Car searching track generation method, device and equipment, and car searching track guiding method

Abstract

This invention relates to the field of vehicle positioning technology, and discloses a method, apparatus, device, and vehicle-finding trajectory generation method, which includes: acquiring a first location dataset, which is a dataset of user locations recorded by the vehicle's onboard terminal after the user leaves the target vehicle; and / or acquiring a second location dataset, which is a dataset of user locations recorded by a mobile terminal after the user leaves the target vehicle; and generating candidate vehicle-finding trajectories based on the first and / or second location datasets, which are used to guide the user to find the target vehicle. When existing navigation methods fail in outdoor environments due to a lack of reference points and pre-set maps, the candidate vehicle-finding trajectories generated by this application can guide the user to return along their original departure trajectory, thereby achieving vehicle finding without relying on external maps and reference points, and solving the technical problem of navigation failure in outdoor scenarios.

Description

Technical Field

[0001] This invention relates to the field of vehicle positioning technology, and in particular to a method, apparatus, device for generating vehicle search trajectory and a method for guiding vehicle search trajectory. Background Technology

[0002] Current methods for generating vehicle location routes rely on a mobile phone to determine the vehicle's location and then use a map app for navigation. However, in outdoor environments, this method may fail due to a lack of landmarks and pre-set maps, resulting in the inability to locate the vehicle. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention provide a vehicle-finding trajectory generation method, apparatus, device, and vehicle-finding trajectory guidance method to solve the technical problem of being unable to find the vehicle location in scenarios lacking reference points and preset maps.

[0004] According to one aspect of the present invention, a method for generating a vehicle search trajectory is provided, the method being applied to a cloud platform, the method comprising: Acquire a first location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the vehicle's in-vehicle terminal; and / or acquire a second location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the mobile terminal. Based on the first location dataset and / or the second location dataset, candidate vehicle-finding trajectories are generated, which are used to guide the user to find the target vehicle.

[0005] In one alternative approach, the step of generating candidate vehicle-finding trajectories based on the first location dataset and / or the second location dataset includes: A three-dimensional coordinate system is established with the parking location of the target vehicle as the origin and the preset geographical location as the coordinate axis direction. The first location points contained in the first location dataset are mapped to the three-dimensional coordinate system to model the user's movement trajectory and obtain the first movement trajectory. The second location points contained in the second location dataset are mapped to the three-dimensional coordinate system to model the user's movement trajectory and obtain the second movement trajectory. The first movement trajectory and the second movement trajectory are fused to obtain a fused trajectory; The first movement trajectory, the second movement trajectory, and the fused trajectory are determined as candidate vehicle-finding trajectories.

[0006] In one alternative approach, the step of fusing the first movement trajectory and the second movement trajectory to obtain a fused trajectory includes: Determine the change in the user's direction of travel after leaving the vehicle, divide the first movement trajectory into a first trajectory segment based on the change in the direction of travel, and divide the second movement trajectory into a second trajectory segment based on the change in the direction of travel; Based on the first trajectory segment and the second trajectory segment, the positions of each first position point and each second position point are aligned to obtain a set of aligned position points; The first movement trajectory and the second movement trajectory are fused based on the set of aligned position points to obtain a fused trajectory.

[0007] In one optional approach, the step of aligning the positions of each first position point and each second position point based on the first trajectory segment and the second trajectory segment to obtain an aligned position point set includes: The first trajectory segment is normalized to a preset parameter space to obtain the first trajectory parameter. The minimum value of the preset parameter space corresponds to the starting point of the user's movement trajectory, and the maximum value corresponds to the ending point of the user's movement trajectory. The second trajectory segment is normalized to the preset parameter space to obtain the second trajectory parameters; Based on the first trajectory parameters and the second trajectory parameters, the positions of each first position point and each second position point are aligned to obtain a set of aligned position points.

[0008] In one alternative approach, the step of obtaining the first location dataset includes: After the target vehicle switches from the unlocked state to the locked state, a first location dataset is obtained from the mobile terminal. The first location dataset is generated by the vehicle terminal by concatenating several first location points of the user relative to the target vehicle. After the first location dataset is generated, it is sent from the vehicle terminal to the mobile terminal.

[0009] In one alternative approach, the step of obtaining the second location dataset includes: After the target vehicle switches from the unlocked state to the locked state, a second location dataset is obtained from the mobile terminal. The second location dataset is generated by the mobile terminal by concatenating several second location points of the user relative to the target vehicle.

[0010] According to another aspect of the present invention, a vehicle location trajectory guidance method is provided, the method being applied to a mobile terminal, the method comprising: In response to a user's vehicle search command, the system obtains the real-time distance between the user's current location and the parking location of the target vehicle. The target trajectory set is pushed to the user based on the real-time distance. The target trajectory set includes at least one of a first movement trajectory, a second movement trajectory, and a fused trajectory. The first movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the vehicle terminal of the target vehicle. The second movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the mobile terminal. The fused trajectory is a movement trajectory that combines the spatial features of the first movement trajectory and the second movement trajectory. Based on the target trajectory selected by the user in the target trajectory set, the user is guided to find the target vehicle.

[0011] In one alternative approach, the step of pushing the target trajectory set to the user based on the real-time distance includes: If the real-time distance is within a first preset range, then a target trajectory set containing the second movement trajectory and the fused trajectory is pushed to the user; If the real-time distance is within the second preset range, a target trajectory set containing the first movement trajectory, the second movement trajectory, and the fused trajectory is pushed to the user.

[0012] According to another aspect of the present invention, a vehicle-finding trajectory generation device is provided, comprising: The data acquisition module is used to acquire a first location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the vehicle terminal of the target vehicle; and / or, to acquire a second location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the mobile terminal. The trajectory generation module is used to generate candidate vehicle-finding trajectories based on the first location dataset and / or the second location dataset, the candidate vehicle-finding trajectories being used to guide the user to find the target vehicle.

[0013] According to another aspect of the present invention, a vehicle location trajectory guidance device is provided, comprising: The instruction response module is used to respond to the user's vehicle search instruction and obtain the real-time distance between the user's current location and the parking location of the target vehicle; The trajectory push module is used to push a set of target trajectories to the user based on the real-time distance. The set of target trajectories includes at least one of a first movement trajectory, a second movement trajectory, and a fused trajectory. The first movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the vehicle terminal of the target vehicle. The second movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the mobile terminal. The fused trajectory is a movement trajectory that combines the spatial features of the first movement trajectory and the second movement trajectory. The trajectory guidance module is used to guide the user to find the target vehicle based on the target trajectory selected by the user in the target trajectory set.

