducing the noise and outliers in the trajectory, improving the trajectory accuracy and stability, and at the same time providing a better user experience. Common smoothing methods include Kalman filtering, bidirectional filtering, regularization constraint smoothing, etc.

[0041] In some optional embodiments, the coordinate nodes include N consecutive first key nodes, and the method further includes: if the absolute values of the steering wheel angles of the N consecutive first key nodes are all greater than or equal to a first preset value, it is determined that the target vehicle is turning at an intersection.

[0042] Specifically, each coordinate node corresponds to a steering wheel angle. If the absolute value of the steering wheel angle |L|≥L0 (the first preset value) of N consecutive coordinate nodes, it is determined that the vehicle is turning at an intersection, and the N consecutive coordinate nodes are recorded as the first key nodes. And the camera records the image around the vehicle corresponding to the first key node. When the user clicks on the first key node, the turning road conditions at this time can be viewed, which is convenient for finding the vehicle, and at the same time makes the trajectory map more accurate and the user experience better. Exemplarily, N can be any value such as 5, 10, 15, etc., and L0 can be 15°.

[0043] In some optional embodiments, the coordinate nodes include M consecutive second key nodes, and the method further includes: if the driving height values corresponding to the M consecutive second key nodes are all greater than or equal to a second preset value, or the change rate of the driving height values corresponding to the M consecutive second key nodes is greater than or equal to a third preset value, it is determined that the target vehicle is driving across floors, and the driving trajectory is statistically analyzed by floors.

[0044] Specifically, the coordinate nodes and the driving height values are in one-to-one correspondence. The driving height value is used to represent the position information of the target vehicle in the direction perpendicular to the ground, that is, the driving height value of the coordinate node P(a, b, c) is c. If the driving height value c≥c0 (the second preset value) corresponding to M consecutive coordinate nodes, or the change rate k≥k0 (the third preset value) of the driving height values corresponding to M consecutive coordinate nodes, it is determined that the target vehicle is driving across floors, the M consecutive coordinate nodes are recorded as the second key nodes, and the driving trajectory is statistically analyzed by floors. Exemplarily, M can be any value such as 5, 10, 15, etc., c0 can be 2.7, and k0 can be 15%.

[0045] Optionally, the parking trajectory map further includes lane line, parking space, and pillar position information. During the vehicle driving process, the lane lines, parking spaces, and pillar positions around the vehicle are collected through the vehicle camera and the azimuth is recorded.

[0046] Optionally, the coordinate nodes include the end point of the trajectory, and the method further includes: collecting an image of the surroundings of the vehicle at the end point of the trajectory, where the image of the surroundings of the vehicle includes a parking space identification number and a parking area number.

[0047] Specifically, when the vehicle is in the parking gear (P gear), taking the vehicle position coordinates at this moment as the end point of the trajectory, and combining the driving trajectory, lane lines, parking spaces, and pillar information formed by multiple coordinate nodes to form a parking trajectory map. Among them, the image of the surroundings of the vehicle can be a photo or a video. The image of the surroundings of the vehicle includes a parking space identification number and a parking area number. By collecting the surrounding image of the end point of the trajectory, when the user clicks on the end point of the trajectory, the parking position of the vehicle can be found more quickly through the parking space identification number and the parking area number.

[0048] Such as Figure 3 shown, Figure 3 is a schematic diagram of the parking trajectory map of the vehicle provided by this application, Figure 3 showing multiple coordinate nodes, lane lines, parking spaces, and pillar positions in the driving trajectory of the vehicle on the final parking floor. The multiple coordinate nodes include Figure 3 T1, T2, T3, the starting point and the end point in

[0049] In this application, when the vehicle enters the parking lot, the driving trajectory recording is triggered. The images around the vehicle are collected by sensors such as cameras arranged around the vehicle, and information such as vehicle wheel speed, steering wheel angle, and IMU is fused to form the driving trajectory of the vehicle and the key nodes on the trajectory. Combining the lane line, parking space, and pillar position information to form a parking trajectory map. When the user picks up the car, by obtaining the parking trajectory map through the user terminal, the vehicle can be found more quickly under the guidance of the map.

[0050] Based on the same idea, this application also provides a vehicle finding device, Figure 4 is a schematic structural diagram of the vehicle finding device provided by the embodiment of this application. As Figure 4 shown, the vehicle finding device 40 may include: A receiving module 41, configured to receive a vehicle finding request sent by a user terminal. The vehicle finding request is used to find the position of a target vehicle in a target parking lot, and the target parking lot includes multiple floors; An authentication module 42, configured to perform authentication on the user terminal; A sending module 43, configured to send the parking trajectory map of the target vehicle to the user terminal after the authentication is passed. The parking trajectory map includes the driving trajectories of the target vehicle on multiple floors of the target parking lot.

[0051] In one possible implementation, the formation of the driving trajectory includes: Obtain the vehicle wheel speed, steering wheel angle, and acquisition frequency of the target vehicle during driving, where the acquisition frequency is used to represent the fixed frequency of acquiring the vehicle wheel speed and steering wheel angle; Generate multiple coordinate nodes based on the vehicle wheel speed, steering wheel angle, and acquisition frequency; Connect the multiple coordinate nodes in chronological order to form a driving trajectory.

