Vehicle recovery method and electronic device

Abstract

The embodiment of the present application relates to the technical field of vehicles, and discloses a vehicle searching method and electronic equipment, the method comprising: a terminal acquiring walkable area information sent by a vehicle, real-time position information of the terminal, and first position information of the vehicle, wherein the walkable area information is determined by the vehicle based on first trajectory information in a process in which a user leaves a parking space and scene map information around the parking space; and a target navigation route to the parking space is determined according to the walkable area information, the real-time position information, and the first position information; and then route guiding operation is performed according to the target navigation route. The technical scheme of the present application can solve the technical problem that users have difficulty in efficiently searching for a vehicle in the prior art.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically to a vehicle retrieval method and electronic device. Background Technology

[0002] With the acceleration of urbanization and the continuous growth of private car ownership, the pain point of users finding their vehicles in unfamiliar environments such as large underground parking lots, commercial complexes, and airport hubs is becoming increasingly prominent.

[0003] Current technologies typically rely on vehicles making sounds to attract user attention and facilitate vehicle retrieval. However, this can lead to echoes in scenarios such as parking lots, making it difficult for users to efficiently find their vehicles. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a vehicle retrieval method and electronic device to solve the technical problem of inefficient vehicle retrieval in the prior art.

[0005] According to one aspect of the present invention, a vehicle retrieval method is provided, applied to a vehicle, the method comprising:

[0006] Obtain the first trajectory information of the user during the process of leaving the parking space and the scene map information around the parking space;

[0007] Based on the first trajectory information and the scene map information, the walkable area information is determined.

[0008] The walkable area information is sent to the terminal, which is used to determine the target navigation route to the parking space based on the walkable area information and to perform route guidance operation based on the target navigation route.

[0009] According to another aspect of the present invention, a vehicle retrieval method is provided, applied to a terminal, the method comprising:

[0010] The system acquires walkable area information, real-time location information of the terminal, and first location information of the vehicle. The walkable area information is determined by the vehicle based on the first trajectory information of the user leaving the parking space and the scene map information around the parking space.

[0011] Based on the walkable area information, the real-time location information, and the first location information, a target navigation route to the parking space is determined;

[0012] Based on the target navigation route, perform route guidance operations.

[0013] According to one aspect of the present invention, a vehicle retrieval device is provided, applied to a vehicle, the device comprising:

[0014] The acquisition module is used to acquire the first trajectory information of the user during the process of leaving the parking space and the scene map information around the parking space;

[0015] The determination module is used to determine walkable area information based on the first trajectory information and the scene map information.

[0016] The sending module is used to send the walkable area information to the terminal. The terminal is used to determine the target navigation route to the parking space based on the walkable area information and to perform route guidance operation based on the target navigation route.

[0017] According to another aspect of the present invention, a vehicle retrieval device is provided, applied to a terminal, the device comprising:

[0018] The acquisition module is used to acquire walkable area information, real-time location information of the terminal, and first location information of the vehicle. The walkable area information is determined by the vehicle based on the first trajectory information of the user leaving the parking space and the scene map information around the parking space.

[0019] The determination module is used to determine the target navigation route to the parking space based on the walkable area information, the real-time location information, and the first location information.

[0020] The processing module is used to perform route guidance operations based on the target navigation route.

[0021] According to another aspect of the present invention, an electronic device (which may be the terminal or vehicle described above) 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;

[0022] The memory is used to store at least one executable instruction that causes the processor to perform the operation of the vehicle retrieval method.

[0023] According to another aspect of the present invention, a vehicle retrieval system is provided, the vehicle retrieval system comprising: a vehicle and a terminal;

[0024] The vehicle performs the operations described above in the vehicle retrieval method.

[0025] The terminal performs the operations described above for the vehicle retrieval method applied to the terminal.

[0026] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein at least one executable instruction is stored therein;

[0027] When the executable instructions are executed on the vehicle retrieval device / electronic device, the vehicle retrieval device / electronic device causes the vehicle retrieval device / electronic device to perform the operations of the vehicle retrieval method described above.

[0028] According to another aspect of the present invention, a computer program product is provided, including a computer program that, when executed by a processor, causes a vehicle retrieval device / electronic device to perform the operation of the above-described method.

[0029] In this embodiment of the invention, the terminal acquires walkable area information sent by the vehicle, the terminal's real-time location information, and the vehicle's first location information. The walkable area information is determined by the vehicle based on the first trajectory information of the user leaving the parking space and the scene map information around the parking space. Based on the walkable area information, real-time location information, and first location information, a target navigation route to the parking space is determined. Then, route guidance is performed based on the target navigation route. In this technical solution, the terminal acquires the walkable area information, real-time location information, and vehicle's first location information sent by the vehicle, allowing the terminal to utilize high-level data generated by the vehicle without needing to perceive the environment itself, thereby reducing the terminal's computational and power consumption burden. Furthermore, based on the walkable area information, real-time location information, and first location information, a target navigation route is determined, dynamically generating the optimal and safest path from the current user location to the parking space, effectively avoiding impassable areas and improving the accuracy of path planning and obstacle avoidance capabilities. Finally, route guidance is performed based on the target navigation route, intuitively guiding the user to quickly return to the parking space along a reasonable path, significantly optimizing the car-finding experience and ensuring walking safety.

[0030] 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

[0031] 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:

[0032] Figure 1 A schematic diagram of the vehicle retrieval system provided by the present invention is shown;

[0033] Figure 2 A flowchart of the first embodiment of the vehicle retrieval method provided by the present invention is shown;

[0034] Figure 3 A flowchart of a second embodiment of the vehicle retrieval method provided by the present invention is shown;

[0035] Figure 4 A flowchart of a third embodiment of the vehicle retrieval method provided by the present invention is shown;

[0036] Figure 5 A flowchart of a fourth embodiment of the vehicle retrieval method provided by the present invention is shown;

[0037] Figure 6 A flowchart of the fifth embodiment of the vehicle retrieval method provided by the present invention is shown;

[0038] Figure 7 A schematic diagram of the structure of the first embodiment of the vehicle retrieval device provided by the present invention is shown;

[0039] Figure 8 A schematic diagram of the structure of a second embodiment of the vehicle retrieval device provided by the present invention is shown;

[0040] Figure 9 A schematic diagram of an embodiment of the electronic device provided by the present invention is shown. Detailed Implementation

[0041] 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.

[0042] Currently, with the continuous growth of car ownership and the widespread use of large underground parking lots and complex commercial complexes, the problem of car owners finding their cars in unfamiliar environments is becoming increasingly prominent.

[0043] Existing vehicle-finding solutions mainly suffer from the following technical approaches and their shortcomings:

[0044] 1) Vehicle location technology based on flashing headlights:

[0045] Existing vehicles are typically equipped with remote car-finding functionality. When a user presses the car-finding button on the key or a mobile application (APP), the vehicle indicates its location by flashing its hazard lights or illuminating its headlights. However, this technology only provides the user with the approximate location of the vehicle and cannot offer effective directional guidance in environments with obstructed visibility (such as when blocked by pillars or behind a bend). When the user is far from the vehicle or on a different floor, the headlight signal becomes completely invisible, rendering the car-finding technology ineffective.

[0046] 2) App-based car-finding technology based on Global Positioning System (GPS) / base station positioning:

[0047] Most existing mobile apps use GPS or mobile network base station positioning to record parking locations and plan walking routes when users return. However, underground parking lots generally have GPS signal blind spots, and base station positioning accuracy is only at the tens of meters level, making it impossible to distinguish between adjacent parking spaces or different floors.