[0014] According to another aspect of the present invention, a vehicle-finding trajectory generation device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; The memory is used to store at least one executable instruction that causes the processor to perform operations as described above in the vehicle trajectory generation method or vehicle trajectory guidance method.

[0015] According to another aspect of the present invention, a storage medium is provided, wherein at least one executable instruction is stored therein, which, when executed on a vehicle trajectory generation device / apparatus, causes the vehicle trajectory generation device / apparatus to perform the operation of the vehicle trajectory generation method or vehicle trajectory guidance method as described above.

[0016] According to another aspect of the present invention, a computer program product is provided, the computer program product including a vehicle-finding trajectory generation program, which, when executed by a processor, implements the operation of the vehicle-finding trajectory generation method or the vehicle-finding trajectory guidance method as described above.

[0017] The vehicle-finding trajectory generation method provided in this invention acquires a first location dataset recorded by the vehicle's onboard terminal after the user leaves the vehicle, and a second location dataset recorded by the mobile terminal after the user leaves the vehicle. This allows for the collection of actual walking location data from both the vehicle and mobile terminals during the user's departure process, without relying on external preset maps or reference points. Candidate vehicle-finding trajectories are then generated based on the first and second location datasets, directly reflecting the user's original walking path when leaving the vehicle. In outdoor environments where existing navigation methods fail due to a lack of reference points and preset maps, the candidate vehicle-finding trajectories generated by this application can guide the user back along their original departure path, thus achieving vehicle finding without relying on external maps and reference points, solving the technical problem of navigation failure in outdoor scenarios.

[0018] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0019] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This invention illustrates a flowchart of a first embodiment of the vehicle trajectory generation method provided by the present invention. Figure 2 A flowchart illustrating a second embodiment of the vehicle trajectory generation method provided by the present invention is shown. Figure 3 This invention illustrates a trajectory modeling diagram of the vehicle-finding trajectory generation method provided by the present invention. Figure 4 This invention illustrates a trajectory fusion diagram of the vehicle-finding trajectory generation method provided by the present invention. Figure 5 This invention illustrates a flowchart of a first embodiment of the vehicle-finding trajectory guidance method provided by the present invention. Figure 6 A schematic diagram of the structure of a first embodiment of the vehicle trajectory generation device provided by the present invention is shown. Figure 7 A schematic diagram of the structure of a first embodiment of the vehicle-finding trajectory guidance device provided by the present invention is shown; Figure 8 A schematic diagram of an embodiment of the vehicle trajectory generation device provided by the present invention is shown.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0022] refer to Figure 1 , Figure 1 A flowchart illustrating a first embodiment of the vehicle-finding trajectory generation method provided by the present invention is shown. This method is executed by a vehicle-finding trajectory generation device. Figure 1 As shown, this vehicle location trajectory generation method is applied to a cloud platform and includes the following steps: Step S1: Obtain a first location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the vehicle terminal of the target vehicle; and / or, obtain a second location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the mobile terminal.

[0023] It should be noted that the execution subject of the method in this embodiment can be a terminal device (such as a vehicle cloud platform server) with data processing, vehicle trajectory generation, and program execution functions, or it can be an electronic device with the same or similar functions, such as the vehicle trajectory generation device mentioned above. The following uses the vehicle trajectory generation device as an example to specifically describe the vehicle trajectory generation method provided in this embodiment and the following embodiments.

[0024] It should be noted that the aforementioned vehicle-mounted terminal refers to an electronic device unit deployed on the target vehicle, possessing positioning, communication, and data processing capabilities, such as a smart car infotainment system. The aforementioned mobile terminal refers to a portable electronic device carried by the user, possessing positioning, communication, and data processing capabilities, such as a smartphone or tablet. The aforementioned first location dataset represents a set of data containing spatial coordinate information generated by the vehicle-mounted terminal of the target vehicle after the user leaves the target vehicle by recording changes in the user's location. The aforementioned second location dataset represents a set of data containing spatial coordinate information recorded and generated by the user's mobile terminal after the user leaves the target vehicle by calling the mobile terminal's own positioning function. The aforementioned spatial coordinate information may include straight-line distance, azimuth angle, vertical distance, etc., relative to the target vehicle; this embodiment does not impose any limitations on this.

[0025] In its implementation, the in-vehicle terminal can mark its initial position based on the vehicle's own navigation and positioning system, and then begin detecting the real-time location of the user's physical or digital key, using the vehicle as a reference point. This detection process continues at a preset frequency (e.g., once per second), generating a series of discrete position points in a spatial coordinate system (e.g., front / rear / left / right / up / down). When the in-vehicle terminal no longer detects a key signal, it stops marking points and concatenates all the position points generated in this process in chronological order to form the first position dataset mentioned above. Simultaneously, the mobile terminal can use an application to call the positioning service of a third-party navigation application in the background to mark the vehicle's initial position once. Subsequently, based on the mobile terminal's own positioning information, it also continuously marks positions on an electronic map at a preset frequency (e.g., once per second). When the straight-line distance between the mobile terminal's real-time position and the vehicle's initial position reaches or exceeds a preset threshold (e.g., 5 kilometers), it stops marking points and concatenates all the position points generated in this process in chronological order to form the second position dataset mentioned above.

[0026] Furthermore, in practical applications, in-vehicle terminals may malfunction, preventing the acquisition of the first location dataset; similarly, mobile terminals may malfunction, preventing the acquisition of the second location dataset. Therefore, in this embodiment, when the first location dataset is available but the second location dataset is unavailable, a candidate vehicle-finding trajectory is generated based on the first location dataset; when the second location dataset is available but the first location dataset is unavailable, a candidate vehicle-finding trajectory is generated based on the second location dataset; and when both the first and second location datasets are available, a candidate vehicle-finding trajectory is generated based on both datasets. This avoids the situation where, when either the in-vehicle terminal or the mobile terminal malfunctions, a candidate vehicle-finding trajectory cannot be generated to guide the user in finding the target vehicle.

[0027] Step S2: Based on the first location dataset and / or the second location dataset, generate candidate vehicle-finding trajectories, which are used to guide the user to find the target vehicle.

[0028] It should be noted that the above-mentioned candidate vehicle search trajectory refers to at least one path data generated by independently processing or fusing the first location dataset and / or the second location dataset, which can be used by the user for reference when returning to find the target vehicle or directly for navigation guidance.

