Positioning method, and system and related apparatus

Abstract

A positioning method, comprising the following steps: upon detecting that a vehicle (200) travels to a first elevator in a parking lot, a terminal (100) displaying a first control, first prompt information and a first travelling trajectory, wherein the first travelling trajectory is used for instructing the vehicle (200) to drive into a first empty parking space, and the first prompt information is used for prompting a user to get off at the first elevator; and the terminal (100) receiving a first input for the first control, and in response to the first input, sending a first message to the vehicle (200), wherein the first message is used for instructing the vehicle (200) to drive into the first empty parking space according to the first travelling trajectory. In this way, after driving into the parking lot, the vehicle (200) automatically goes to the empty parking space according to the first travelling trajectory, thereby saving the time for the user to find a parking space in the parking lot, and improving the parking efficiency. Further provided are a system and related apparatus for implementing the positioning method.

Description

Positioning method, system and related device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 7, 2023, with application number 202310990651.9 and application name “A positioning method, system and related devices”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of terminals, and in particular to a positioning method, system and related devices. Background Art

[0003] In today's travel landscape, many users choose to drive. After arriving at their destination, they need to find a parking space in the parking lot. When parking lots are crowded, users spend more time searching for an available space. Some parking lots currently implement parking systems to address parking difficulties, but these systems are expensive to build and maintain, and their application scenarios are limited.

[0004] After the user gets off the car, he needs to go to the elevator and take the elevator to other floors. When the user is not familiar with the layout of the parking lot, it will take a certain amount of time to find the elevator. When the user wants to leave, he has to go back to find the car. Some parking lots are large and complex in structure. If the user does not remember the floor and parking space number or the parking location of the vehicle, it is difficult for the user to find his vehicle and usually takes a lot of time to find the vehicle. Currently, users can find the location of the vehicle through the global positioning system (GPS). However, in many parking lots, especially underground parking lots, the GPS signal received by the user's device is very poor or even cannot be received, making it difficult to locate the correct location. Therefore, users usually need to spend a lot of time looking for elevators and vehicles, and the user experience is poor.

[0005] Therefore, when a user arrives at an unfamiliar building, it is very inconvenient to find a parking space, an elevator or a car.

[0006] Summary of the Invention

[0007] This application provides a positioning method, system, and related apparatus. After a terminal enters a parking lot, it retrieves a first driving trajectory from a server, based on the collected driving trajectory and wireless signal fingerprint, indicating the vehicle's direction to a first vacant parking space. The terminal transmits the first driving trajectory to the vehicle, which then automatically follows the first driving trajectory to the first vacant parking space. This reduces the user's time spent searching for parking spaces within the parking lot and improves parking efficiency.

[0008] In a first aspect, the present application provides a positioning method, which is applied to a terminal, and the method includes: when a vehicle is detected to be driving to the first elevator in the parking lot, displaying a first control, a first prompt message and a first driving trajectory, the first driving trajectory is used to indicate that the vehicle is driving into the first empty parking space, and the first prompt message is used to prompt the user to get off the first elevator. A first input to the first control is received, and in response to the first input, a first message is sent to the vehicle, the first message is used to indicate that the vehicle is driving into the first empty parking space according to the first driving trajectory. In this way, after detecting that the vehicle has entered the parking lot, the terminal displays the first driving trajectory to guide the user to the first empty parking space. The terminal can also send a first message to the vehicle, instructing the vehicle to go to the first empty parking space according to the first driving trajectory, and the user does not need to drive the vehicle by himself, and the vehicle automatically goes to the first empty parking space.

[0009] In one possible implementation, after sending the first message to the vehicle, the method further includes: receiving a second message from the vehicle, the second message indicating that the vehicle has entered the first vacant parking space; and in response to the second message, displaying a second prompt message indicating that the vehicle is parked in the first vacant parking space. In this way, the user can confirm the vehicle's parking status based on the information displayed on the terminal, without having to worry about whether the vehicle is correctly parked in the first vacant parking space.

[0010] In one possible implementation, after sending the first message to the vehicle, the method further includes: obtaining a second trajectory of the vehicle departing from the first elevator; determining the vehicle's location based on the second trajectory; and displaying the first trajectory and a vehicle identifier based on the vehicle's location, where the identifier indicates the vehicle's position along the first trajectory. This allows users to view the vehicle's real-time location based on the terminal display. If the vehicle experiences any abnormalities, such as a stop, the user can promptly identify and address them.

[0011] In one possible implementation, after displaying the second prompt, the method further includes: receiving a second input, and in response to the second input, displaying the location of the first elevator, the first vacant parking space, and the first driving trajectory. Thus, when the user returns to the floor where the vehicle is parked via the first elevator, the terminal can display the first driving trajectory from the first elevator to the first vacant parking space, thereby assisting the user in finding the vehicle and reducing the time spent searching for the vehicle.

[0012] In one possible implementation, displaying the location of the first elevator, the first vacant parking space, and the first driving trajectory in response to the second input specifically includes: displaying the location of the first elevator, the first vacant parking space, and the first driving trajectory when detecting that the distance between the terminal and the first elevator is less than a preset distance in response to the second input. In this way, the terminal determines that the user is near the first elevator and displays the first driving trajectory from the first elevator to the first vacant parking space.

[0013] In one possible implementation, in response to the second input, the location of the first elevator, the first available parking space, and the first driving trajectory are displayed. Specifically, in response to the second input, a message is sent to the vehicle instructing it to proceed to the first elevator along the first driving trajectory, and the vehicle's location, the location of the first elevator, the first available parking space, and the first driving trajectory are displayed. This allows the vehicle to automatically proceed from the first available parking space to the first elevator, eliminating the need for the user to retrieve the vehicle in person, saving time. The user can also use the terminal to determine the vehicle's real-time location and check whether it has arrived at the first elevator, allowing them to board the vehicle promptly upon arrival and avoiding congestion.

[0014] In one possible implementation, the method further includes displaying a third prompt message, the third prompt message being used to prompt the user to follow the first driving trajectory from the first elevator to the first empty parking space. In this way, the user can follow the first driving trajectory to the parking location on their own, saving time in finding a parking space.

[0015] In one possible implementation, after displaying the location of the first elevator, the first vacant parking space, and the first driving trajectory, the method further includes: receiving a third input regarding the first location of the first driving trajectory; in response to the third input, displaying a location marker at the first location of the first driving trajectory; and sending a third message to the vehicle, the third message being used to notify the vehicle to proceed from the first vacant parking space to the first location along the first driving trajectory. In this way, the terminal provides the user with the function of selecting the vehicle's destination location. The user can select a suitable location on the first driving trajectory, facilitating simultaneous arrival of the user and the vehicle at the destination location, enabling the user to board the vehicle in the shortest possible time and saving time searching for the vehicle.

[0016] In one possible implementation, the method further includes: receiving a fourth input, and in response to the fourth input, sending a fourth message to the vehicle, wherein the fourth message is used to notify the vehicle to follow the first driving trajectory from the first empty parking space to the location of the first elevator. In this way, the user can control the vehicle to go to the first elevator via the terminal, and the user does not need to walk from the first elevator to the first empty parking space, and can board the vehicle at the first elevator.