[0048] This results in a significant discrepancy between the last location recorded by the app and the actual parking space after the user gets out of the car in an area with lost signal, causing subsequent car-finding navigation to fail.

[0049] 3) Manual vehicle location technology based on QR codes / parking space numbers:

[0050] Some parking lots have deployed systems that allow users to scan a QR code to record their parking space or enter a parking number to find their location. This technology relies on investment in upgrading the parking lot's infrastructure, and users must actively scan the code to record their parking space when parking; if they forget to do so, the system will be unusable.

[0051] In addition, such systems are mostly one-way information queries and cannot provide real-time, dynamic walking guidance.

[0052] 4) Common problems of existing vehicle-finding technologies:

[0053] Existing technologies all suffer from the core drawback of relying on a single perception modality: vehicle headlights for vehicle location depend on the user's line of sight, app-based vehicle location depends on network signals, and indoor positioning depends on infrastructure. A single sensor or a single communication mode is at risk of failure in complex indoor environments, failing to provide users with a seamless, intuitive, and comprehensive vehicle location experience.

[0054] Therefore, a more accurate and intelligent vehicle-finding solution is needed that can adaptively switch between multimodal scenarios such as with / without network, indoor / outdoor, and near / far field, and can provide intuitive visual guidance, in order to solve the above-mentioned technical problems.

[0055] Based on the aforementioned technical problems, the technical concept of this invention is as follows: The core contradiction in everyday car-finding scenarios lies in the fact that even if users know the approximate area of ​​their parking space, they often find it difficult to locate their vehicle quickly and safely due to the complex structure of parking lots, obstructed views, or similar environments. Therefore, we can think in reverse: instead of having the terminal or cloud construct a complex global path from scratch, it's better to have the vehicle remember the passable trajectory the user just walked when leaving, and combine this with the perceived environmental map to pre-define a reliable walkable area. When the user returns, the vehicle only needs to send the walkable area information to the terminal. The terminal then integrates its real-time location with the vehicle's current location, transforming the pathfinding problem into planning a short path from the terminal to the vehicle within the known feasible area. This avoids the problems of incomplete global parking lot maps and constantly changing dynamic obstacles, and utilizes the verified safe trajectory from the user's departure to determine the return path, thus solving the technical problems of unreliable paths, reliance on infrastructure, or heavy computational burden in current car-finding solutions.

[0056] That is, Figure 1 A schematic diagram of the vehicle retrieval system provided by the present invention is shown, as follows: Figure 1 As shown, the system includes: a cloud service module, a vehicle module, a terminal (e.g., mobile phone) APP module, and the vehicle body (the controlled object, such as the lighting unit).

[0057] The cloud service module communicates with the vehicle module and the terminal APP module via mobile communication networks (such as 4G and 5G); the vehicle module and the terminal APP module communicate via Bluetooth / Ultra-Wideband (UWB).

[0058] The cloud service modules include: a memory parking map library (information on walkable areas based on parking spaces acquired each time), user account management (for different users), map synchronization service (synchronizing walkable area information to the terminal), and vehicle location cloud service (the first location information of the vehicle (parking space)).

[0059] For vehicle modules, the following modules are included: vehicle-side data acquisition module (including surround view cameras (e.g., at least 4 cameras covering 360 degrees of the vehicle body), wheel speed sensors, inertial measurement units (IMU), ultrasonic radar, UWB communication module, headlight controller, and Bluetooth module), and memory parking map construction and conversion module (including parking lot high-precision master map generation unit (based on visual SLAM + semantic recognition), outputting a master map containing semantic elements; exit trajectory perception and binding system (visual tracking (side view and rear view cameras), signal attenuation estimation (Bluetooth / UWB), outputting a walking path layer); and walking map conversion and enhancement unit (including dimensionality reduction conversion (lane-pedestrian walkway), semantic enhancement (strengthening visual anchors), outputting a lightweight walking semantic map)).

[0060] For the terminal APP module, it includes: a multimodal signal detection unit (including: multimodal signal detection unit (GPS signal strength, 4G / 5G network strength, UWB connection status, Bluetooth signal strength); an adaptive positioning switching unit (Mode A: UWB dominant mode, Mode B: cloud-assisted mode, Mode C: local trajectory estimation mode); a mobile phone IMU trajectory estimation unit (for no network + no UWB scenarios)), and a navigation and interaction module (walking semantic map storage unit (from memory parking master map conversion); path planning unit (A-star ( Algorithm / Dijkstra algorithm; Augmented Reality (AR) navigation rendering engine (virtual arrows + guide light strips + semantic labels); voice broadcast and vibration module (distance reminder + direction correction + deviation warning); mobile phone UWB communication unit (two-way ranging with vehicle UWB)

[0061] The foregoing provides a brief overview of the technical concept and vehicle retrieval system logic involved in this invention. The following detailed description, through specific embodiments, illustrates the technical solution of this invention. The executing entity of this invention is an electronic device, such as a vehicle or a terminal (mobile phone, etc.), and the specific executing entity will be given in the embodiments.

[0062] It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0063] Figure 2 A flowchart of the first embodiment of the vehicle retrieval method provided by the present invention is shown, as follows: Figure 2 As shown, this method is illustrated using the interaction between a vehicle and a terminal, and includes the following steps:

[0064] Step 21: The vehicle acquires the first trajectory information of the user as they leave the parking space and the scene map information around the parking space;

[0065] In this step, the vehicle first needs to obtain the initial trajectory information formed by the user during their walking process after leaving the parking space, as well as the scene map information of the surrounding environment of the parking space.

[0066] Optionally, the first trajectory information reflects the user's actual walking path from the moment they leave the vehicle, i.e., from the parking space to the elevator, stairs, or other exit, and can be obtained through either visual tracking (i.e., scheme A below) or signal attenuation estimation (i.e., scheme B below).

[0067] Among them, the visual tracking method uses the vehicle's side or rear view cameras to dynamically capture the user's walking direction in a short period of time after the user gets out of the car; the signal attenuation estimation method uses the changes in Bluetooth or UWB signal strength between the mobile phone and the vehicle, combined with the distribution of obstacles in the environment, to infer the most likely walking path.

[0068] Optionally, the scene map information is the map information collected after the vehicle enters the parking area fence. Specifically, it can be a high-precision map constructed by surround view cameras, ultrasonic radar, wheel speed sensors and IMU during the memory parking process when the vehicle enters the parking lot, including static semantic elements such as parking spaces, pillars, walls, passages, parking space numbers, speed bumps and fire doors.

[0069] In other implementations, the scene map information can also be the map information of the parking area fence collected during historical parking processes.

[0070] Furthermore, to make the car-finding effect more accurate, when arriving at the parking space, all static semantic elements within a preset range centered on the parking space can be used as scene map information.

[0071] The preset range can be a preset value, such as within 50m; or it can be obtained by cropping from the initially collected map information based on the maximum distance from the vehicle indicated by the subsequent first trajectory information.

[0072] In addition, triggering conditions for executing step 21 can be set, such as in response to detecting that the vehicle is turned off and / or the driver's door is opened.

[0073] Step 22: The vehicle determines the walkable area information based on the first trajectory information and the scene map information;

[0074] In this step, the vehicle overlays the first trajectory information onto the scene map information to form walkable area information that can be used by the user for actual walking.