[0029] It should be understood that after completing location data collection, the vehicle-mounted terminal and / or mobile terminal can upload the original point data of their respective first and / or second location datasets to the vehicle cloud platform via the mobile communication network. The vehicle cloud platform can parse the data packets of the first location dataset, extract all location point coordinates, and generate an original trajectory for the vehicle; and / or, the vehicle cloud platform can parse the data packets of the second location dataset, extract all location point coordinates, and generate an original trajectory for the mobile device; and / or, the vehicle cloud platform can call its built-in trajectory fitting algorithm module to fuse the original vehicle trajectory and the original mobile device trajectory into a fused trajectory. Finally, the vehicle cloud platform sends the generated original vehicle trajectory and / or original mobile device trajectory and / or fused trajectory to the mobile terminal for storage by the mobile terminal app.

[0030] In one alternative approach, depending on the user's actual needs when returning to the vehicle, the first location dataset can be selectively used as the sole data source, or the second location dataset can be selectively used as the sole data source, or both the first and second location datasets can be used as a common data source. Through path fitting or trajectory reproduction algorithms, the location points in the selected location dataset arranged in chronological order can be connected or processed into a continuous, directional spatial path, which is the candidate vehicle-finding trajectory.

[0031] The vehicle-finding trajectory generation method provided in this embodiment acquires a first location dataset recorded by the vehicle's onboard terminal after the user leaves the vehicle, and a second location dataset recorded by the mobile terminal after the user leaves the vehicle. This allows for the collection of actual walking location data from both the vehicle and mobile terminals during the user's departure process, without relying on external preset maps or reference points. Candidate vehicle-finding trajectories are then generated based on the first and second location datasets, directly reflecting the user's original walking path when leaving the vehicle. In outdoor environments where existing navigation methods fail due to a lack of reference points and preset maps, the candidate vehicle-finding trajectories generated in this embodiment can guide the user back along their original departure path, thus achieving vehicle finding without relying on external maps and reference points, solving the technical problem of navigation failure in outdoor scenarios.

[0032] refer to Figure 2 , Figure 2 A flowchart illustrating a second embodiment of the vehicle-finding trajectory generation method of the present invention is shown. This method is executed by a vehicle-finding trajectory generation device. Figure 2 As shown, in this embodiment, step S2 includes: Step S21: Establish a three-dimensional coordinate system with the parking location of the target vehicle as the origin and the preset geographical location as the coordinate axis direction.

[0033] It should be noted that the aforementioned three-dimensional coordinate system uses the parking position of the target vehicle as the starting reference point for measurement and is constructed based on three mutually orthogonal spatial direction axes. For example, a spatial description system containing three dimensions—length, width, and height—is established by using the center position of the target vehicle's antenna as the origin, the east direction as the positive X-axis, the north direction as the positive Y-axis, and the direction perpendicular to the ground as the positive Z-axis. This is a concrete example of a three-dimensional coordinate system.

[0034] Step S22: Map each of the first location points contained in the first location dataset to the three-dimensional coordinate system to perform trajectory modeling on the user's movement trajectory and obtain the first movement trajectory.

[0035] It should be noted that the aforementioned first movement trajectory represents the spatial movement path of the user leaving the target vehicle from the perspective of the vehicle terminal.

[0036] In one alternative approach, each location point in the first location dataset representing the user's position relative to the vehicle can be mapped to an established three-dimensional coordinate system to determine the spatial coordinates of each location point. Then, the spatial coordinates are sequentially connected according to the order in which the location points were recorded, outlining a continuous spatial path to model the user's movement trajectory, thus obtaining the first movement trajectory. For each first location point in the first location dataset, the first location point itself records its direction and distance relative to the target vehicle (e.g., azimuth angle 45°, distance 5 meters, height difference 0 meters). During the mapping operation, the above data of the first location point can be substituted into trigonometric function formulas for calculation, thereby mapping the first location point to a rectangular coordinate point in the three-dimensional coordinate system: X-axis coordinate value = distance × sin(azimuth angle); Y-axis coordinate value = distance × cos(azimuth angle); Z-axis coordinate value = height difference.

[0037] Step S23: Map each of the second location points contained in the second location dataset to the three-dimensional coordinate system to perform trajectory modeling on the user's movement trajectory and obtain the second movement trajectory.

[0038] It should be noted that the aforementioned second movement trajectory represents the spatial movement path of the user leaving the target vehicle from the perspective of the mobile terminal.

[0039] In one alternative approach, each location point representing the user's position relative to the vehicle in the second location dataset can be mapped to an established three-dimensional coordinate system to determine the spatial coordinates of each location point. Then, according to the order in which the location points were recorded, the spatial coordinates are connected sequentially to outline a continuous spatial path, thereby completing the modeling of the user's movement trajectory and obtaining the second movement trajectory. Similarly, the mapping operation for the second location points is the same as that for the first location points, and will not be repeated here.

[0040] refer to Figure 3 , Figure 3 A schematic diagram of trajectory modeling for the vehicle-finding trajectory generation method provided by the present invention is shown. Figure 3 The document provides Case 1 and Case 2. Case 1 indicates that the vehicle navigation system located the person's movement trajectory as follows: first moving northeast at 45°, then north at 45°, and then southeast at 45°. Case 2 indicates that the mobile phone navigation system located the person's movement trajectory as follows: first moving northeast at 42°, then north at 48°, and then southeast at 46°.

[0041] Step S24: Merge the first movement trajectory and the second movement trajectory to obtain a merged trajectory.

[0042] It should be noted that the above-mentioned fused trajectory represents a new trajectory generated by combining the spatial features of the first and second trajectories.

[0043] In one alternative approach, after obtaining the first and second movement trajectories, the stages corresponding to the same motion process in the first and second movement trajectories can be matched, and the coordinate values ​​within the matched stages can be calculated. For example, the average spatial coordinates of the points on the first movement trajectory and the corresponding points on the second movement trajectory can be calculated. Based on the calculated average coordinate values, a new spatial path can be constructed, which is the fused trajectory.

[0044] Step S25: Determine the first moving trajectory, the second moving trajectory, and the fused trajectory as candidate vehicle-finding trajectories.

[0045] In an alternative approach, step S24 may include: Step S241: Determine the change in the user's direction of travel after leaving the vehicle, divide the first movement trajectory into a first trajectory segment based on the change in the direction of travel, and divide the second movement trajectory into a second trajectory segment based on the change in the direction of travel.