[0017] In one possible implementation, after sending the fourth message to the vehicle, the method further includes: receiving a fifth message from the vehicle, the fifth message indicating that the vehicle has arrived at the first elevator; and in response to the fifth message, displaying a fourth prompt message indicating that the vehicle has arrived at the first elevator. In this way, after detecting that the vehicle has arrived at the first elevator, the terminal notifies the user to board the vehicle in the first elevator.

[0018] In one possible implementation, the method further includes: receiving a fifth input, and in response to the fifth input, displaying an identifier of an elevator in the parking lot, a user identifier, and an identifier of the first vacant parking space, wherein the user identifier indicates the location of the terminal. In this way, the terminal displays the locations of each elevator in the parking lot, and no matter which elevator the user takes to reach their parking floor, the user can follow the instructions displayed on the terminal to proceed to the first vacant parking space.

[0019] In one possible implementation, before displaying the first control, the first prompt information, and the first driving trajectory, the method further includes: upon detecting that a vehicle enters a parking lot, obtaining a third driving trajectory of the terminal starting from the parking lot entrance, collecting wireless signal fingerprints at multiple locations on the third driving trajectory, and transmitting the third driving trajectory and the wireless signal fingerprints at multiple locations on the third driving trajectory to a server. The server is configured to determine, based on the wireless signal fingerprints at the multiple locations, one or more driving trajectories that intersect or overlap with the third driving trajectory, the one or more driving trajectories being used to guide the vehicle into an empty parking space, the one or more driving trajectories including the first driving trajectory, and receiving the one or more driving trajectories transmitted by the server. In this way, the terminal determines its location based on the wireless signal fingerprint and the third driving trajectory, and obtains from the server one or more driving trajectories that guide the vehicle to an empty parking space. The user does not need to search for an empty parking space in the parking lot, thereby saving the user time in searching for a parking space.

[0020] In one possible implementation, the one or more driving trajectories further include a fourth driving trajectory. When displaying the first control, the first prompt, and the first driving trajectory, the method further includes: displaying the fourth driving trajectory. Before receiving the first input to the first control, the method further includes: receiving a sixth input selecting the first driving trajectory. This allows the user to select a suitable driving trajectory and control the vehicle to a desired vacant parking space.

[0021] In one possible implementation, before displaying the first control, the first prompt information, and the first driving trajectory, the method further includes: receiving parking information of the first empty parking space sent by the server, the parking information including the reporting time, the number of reports, and the density of empty spaces. Based on the parking information of the first empty parking space, the confidence of the first empty parking space is calculated, and the confidence is used to determine whether the vehicle supports automatic driving into the first empty parking space. Displaying the first control, the first prompt information, and the first driving trajectory specifically includes: when it is determined that the confidence of the first empty parking space is greater than a preset confidence, displaying the first control, the first prompt information, and the first driving trajectory. In this way, before displaying the first driving trajectory, the terminal calculates the confidence of the first empty parking space to confirm that there is a high probability that the first empty parking space is not occupied by other vehicles, thereby avoiding the situation where the vehicle automatically drives to the first empty parking space and finds that the first empty parking space is occupied.

[0022] In one possible implementation, the method further includes: the terminal acquiring location information of vacant parking spaces collected during vehicle travel, and transmitting the location information of the vacant parking spaces to a server. The location information of the vacant parking spaces is used to indicate the relative positional relationship between the vehicle's driving trajectory and the vacant parking spaces. In this way, while the vehicle is traveling in the parking lot, it can acquire the location information of surrounding vacant parking spaces, helping the server update the stored vacant parking spaces.

[0023] In a second aspect, the present application provides a positioning method, which is applied to a server. In one possible implementation, the method includes: receiving a first driving trajectory sent by a terminal and wireless signal fingerprints at multiple locations on the first driving trajectory. Based on the wireless signal fingerprints at multiple locations, one or more driving trajectories that intersect or overlap with the first driving trajectory are determined, and the one or more driving trajectories are used to guide the vehicle into an empty parking space in the parking lot. The one or more driving trajectories are sent to the terminal. In this way, the server can provide vehicles entering the parking lot with driving trajectories that are used to guide the vehicle to the empty parking space, helping users to park their vehicles quickly, providing users with more efficient parking services, and saving users' time.

[0024] In one possible implementation, determining one or more travel trajectories that intersect or overlap with the first travel trajectory specifically includes: determining, based on multiple elevator circle fingerprint libraries, that the wireless signal fingerprints of N locations among multiple locations on the first travel trajectory match the elevator circle fingerprint library of the first elevator, where N is greater than or equal to 1; wherein the elevator circle fingerprint library includes a correspondence between location information within a preset range of the elevator and wireless signal fingerprints; determining, based on the N locations, a positional relationship between the first travel trajectory and the elevators in the parking lot; and determining, based on the positional relationship, one or more travel trajectories that intersect or overlap with the first travel trajectory. In this way, the server obtains more accurate terminal location information based on the wireless signal fingerprint and the elevator circle fingerprint library, and, based on the terminal's location, determines the location of the first travel trajectory collected by the terminal. Then, based on the location of the first travel trajectory, determining one or more travel trajectories that intersect or overlap with the first travel trajectory.

[0025] In one possible implementation, the method further includes: obtaining a driving trajectory captured by a terminal, wireless signal fingerprints at multiple locations along the driving trajectory, and location information of vacant parking spaces, where the location information of the vacant parking spaces is used to indicate the relative positional relationship between the vacant parking spaces and the driving trajectory; determining the location information of the driving trajectory based on the wireless signal fingerprints at multiple locations along the driving trajectory and a database of elevator circle fingerprints, where the location information of the driving trajectory is used to indicate the relative positional relationship between the driving trajectory and the elevators in the parking lot; and storing the location information of the driving trajectory and the location information of the vacant parking spaces. In this way, the server obtains updated location information of vacant parking spaces from each terminal entering the parking lot, helping subsequent vehicles entering the parking lot find vacant spaces more quickly.

[0026] In a third aspect, the present application provides a terminal, characterized in that it includes one or more processors, one or more memories and a transceiver; wherein the transceiver, one or more memories are coupled to one or more processors, the transceiver is used to collect wireless signal fingerprints, and the one or more memories are used to store computer executable programs. When the one or more processors execute the computer executable program, the terminal executes the method in any possible implementation of the first aspect above.

[0027] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer-executable program. When the computer-executable program runs on a computer, the computer executes the method in any possible implementation of the first aspect above.

[0028] In a fifth aspect, the present application provides a computer program product, which, when executed on a computer, enables the computer to execute the method in any possible implementation of the first aspect.