[0075] Optionally, the implementation can be as follows: superimposing the first trajectory information onto the scene map information to obtain a walking path layer; then, converting the map originally constructed based on vehicle driving logic into walking logic that pedestrians can understand; semantically enhancing the symbols that are easily recognized by the human eye or camera; after the conversion is completed, the converted data can also be lightweight compressed to remove redundant vehicle dynamics data that is not related to walking navigation, and finally obtaining walkable area information.

[0076] Step 23: The vehicle sends the information about the walkable area to the terminal;

[0077] In this step, the terminal, as the processing side of walkable area information, needs to obtain the walkable area information sent by the vehicle and store it in advance.

[0078] Optionally, one possible implementation of step 23 may include at least one of the following:

[0079] Item 1: The vehicle sends walkable area information to the terminal and / or the cloud via a mobile communication network, and the cloud is used to synchronize the walkable area information to the terminal.

[0080] In this implementation, the mobile communication network can be 4G / 5G, etc. In an environment covered by 4G / 5G or other mobile communication networks, the vehicle can send information about the walkable area to the user's terminal device and / or the cloud.

[0081] The cloud server (corresponding to the user's account) serves as a data relay and storage node, which can synchronize the walkable area information to the user's terminal (such as a mobile phone or smartwatch) and support the sharing of vehicle search data between multiple devices; and cloud storage can prevent users from losing data due to changing mobile phones, not receiving vehicle information, or clearing local data.

[0082] Item 2: When the preset conditions are met, the vehicle sends the walkable area information to the terminal via Bluetooth / Ultra-Wideband.

[0083] The preset conditions include: the car door is open, the user leaves the car, or the vehicle is turned off.

[0084] In this implementation, in environments with poor network signals or no network coverage, such as underground parking lots, vehicles will use short-range wireless communication technologies such as Bluetooth or UWB to transmit information about walkable areas.

[0085] To ensure that walkable area information is delivered promptly after the user leaves the vehicle, trigger conditions such as the door opening, the user leaving the vehicle, or the vehicle being turned off can be set. That is, when the vehicle detects that the driver's door is open or the user has gotten out of the vehicle, data transmission is immediately initiated, taking advantage of the window period during which the user's mobile phone and the vehicle still maintain an effective connection to quickly send the walkable area information to the terminal.

[0086] Step 24: The terminal obtains information on the walkable area, the terminal's real-time location information, and the vehicle's initial location information;

[0087] In this step, the terminal device receives and stores walkable area information from the vehicle, its own real-time location information, and the first location information of the vehicle (i.e., the parking space).

[0088] Optionally, the terminal can adaptively select different information acquisition methods based on the current network environment and communication conditions to obtain walkable area information, real-time location information, and primary location information.

[0089] Step 25: The terminal determines the target navigation route to the parking space based on the walkable area information, real-time location information, and first location information.

[0090] In this step, after obtaining information on the walkable area, the terminal's real-time location, and the vehicle's initial location, the terminal can execute a path planning algorithm based on this data.

[0091] For example, the walkable area boundary in the walkable area information can be used as a constraint on the passable space, with the terminal's real-time location as the starting point and the vehicle's first location information as the ending point, using A... The algorithm, or Dijkstra's algorithm, searches for the shortest or simplest walking path in the semantic map.

[0092] During the planning process, priority can be given to the simplicity of the path (e.g., reducing the number of turns) and safety (e.g., avoiding obstacles such as pillars and walls), ultimately generating a target navigation route from the user's current real-time location to the parking space.

[0093] Step 26: The terminal provides route guidance based on the target navigation route.

[0094] In this step, the terminal presents the planned target navigation route on the terminal interface in an intuitive, multimodal way to assist users in finding their vehicles.

[0095] Optionally, the terminal can support multiple interaction methods such as augmented reality real-scene navigation, voice broadcast, and vibration alerts, and can trigger vehicle headlight projection and sound guidance when the user approaches the vehicle; in addition, it can also perform real-time deviation detection and dynamic replanning capabilities.

[0096] Optionally, the implementation of step 26 may include at least one of the following:

[0097] Item 1: The terminal controls the terminal to trigger navigation display and / or voice broadcast based on the target navigation route and real-time scene data collected by the terminal's camera;

[0098] In this implementation, the terminal can use the phone's rear camera to collect real-time scene data and overlay the target navigation route onto the real-time scene data in the form of augmented reality elements such as virtual arrows, guide light strips, and distance labels.

[0099] Users can visually see virtual guidance symbols such as "Turn right ahead" and "Go straight for 20 meters" on their mobile phone screen; at the same time, the voice module will broadcast real-time distance reminders and direction correction information, such as "Your vehicle is 50 meters away, turn right ahead".

[0100] Item 2: When the terminal detects that the distance between the terminal and the vehicle is less than a preset value and / or there are no obstacles obstructing the distance between the terminal and the vehicle, the terminal generates and sends control commands to the vehicle according to the target navigation route, and the vehicle projects headlights and / or plays sound based on the control commands.

[0101] In this implementation, when the terminal detects that the straight-line distance between the user and the vehicle is less than a preset threshold (such as 30 meters) through UWB ranging or mobile phone visual ranging, and / or determines that there are no obstacles obstructing the line connecting the terminal and the vehicle, the terminal can generate control commands and send them to the vehicle via Bluetooth, UWB or cellular network.

[0102] Upon receiving the command, the vehicle triggers the intelligent headlight system (such as Digital Light Processing (DLP) headlights or Adaptive Driving Beam (ADB) headlights) to project dynamic light and shadow arrows, guide light strips, or distance halos onto the ground to indicate the vehicle's location and walking path to the user; at the same time, the vehicle can also emit prompt sounds (such as short horn horns or welcome sound effects) to assist in guidance.

[0103] Correspondingly, on the vehicle side, the following implementation can be performed:

[0104] Step 1: The vehicle acquires control commands sent by the terminal. These control commands are generated by the terminal based on the target navigation route.

[0105] In this implementation, the vehicle receives control commands from the terminal via Bluetooth, UWB, or a mobile communication network.

[0106] The control command includes the user's current position relative to the vehicle, the destination direction of the target navigation route, and the light pattern parameters (such as arrow direction, light band flow speed, halo color, etc.) required to trigger the headlight projection.

[0107] Step 2: The vehicle executes control commands to project headlights and / or play sound.

[0108] In this implementation, the vehicle drives the intelligent headlight system to project corresponding dynamic directional symbols on the ground according to the parsed control commands.

[0109] For example, when the user is in front of the left side of the vehicle, the vehicle can project an arrow pointing to the left front; when the user walks, the vehicle can project a light strip that flows from the user's feet to the vehicle, creating an effect where the light follows the person.

[0110] In addition, the vehicle can project different colored distance halos based on the distance between the user and the vehicle (e.g., red indicates approaching, green indicates arrival); the sound playback module can simultaneously emit a welcome tone or a door unlocking tone.

[0111] Item 3: When the terminal detects that it has deviated from the target navigation route, the terminal will issue a reminder and update the target navigation route.

[0112] In this implementation, during navigation, the terminal continuously monitors the mobile phone's IMU data, including walking direction, step length, turning angle, and other information, and compares it with the expected path in the target navigation route.

[0113] When the angle between the user's actual walking direction and the planned path exceeds a preset threshold (e.g., ±30°), or the user's position deviates from the path by more than a preset distance (e.g., 5 meters), it can be determined that the user has deviated from the route.