[0046] It should be noted that the aforementioned change in direction of movement refers to the state where, after leaving the target vehicle, the user's direction of movement deviates by an angle exceeding a preset threshold relative to the direction of movement at the previous moment during continuous movement. The aforementioned first trajectory segment represents several continuous trajectory sub-parts with relatively singular directions of movement obtained by dividing the first movement trajectory according to the change in the user's direction of movement after leaving the vehicle. The aforementioned second trajectory segment represents several continuous trajectory sub-parts with relatively singular directions of movement obtained by dividing the second movement trajectory according to the change in the user's direction of movement after leaving the vehicle. For example, the first movement trajectory records the entire process of the user first walking northeast at 45°, then north at 45°, and finally southeast at 45°. Based on the two changes in direction of movement, the complete first movement trajectory is divided into the following first trajectory segments: the first segment is the northeastward movement segment, the second segment is the northward movement segment, and the third segment is the southeastward movement segment.

[0047] Step S242: Align each of the first position points and each of the second position points based on the first trajectory segment and the second trajectory segment to obtain a set of aligned position points.

[0048] It should be noted that the aforementioned set of aligned position points represents the sum of ordered position data formed by combining or pairing paired coordinate points at the same parameterized position in the first and second movement trajectories. For example, after aligning the positions of the first and second trajectory segments, for parameter t=0.1, there exists a coordinate point A1 from the first movement trajectory and a coordinate point B1 from the second movement trajectory; for parameter t=0.2, there exist coordinate points A2 and B2. The complete data set formed by gathering the paired coordinate points (A1, B1), (A2, B2), etc., corresponding to all parameter values ​​(t=0.1, 0.2, ..., 1.0) is the aforementioned set of aligned position points.

[0049] Step S243: Based on the set of aligned position points, fuse the first movement trajectory and the second movement trajectory to obtain the fused trajectory.

[0050] In the specific implementation, for each pair of paired coordinate points in the set of aligned position points, the arithmetic mean of the X-axis, Y-axis, and Z-axis coordinates of the two coordinate points in three-dimensional space can be calculated. The calculated average coordinate value is used as the new coordinate point of the fused trajectory at the corresponding parameter position. All new coordinate points are connected in parameter order to finally obtain the fused trajectory that integrates the spatial features of the first and second movement trajectories.

[0051] refer to Figure 4 , Figure 4 A schematic diagram of trajectory fusion for the vehicle-finding trajectory generation method provided by the present invention is shown. Figure 4 The diagram shows how to fuse the trajectories from Case 1 and Case 2 to obtain the fused trajectory (i.e., the fitted trajectory, or the average trajectory).

[0052] In an alternative embodiment, step S242 may include: Step S2421: Normalize the first trajectory segment to a preset parameter space to obtain the first trajectory parameter. The minimum value of the preset parameter space corresponds to the starting point of the user's movement trajectory, and the maximum value corresponds to the ending point of the user's movement trajectory.

[0053] It should be noted that the aforementioned preset parameter space is used to uniformly map trajectory segments of different lengths or sampling densities to an abstract mathematical interval with a fixed value range, so as to perform position alignment operations on different trajectory segments at the same scale. For example, any trajectory segment (regardless of the number of location points it contains or the actual path length) is uniformly mapped to a continuous numerical interval from 0 to 1. A value of 0 always corresponds to the starting position of the user's movement trajectory when leaving the target vehicle (i.e., 0%), and a value of 1 always corresponds to the ending position of the user's movement trajectory when completing the movement of the trajectory segment (i.e., 100%).

[0054] It should be understood that the aforementioned first trajectory parameter represents the specific parameter value assigned to each first position point in the first trajectory segment in the preset parameter space after normalization processing according to the mapping rules of the preset parameter space. For example, the first trajectory segment contains 11 first position points, numbered sequentially from point 0 to point 10 from the starting point to the ending point. After normalizing the first trajectory segment to the preset parameter space t∈[0,1], the first trajectory parameter corresponding to point 0 is 0.0, the first trajectory parameter corresponding to point 5 is 0.5, and the first trajectory parameter corresponding to point 10 is 1.0.

[0055] Step S2422: Normalize the second trajectory segment to the preset parameter space to obtain the second trajectory parameters.

[0056] It should be understood that the aforementioned second trajectory parameters represent the specific parameter values ​​assigned to each second position point in the second trajectory segment in the preset parameter space after normalization according to the mapping rules of the preset parameter space. For example, the second trajectory segment contains a total of 9 second position points, numbered sequentially from point 0 to point 8 from the starting point to the ending point. After normalizing the second trajectory segment to the preset parameter space t∈[0,1], the second trajectory parameter corresponding to point 0 is 0.0, the second trajectory parameter corresponding to point 4 is 0.5, and the second trajectory parameter corresponding to point 8 is 1.0.

[0057] Step S2423: Align each of the first position points and each of the second position points according to the first trajectory parameters and the second trajectory parameters to obtain an aligned position point set.

[0058] In the specific implementation, after obtaining the first and second trajectory parameters, a series of common parameter values ​​for alignment can be determined within a preset parameter space according to a preset step size (e.g., t = 0.0, 0.1, 0.2, ..., 1.0). For each common parameter value, a first position point in the first trajectory segment whose first trajectory parameter equals the common parameter value is found, and its spatial coordinates are obtained; simultaneously, a second position point in the second trajectory segment whose second trajectory parameter equals the common parameter value is found, and its spatial coordinates are obtained. Then, these two coordinate points, which come from different trajectory segments but correspond to the same common parameter value, are paired, and all paired coordinate points corresponding to common parameter values ​​are summarized to obtain the aforementioned set of alignment position points.

[0059] In one alternative approach, step S1 includes: Step S11: After the target vehicle switches from the unlocked state to the locked state, a first location dataset is obtained from the mobile terminal. The first location dataset is generated by the vehicle terminal by concatenating several first location points of the user relative to the target vehicle. After the first location dataset is generated, it is sent from the vehicle terminal to the mobile terminal.

[0060] It should be noted that the aforementioned first location point can be determined based on the positioning interaction signal between the vehicle terminal and the vehicle key (such as a physical key or digital key) carried by the user. This positioning interaction signal refers to the radio electromagnetic wave signal used for two-way or one-way communication between the vehicle terminal and the vehicle key carried by the user as they leave the target vehicle. By measuring and analyzing the physical characteristics of the positioning interaction signal, the vehicle terminal can determine the spatial orientation and distance of the vehicle key relative to the target vehicle.

[0061] In one alternative approach, when the vehicle terminal detects that the target vehicle's status has changed from unlocked to locked, the vehicle terminal continuously sends or listens for positioning interaction signals at preset time intervals (e.g., 1 second / time). For each successful positioning interaction signal, the vehicle terminal calculates the azimuth angle and distance of the vehicle key relative to the center of the vehicle terminal's antenna based on physical measurements such as signal arrival angle, signal flight time, and signal strength, generating a first location point reflecting the user's spatial position relative to the target vehicle at that moment. The vehicle terminal continues to perform the measurement of positioning interaction signals and the generation of first location points until it determines that no valid positioning interaction signal from the vehicle key can be detected within a consecutive number of preset periods, at which point the vehicle terminal stops collecting first location points. Finally, the discrete first location points are linearly concatenated according to the acquisition time sequence when each first location point was recorded, forming a continuous first location dataset.