[0029] In the sixth aspect, the present application provides a chip or chip system, which is applied to a terminal, including a processing circuit and an interface circuit, the interface circuit is used to receive code instructions and transmit them to the processing circuit, and the processing circuit is used to run the code instructions to execute the method in any possible implementation of the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG1 is a schematic diagram of a building 10 provided in an embodiment of the present application;

[0031] FIG2 is a schematic diagram of a communication system 20 provided in an embodiment of the present application;

[0032] FIG3 is a schematic diagram of building an elevator circle fingerprint library according to an embodiment of the present application;

[0033] FIG4 is a flow chart of a positioning method provided in an embodiment of the present application;

[0034] FIG5 is a schematic diagram of a scenario in which a vehicle enters an empty parking space according to an embodiment of the present application;

[0035] FIG6 is a schematic diagram of a driving trajectory provided by an embodiment of the present application;

[0036] 7A-7D are a set of interface schematic diagrams provided in an embodiment of the present application;

[0037] FIG8 is a schematic diagram of a scenario in which a user goes to an elevator according to an embodiment of the present application;

[0038] 9A-9C are another set of interface schematic diagrams provided in an embodiment of the present application;

[0039] FIG10 is a schematic diagram of a scenario provided by an embodiment of the present application;

[0040] FIG11 is a schematic diagram of a flow chart of a positioning method provided in an embodiment of the present application;

[0041] FIG12 is a schematic diagram of obtaining a driving trajectory from a parking position to an elevator position according to an embodiment of the present application;

[0042] 13A-13C are another set of interface schematic diagrams provided in an embodiment of the present application;

[0043] FIG14 is a schematic diagram of a scenario in which the terminal 100 prompts the user to go to a parking location according to an embodiment of the present application;

[0044] 15A-15C are another set of interface schematic diagrams provided in an embodiment of the present application;

[0045] FIG16 is a schematic diagram of a scenario in which a vehicle 200 is directed to an elevator on its own, according to an embodiment of the present application;

[0046] FIG17 is a schematic diagram of constructing a parking lot road network according to an embodiment of the present application;

[0047] FIG18 is a schematic diagram of obtaining the floor where a terminal is located according to an embodiment of the present application;

[0048] FIG19 is a schematic diagram of obtaining a parking space according to an embodiment of the present application;

[0049] FIG20 is a parking lot map provided in an embodiment of the present application;

[0050] Figures 21A-21C are another set of interface schematic diagrams provided in an embodiment of the present application;

[0051] Figures 22A-22E are another set of interface schematic diagrams provided in an embodiment of the present application;

[0052] Figures 23A-23C are another set of interface schematic diagrams provided in an embodiment of the present application;

[0053] Figures 24A-24C are another set of interface schematic diagrams provided in an embodiment of the present application;

[0054] FIG25 is a schematic diagram of the hardware structure of a terminal 100 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] The following is a clear and detailed description of the technical solutions in the embodiments of the present application, with reference to the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of "or." For example, A / B can represent A or B. "and / or" in the text is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone.

[0056] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

[0057] First, an application scenario provided by an embodiment of the present application is introduced.

[0058] As shown in FIG1 , a building 10 includes one or more floors. The one or more floors include non-parking floors and parking floors, where the parking floors can be used for parking vehicles. For example, the one or more floors may include, but are not limited to, floor 11, floor 12, and so on. Floor 12 is a non-parking floor, and floor 11 is a parking floor. Floor 11 may include multiple parking spaces for parking vehicles. The multiple parking spaces may include one or more unoccupied spaces and one or more occupied non-vacant spaces. The one or more unoccupied spaces may include, but are not limited to, parking space 41, parking space 42, parking space 43, parking space 44, parking space 45, parking space 46, parking space 47, parking space 48, and parking space 49. It should be understood that the layout of building 10 shown in FIG1 is merely illustrative. In actual applications, building 10 may include more parking floors, more non-parking floors, more or fewer elevators, more or fewer unoccupied parking spaces, and so on, and this embodiment of the present application is not limiting in this regard.

[0059] Some floors of building 10 may include, but are not limited to, one or more entrances. For example, floor 11 may include, but are not limited to, entrance 21 and entrance 22. Entrance 21 may be used for vehicles to enter floor 11. It should be noted that one or more entrances may also serve as exits, or building 10 may include one or more exits.

[0060] Building 10 may also be equipped with one or more elevators. For example, these elevators may include, but are not limited to, elevator 31 and elevator 32. These elevators may be used to shuttle users between different floors of building 10, transporting users from their starting floor to their destination floor. As shown in Figure 1, a user drives a vehicle from the parking lot entrance to an empty parking space in the parking lot. After exiting the vehicle, the user can proceed to the parking lot elevator. The user can then use the parking lot elevator to travel from one floor to another.

[0061] It should be noted that the building 10 herein is used to better illustrate the examples provided in the subsequent embodiments. The present invention is not limited to building 10. Other buildings that include at least one parking floor can serve as application scenarios for the present invention. For example, these application scenarios may include, but are not limited to, hospitals, shopping malls, office buildings, and the like, and the present invention is not intended to limit these applications.

[0062] An embodiment of the present application provides a positioning method. The terminal 100 detects that the vehicle 200 enters the parking lot of the building 10. The terminal 100 can obtain the driving trajectory of the vehicle 200 after it departs from the parking lot entrance, and collect wireless signal fingerprints at multiple locations on the driving trajectory of the vehicle 200. The terminal 100 can obtain one or more driving trajectories from the server 300 based on the driving trajectory of the vehicle 200 and the wireless signal fingerprints at multiple locations on the driving trajectory of the vehicle 200. The server 300 can determine one or more driving trajectories based on the driving trajectory and wireless signal fingerprints provided by the terminal 100, and the one or more driving trajectories include a target driving trajectory. The driving trajectory can be used to indicate that the vehicle 200 enters an empty parking space. The terminal 100 can display the target driving trajectory.

[0063] In this way, the terminal 100 can prompt the user to park in an empty parking space according to the driving trajectory in the parking lot of the building 10 obtained from the server 300, helping the user find a parking space more quickly and improving parking efficiency. The terminal 100 can also display empty parking space prompt information, which can be used to inform the user of the location of the empty parking space and how to get to the one or more empty parking spaces.

[0064] Specifically, server 300 stores an elevator circle fingerprint library, which contains correspondences between wireless signal fingerprints and locations within a preset range of an elevator. When matching multiple wireless signal fingerprints provided by terminal 100 with the elevator circle fingerprint library for a specific elevator, server 300 can determine the locations corresponding to the multiple wireless signal fingerprints matched in the elevator circle fingerprint library. Based on these multiple locations, server 300 can determine the relative positional relationship between the driving trajectory provided by terminal 100 and the specific elevator. Based on the relative positional relationship between the driving trajectory of terminal 100 and the specific elevator, server 300 can identify one or more driving trajectories from the stored driving trajectories that overlap with the driving trajectory of terminal 100. The target driving trajectory can be used to direct vehicle 200 to a target vacant parking space. The target vacant parking space can be the vacant space closest to vehicle 200, the vacant space with the highest confidence, or the vacant space with the most recent update time. The confidence calculation method can be described in the subsequent embodiments. Optionally, terminal 100 can simultaneously display the one or more driving trajectories. This allows the user to select a suitable driving trajectory and a suitable vacant parking space. During this process, the terminal 100 can also determine the relative position relationship between the designated elevator and the vehicle 200 based on the driving trajectory of the vehicle 200, the wireless signal fingerprints at multiple locations on the driving trajectory of the vehicle 200, and the elevator circle fingerprint library. The terminal 100 can determine the position of the vehicle 200 on the target driving trajectory based on the relative position relationship between the designated elevator and the vehicle 200.