[0114] At this point, the terminal will immediately alert the user through vibration, voice announcement (e.g., "You have deviated from the route, we are replanning for you"), and red warning signs in the AR interface. At the same time, it can use the user's current real-time location as a new starting point to re-execute the path planning algorithm in step 25 above, generate a new target navigation route from the current location to the parking space, and continue to guide the user.

[0115] Furthermore, when a user is detected entering the vehicle's preset unlocking range, the vehicle can be controlled to trigger welcome lights and unlock the doors, thus completing the entire car-finding process.

[0116] The vehicle retrieval method provided in this embodiment of the invention involves the vehicle acquiring first trajectory information and scene map information surrounding the parking space during the user's departure from the parking space; the vehicle determining walkable area information based on the first trajectory information and scene map information; the vehicle sending the walkable area information to the terminal; the terminal acquiring the walkable area information, the terminal's real-time location information, and the vehicle's first location information; the terminal determining a target navigation route to the parking space based on the walkable area information, real-time location information, and first location information; and the terminal providing route guidance based on the target navigation route. In this technical solution, the vehicle acquires the user's initial trajectory information when leaving the parking space, capturing the verified safe path characteristics of the user's actual movement, thus avoiding blind spots caused by relying on fixed maps. Simultaneously, by combining this with scene map information around the parking space, the walkable area incorporates both the user's habitual trajectory and structured environmental constraints, enhancing the accuracy and adaptability of area division. The vehicle sends the determined walkable area information to the terminal, effectively reducing the terminal's perception and computational burden, allowing it to obtain reliable travel boundaries without repeated modeling. The terminal then integrates its own real-time location information with the vehicle's initial location information to dynamically plan a target navigation route from the current location to the parking space within the walkable area, ensuring the path always remains within a safe zone. Finally, the terminal provides guidance based on this navigation route, providing real-time and intuitive guidance to the user to quickly return to the parking space along the optimal and safe path, significantly improving vehicle search efficiency.

[0117] Based on the above embodiments, Figure 3 A flowchart of a second embodiment of the vehicle retrieval method provided by the present invention is shown, as follows: Figure 3 As shown, one possible implementation of step 24 (execution subject: terminal) may include at least one of the following:

[0118] Step 31: In response to the user activating the vehicle search function, obtain the terminal's network status information;

[0119] In this step, when a user actively activates the car-finding function on a terminal, such as a mobile phone app, the terminal will first perform an environment detection operation to determine the current network status information of the mobile phone.

[0120] The network status information includes, but is not limited to: GPS signal strength, mobile communication network signal quality, UWB connection status with the vehicle, and Bluetooth signal strength.

[0121] Step 32: Based on the network status information, obtain walkable area information, real-time location information, and first location information.

[0122] In this step, based on the different network status information obtained, the terminal can dynamically select different methods to obtain the required walkable area information, real-time location information, and first location information.

[0123] Optionally, one possible implementation of step 32 may include any of the following:

[0124] Item 1: If the ultra-wideband connection between the terminal and the vehicle is already established in the network status information, load the pre-acquired walkable area information, and determine the real-time location information and the first location information (i.e., Mode A below) through the two-way ranging of the ultra-wideband and the walkable area information.

[0125] In this implementation, when the terminal detects that the UWB connection with the vehicle is normal, UWB high-precision ranging technology can be used first.

[0126] UWB calculates the precise distance and relative orientation between the terminal and the vehicle by performing two-way ranging between them, i.e., obtaining the time of flight (ToF) or angle of arrival (AoA).

[0127] After obtaining the pre-stored walkable area information, the terminal can accurately map its own position onto the semantic map by combining the precise distance and relative orientation between the terminal and the vehicle, so as to obtain its own real-time location information and the vehicle's first location information.

[0128] Item 2: If the ultra-wideband is not connected, but the terminal has a mobile communication network, obtain the first location information and walkable area information reported by the vehicle from the cloud, and self-locate the real-time location information (i.e., the following mode B).

[0129] In this implementation, when UWB is unavailable (e.g., the user is far from the vehicle or the vehicle is not equipped with a UWB module), but the terminal still has signals from mobile communication networks such as 4G / 5G, the terminal will switch to cloud-assisted mode.

[0130] The terminal requests the vehicle's last reported location information (i.e., first location information) and walkable area information from the cloud server, and at the same time uses the mobile phone's GPS or base station positioning to obtain its own real-time location.

[0131] In addition, if the vehicle has self-location capabilities (e.g., visual positioning through a parking lot), it can report its precise location in real time instead of the last location information reported by the vehicle.

[0132] Item 3: If the ultra-wideband is not connected and the terminal does not have a mobile communication network, load the pre-acquired walkable area information and first location information, and start the inertial measurement unit track to determine the real-time location information with the preset point as the starting point (i.e., mode C below).

[0133] In this implementation, when UWB is unavailable or in environments without mobile communication networks, such as underground parking lots, the terminal can enable local trajectory estimation mode.

[0134] At this point, the terminal loads the walkable area information and the vehicle's first location information (last valid location) that have been previously transmitted and stored via Bluetooth / UWB, and uses the elevator entrance or stairwell entrance manually selected by the user as the starting point for navigation, and activates the phone's built-in IMU to calculate the trajectory.

[0135] The IMU continuously measures the user's stride length, stride frequency, and turning angle using accelerometers and gyroscopes, thereby calculating the user's motion trajectory and current position relative to the starting point in real time, thus obtaining real-time position information.

[0136] The vehicle retrieval method provided in this invention involves the terminal acquiring network status information in response to the user activating the vehicle retrieval function. Based on the network status information, the terminal acquires walkable area information, real-time location information, and a first location information. This technical solution allows the terminal to acquire network status information only in response to the user activating the vehicle retrieval function, avoiding unnecessary network detection and data acquisition, thus saving terminal power and system resources. Furthermore, the terminal flexibly acquires walkable area information, real-time location information, and the first location information based on the network status information, and can select an appropriate data transmission strategy according to the current network quality, avoiding data transmission failures or long waiting times due to poor network conditions, thereby improving the overall user experience of the vehicle retrieval function.

[0137] Based on the above embodiments, Figure 4 A flowchart of a third embodiment of the vehicle retrieval method provided by the present invention is shown, as follows: Figure 4 As shown, one possible implementation of step 22 (executor: vehicle) may include:

[0138] Step 41: Overlay the first trajectory information onto the scene map information to obtain a walking path map containing the user's trajectory;

[0139] In this step, the first trajectory information recorded when the user leaves the car is treated as an independent path layer and overlaid on the already constructed high-precision parking lot map (i.e., scene map information).

[0140] For example, during the overlay process, key inflection points in the first trajectory information (such as the location to bypass the pillar, the turning point, etc.) are marked in the scene map information. These inflection points can be used as reference nodes for subsequent navigation path planning.

[0141] Furthermore, this walking path map not only retains the static semantic elements (such as parking spaces, pillars, and walls) in the scene map information, but also adds dynamic trajectory information of the user's actual walking.

[0142] Step 42: Convert the pedestrian path map according to the preset conversion strategy from lane to sidewalk to obtain walkable area information;

[0143] The preset conversion strategies include at least one of the following: converting lane lines into walkable area boundaries, converting solid lines that are prohibited from being crossed into traversable ground markings, marking parking spaces as destinations, and marking markings that can be recognized by the human eye / camera.

[0144] In this implementation, the walking path map undergoes semantic transformation, changing it from logic applicable to vehicle traffic to logic applicable to pedestrian walking.