[0062] Step S12: After the target vehicle switches from the unlocked state to the locked state, a second location dataset is obtained from the mobile terminal. The second location dataset is generated by the mobile terminal by concatenating several second location points of the user relative to the target vehicle.

[0063] It should be noted that the aforementioned second location point can be collected by the positioning module of the mobile terminal. The positioning module refers to a hardware functional component integrated inside the mobile terminal that is used to receive signals from the Global Navigation Satellite System or to perform geographic location calculations using wireless signal sources such as base stations and Wi-Fi, thereby determining the spatial location of the mobile terminal itself.

[0064] In one alternative approach, the mobile terminal, in response to the target vehicle's change from unlocked to locked state, invokes its built-in positioning module to continuously acquire its own geographic coordinates at a similar or identical time frequency (e.g., once per second) to the vehicle-mounted terminal. The mobile terminal then performs a differential calculation between each acquired geographic coordinate and the pre-recorded coordinates of the target vehicle's parking location, converting the geographic coordinates into a spatial offset of the user relative to the target vehicle, generating a second location point. The mobile terminal continues this process until it determines that the straight-line distance between its current location and the target vehicle's parking location reaches a preset threshold (e.g., 5 kilometers), at which point it stops acquiring the second location point. Finally, the discrete second location points are linearly concatenated according to the acquisition time sequence of each point, forming a continuous second location dataset.

[0065] The vehicle-finding trajectory generation method provided in this embodiment establishes a three-dimensional coordinate system with the parking location of the target vehicle as the origin and a preset geographical orientation as the coordinate axis direction. The method maps each first location point in the first location dataset to the three-dimensional coordinate system to obtain a first movement trajectory, and maps each second location point in the second location dataset to the three-dimensional coordinate system to obtain a second movement trajectory. The first and second movement trajectories are then fused to obtain a fused trajectory. The first, second, and fused trajectories are then determined as candidate vehicle-finding trajectories. This method retains the exit path information recorded by both the vehicle terminal and the mobile terminal, as well as the integrated path information after their fusion, under a unified spatial reference. In environments lacking reference points in the wild, multiple trajectory options based on the same origin can be provided without an external map. In complex spaces such as multi-level parking garages, the three-dimensional coordinate system retains vertical displacement to accommodate multi-layered structures, improving the flexibility of trajectory selection and adaptability to different scenarios during subsequent guidance. Meanwhile, this embodiment determines the change in the user's direction of travel after leaving the vehicle, divides the first movement trajectory into a first trajectory segment and the second movement trajectory into a second trajectory segment based on the change in direction of travel, and then aligns the positions of each first position point and each second position point based on the first trajectory segment and the second trajectory segment to obtain an aligned position point set, and then merges the first movement trajectory and the second movement trajectory based on the aligned position point set to obtain a fused trajectory. In this way, at the position where the user's walking direction changes, the two trajectories are processed separately, so that the position points within the same movement stage are aligned with each other before fusion, avoiding path distortion or inflection point offset caused by global mixing and averaging of displacements in different directions, thereby improving the geometric reconstruction accuracy of the fused trajectory of the user's actual exit path. Furthermore, this embodiment normalizes the first trajectory segment to a preset parameter space to obtain the first trajectory parameters, and normalizes the second trajectory segment to a preset parameter space to obtain the second trajectory parameters. Then, based on the first trajectory parameters and the second trajectory parameters, the positions of each first position point and each second position point are aligned to obtain an aligned position point set. This maps position points with inconsistent sampling times or steps in different trajectory segments to the same travel progress coordinates for matching, eliminating the sampling point misalignment problem caused by differences in recording frequencies between the vehicle terminal and the mobile terminal or changes in user step size. This ensures that the aligned position point set can accurately reflect the correspondence of the same spatial position in different trajectories, providing a spatially consistent alignment benchmark for subsequent trajectory fusion.

[0066] Meanwhile, in this embodiment, after detecting that the target vehicle has switched from the unlocked state to the locked state, the vehicle terminal obtains several first position points of the user relative to the target vehicle based on the positioning interaction signal between the vehicle terminal and the vehicle key, and concatenates the several first position points in the order of acquisition time to obtain a first position dataset. Thus, the vehicle locking action is used as the starting trigger condition for recording the departure trajectory. By utilizing the relative positioning between the vehicle terminal and the key, the location point sequence during the user's departure process is continuously collected. Without relying on external maps or reference objects, continuous trajectory data starting from the vehicle position can be formed, providing a reference path directly related to the vehicle's parking position for subsequent trajectory modeling. Furthermore, this embodiment also obtains several second location points of the user relative to the target vehicle through the positioning module of the mobile terminal after detecting that the target vehicle has switched from the unlocked state to the locked state. The second location dataset is obtained by concatenating the several second location points in the order of acquisition time. Thus, the vehicle locking action is used as the synchronous trigger condition for the departure trajectory recording. The independent positioning module of the mobile terminal continuously collects the location point sequence during the user's departure process. Even after the vehicle terminal stops recording due to signal attenuation or key detection range limitation, it can still continue to acquire location data, forming a redundant trajectory data source parallel to the first location dataset, thereby improving the integrity and continuity of the departure trajectory data.

[0067] refer to Figure 5 , Figure 5 A flowchart illustrating a first embodiment of the vehicle-finding trajectory guidance method provided by the present invention is shown. This method is executed by a mobile terminal. Figure 5 As shown, this vehicle location trajectory guidance method is applied to a mobile terminal and includes the following steps: Step S3: In response to the user's vehicle search command, obtain the real-time distance between the user's current location and the parking location of the target vehicle.

[0068] It should be noted that the above vehicle search command refers to the electronic control signal sent by the user through operating the mobile terminal to activate the vehicle search function.

[0069] Step S4: Push a set of target trajectories to the user based on the real-time distance. The set of target trajectories includes at least one of a first movement trajectory, a second movement trajectory, and a fused trajectory. The first movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the vehicle terminal of the target vehicle. The second movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the mobile terminal. The fused trajectory is a movement trajectory that combines the spatial features of the first movement trajectory and the second movement trajectory.

[0070] It should be noted that the above target trajectory set represents the set of at least one vehicle-finding trajectory selected from all generated candidate vehicle-finding trajectories (first movement trajectory, second movement trajectory, and fused trajectory) based on the real-time distance between the user and the target vehicle.