[0065] Afterwards, the terminal 100 can display the target driving trajectory and the location of the designated elevator after detecting that the user has gotten off the vehicle at the target empty parking space, or detecting that the vehicle 200 has arrived at the target empty parking space, or receiving the user's input to find an elevator. In this way, when the user gets off the vehicle, the terminal 100 can display the elevator's location information to help the user find the elevator's location and facilitate the user to take the elevator to other floors. Optionally, the terminal 100 can also display elevator prompt information to prompt the user to follow the target driving trajectory from the target empty parking space to the designated elevator. During this process, the terminal 100 can also determine the relative position relationship between the terminal 100 and the target empty parking space based on the terminal 100's movement trajectory and the target empty parking space. The terminal 100 can determine the terminal 100's position on the target driving trajectory based on the relative position relationship between the terminal 100 and the target empty parking space.

[0066] The terminal 100 may also display the designated elevator, the target driving trajectory, and the target vacant parking space upon detecting that the user is taking an elevator and the distance between the terminal 100 and the designated elevator is less than a preset distance, or upon receiving a vehicle search input. The content displayed by the terminal 100 can be used to guide the user from the designated elevator to the target vacant parking space along the target driving trajectory. In this way, the terminal 100 can help the user quickly find the vehicle and facilitate the user's exit from the building 10. Optionally, the terminal 100 may also display vehicle prompt information, which can be used to prompt the user to follow the target driving trajectory to the location where the vehicle is parked.

[0067] The following introduces a communication system 20 provided in an embodiment of the present application.

[0068] FIG2 shows a schematic diagram of a communication system 20 provided in an embodiment of the present application.

[0069] As shown in Figure 2, the communication system 20 may include one or more terminals, multiple wireless access devices, and a server 300. The one or more terminals include terminal 100. In this embodiment of the present application, the multiple wireless access devices are deployed at various locations on various floors of a building (e.g., building 10). The terminals at different locations can receive signals sent by the wireless access devices and use one or more characteristics of the signals as wireless signal fingerprints.

[0070] Among them, since wireless signals (or other environmental features) have spatial differences at different locations, the terminal can use the wireless signal features (or other environmental features) at different locations in space as the wireless signal fingerprint of the location. In some examples, the wireless signal fingerprint may include but is not limited to one or more of the following: an identifier (ID) of a communication signal of a wireless network, base station, Bluetooth, ZigBee, etc., signal strength (RSS), communication channel, signal round-trip time or signal delay time, information collected by a sensor associated with the location (e.g., a geomagnetic sensor, etc.), base station information, wireless access point (AP) information, etc. For example, the wireless network may be a wireless fidelity (Wi-Fi) network, a fourth generation mobile communication technology (4G) network, a fifth generation mobile communication technology (5G) network, etc.

[0071] It should be noted that wireless signal fingerprints can be of various types. Any characteristics that differ at different locations can be used as a wireless signal fingerprint. For example, the multipath structure of the communication signal at a certain location, whether an access point (AP) or base station can be detected at a certain location, the received signal strength of the signal from the access point or base station detected at a certain location, the round-trip time or delay of the signal during communication at a certain location, etc. can all be used as a wireless signal fingerprint, or a combination of these can be used as a wireless signal fingerprint.

[0072] Before implementing the positioning method provided in the embodiments of the present application, the server 300 may first obtain the location of the area to be measured and the wireless signal fingerprint corresponding to the location, and record the correspondence between the location and the wireless signal fingerprint in the elevator circle fingerprint library. When the terminal 100 collects the wireless signal fingerprint to be located, the correspondence between the wireless signal fingerprint recorded in the elevator circle fingerprint library and each location near the elevator, as well as the similarity relationship between the collected wireless signal fingerprint and each wireless signal fingerprint in the elevator circle fingerprint library, can be used to determine the location corresponding to the wireless signal fingerprint.

[0073] Wireless access devices may include, but are not limited to, one or more of Wi-Fi routers, Bluetooth low energy devices, radio frequency devices, and IoT devices. This allows the terminal to obtain different types of fingerprint features from different wireless access devices, jointly performing positioning operations and utilizing all available positioning devices in the scene to obtain more accurate positioning results.

[0074] In the following embodiments, the wireless access device is a Wi-Fi router, and the wireless signal fingerprint is the signal strength of the Wi-Fi signal. It should be understood that the wireless signal fingerprint is not limited to the strength of the received Wi-Fi signal; the channel through which the Wi-Fi signal is transmitted can also be used as the wireless signal fingerprint. The wireless receiving device is not limited to being a Wi-Fi router; the wireless access device can also be a low-power Bluetooth device, a radio frequency device, etc., and the wireless signal fingerprint can also be the corresponding signal characteristics.

[0075] One or more terminals can be used to collect wireless signal fingerprints and terminal movement trajectories, and send the wireless signal fingerprints and terminal movement trajectories to server 300. The wireless signal fingerprints and terminal movement trajectories can be used to construct an elevator circle fingerprint library. Server 300 can be used to obtain wireless signal fingerprints and terminal movement trajectories from one or more terminals and generate an elevator circle fingerprint library based on the wireless signal fingerprints and terminal movement trajectories. For details, please refer to the following embodiment of constructing an elevator circle fingerprint library, which will not be repeated here.

[0076] One or more terminals can also be used to collect the vehicle's trajectory and wireless signal fingerprints at multiple locations along the trajectory after detecting that the vehicle has entered a building's parking lot. One or more terminals can send the vehicle's trajectory and wireless signal fingerprints to server 300. Based on a provided elevator circle fingerprint library, server 300 can compare the received wireless signal fingerprint with the wireless signal fingerprints in the elevator circle fingerprint library to determine the location corresponding to the wireless signal fingerprint. Based on the location information of multiple locations along the trajectory, server 300 can determine the relative positional relationship between the trajectory and each elevator.

[0077] One or more terminals can also obtain location information of vacant parking spaces near the vehicle's driving trajectory while collecting the vehicle's driving trajectory. For example, one or more terminals can capture images of the vehicle's surroundings using an onboard camera and, using an image recognition algorithm, identify vacant parking spaces in the images. Based on this information, the terminals can determine the relative positional relationship between the identified vacant parking spaces and the vehicle's driving trajectory. The terminals can mark the acquired vacant parking spaces near the vehicle's driving trajectory and, when transmitting data such as the vehicle's driving trajectory to server 300, simultaneously transmit the location information of the vacant parking spaces to server 300. Server 300 can store each driving trajectory, the relative positional relationship between the driving trajectory and each elevator, and the vacant parking spaces corresponding to the driving trajectory. The driving trajectory can be used to direct the vehicle to the corresponding vacant parking space. When server 300 determines the relative positional relationship between the driving trajectory and each elevator based on the elevator circle fingerprint library and the wireless signal fingerprint transmitted by the terminal, it can also determine whether the driving trajectory intersects with the stored driving trajectories. Server 300 can then transmit one or more intersecting driving trajectories and the location information of the vacant parking spaces corresponding to the one or more driving trajectories to the terminals. After receiving the data sent by the server 300, the terminal can display the one or more driving tracks. Optionally, the terminal can also display the empty parking spaces of the one or more driving tracks. In this way, the user can drive the vehicle to the empty parking space according to the driving track displayed by the terminal. The intersection of two driving tracks can also be referred to as the two driving tracks having a common anchor point, or the two tracks having overlapping (coincident) portions, etc., which are not limited in the embodiments of the present application.