[0145] The preset conversion strategy includes, but is not limited to, the following: converting lane lines into walkable area boundaries (since pedestrians can walk freely within the lane area without being restricted by lane lines); converting solid lines that prohibit crossing into ordinary ground markings that can be crossed (since pedestrians do not need to abide by lane separation rules); marking parking spaces as destinations (to clarify the navigation endpoint); and marking markings that can be recognized by the human eye or cameras, such as parking space numbers, column numbers, elevator icons, etc. (which can provide visual anchors for subsequent enhanced AR navigation).

[0146] Step 43: Compress the walkable area information based on the preset compression strategy to obtain the compressed walkable area information.

[0147] The preset compression strategy includes: removing redundant data related to vehicle dynamics.

[0148] In this step, in order to efficiently and accurately transmit the walkable area information to the terminal, the vehicle can perform lightweight compression processing on the walkable area information.

[0149] The preset compression strategy mainly includes: removing redundant data related to vehicle dynamics, such as tire slip ratio, steering angular velocity, and suspension height changes, which are irrelevant to pedestrian navigation; at the same time, it can retain key information necessary for pedestrian navigation, such as the boundary coordinates of walkable areas, the location and content of semantic tags, and the coordinates of path inflection points.

[0150] The vehicle retrieval method provided in this embodiment of the invention involves the vehicle overlaying first trajectory information onto scene map information to obtain a walking path map containing the user's trajectory; the vehicle then performs conversion processing on the walking path map according to a preset lane-to-pedestrian transition strategy to obtain walkable area information; finally, the vehicle compresses the walkable area information based on a preset compression strategy to obtain compressed walkable area information. In this technical solution, overlaying the first trajectory information onto the scene map information integrates the user's actual walking history with the environmental structure, compensating for the lack of individual behavior information in single map data, and enabling the walking path map to contain verified safe passage characteristics; the vehicle's conversion processing of the walking path map according to the preset lane-to-pedestrian transition strategy automatically maps unsuitable lane areas to corresponding pedestrian walkways or safe passage areas, preventing users from entering dangerous areas; the vehicle further compresses the walkable area information based on the preset compression strategy, effectively reducing the data volume during storage and transmission while retaining key path and area boundary information, reducing bandwidth usage and parsing burden during terminal reception; finally, the terminal obtains compact, safe data with a pedestrian-perspective walkable domain, making subsequent navigation route planning more efficient and reliable.

[0151] Based on the above embodiments, Figure 5 A flowchart of a fourth embodiment of the vehicle retrieval method provided by the present invention is shown, as follows: Figure 5 As shown, a complete example is used to illustrate this solution:

[0152] Step 501: The vehicle enters the parking lot (activate the memory parking function).

[0153] Step 502: Constructing a memory parking map (surround view camera + ultrasonic + DNU; constructing a high-precision master map with semantically compatible elements);

[0154] Step 503: The vehicle is turned off and the driver's side door is opened (determining that the user is about to leave the vehicle).

[0155] Step 504: User's next trajectory perception and binding (Solution A: Visual completion tracking; Solution B: Signal attenuation estimation);

[0156] Step 505: Vehicle performs map dimensionality reduction and semantic enhancement (lane lines - walkable area boundaries; enhances the annotation of visual errors);

[0157] Step 506: The vehicle performs map compression and distribution (with network access: 4G / 5G push; without network access: Bluetooth / UWB fast transmission).

[0158] Step 507: The user activates the car-finding function in the app;

[0159] Step 508: Terminal multimodal signal detection (GPS / network / UWB / Bluetooth);

[0160] Step 509: Adaptive positioning mode switching;

[0161] Step 510, Signal detection results (UWB available, i.e., Mode A: UWB dominant; no UWB, i.e., Mode B: cloud-assisted; no UWB - no network, i.e., Mode C: local trajectory estimation).

[0162] Step 511, Output position;

[0163] Step 512: Optimal route planning (target navigation route);

[0164] Step 513, AR Real-Scene Navigation (Far-Field Guidance);

[0165] Step 514: Determine if the distance is 30 meters and there are no obstructions (if this condition is not met, proceed to step 513 to continue the guidance).

[0166] Step 515, Active Projection Guidance of Vehicle Headlights (Near Field Guidance; Static Arrow; Dynamic Optical Flow; Distance-Height Loop);

[0167] Step 516: Arrive at the vehicle; unlocks automatically.

[0168] Step 517, End.

[0169] Based on the above embodiments, Figure 6 A flowchart of the fifth embodiment of the vehicle retrieval method provided by the present invention is shown, as follows: Figure 6 The following is an example of how to construct walkable area information:

[0170] The attached diagram includes: a high-precision master map of parking memory (scene map information), user exit trajectory perception (first trajectory information), dimensionality reduction transformation and semantic enhancement, and a lightweight walking semantic map (walkable area information).

[0171] For high-precision master maps of parking memory, including: parking space coordinates, pillars, lane lines, speed bumps, fire doors, wall positions, etc.;

[0172] For user exit trajectory perception (overlaying high-precision master map of parking memory), the following solutions are provided: Solution A: visual tracking, recording the sequence of walking path points; Solution B: signal attenuation, estimating the most likely path.

[0173] For dimensionality reduction and semantic enhancement (binding to user exit trajectory perception), including: lane lines - boundaries of walkable areas; solid prohibition lines - ground markings that can be crossed; parking spaces - destination label enhancement: parking space number, column number, elevator icon;

[0174] For lightweight pedestrian semantic maps, the following are included: path key point sequences; semantic anchors (parking spaces, pillars, etc.); walkable area boundary polygons; floor information.

[0175] The vehicle retrieval method provided in this embodiment of the invention has the following technical effects:

[0176] 1) Achieve seamless coverage across all scenarios and eliminate blind spots in vehicle location:

[0177] In existing technologies, GPS vehicle location fails in basements, vehicle light location fails at long distances, and QR code vehicle location requires active user intervention. This invention, through multimodal adaptive switching, provides effective guidance in various scenarios, including with / without network, near / far field, and indoor / outdoor environments, ensuring users can successfully locate their vehicles in any setting.

[0178] 2) Provide intuitive visual guidance:

[0179] This invention integrates near-field headlight projection navigation with far-field mobile AR real-view navigation, providing dual visual feedback. Compared to traditional beeping sounds and hazard lights, users no longer need to repeatedly turn around in complex environments to find the sound source; they can simply follow the ground light and shadow or the arrow on the screen to arrive at the location intuitively, significantly reducing the cognitive burden and time cost of finding their vehicle.

[0180] 3) High positioning accuracy, not dependent on parking lot modifications:

[0181] This invention achieves continuous high-precision positioning in GPS-free environments by integrating UWB high-precision ranging, visual SLAM mapping, and mobile phone IMU trajectory estimation. Compared to indoor parking lot positioning solutions that rely on base stations or geomagnetic modifications, this invention has zero deployment cost and does not depend on parking lot hardware facilities.

[0182] 4) Possess semantic understanding capabilities to enhance user experience:

[0183] This invention automatically identifies and binds semantic information such as parking space numbers and pillar markers when constructing maps. When a user approaches their vehicle, the phone can announce that the vehicle is in parking space number 0XX in zone BX and that the user should turn right at the pillar ahead, making navigation instructions more in line with human cognitive habits and improving the naturalness and user-friendliness of the interaction.

[0184] 5) Data from the same source, resulting in higher accuracy:

[0185] By reusing the memory parking map, the car-finding map and the vehicle self-localization map are in the same coordinate system, completely eliminating coordinate system alignment errors that may be caused by independent mapping. The vehicle can tell the phone its location more accurately, and the phone can tell the user how to get there more accurately.