[0071] In practice, the real-time distance can be compared with the preset distance conditions. Based on the distance range that the real-time distance falls into, one or more trajectories suitable for the distance range can be selected from all the candidate vehicle-finding trajectories that have been generated and archived. The selected trajectories can then be combined into a target trajectory set.

[0072] Step S5: Based on the target trajectory selected by the user in the target trajectory set, guide the user to find the target vehicle.

[0073] It should be noted that the aforementioned target trajectory refers to the vehicle-finding trajectory actively specified by the user through the mobile terminal interface. For example, if the target trajectory set presents the user with two options: a second movement trajectory and a merged trajectory, and the user selects the merged trajectory option, then the merged trajectory is determined as the target trajectory.

[0074] In an alternative embodiment, step S4 includes: Step S41: If the real-time distance is within the first preset range, then push a target trajectory set containing the second movement trajectory and the fused trajectory to the user.

[0075] It should be noted that the first preset range mentioned above can be [0.5km, 5km], or it can be flexibly set according to the interaction capability between the vehicle terminal and the vehicle key at different distances. This embodiment does not limit this.

[0076] Step S42: If the real-time distance is within the second preset range, then push a target trajectory set containing the first movement trajectory, the second movement trajectory and the fused trajectory to the user.

[0077] It should be noted that the second preset interval can be [0, 0.5 km), or it can be flexibly set according to the interaction capabilities of the mobile terminal and the vehicle terminal at different distances. This embodiment does not limit this.

[0078] For example, when the real-time distance is within the first preset range [0.5km, 5km], the straight-line distance between the user and the target vehicle exceeds the maximum effective interaction radius of near-field communication technologies such as Bluetooth and ultra-wideband between the vehicle terminal and the vehicle key. At this time, the vehicle terminal cannot detect the positioning interaction signal of the vehicle key. Therefore, the first movement trajectory may only cover a very small area centered on the vehicle. For users who are more than 0.5km to 5km away, the first movement trajectory does not contain path data from the user's current location back to the area near the vehicle, and is therefore an invalid trajectory. Thus, when pushing the target trajectory set to the user, the first movement trajectory can be removed, and only the second movement trajectory generated based on the continuous tracking of the mobile terminal and the fused trajectory generated by integrating data from both ends can be pushed to avoid showing the user a fragmented trajectory option that only has a segment near the starting point and cannot be used for actual navigation, thus preventing misleading the user. When the real-time distance is within the second preset range [0, 0.5km), the user has entered the near-field area within the effective communication radius coverage of the vehicle terminal and the vehicle key. At this time, the user's departure trajectory (front / back / left / right / up / down markings) recorded by the first moving trajectory is more accurate. Therefore, the first moving trajectory, the second moving trajectory, and the fused trajectory can all be pushed to the user, enabling the user to achieve high-precision vehicle location by relying on the first moving trajectory in the last kilometer of approaching the vehicle (especially after entering underground garages, multi-story parking garages, and other environments where GPS fails).

[0079] The vehicle-finding trajectory guidance method provided in this embodiment responds to the user's vehicle-finding command by obtaining the real-time distance between the user's current location and the parking location of the target vehicle. Based on the real-time distance, it pushes a set of target trajectories containing a first movement trajectory and / or a second movement trajectory and / or a fused trajectory to the user. It then guides the user to find the target vehicle based on the target trajectory selected by the user in the set of target trajectories. This dynamically filters out trajectory options with higher recording completeness or positioning accuracy at different spatial distances between the user and the vehicle for the user to choose from. This avoids providing unsuitable trajectories due to the limited recording range of the vehicle terminal at long distances or the positioning drift of the mobile terminal at close distances, thus improving the adaptability of the guidance trajectory and the vehicle-finding success rate under different return distance scenarios. Furthermore, this embodiment pushes a target trajectory set containing the second movement trajectory and the fused trajectory to the user when the real-time distance is within the first preset interval, and pushes a target trajectory set containing the first movement trajectory, the second movement trajectory and the fused trajectory to the user when the real-time distance is within the second preset interval. Thus, based on the distance difference between the user and the target vehicle, all three trajectory options are provided within the effective coverage area of ​​the first movement trajectory recorded by the vehicle terminal. When the distance exceeds the effective recording range of the vehicle terminal, the first movement trajectory that relies on the vehicle terminal is automatically excluded, avoiding the user from selecting unreliable trajectories due to signal loss or detection range limitations. This improves the accuracy of trajectory push and the reliability of vehicle-finding guidance in different distance scenarios.

[0080] Furthermore, all user-related data involved in this application (e.g., first location dataset, second location dataset, etc.) were obtained with the user's permission or consent; that is, when this application is applied to a specific product or technology, user permission is required to obtain and process all user-related data, and the processing of all user-related data must comply with the relevant laws, regulations and regulatory standards of the relevant countries and regions.

[0081] Reference Figure 6 , Figure 6 A schematic diagram of the structure of the first embodiment of the vehicle trajectory generation device provided by the present invention is shown.

[0082] like Figure 6 As shown, the vehicle-finding trajectory generation device 600 proposed in this embodiment of the invention includes: Data acquisition module 601 is used to acquire a first location dataset, which is a location dataset of the user after leaving the target vehicle recorded by the vehicle terminal of the target vehicle; and / or, acquire a second location dataset, which is a location dataset of the user after leaving the target vehicle recorded by the mobile terminal; The trajectory generation module 602 is used to generate candidate vehicle-finding trajectories based on the first location dataset and / or the second location dataset, the candidate vehicle-finding trajectories being used to guide the user to find the target vehicle.

[0083] In an optional embodiment, the trajectory generation module 602 is further configured to: establish a three-dimensional coordinate system with the parking location of the target vehicle as the origin and a preset geographical orientation as the coordinate axis direction; map each first location point contained in the first location dataset to the three-dimensional coordinate system to perform trajectory modeling on the user's movement trajectory, thereby obtaining a first movement trajectory; map each second location point contained in the second location dataset to the three-dimensional coordinate system to perform trajectory modeling on the user's movement trajectory, thereby obtaining a second movement trajectory; fuse the first movement trajectory and the second movement trajectory to obtain a fused trajectory; and determine the first movement trajectory, the second movement trajectory, and the fused trajectory as candidate vehicle-finding trajectories.

[0084] In an optional embodiment, the trajectory generation module 602 is further configured to determine the change in the user's direction of travel after leaving the vehicle, divide the first movement trajectory into a first trajectory segment based on the change in direction of travel, divide the second movement trajectory into a second trajectory segment based on the change in direction of travel, align the positions of each first position point and each second position point based on the first trajectory segment and the second trajectory segment to obtain an aligned position point set, and fuse the first movement trajectory and the second movement trajectory based on the aligned position point set to obtain a fused trajectory.