[0078] Similarly, when the user drives the vehicle out of the parking lot, the terminal can also record the vehicle's driving trajectory and the location information of the empty parking spaces near the driving trajectory, and send the driving trajectory and the location information of the empty parking spaces to the server 300. In this way, the server 300 can obtain the empty parking spaces in the parking lot based on the vehicle's driving trajectory to the empty parking space, the vehicle's driving trajectory when leaving the empty parking space, and the location information of the empty parking spaces obtained during the driving process.

[0079] After determining the relative positional relationships between the vehicle's trajectory and each elevator based on the location information of multiple locations on the terminal's trajectory, server 300 may also transmit these relative positional relationships to the terminal. The terminal may determine the relative positional relationships between the vehicle and each elevator based on the relative positional relationships between the vehicle's trajectory and each elevator. The terminal may display the elevator location information to prompt the user to proceed from the vehicle's location to the elevator.

[0080] The terminal can also display the vehicle's location information based on the relative position relationship between the vehicle and each elevator, prompting the user to go from the elevator to the vehicle's location. Alternatively, the terminal can display the driving trajectory obtained from the server to guide the user from the elevator to the vehicle's parked location.

[0081] In some examples, the terminal may be a portable device, such as terminal 100. The terminal 100 may be a mobile phone, a smart watch, smart glasses, and the like. The terminal may obtain the inertial data of the vehicle based on an inertial measurement unit (IMU). The inertial data is then used through a vehicle dead reckoning (VDR) algorithm to calculate the vehicle's driving trajectory. Alternatively, the terminal may obtain the vehicle's inertial data from the vehicle's central control terminal, or obtain the vehicle's driving trajectory from the vehicle's central control terminal. In this way, the user can carry a portable device with him or her, and when the user is driving the vehicle, the portable device may be used to collect the vehicle's driving trajectory and wireless signal fingerprint, and obtain the location information of empty parking spaces in the parking lot and the vehicle's location information.

[0082] When the terminal detects that a user has gotten off the vehicle at the parking location, it can also collect the terminal's movement trajectory from the parking location. Based on this movement trajectory, the terminal can determine the relative position relationship between the terminal and the vehicle. The terminal can determine the relative position relationship between the terminal and the elevator based on the relative position relationship between the terminal and the vehicle and the relative position relationship between the vehicle and the elevator. Alternatively, the terminal can determine the relative position relationship between the terminal and the elevator based on the relative position relationship between the terminal and the vehicle and the target driving trajectory. In this way, after detecting that the user has gotten off the vehicle, the terminal can obtain the relative position of the terminal relative to the elevator and the vehicle, which facilitates the terminal display to guide the user from the vehicle position to the elevator position.

[0083] After obtaining the elevator's location information, the target vacant parking space's location information, and the target driving trajectory, the terminal can display a prompt near the designated elevator prompting the user to disembark at the designated elevator. Upon detecting the user disembarking, the terminal can send a message to the vehicle instructing it to proceed along the target driving trajectory to the target vacant parking space. When the vehicle enters the target vacant parking space, it can send a parking prompt to the terminal, notifying the user that the vehicle has parked in the target vacant space. Optionally, the vehicle's location information can be sent to the terminal while it is en route to the vacant space. The terminal can then display the target driving trajectory, the target vacant parking space, and the vehicle's location information to the user's real-time location. This allows users to disembark near the elevator without having to drive to an vacant parking space or walk from their parking location to the elevator. Users can then proceed to another floor after disembarking, and the vehicle will automatically park in an vacant parking space, saving users time.

[0084] Optionally, the terminal can provide a function for controlling a vehicle from its parking location to a target location. Upon receiving a user's vehicle search input, the terminal can instruct the vehicle to travel from the parking location to the target location along a target driving path. The target location can be the location of a designated elevator, the location closest to the terminal on the target driving path, or a user-selected location on the target driving path. Thus, when the user is near the target driving path, the terminal can use the vehicle search function to automatically direct the vehicle from the parking location to the user's location along the driving path, eliminating the need for the user to retrieve the vehicle in person and saving time. Alternatively, the target driving path can be a driving path provided by another vehicle, where the distance between the other vehicle's driving path and the parking location is less than a preset distance (e.g., 1 meter), and the distance between the other vehicle's driving path and the target location is less than a preset distance. In this way, the driving path provided by the other vehicle ensures that the vehicle will not encounter blind spots, hit other obstacles, or become unsure of how to turn when following the route. Upon receiving the vehicle search input, the terminal can control the vehicle to travel along the driving path to the target location (e.g., the terminal's location), facilitating the user's exit from the parking lot and saving time searching for the vehicle.

[0085] In some examples, the terminal may be an on-board device, such as vehicle 200. Vehicle 200 may be a central control screen device, etc. The terminal may obtain the inertial data of the vehicle based on the inertial measurement unit, and then calculate the driving trajectory of the vehicle by passing the inertial data through the VDR algorithm. After obtaining the target driving trajectory from the server 300, the terminal may display the driving trajectory to the target empty parking space and the empty parking space prompt information, and the empty parking space prompt information may be used to prompt the user to go to the empty parking space according to the driving trajectory. The terminal may also send the target driving trajectory, the location information of the target empty parking space elevator, and the location information of the vehicle to a portable device (e.g., a mobile phone, a smart watch, etc.) when detecting that the user has gotten off the vehicle. The portable device may display the target driving trajectory and the elevator prompt information, and the elevator prompt information may be used to prompt the user to go from the target empty parking space (i.e., the parking position) to the elevator position according to the target driving trajectory.

[0086] Optionally, the portable device can collect the movement trajectory from the parking location, determine the location of the portable device, and display the portable device's location information. This can help users determine their specific location on the road level of the parking lot. The portable device can also display the vehicle's location information and vehicle prompt information, which can be used to prompt the user to the parking location. Optionally, the portable device can collect the movement trajectory from the elevator position on the parking lot floor, determine the location of the portable device, and display the portable device's location information.

[0087] After obtaining the elevator's location information, the target parking space's location information, and the target driving trajectory, the terminal can display a prompt near the designated elevator prompting the user to get off at the designated elevator. After detecting that the user has gotten off, the terminal can then follow the target driving trajectory to the target parking space. The terminal can also send the target driving trajectory, the elevator's location information, the target parking space's location information, and the vehicle's location information to a portable device, allowing the portable device to display the terminal's real-time location. After entering the target parking space, the terminal can also send an indication message to the portable device indicating that the vehicle has successfully parked in the target parking space. Based on this indication message, the portable device can display a prompt message to the user indicating that the vehicle has parked in the target parking space.

[0088] It should be noted that a communication connection need not be established between the wireless access device and the terminal. For example, a peer-to-peer (P2P) connection can allow the terminal to receive signals sent by the wireless access device. It is understood that even if a communication connection is established between the wireless access device and some or all of the one or more terminals, this will not affect the terminal's ability to obtain the wireless signal fingerprint provided by the wireless access device.