[0186] 6) Zero cost for mapping, energy-saving and highly efficient:

[0187] There is no need to activate the sensors to create a map after the engine is turned off. The parking memory process itself is a high-quality mapping process, and the vehicle search function simply reuses existing data, achieving one-time data collection and multiple uses, thus maximizing the conservation of the vehicle's low-voltage battery power.

[0188] Figure 7 A schematic diagram of the structure of a first embodiment of the vehicle retrieval device provided by the present invention is shown. Figure 7 As shown, the device is applied to a terminal and includes:

[0189] The acquisition module 71 is used to acquire walkable area information, real-time location information of the terminal, and first location information of the vehicle. The walkable area information is determined by the vehicle based on the first trajectory information of the user leaving the parking space and the scene map information around the parking space.

[0190] The determination module 72 is used to determine the target navigation route to the parking space based on the walkable area information, real-time location information, and first location information.

[0191] Processing module 73 is used to perform route guidance operations based on the target navigation route.

[0192] In one or more embodiments, the processing module 73 performs route guidance operations based on the target navigation route, specifically for:

[0193] Based on the target navigation route and real-time scene data collected by the terminal's camera, the terminal is controlled to trigger navigation display and / or voice broadcast;

[0194] or / and,

[0195] When the distance between the terminal and the vehicle is detected to be less than a preset value, and / or there are no obstacles obstructing the distance between the terminal and the vehicle, control commands are generated and sent to the vehicle according to the target navigation route. The vehicle then projects headlights and / or plays sound based on the control commands.

[0196] or / and,

[0197] If the terminal is detected to have deviated from the target navigation route, the control terminal will issue a warning and update the target navigation route.

[0198] In one or more embodiments, the acquisition module 71 acquires walkable area information, real-time location information of the terminal, and first location information, specifically for:

[0199] In response to the user activating the vehicle search function, obtain the terminal's network status information;

[0200] Based on network status information, obtain walkable area information, real-time location information, and first location information.

[0201] In one or more embodiments, the acquisition module 71 acquires walkable area information, real-time location information, and first location information based on network status information, specifically for:

[0202] If the ultra-wideband connection between the terminal and the vehicle is established in the network status information, the pre-acquired walkable area information is loaded, and the real-time location information and the first location information are determined by the two-way ranging of the ultra-wideband and the walkable area information.

[0203] If the ultra-broadband connection is not available, but the terminal has a mobile communication network, it obtains the first location information and walkable area information reported by the vehicle from the cloud, and self-locates its real-time location information.

[0204] If the ultra-wideband is not connected and the terminal does not have a mobile communication network, load the pre-acquired walkable area information and first location information, and start the inertial measurement unit track to determine the real-time location information starting from the preset point.

[0205] Figure 8 A schematic diagram of a second embodiment of the vehicle retrieval device provided by the present invention is shown. Figure 8 As shown, the device is applied to a vehicle and includes:

[0206] The acquisition module 81 is used to acquire the first trajectory information of the user during the process of leaving the parking space and the scene map information around the parking space;

[0207] The determination module 82 is used to determine the walkable area information based on the first trajectory information and the scene map information.

[0208] The sending module 83 is used to send walkable area information to the terminal. The terminal is used to determine the target navigation route to the parking space based on the walkable area information and to perform route guidance operation based on the target navigation route.

[0209] In one or more embodiments, the determining module 82 determines walkable area information based on the first trajectory information and scene map information, specifically for:

[0210] The first trajectory information is overlaid on the scene map information to obtain a walking path map containing the user's trajectory. The scene map information is the map information collected after the vehicle enters the parking area fence.

[0211] The pedestrian path map is transformed according to the preset conversion strategy from lane to sidewalk to obtain walkable area information;

[0212] Based on a preset compression strategy, the walkable area information is compressed to obtain compressed walkable area information.

[0213] In one or more embodiments, the preset conversion strategy includes at least one of the following: converting lane lines into walkable area boundaries, converting solid lines that prohibit crossing into traversable ground markings, marking parking spaces as destinations, and marking markings that can be recognized by the human eye / camera.

[0214] The preset compression strategy includes: removing redundant data related to vehicle dynamics.

[0215] In one or more embodiments, the sending module 83 sends walkable area information to the terminal, specifically for:

[0216] The walkable area information is sent to the terminal and / or the cloud via the mobile communication network, and the cloud is used to synchronize the walkable area information to the terminal.

[0217] Alternatively, when preset conditions are met, the walkable area information can be sent to the terminal via Bluetooth / Ultra-Wideband. Preset conditions include: the car door is open, the user leaves the car, or the vehicle is turned off.

[0218] In one or more embodiments, the processing module 83 is further configured to:

[0219] Acquire control commands sent by the terminal, which are generated by the terminal based on the target navigation route;

[0220] Execute control commands to project vehicle lights and / or play sound.

[0221] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical element, or they can be physically separated. Furthermore, these modules can be implemented entirely in software through processing element calls, or entirely in hardware. Alternatively, some modules can be implemented through processing element calls in software, while others can be implemented in hardware.

[0222] Furthermore, these modules can be integrated, either wholly or partially, or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0223] As can be seen from the above, the vehicle retrieval device provided in this embodiment of the invention enables the vehicle to capture the verified safe path features of the user's actual walking path by acquiring the first trajectory information when the user leaves the parking space, thereby avoiding blind spots caused by relying on fixed maps due to environmental changes; at the same time, by combining the scene map information around the parking space, the walkable area includes both the user's habitual trajectory and structured environmental constraints, enhancing the accuracy and adaptability of area division; the vehicle sends the determined walkable area information to the terminal, effectively reducing the terminal's perception and computing burden, allowing it to obtain reliable travel boundaries without repeated modeling; the terminal then integrates its own real-time location information with the vehicle's first location information, enabling it to dynamically plan the target navigation route from the current location to the parking space within the walkable area, ensuring that the path is always within the safe area; finally, the terminal provides guidance based on the navigation route, which can guide the user to quickly return to the parking space along the optimal and safe path in real time and intuitively, significantly improving vehicle retrieval efficiency.

[0224] Figure 9 A schematic diagram of an embodiment of the electronic device provided by the present invention is shown, such as... Figure 9 As shown, the electronic device includes: a processor 92, a communications interface 94, a memory 96, and a communications bus 98.

[0225] The processor 92, communication interface 94, and memory 96 communicate with each other via communication bus 98. Communication interface 94 is used to communicate with other network elements such as clients or other servers. The processor 92 executes program 90, specifically performing the relevant steps in the above method embodiments.

[0226] Specifically, program 90 may include program code, which includes computer-executable instructions.

[0227] Processor 92 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 electronic 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.

[0228] Memory 96 is used to store program 90. Memory 96 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0229] Specifically, program 90 can be called by processor 92 to cause the electronic device to perform the following operations:

[0230] 1) Electronic devices are terminals:

[0231] The system acquires walkable area information, real-time location information of the terminal, and initial location information of the vehicle. The walkable area information is determined by the vehicle based on the initial trajectory information of the user as they leave the parking space and the scene map information around the parking space.

[0232] Based on walkable area information, real-time location information, and initial location information, determine the target navigation route to the parking space;

[0233] Provide route guidance based on the target navigation route.