[0085] In an optional embodiment, the trajectory generation module 602 is further configured to normalize the first trajectory segment to a preset parameter space to obtain a first trajectory parameter, wherein the minimum value of the preset parameter space corresponds to the starting point of the user's movement trajectory and the maximum value corresponds to the ending point of the user's movement trajectory; normalize the second trajectory segment to the preset parameter space to obtain a second trajectory parameter; and align the positions of each first position point and each second position point according to the first trajectory parameter and the second trajectory parameter to obtain an aligned position point set.

[0086] In an optional embodiment, the data acquisition module 601 is further configured to acquire a first location dataset from the mobile terminal after the target vehicle switches from an unlocked state to a locked state. The first location dataset is generated by the vehicle terminal by concatenating several first location points of the user relative to the target vehicle. After the first location dataset is generated, it is sent from the vehicle terminal to the mobile terminal.

[0087] In an optional embodiment, the data acquisition module 601 is further configured to acquire a second location dataset from the mobile terminal after the target vehicle switches from an unlocked state to a locked state. The second location dataset is generated by the mobile terminal by concatenating several second location points of the user relative to the target vehicle.

[0088] As described above, the vehicle-finding trajectory generation method provided in this embodiment acquires a first location dataset recorded by the vehicle's onboard terminal after the user leaves the vehicle, and a second location dataset recorded by the mobile terminal after the user leaves the vehicle. This allows for the collection of actual walking location data from both the vehicle and mobile terminals during the user's departure process, without relying on external preset maps or reference points. Candidate vehicle-finding trajectories are then generated based on the first and second location datasets, directly reflecting the user's original walking path when leaving the vehicle. In outdoor environments where existing navigation methods fail due to a lack of reference points and preset maps, the candidate vehicle-finding trajectories generated in this embodiment can guide the user back along their original departure path, thus achieving vehicle finding without relying on external maps and reference points, solving the technical problem of navigation failure in outdoor scenarios.

[0089] Reference Figure 7 , Figure 7 A schematic diagram of the structure of the first embodiment of the vehicle-finding trajectory guidance device provided by the present invention is shown.

[0090] like Figure 7 As shown, the vehicle-finding trajectory guidance device 700 proposed in this embodiment of the invention includes: The instruction response module 701 is used to respond to a vehicle search instruction issued by a user and obtain the real-time distance between the user's current location and the parking location of the target vehicle. The trajectory push module 702 is used to push a set of target trajectories to the user based on the real-time distance. The set of target trajectories includes at least one of a first movement trajectory, a second movement trajectory, and a fused trajectory. The first movement trajectory is the spatial movement path of the user leaving the target vehicle from the perspective of the vehicle terminal. The second movement trajectory is the spatial movement path of the user leaving the target vehicle from the perspective of the mobile terminal. The fused trajectory is a movement trajectory that combines the spatial features of the first movement trajectory and the second movement trajectory. The trajectory guidance module 703 is used to guide the user to find the target vehicle based on the target trajectory selected by the user in the target trajectory set.

[0091] In an optional embodiment, the trajectory push module 702 is further configured to push a target trajectory set containing the second movement trajectory and the fused trajectory to the user if the real-time distance is within a first preset interval; and to push a target trajectory set containing the first movement trajectory, the second movement trajectory and the fused trajectory to the user if the real-time distance is within a second preset interval.

[0092] Reference Figure 8 , Figure 8The diagram shows a structural schematic of an embodiment of the vehicle trajectory generation device provided by the present invention. The specific embodiments of the present invention do not limit the specific implementation of the vehicle trajectory generation device.

[0093] like Figure 8 As shown, the vehicle trajectory generation device may include: a processor 1001, a communication interface 1002, a memory 1003, and a communication bus 1004.

[0094] The processor 1001, communication interface 1002, and memory 1003 communicate with each other via communication bus 1004. Communication interface 1002 is used to communicate with other network elements such as clients or other servers. The processor 1001 executes program 1005, specifically performing the relevant steps described above in the embodiments of the vehicle trajectory generation method or vehicle trajectory guidance method.

[0095] Specifically, program 1005 may include program code, which includes computer-executable instructions.

[0096] The processor 1001 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The vehicle trajectory generation device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0097] Memory 1003 is used to store program 1005. Memory 1003 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0098] Specifically, program 1005 can be called by processor 1001 to cause the vehicle trajectory generation device to perform the following operations: Acquire a first location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the vehicle's in-vehicle terminal; and / or acquire a second location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the mobile terminal. Based on the first location dataset and / or the second location dataset, candidate vehicle-finding trajectories are generated, which are used to guide the user to find the target vehicle.

[0099] As described above, the vehicle location trajectory generation device acquires the first location dataset recorded by the vehicle's onboard terminal after the user leaves the vehicle, and the second location dataset recorded by the mobile terminal after the user leaves the vehicle. This allows for the collection of actual walking location data from both the vehicle and mobile devices during the user's departure process, without relying on external preset maps or reference points. Based on these two datasets, candidate vehicle location trajectories are generated, directly reflecting the user's original walking path when leaving the vehicle. In outdoor environments where existing navigation methods fail due to a lack of reference points and preset maps, the candidate vehicle location trajectories generated by the device can guide the user back along their original departure path, thus enabling vehicle location without relying on external maps or reference points and solving the technical problem of navigation failure in outdoor scenarios.

[0100] Furthermore, program 1005 can also be invoked by processor 1001 to cause the vehicle trajectory generation device to perform the following operations: In response to a user's vehicle search command, the system obtains the real-time distance between the user's current location and the parking location of the target vehicle. The target trajectory set is pushed to the user based on the real-time distance. The target trajectory set includes at least one of a first movement trajectory, a second movement trajectory, and a fused trajectory. The first movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the vehicle terminal of the target vehicle. The second movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the mobile terminal. The fused trajectory is a movement trajectory that combines the spatial features of the first movement trajectory and the second movement trajectory. Based on the target trajectory selected by the user in the target trajectory set, the user is guided to find the target vehicle.

[0101] As can be seen from the above, the vehicle-finding trajectory generation device responds to the user's vehicle-finding command by obtaining the real-time distance between the user's current location and the parking location of the target vehicle. Based on the real-time distance, it pushes a set of target trajectories to the user, including a first movement trajectory and / or a second movement trajectory and / or a fused trajectory. It then guides the user to find the target vehicle based on the target trajectory selected by the user in the set of target trajectories. This dynamically filters out trajectory options with higher recording completeness or positioning accuracy at different spatial distances between the user and the vehicle, avoiding the provision of unsuitable trajectories due to the limited recording range of the vehicle terminal at long distances or the positioning drift of the mobile terminal at close distances. This improves the adaptability of the guidance trajectory and the success rate of vehicle finding in different return distance scenarios.