[0052] In one possible implementation, the above vehicle finding device 40 further includes: An acquisition module, configured to acquire inertial navigation information collected by an inertial measurement unit; A smoothing processing module, configured to smooth the driving trajectory by using the inertial navigation information.

[0053] In one possible implementation, the coordinate nodes include N consecutive first key nodes, and the above vehicle finding device 40 further includes: A judgment module, configured to judge that the target vehicle turns at an intersection if the absolute values of the steering wheel angles of N consecutive first key nodes are all greater than or equal to a first preset value.

[0054] In one possible implementation, the coordinate nodes are in one-to-one correspondence with driving height values, where the driving height values are used to represent the position information of the target vehicle in the direction perpendicular to the ground. The coordinate nodes include M consecutive second key nodes, and the above judgment module is further configured to: If the driving height values corresponding to M consecutive second key nodes are all greater than or equal to a second preset value, or the change rate of the driving height values corresponding to M consecutive second key nodes is greater than or equal to a third preset value, then judge that the target vehicle performs cross-layer driving and perform floor-by-floor statistics on the driving trajectory.

[0055] In one possible implementation, the coordinate nodes include a trajectory end point, and the above vehicle finding device 40 further includes: An acquisition module, configured to acquire the images around the vehicle at the trajectory end point, where the images around the vehicle include a parking space identification number and a parking zone number.

[0056] In one possible implementation, the parking trajectory map further includes lane line, parking space, and pillar position information.

[0057] Figure 4 The vehicle finding device 40 provided in the illustrated embodiment can be used to execute the technical solutions in the method embodiment shown in this application, and its implementation principle and technical effects can be further referred to the relevant descriptions in the method embodiment.

[0058] It should be understood that the above Figure 4The division of each module of the car-finding device 40 shown is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also all be implemented in the form of hardware; or some modules can be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the receiving module can be a separately established processing element, or can be integrated in a certain chip of the electronic device. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together or can be independently implemented. In the implementation process, each step of the above method or each of the above modules can be completed by the integrated logic circuit of the hardware in the processor element or the instruction in the form of software.

[0059] For example, the above-mentioned modules can be one or more integrated circuits configured to implement the above method, such as: one or more application specific integrated circuits (ASIC for short), or, one or more digital signal processors (DSP for short), or, one or more field programmable gate arrays (FPGA for short), etc. Again, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC for short).

[0060] In each of the above embodiments, the processor involved can include, for example, a CPU, a DSP, a microcontroller or a digital signal processor, and can also include a GPU, an embedded neural-network processor (NPU for short), and an image signal processor (ISP for short). The processor can also include necessary hardware accelerators or logical processing hardware circuits, such as ASIC, or one or more integrated circuits for controlling the execution of the technical solution program of the present application. In addition, the processor can have the function of operating one or more software programs, and the software programs can be stored in a storage medium.

[0061] The embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When it runs on a computer, it causes the computer to execute the method provided by the embodiment shown in the present application.

[0062] Next, in combination with Figure 5 The exemplary electronic device provided in the embodiment of the present application will be further introduced. Figure 5The structural schematic diagram of the electronic device 5000 is shown.

[0063] The above-mentioned electronic device 5000 may include: at least one processor; and at least one memory communicatively connected to the above-mentioned processor, wherein: the above-mentioned memory stores program instructions executable by the above-mentioned processor, and the processor can execute the car-finding method provided by the embodiments shown in this application by invoking the above-mentioned program instructions.

[0064] Figure 5 The block diagram of an exemplary electronic device 5000 suitable for implementing the embodiments of this application is shown. Figure 5 The shown electronic device 5000 is only an example and should not impose any limitations on the functions and usage scope of the embodiments of this application.

[0065] As Figure 5 As shown, the electronic device 5000 is presented in the form of a general-purpose computing device. The components of the electronic device 5000 may include, but are not limited to: one or more processors 5010, a memory 5020, a communication bus 5040 connecting different system components (including the memory 5020 and the processor 5010), and a communication interface 5030.

[0066] The communication bus 5040 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the multiple bus structures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (hereinafter referred to as: ISA) bus, the Micro Channel Architecture (hereinafter referred to as: MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (hereinafter referred to as: VESA) local bus, and the Peripheral Component Interconnection (hereinafter referred to as: PCI) bus.

[0067] The electronic device 5000 typically includes a variety of computer system-readable media. These media can be any available media accessible by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0068] The memory 5020 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Although Figure 5 not shown, a disk drive for reading from and writing to a removable non-volatile magnetic disk (such as a "floppy disk") and an optical disk drive for reading from and writing to a removable non-volatile optical disk (such as a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM) or other optical media) may be provided. In these cases, each drive may be connected to the communication bus 5040 through one or more data media interfaces. The memory 5020 may include at least one program product having a set (such as at least one) of program modules that are configured to perform the functions of the embodiments of the present application.

[0069] A program / utility having a set (at least one) of program modules may be stored in the memory 5020. Such program modules include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules generally perform the functions and / or methods in the embodiments described in the present application.