[0234] In one or more embodiments, a route guidance operation is performed based on the target navigation route, including:

[0235] Based on the target navigation route and real-time scene data collected by the terminal's camera, the terminal is controlled to trigger navigation display and / or voice broadcast;

[0236] or / and,

[0237] When the distance between the terminal and the vehicle is detected to be less than a preset value, and / or there are no obstacles obstructing the distance between the terminal and the vehicle, control commands are generated and sent to the vehicle according to the target navigation route. The vehicle then projects headlights and / or plays sound based on the control commands.

[0238] or / and,

[0239] If the terminal is detected to have deviated from the target navigation route, the control terminal will issue a warning and update the target navigation route.

[0240] In one or more embodiments, obtaining walkable area information, real-time location information of the terminal, and first location information includes:

[0241] In response to the user activating the vehicle search function, obtain the terminal's network status information;

[0242] Based on network status information, obtain walkable area information, real-time location information, and first location information.

[0243] In one or more embodiments, obtaining walkable area information, real-time location information, and first location information based on network status information includes:

[0244] If the ultra-wideband connection between the terminal and the vehicle is established in the network status information, the pre-acquired walkable area information is loaded, and the real-time location information and the first location information are determined by the two-way ranging of the ultra-wideband and the walkable area information.

[0245] If the ultra-broadband connection is not available, but the terminal has a mobile communication network, it obtains the first location information and walkable area information reported by the vehicle from the cloud, and self-locates its real-time location information.

[0246] If the ultra-wideband is not connected and the terminal does not have a mobile communication network, load the pre-acquired walkable area information and first location information, and start the inertial measurement unit track to determine the real-time location information starting from the preset point.

[0247] 2) Electronic devices are for vehicles:

[0248] Obtain the user's initial trajectory information and the scene map information around the parking space during the process of leaving the parking space;

[0249] Based on the first trajectory information and the scene map information, determine the walkable area information.

[0250] The walkable area information is sent to the terminal, which uses the walkable area information to determine the target navigation route to the parking space and to provide route guidance based on the target navigation route.

[0251] In one or more embodiments, determining walkable area information based on the first trajectory information and scene map information includes:

[0252] The first trajectory information is overlaid on the scene map information to obtain a walking path map containing the user's trajectory. The scene map information is the map information collected after the vehicle enters the parking area fence.

[0253] The pedestrian path map is transformed according to the preset conversion strategy from lane to sidewalk to obtain walkable area information;

[0254] Based on a preset compression strategy, the walkable area information is compressed to obtain compressed walkable area information.

[0255] In one or more embodiments, the preset conversion strategy includes at least one of the following: converting lane lines into walkable area boundaries, converting solid lines that prohibit crossing into traversable ground markings, marking parking spaces as destinations, and marking markings that can be recognized by the human eye / camera.

[0256] The preset compression strategy includes: removing redundant data related to vehicle dynamics.

[0257] In one or more embodiments, sending walkable area information to the terminal includes:

[0258] The walkable area information is sent to the terminal and / or the cloud via the mobile communication network, and the cloud is used to synchronize the walkable area information to the terminal.

[0259] Alternatively, when preset conditions are met, the walkable area information can be sent to the terminal via Bluetooth / Ultra-Wideband. Preset conditions include: the car door is open, the user leaves the car, or the vehicle is turned off.

[0260] In one or more embodiments, the following is also performed:

[0261] Acquire control commands sent by the terminal, which are generated by the terminal based on the target navigation route;

[0262] Execute control commands to project vehicle lights and / or play sound.

[0263] As can be seen from the above, the electronic device provided in this embodiment of the invention enables the vehicle to capture the verified safe path features of the user's actual walking path by acquiring the first trajectory information when the user leaves the parking space, thereby avoiding blind spots caused by relying on fixed maps due to environmental changes; at the same time, by combining the scene map information around the parking space, the walkable area includes both the user's habitual trajectory and structured environmental constraints, enhancing the accuracy and adaptability of area division; the vehicle sends the determined walkable area information to the terminal, effectively reducing the terminal's perception and computing burden, allowing it to obtain reliable travel boundaries without repeated modeling; the terminal then integrates its own real-time location information with the vehicle's first location information, enabling it to dynamically plan the target navigation route from the current location to the parking space within the walkable area, ensuring that the path is always within the safe area; finally, the terminal provides guidance based on the navigation route, which can guide the user to quickly return to the parking space along the optimal and safe path in real time and intuitively, significantly improving the efficiency of finding the car.

[0264] This invention provides a computer-readable storage medium storing at least one executable instruction that, when executed on a vehicle retrieval device / electronic device, causes the vehicle retrieval device / electronic device to perform the vehicle retrieval method described in the above embodiments.

[0265] Specifically, the executable instructions can be used to cause the vehicle retrieval device / electronic device to perform the following operations:

[0266] 1) Electronic devices are terminals:

[0267] The system acquires walkable area information, real-time location information of the terminal, and initial location information of the vehicle. The walkable area information is determined by the vehicle based on the initial trajectory information of the user as they leave the parking space and the scene map information around the parking space.

[0268] Based on walkable area information, real-time location information, and initial location information, determine the target navigation route to the parking space;

[0269] Provide route guidance based on the target navigation route.

[0270] In one or more embodiments, a route guidance operation is performed based on the target navigation route, including:

[0271] Based on the target navigation route and real-time scene data collected by the terminal's camera, the terminal is controlled to trigger navigation display and / or voice broadcast;

[0272] or / and,

[0273] When the distance between the terminal and the vehicle is detected to be less than a preset value, and / or there are no obstacles obstructing the distance between the terminal and the vehicle, control commands are generated and sent to the vehicle according to the target navigation route. The vehicle then projects headlights and / or plays sound based on the control commands.

[0274] or / and,

[0275] If the terminal is detected to have deviated from the target navigation route, the control terminal will issue a warning and update the target navigation route.

[0276] In one or more embodiments, obtaining walkable area information, real-time location information of the terminal, and first location information includes:

[0277] In response to the user activating the vehicle search function, obtain the terminal's network status information;

[0278] Based on network status information, obtain walkable area information, real-time location information, and first location information.

[0279] In one or more embodiments, obtaining walkable area information, real-time location information, and first location information based on network status information includes:

[0280] If the ultra-wideband connection between the terminal and the vehicle is established in the network status information, the pre-acquired walkable area information is loaded, and the real-time location information and the first location information are determined by the two-way ranging of the ultra-wideband and the walkable area information.

[0281] If the ultra-broadband connection is not available, but the terminal has a mobile communication network, it obtains the first location information and walkable area information reported by the vehicle from the cloud, and self-locates its real-time location information.

[0282] If the ultra-wideband is not connected and the terminal does not have a mobile communication network, load the pre-acquired walkable area information and first location information, and start the inertial measurement unit track to determine the real-time location information starting from the preset point.

[0283] 2) Electronic devices are for vehicles:

[0284] Obtain the user's initial trajectory information and the scene map information around the parking space during the process of leaving the parking space;

[0285] Based on the first trajectory information and the scene map information, determine the walkable area information.

[0286] The walkable area information is sent to the terminal, which uses the walkable area information to determine the target navigation route to the parking space and to provide route guidance based on the target navigation route.

[0287] In one or more embodiments, determining walkable area information based on the first trajectory information and scene map information includes:

[0288] The first trajectory information is overlaid on the scene map information to obtain a walking path map containing the user's trajectory. The scene map information is the map information collected after the vehicle enters the parking area fence.