[0089] First, in order to accurately locate the user's vehicle in the parking lot, it is necessary to pre-establish a wireless signal fingerprint database in the building. The server 300 can collect cross-floor movement trajectory data and corresponding wireless signal fingerprints through one or more terminals to build an elevator circle fingerprint library. Among them, the server 300 can use crowdsourcing technology to obtain the data required to build the elevator circle fingerprint library. Crowdsourcing technology is a method of obtaining resources through a large number of terminals after obtaining user permission. After obtaining user permission, the server 300 can use crowdsourcing technology to collect data through the user's terminal without the user's perception. The data collected through crowdsourcing technology can be called crowdsourcing data.

[0090] Since the number of wireless access devices deployed on parking floors is typically smaller than that deployed on non-parking floors, if server 300 directly uses the wireless signal fingerprints of parking floors to generate a fingerprint database, the fingerprint database data may be inaccurate due to the low density of wireless access devices deployed on parking floors. In this way, the position of elevators on each floor can be determined by using the user movement trajectories of elevators that span multiple floors. Furthermore, since there are more wireless access devices deployed on non-parking floors, more accurate wireless signal fingerprints can be obtained. Using cross-floor movement trajectory data, the relative relationship between elevators can be constructed based on data from non-parking floors, thereby determining the location of parking floors. This allows server 300 to generate a fingerprint database that can be used for positioning near elevators.

[0091] Specifically, the server 300 may generate an elevator circle fingerprint library through the following steps.

[0092] (1) The server 300 obtains crowdsourced data. One or more terminals can collect crowdsourced data and send the crowdsourced data to the server 300. One or more terminals can collect inertial data of the terminal in the building through an inertial measurement unit, and the inertial data can be used to obtain the movement trajectory of one or more terminals. And the one or more terminals can also collect wireless signal fingerprints at multiple locations on the movement trajectory. One or more terminals can scan the communication data sent by the wireless access device in the building at the multiple locations, and the communication data can include but is not limited to one or more of Wi-Fi scanning data, BLE scanning data, mobile base station (4G / 5G, etc.) scanning data, etc. One or more terminals can generate wireless signal fingerprints based on the communication data obtained by the scan.

[0093] The crowdsourced data may include inertial data collected by one or more terminals through an inertial measurement unit and wireless signal fingerprints collected by the terminal through a wireless receiving module. The inertial measurement unit may include but is not limited to one or more of an acceleration transducer (ACC), a gyroscope sensor (GYRO), and a magnetometer (MAG). The inertial data may include but is not limited to ACC data, GYRO data, and MAG data. One or more terminals may send the crowdsourced data to the server 300.

[0094] In some examples, one or more terminals may collect crowdsourced data and send the crowdsourced data to the server 300 after detecting that the terminal has entered a building range through positioning technology.

[0095] It should be noted that, in the embodiment of the present application, server 300 needs to generate an elevator circle fingerprint library based on cross-floor motion trajectories. When collecting inertial data, one or more terminals can first determine whether the collected inertial data includes cross-floor inertial data, that is, whether the motion trajectory generated based on the inertial data is a cross-floor motion trajectory. Subsequently, one or more terminals will send crowdsourced data including cross-floor inertial data to server 300. For example, the terminal can determine whether the inertial data is cross-floor inertial data using a barometer, accelerometer, and / or collected wireless signal fingerprints.

[0096] In some examples, the terminal includes a barometer. The terminal can determine whether the inertial data is cross-floor inertial data based on the barometer value. For example, if the terminal detects a change in the barometer value within a preset time period (e.g., 20 seconds) and the barometer change is greater than a preset barometer difference, the terminal can determine that the user carrying the terminal is riding in an elevator, i.e., determine that the collected inertial data is cross-floor inertial data.

[0097] In some examples, the terminal includes an accelerometer. The terminal can determine whether the inertial data is cross-floor inertial data based on the change characteristics of the acceleration of the terminal obtained by the accelerometer within a preset time length (for example, 20s). For example, when a user carrying a terminal takes an elevator to go upstairs, the elevator needs to accelerate upward first and then decelerate downward. The accelerometer can first obtain an upward acceleration vector and then obtain a downward acceleration vector within a preset time length. For another example, when a user carrying a terminal takes an elevator to go downstairs, the elevator needs to accelerate downward and then decelerate upward. The accelerometer can obtain a downward acceleration vector and then obtain an upward acceleration vector within a preset time length. The terminal can determine that the inertial data is cross-floor inertial data when the corresponding acceleration vector is obtained through the accelerometer.

[0098] In some examples, the terminal can determine whether the inertial data is cross-floor inertial data by detecting changes in the user's step count and the received wireless signal fingerprint. Specifically, when the terminal detects that the user's step count remains unchanged and detects that the wireless signal fingerprint received by the terminal is different within a preset detection period, the inertial data is determined to be cross-floor inertial data. Specifically, when the terminal detects that the user's step count increment within a preset period is less than a preset step threshold (e.g., 4 steps), the user's step count is determined to be unchanged. The terminal can use a pedometer application to detect whether the user's step count has changed. Optionally, the terminal 100 can also detect whether the terminal has experienced horizontal displacement using one or more sensors such as an IMU, an accelerometer, and a gyroscope. When the terminal detects that the terminal has not experienced horizontal displacement within a preset detection period and detects that the wireless signal fingerprint received by the terminal 100 is different, the inertial data is determined to be cross-floor inertial data. For example, the terminal can determine that the terminal has not experienced horizontal displacement when it detects that the terminal has moved a distance less than or equal to a preset distance (e.g., 1 meter).

[0099] For example, the preset duration includes time t1 and time t2, where time t1 is the starting time of the preset duration, and time t2 is any time other than the starting time of the preset duration. Terminal 1 receives wireless signal fingerprints sent by num1 wireless access devices at time t1, and receives wireless signal fingerprints sent by num2 wireless access devices at time t2. When terminal 100 detects that the absolute value of the difference between num1 and num2 is greater than a preset difference threshold (for example, 2), it determines that the wireless signal fingerprints received by the terminal are different. It should be noted that the method of determining whether the wireless signal fingerprints received within the preset time are the same is not limited to the above method. The terminal can also determine whether the wireless signal fingerprints received within the preset time are the same by other methods, and the embodiments of the present application are not limited to this.

[0100] In some examples, the terminal can determine that the user is riding an elevator when it detects that the user's step count remains unchanged within a preset time period and detects a change in the modulus of the geomagnetic vector collected by the terminal's magnetometer. It should be noted that when the terminal passes through the floor between different floors during the process of ascending or descending with the elevator, the modulus of the geomagnetic vector of the terminal 100's magnetometer may show periodic regular changes, for example, a peak. In this way, the terminal can determine whether the inertial data is cross-floor inertial data based on this.

[0101] It should be noted that the above methods for determining whether the inertial data is cross-floor inertial data are only examples and are not limited to the above methods. The terminal can determine whether the inertial data is cross-floor inertial data in other ways.