[0070] The electronic device 5000 may also communicate with one or more external devices (such as a keyboard, a pointing device, a display, etc.), and may also communicate with one or more devices that enable a user to interact with the electronic device, and / or communicate with any device that enables the electronic device to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication may be carried out through the communication interface 5030. And, the electronic device 5000 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter ( Figure 5 not shown), and the above network adapter may communicate with other modules of the electronic device through the communication bus 5040. It should be understood that although Figure 5Not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 5000, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Drives; hereinafter referred to as: RAID) systems, tape drives, and data backup storage systems, etc.

[0071] The processor 5010 executes various functional applications and data processing by running the programs stored in the memory 5020, for example, implementing the method provided in the embodiments of the present application.

[0072] It can be understood that the interface connection relationships between the modules schematically shown in the embodiments of the present application are only schematic descriptions and do not constitute a structural limitation on the electronic device 5000. In other embodiments of the present application, the electronic device 5000 can also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0073] In the above embodiments, the processors involved can include, for example, a CPU (Central Processing Unit, central processor), a DSP (Digital Signal Processor, digital signal processor), a microcontroller, and can also include a GPU (Graphics Processing Unit, graphics processing unit), an embedded neural network processor (Neural-network Process Units; hereinafter referred to as: NPU), and an image signal processor (Image Signal Processing; hereinafter referred to as: ISP). The processor can also include necessary hardware accelerators or logic processing hardware circuits, such as an ASIC (Application-Specific Integrated Circuit, specific application integrated circuit), or one or more integrated circuits for controlling the execution of the technical solution programs of the present application. In addition, the processor can have the function of operating one or more software programs, and the software programs can be stored in a storage medium.

[0074] Those of ordinary skill in the art can realize that the units and algorithm steps described in the embodiments disclosed herein can be implemented by a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraint conditions of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0075] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0076] In several embodiments provided by the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable 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 application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (hereinafter referred to as ROM), random access memory (hereinafter referred to as RAM), magnetic disks, or optical discs that can store program codes.

[0077] The above is only the specific implementation manner of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all of them should be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for finding a vehicle, characterized in that: The method comprises: Receiving a vehicle search request sent by a user terminal, the vehicle search request is used to find a location of a target vehicle in a target parking lot, the target parking lot including multiple floors; Performing authentication on the user terminal; After the authentication is passed, the parking trajectory map of the target vehicle is sent to the user terminal, and the parking trajectory map includes the driving trajectory of the target vehicle on multiple floors of the target parking lot.

2. The method according to claim 1, characterized in that The formation of the driving trajectory includes: Acquire the vehicle wheel speed, steering wheel angle and acquisition frequency of the target vehicle during driving, wherein the acquisition frequency is used to represent a fixed frequency for acquiring the vehicle wheel speed and steering wheel angle; generating a plurality of coordinate nodes based on the vehicle wheel speed, the steering wheel angle and the acquisition frequency; The plurality of coordinate nodes are connected in time sequence to form the driving trajectory.

3. The method according to claim 2, characterized in that The method further comprises: Obtain inertial navigation information collected by the inertial measurement unit; The driving trajectory is smoothed using the inertial navigation information.

4. The method according to claim 2, characterized in that: The coordinate nodes include N consecutive first key nodes, and the method further includes: If the absolute values ​​of the steering wheel angles of the N consecutive first key nodes are all greater than or equal to a first preset value, it is determined that the target vehicle is turning at the intersection.

5. The method according to claim 2, characterized in that: The coordinate nodes correspond to the driving height values ​​one by one, and the driving height values ​​are used to represent the position information of the target vehicle in a direction perpendicular to the ground. The coordinate nodes include M consecutive second key nodes. The method further includes: If the driving height values ​​corresponding to the M consecutive second key nodes are all greater than or equal to the second preset value, or the change rate of the driving height values ​​corresponding to the M consecutive second key nodes is greater than or equal to the third preset value, it is judged that the target vehicle is traveling across floors, and the driving trajectory is counted by floor.

6. The method according to claim 2, characterized in that The coordinate node includes a trajectory endpoint, and the method further includes: An image of the surroundings of the vehicle at the end point of the trajectory is collected, wherein the image of the surroundings of the vehicle includes a parking space identification number and a parking partition number.

7. The method according to any one of claims 1 to 6, characterized in that: The parking trajectory map also includes lane lines, parking spaces and pillar location information.

8. A vehicle finding device, characterized in that: include: A receiving module, the receiving module is used to receive a vehicle search request sent by a user terminal, the vehicle search request is used to find the location of a target vehicle in a target parking lot, the target parking lot includes multiple floors; An authentication module, the authentication module is used to authenticate the user terminal; A sending module, wherein the sending module is used to send a parking trajectory map of the target vehicle to the user terminal after the authentication is passed, wherein the parking trajectory map includes the driving trajectory of the target vehicle on multiple floors of the target parking lot.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is used to store a computer program; and the processor is used to run the computer program to implement the vehicle finding method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed on a computer, the vehicle finding method according to any one of claims 1 to 7 is implemented.

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