[0102] This invention also provides a computer-readable storage medium storing at least one executable instruction that, when executed on a vehicle-finding trajectory generation device / apparatus, causes the vehicle-finding trajectory generation device / apparatus to perform the vehicle-finding trajectory generation method in any of the above method embodiments.

[0103] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments of this invention are not directed to any particular programming language.

[0104] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0105] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0106] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A method for generating vehicle search trajectories, the method being applied to a cloud platform, characterized in that, The method includes the following steps: Acquire a first location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the vehicle's in-vehicle terminal; and / or acquire a second location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the mobile terminal. Based on the first location dataset and / or the second location dataset, candidate vehicle-finding trajectories are generated, which are used to guide the user to find the target vehicle.

2. The vehicle-finding trajectory generation method as described in claim 1, characterized in that, The step of generating candidate vehicle-finding trajectories based on the first location dataset and / or the second location dataset includes: A three-dimensional coordinate system is established with the parking location of the target vehicle as the origin and the preset geographical location as the coordinate axis direction. The first location points contained in the first location dataset are mapped to the three-dimensional coordinate system to model the user's movement trajectory and obtain the first movement trajectory. The second location points contained in the second location dataset are mapped to the three-dimensional coordinate system to model the user's movement trajectory and obtain the second movement trajectory. The first movement trajectory and the second movement trajectory are fused to obtain a fused trajectory; The first movement trajectory, the second movement trajectory, and the fused trajectory are determined as candidate vehicle-finding trajectories.

3. The vehicle trajectory generation method as described in claim 2, characterized in that, The step of fusing the first movement trajectory and the second movement trajectory to obtain the fused trajectory includes: Determine the change in the user's direction of travel after leaving the vehicle, divide the first movement trajectory into a first trajectory segment based on the change in the direction of travel, and divide the second movement trajectory into a second trajectory segment based on the change in the direction of travel; Based on the first trajectory segment and the second trajectory segment, the positions of each first position point and each second position point are aligned to obtain a set of aligned position points; The first movement trajectory and the second movement trajectory are fused based on the set of aligned position points to obtain a fused trajectory.

4. The vehicle trajectory generation method as described in claim 3, characterized in that, The step of aligning the positions of each first position point and each second position point based on the first trajectory segment and the second trajectory segment to obtain an aligned position point set includes: The first trajectory segment is normalized to a preset parameter space to obtain the first trajectory parameter. The minimum value of the preset parameter space corresponds to the starting point of the user's movement trajectory, and the maximum value corresponds to the ending point of the user's movement trajectory. The second trajectory segment is normalized to the preset parameter space to obtain the second trajectory parameters; Based on the first trajectory parameters and the second trajectory parameters, the positions of each first position point and each second position point are aligned to obtain a set of aligned position points.

5. The vehicle trajectory generation method as described in claim 1, characterized in that, The step of obtaining the first location dataset includes: After the target vehicle switches from the unlocked state to the locked state, a first location dataset is obtained from the mobile terminal. The first location dataset is generated by the vehicle terminal by concatenating several first location points of the user relative to the target vehicle. After the first location dataset is generated, it is sent from the vehicle terminal to the mobile terminal.

6. The vehicle trajectory generation method as described in claim 1, characterized in that, The step of obtaining the second location dataset includes: After the target vehicle switches from the unlocked state to the locked state, a second location dataset is obtained from the mobile terminal. The second location dataset is generated by the mobile terminal by concatenating several second location points of the user relative to the target vehicle.

7. A vehicle-finding trajectory guidance method, wherein the method is applied to a mobile terminal, characterized in that, The method includes the following steps: In response to a user's vehicle search command, the system obtains the real-time distance between the user's current location and the parking location of the target vehicle. The target trajectory set is pushed to the user based on the real-time distance. The target trajectory set includes at least one of a first movement trajectory, a second movement trajectory, and a fused trajectory. The first movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the vehicle terminal of the target vehicle. The second movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the mobile terminal. The fused trajectory is a movement trajectory that combines the spatial features of the first movement trajectory and the second movement trajectory. Based on the target trajectory selected by the user in the target trajectory set, the user is guided to find the target vehicle.

8. The vehicle-finding trajectory guidance method as described in claim 7, characterized in that, The step of pushing the target trajectory set to the user based on the real-time distance includes: If the real-time distance is within a first preset range, then a target trajectory set containing the second movement trajectory and the fused trajectory is pushed to the user; If the real-time distance is within the second preset range, a target trajectory set containing the first movement trajectory, the second movement trajectory, and the fused trajectory is pushed to the user.

9. A vehicle-finding trajectory generation device, characterized in that, The vehicle search trajectory generation device includes: The data acquisition module is used to acquire a first location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the vehicle terminal of the target vehicle; and / or, to acquire a second location dataset, which is a dataset of the user's location after leaving the target vehicle, recorded by the mobile terminal. The trajectory generation module is used to generate candidate vehicle-finding trajectories based on the first location dataset and / or the second location dataset, the candidate vehicle-finding trajectories being used to guide the user to find the target vehicle.

10. A vehicle-finding trajectory guidance device, characterized in that, The vehicle search trajectory guidance device includes: The instruction response module is used to respond to the user's vehicle search instruction and obtain the real-time distance between the user's current location and the parking location of the target vehicle; The trajectory push module is used to push a set of target trajectories to the user based on the real-time distance. The set of target trajectories includes at least one of a first movement trajectory, a second movement trajectory, and a fused trajectory. The first movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the vehicle terminal of the target vehicle. The second movement trajectory is the movement trajectory of the user after leaving the target vehicle, recorded by the mobile terminal. The fused trajectory is a movement trajectory that combines the spatial features of the first movement trajectory and the second movement trajectory. The trajectory guidance module is used to guide the user to find the target vehicle based on the target trajectory selected by the user in the target trajectory set.

11. A vehicle-finding trajectory generation device, characterized in that, The device includes: a memory, a processor, and a vehicle-finding trajectory generation program stored in the memory and executable on the processor, the vehicle-finding trajectory generation program being configured to implement the steps of the vehicle-finding trajectory generation method as described in any one of claims 1 to 6, or to implement the steps of the vehicle-finding trajectory guidance method as described in any one of claims 7 to 8.

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