[0102] (2) The server 300 calculates the relative motion trajectory of the terminal based on the inertial data. The server 300 may use the sensor data through a pedestrian dead reckoning (PDR) algorithm to estimate the user's direction of travel and step length, thereby obtaining the relative motion trajectory of the terminal. Subsequently, the server 300 may insert the wireless signal fingerprint into the user's motion trajectory according to the acquisition time to obtain trajectory data. The trajectory data may represent one or more locations on the motion trajectory and the wireless signal fingerprint received at the one or more locations.

[0103] It should be noted that the server 300 is not limited to obtaining trajectory data based on inertial data and wireless signal fingerprints from one or more terminals. One or more terminals may also calculate a motion trajectory based on the inertial data, and then obtain trajectory data based on the motion trajectory and wireless signal fingerprints. One or more terminals may send the trajectory data to the server 300.

[0104] (3) The server 300 determines which floor the locations in the trajectory data belong to based on the similarity of the wireless signal fingerprints corresponding to different action trajectories. The server 300 can label the locations in the trajectory data with floor information and then aggregate the trajectory data to obtain an elevator circle fingerprint library. The server 300 can determine the similarity of wireless signal fingerprints based on Euclidean distance or Jaccard distance. The elevator circle fingerprint library includes the correspondence between locations near the elevator and wireless signal fingerprints.

[0105] Exemplarily, the elevator circle fingerprint library for elevator 31 of building 10 may include a correspondence between the positions within a first range of elevator 31 on non-parking lot floors and the wireless signal fingerprint, and a correspondence between the positions within a second range of elevator 31 on parking lot floors and the wireless signal fingerprint. The first range is larger than the second range. For example, the first range may include a circular range centered on elevator 31 and having a first length (e.g., 30 meters) as a radius. For example, the second range may include a circular range centered on elevator 31 and having a second length (e.g., 10 meters) as a radius.

[0106] It should be noted that in order to avoid the position adhesion of the parking lot floors. Position adhesion may refer to the situation where, within a certain area, due to the small number of wireless access devices, the similarity of the wireless signal fingerprints collected by the terminal is high, resulting in the inability to distinguish between different locations in the area. The server 300 can only retain the trajectory data within the preset radius with the elevator as the center on the parking lot floor. The elevator circle fingerprint library generated by the server 300 includes the correspondence between the position within a specified range on the parking lot floor and the wireless signal fingerprint. The specified range is the elevator on the parking lot floor with a preset radius (for example, 10 meters) as the center. In this way, a more accurate elevator circle fingerprint library can be obtained.

[0107] It should also be noted that during the process of server 300 constructing the elevator circle fingerprint library, after calculating the terminal's relative motion trajectory based on inertial data, server 300 can determine the portion of the motion trajectory that belongs to each non-parking lot floor based on the wireless signal fingerprint. Since there are more wireless access devices on non-parking lot floors than on parking lot floors, a terminal can scan more wireless access devices at a certain location on a non-parking lot floor than on a parking lot floor. Therefore, the wireless signal fingerprints collected by the terminal on a parking lot floor come from more wireless access devices. Server 300 can determine whether the location where the wireless signal fingerprint was collected belongs to a parking lot floor or a non-parking lot floor based on the density of the wireless signal fingerprints.

[0108] Afterwards, the server 300 can determine the position near the elevator on the motion trajectory based on the cross-floor motion trajectory. The server 300 can mark the position near the elevator in the motion trajectory of the non-parking lot floor. The server 300 can determine the relative position relationship between the motion trajectories of each non-parking lot floor based on the similarity of the wireless signal fingerprints corresponding to the motion trajectory of the floor. The server 300 can splice the motion trajectories of the floor according to the relative position relationship to form a road network of the non-parking lot floor. The server 300 can determine the relative position relationship between each elevator based on the spliced ​​motion trajectory and the position near the elevator on the motion trajectory. In this way, the server 300 can determine the relative position information of the elevators in the building based on the motion trajectory and the corresponding wireless signal fingerprint of any non-parking lot floor.

[0109] It should also be noted that server 300 can only determine the relative floor of each location in each movement trajectory based on the similarity of wireless signal fingerprints, but cannot determine the floor identity of each location. For example, server 300 can determine that some locations belong to the lowest floor, but cannot determine the floor identity of that floor. Server 300 can obtain floor information for each building.

[0110] In some examples, the terminal can use an onboard camera to capture an image of the parking lot that includes floor labels. Based on the image of the parking lot that includes the floor labels, the terminal can use an image recognition algorithm to identify the floor's identity. Furthermore, based on the similarity between the wireless signal fingerprint captured on that floor and the wireless signal fingerprint in the crowdsourced data, the terminal can determine the wireless signal fingerprint in the crowdsourced data that belongs to that floor. In this way, server 300 can determine the floor's identity based on the parking lot image captured by the vehicle.

[0111] In some examples, since a building entrance is typically located on the first floor, server 300 can determine that the trajectory of a terminal entering the building from the entrance belongs to floor 1 based on the movement trajectory. It can then determine the identities of the other floors based on the relative heights of the floors. Before entering the building, the terminal can obtain its location information via GPS. Server 300 can instruct one or more terminals to determine whether the terminal entered the building from the building entrance based on GPS signals received on the ground before acquiring inertial data indicating the floor. When server 300 determines, based on the terminal's GPS signal, that the terminal entered the building from the building entrance, it can mark the movement trajectory collected by the terminal as a trajectory for floor 1 and determine the identities of the other floors accordingly. For example, server 300 can designate the parking floor closest to floor 1 as floor B1, the parking floor next closest to floor 1 as floor B2, and so on. Server 300 can designate the non-parking floor closest to floor 1 as floor 2, the non-parking floor next closest to floor 1 as floor 3, and so on. In this way, server 300 can obtain the floor identities of the building.

[0112] In other examples, after server 300 determines the relative heights of each building floor based on the building's movement trajectory, it can determine whether each floor is a non-parking lot floor or a parking lot floor based on the density of the wireless signal fingerprint. Server 300 can identify the non-parking lot floor closest to the parking lot floor as floor 1 and determine the identities of other floors based on the relative heights of the floors.

[0113] In other examples, one or more terminals may display a prompt message prompting the user to enter the current floor information after detecting that the terminal has entered a building. One or more terminals may obtain the floor information entered by the user and add the floor information to the crowdsourced data collected on that floor.

[0114] In other examples, the server 300 may obtain the floor information of the building from the operator of the building, or the server 300 may obtain the floor information of the building from various web pages related to the building through the name of the building, and so on.

[0115] In this way, when the server 300 performs the trajectory aggregation step, it is not limited to aggregating the trajectory data of each floor separately, but aggregates the trajectory data of all floors together. The elevator trajectories spanning multiple floors are used to determine the elevator positions on each floor. The height change relationship of the crowdsourcing data and the similarity of the communication data are also used to jointly construct an elevator circle fingerprint library. Through this method, the parking lot floors no longer generate fingerprint skeletons with large coverage areas but low precision. Instead, a fingerprint skeleton with high precision is generated with each elevator as the center and only around a preset distance (for example, 10 meters to 20 meters) near the elevator.