[0289] The pedestrian path map is transformed according to the preset conversion strategy from lane to sidewalk to obtain walkable area information;

[0290] Based on a preset compression strategy, the walkable area information is compressed to obtain compressed walkable area information.

[0291] In one or more embodiments, the preset conversion strategy includes at least one of the following: converting lane lines into walkable area boundaries, converting solid lines that prohibit crossing into traversable ground markings, marking parking spaces as destinations, and marking markings that can be recognized by the human eye / camera.

[0292] The preset compression strategy includes: removing redundant data related to vehicle dynamics.

[0293] In one or more embodiments, sending walkable area information to the terminal includes:

[0294] The walkable area information is sent to the terminal and / or the cloud via the mobile communication network, and the cloud is used to synchronize the walkable area information to the terminal.

[0295] Alternatively, when preset conditions are met, the walkable area information can be sent to the terminal via Bluetooth / Ultra-Wideband. Preset conditions include: the car door is open, the user leaves the car, or the vehicle is turned off.

[0296] In one or more embodiments, the following is also performed:

[0297] Acquire control commands sent by the terminal, which are generated by the terminal based on the target navigation route;

[0298] Execute control commands to project vehicle lights and / or play sound.

[0299] As can be seen from the above, the vehicle retrieval device / electronic device provided in this embodiment of the invention enables the vehicle to capture the verified safe path features of the user's actual walking path by acquiring the first trajectory information when the user leaves the parking space, thereby avoiding blind spots caused by relying on fixed maps due to environmental changes; at the same time, combined with the scene map information around the parking space, the walkable area includes both the user's habitual trajectory and structured environmental constraints, enhancing the accuracy and adaptability of area division; the vehicle sends the determined walkable area information to the terminal, effectively reducing the terminal's perception and computing burden, allowing it to obtain reliable travel boundaries without repeated modeling; the terminal then integrates its own real-time location information with the vehicle's first location information, enabling it to dynamically plan the target navigation route from the current location to the parking space within the walkable area, ensuring that the path is always within the safe area; finally, the terminal provides guidance based on the navigation route, which can guide the user to quickly return to the parking space along the optimal and safe path in real time and intuitively, significantly improving vehicle retrieval efficiency.

[0300] This invention provides a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle retrieval method.

[0301] This invention provides a vehicle retrieval system, which includes a vehicle and a terminal;

[0302] The vehicle performs the vehicle retrieval method described above; the terminal performs the vehicle retrieval method described above.

[0303] As can be seen from the above, the vehicle retrieval system or computer program product provided in the embodiments of the present invention has the same implementation principle and technical effects as disclosed above.

[0304] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0305] The methods disclosed in the various method embodiments provided by this invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0306] The features disclosed in the various product embodiments provided by this invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0307] The features disclosed in the various method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0308] It should be noted that the aforementioned computer-readable storage media can be ROM, Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Ferromagnetic Random Access Memory (FRAM), Flash Memory, Magnetic Surface Memory, Optical Disc, or Compact Disc Read-Only Memory (CD-ROM), etc. It can also be various vehicles that include one or any combination of the above-mentioned storage media.

[0309] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0310] Without further restrictions, an element defined by the phrase "including a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0311] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0312] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware nodes. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method.

[0313] Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, vehicle terminal, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0314] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0315] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0316] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The algorithms or displays provided herein for the functions specified in the boxes or boxes 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.

[0317] 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.

[0318] The word "a" or "an" preceding an element does not preclude the existence of multiple such elements. This invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims listing several means, several of these means may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. Unless otherwise specified, the steps in the above embodiments should not be construed as limiting the order of execution.

Claims

1. A method for vehicle retrieval, characterized in that, Applied to vehicles, the method includes: Obtain the first trajectory information of the user during the process of leaving the parking space and the scene map information around the parking space; Based on the first trajectory information and the scene map information, determine the walkable area information; The walkable area information is sent to the terminal, which is used to determine the target navigation route to the parking space based on the walkable area information and to perform route guidance operation based on the target navigation route.

2. The method according to claim 1, characterized in that, The step of determining walkable area information based on the first trajectory information and the scene map information includes: The first trajectory information is superimposed on the scene map information to obtain a walking path map containing the user's trajectory. The scene map information is the map information collected after the vehicle enters the parking area fence. The pedestrian path map is transformed according to a preset conversion strategy from lane to sidewalk to obtain the walkable area information; The walkable area information is compressed based on a preset compression strategy to obtain compressed walkable area information.

3. The method according to claim 2, characterized in that, The preset conversion strategy includes at least one of the following: converting lane lines into walkable area boundaries, converting solid lines that prohibit crossing into traversable ground markings, marking parking spaces as destinations, and marking markings that can be recognized by the human eye / camera. The preset compression strategy includes: removing redundant data related to vehicle dynamics.

4. The method according to any one of claims 1-3, characterized in that, Sending the walkable area information to the terminal includes: The walkable area information is sent to the terminal and / or the cloud via a mobile communication network, and the cloud is used to synchronize the walkable area information to the terminal. Alternatively, when preset conditions are met, the walkable area information can be sent to the terminal via Bluetooth / Ultra-Wideband. The preset conditions include: the car door is open, the user leaves the car, or the vehicle is turned off.

5. The method according to any one of claims 1-3, characterized in that, The method further includes: The control command sent by the terminal is obtained; the control command is a command generated by the terminal based on the target navigation route. Execute the control commands to project vehicle lights and / or play sound.

6. A method for vehicle retrieval, characterized in that, Applied to a terminal, the method includes: The system acquires walkable area information, real-time location information of the terminal, and first location information of the vehicle. The walkable area information is determined by the vehicle based on the first trajectory information of the user leaving the parking space and the scene map information around the parking space. Based on the walkable area information, the real-time location information, and the first location information, a target navigation route to the parking space is determined; Based on the target navigation route, perform route guidance operations.

7. The method according to claim 6, characterized in that, The route guidance operation based on the target navigation route includes: Based on the target navigation route and real-time scene data collected by the terminal's camera, the terminal is controlled to trigger navigation display and / or voice broadcast; or / and, When the distance between the terminal and the vehicle is detected to be less than a preset value, and / or there are no obstacles obstructing the distance between the terminal and the vehicle, a control command is generated and sent to the vehicle according to the target navigation route, and the vehicle projects headlights and / or plays sound based on the control command. or / and, If the terminal is detected to have deviated from the target navigation route, the terminal is controlled to issue a reminder and the target navigation route is updated.

8. The method according to claim 6 or 7, characterized in that, The acquisition of walkable area information, real-time location information of the terminal, and first location information of the vehicle includes: In response to the user activating the vehicle search function, the network status information of the terminal is obtained; Based on the network status information, obtain the walkable area information, the real-time location information, and the first location information.

9. The method according to claim 8, characterized in that, The step of obtaining the walkable area information, the real-time location information, and the first location information based on the network status information includes: If the ultra-wideband connection between the terminal and the vehicle is established in the network status information, the pre-acquired walkable area information is loaded, and the real-time location information and the first location information are determined by the two-way ranging of the ultra-wideband and the walkable area information. If the ultra-wideband is not connected, but the terminal has a mobile communication network, the first location information and the walkable area information reported by the vehicle are obtained from the cloud, and the real-time location information is self-located. If the ultra-wideband is not connected and the terminal does not have the mobile communication network, the pre-acquired walkable area information and the first location information are loaded, and the inertial measurement unit track is activated to determine the real-time location information starting from a preset point.

10. An electronic device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation of the vehicle retrieval method as described in any one of claims 1-9.

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