[0116] For example, the building 10 shown in FIG1 is used as an example to illustrate how the server 300 generates an elevator circle fingerprint library. The server 300 obtains crowdsourced data from one or more terminals. Based on the inertial data in the crowdsourced data, the server 300 calculates the cross-floor motion trajectory through an algorithm (e.g., a PDR algorithm). The motion trajectory obtained by the server 300 can refer to the dotted line shown in FIG3 . The server 300 can obtain trajectory data based on the motion trajectory and the wireless signal fingerprint. The server 300 can generate an elevator circle fingerprint library based on the trajectory data. Since the server 300 collects more wireless signal fingerprints on the non-parking lot floors, a fingerprint database with a wide range and high accuracy can be generated. Since the server 300 collects less communication data on the parking lot floors, the server 300 can determine the elevator position on the parking lot floors based on the fingerprint database of the non-parking lot floors, and generate a fingerprint database with a small range and high accuracy based on this, as shown in FIG3 .

[0117] In one possible implementation, terminal 100 detects vehicle 200 entering building 10. Terminal 100 collects the driving trajectory of terminal 100 after departing from the parking lot entrance and wireless signal fingerprints at multiple locations along the driving trajectory. Terminal 100 transmits the driving trajectory and wireless signal fingerprints to server 300. Based on the driving trajectory provided by terminal 100, the wireless signal fingerprint provided by terminal 100, the elevator circle fingerprint library, the stored driving trajectory, and the relative positional relationship between the stored driving trajectory and the elevator, server 300 can determine one or more driving trajectories in the stored driving trajectory that intersect with the driving trajectory of terminal 100. Server 300 can transmit the one or more driving trajectories and the location information of vacant parking spaces near the one or more driving trajectories to terminal 100. Terminal 100 can display the one or more driving trajectories and the location information of the vacant parking spaces. In this way, when a user drives to an unfamiliar parking lot, they can obtain information about the vacant parking spaces in the parking lot and the routes to the vacant spaces from server 300, helping the user find a parking space more quickly and reducing the time spent searching for a parking space.

[0118] Specifically, as shown in FIG4 , the terminal 100 may go to an empty parking space in the building 10 through the following steps.

[0119] S401. The terminal 100 detects the parking lot of the building 10 and collects the driving trajectory of the terminal 100 from the parking lot entrance, the wireless signal fingerprints of multiple locations on the driving trajectory of the terminal 100, and the empty parking spaces near the driving trajectory of the terminal 100.

[0120] Before the vehicle 200 enters the parking lot, the terminal 100 can determine the location of the terminal 100 using GPS, and based on the location of the terminal 100, determine whether the vehicle 200 has entered the parking lot of the building 10. When the terminal 100 determines through GPS that the terminal 100 is inside the building 10, it is determined that the vehicle has entered the parking lot of the building 10. In this way, since the terminal 100 has not entered the building 10, the terminal 100 can locate the location of the terminal 100 using GPS, and based on the location of the terminal 100, determine whether the terminal 100 has entered the building 10.

[0121] Optionally, the terminal 100 can also obtain the location information of the entrance that the vehicle 200 enters (for example, the latitude and longitude of the entrance) through GPS, and determine the location information of the driving trajectory collected by the terminal 100 based on the location information of the entrance and the driving trajectory collected by the terminal 100. It is understandable that the server 300 can obtain the location information of the entrances passed by one or more terminals, the driving trajectory starting from the entrance, and the location information of the empty parking spaces near the driving trajectory. The server 300 can provide the stored driving trajectory from the entrance to the empty parking space to the vehicle entering the parking lot. In this way, when the vehicle 200 enters the parking lot through any parking lot entrance, the server 300 can provide the terminal 100 with the driving trajectory starting from the entrance to the empty parking space to help the user park quickly.

[0122] It should also be noted that when vehicle 200 is traveling in a parking lot, terminal 100 can determine the relative positional relationship between the vehicle's trajectory and each elevator based on the collected wireless signal fingerprint and the elevator circle fingerprint library. Therefore, terminal 100 does not need to obtain the location information of the parking lot entrance. In this way, terminal 100 can not only help users find empty parking spaces more quickly, but also help users find elevators more quickly.

[0123] In other examples, terminal 100 may capture an image in front of vehicle 200 using a camera. An image recognition algorithm may be used to identify whether the captured image is of a parking lot entrance. When terminal 100 determines that the captured image is of a parking lot entrance, terminal 100 determines that vehicle 200 has entered the parking lot. It should be noted that the method for detecting whether a vehicle has entered the parking lot of building 10 is not limited to the aforementioned method. Terminal 100 may detect whether a vehicle has entered the parking lot using other methods, and this embodiment of the present application is not limiting in this regard.

[0124] When the terminal 100 detects that it has entered the parking lot of the building 10, it can collect the driving trajectory of the terminal 100 after departing from the parking lot entrance, and can also collect wireless signal fingerprints at multiple locations along the driving trajectory. The terminal 100 can collect the driving trajectory using an inertial measurement unit and the wireless signal fingerprint using a wireless communication module. For details, please refer to the above embodiment and will not be repeated here.

[0125] S402 . Based on the collected data, the terminal 100 obtains from the server 300 one or more driving trajectories indicating that the vehicle 200 is heading towards an empty parking space in the building 10 .

[0126] After the terminal 100 collects wireless signal fingerprints at multiple locations on the driving trajectory, the wireless signal fingerprints can be sent to the server 300. Based on the wireless signal fingerprints at multiple locations and multiple elevator circle fingerprint libraries, the server 300 can determine that at least one of the multiple wireless signal fingerprints on the driving trajectory matches one of the elevator circle fingerprint libraries. The server 300 can then determine that the terminal 100 is near the elevator corresponding to the elevator circle fingerprint library and obtain the location information of the location corresponding to the at least one wireless signal fingerprint from the elevator circle fingerprint library. Based on the location information of the at least one wireless signal fingerprint, the server 300 can determine the relative positional relationship between the driving trajectory collected by the terminal 100 and each elevator in the building 10. When the server 300 determines that the similarity between the wireless signal fingerprint and any wireless signal fingerprint in the elevator circle fingerprint library is greater than a preset similarity threshold (e.g., 80%), the server 300 determines that the wireless signal fingerprint matches the elevator circle fingerprint library.

[0127] In some examples, the terminal 100 may first determine the location of the terminal 100 using GPS, and then the terminal 100 may send the location of the terminal 100 and the wireless signal fingerprint to the server 300. The server 300 may match the wireless signal fingerprint provided by the terminal 100 with the elevator circle fingerprint library at the location of the terminal 100. This can reduce the time required for the server 300 to match fingerprints.

[0128] It is understood that the number, deployment location, and device identification of wireless access devices vary on different floors, and the wireless signal fingerprints received by terminal 100 on different floors are different. The location information of one or more locations can indicate that terminal 100 is near an elevator corresponding to the elevator circle fingerprint library, the floor where terminal 100 is located, and the specific location of terminal 100 on that floor.

[0129] Terminal 100 may send the driving trajectory to server 300. Server 300 may determine a driving trajectory from the one or more driving trajectories that intersects or overlaps with the driving trajectory of terminal 100 based on the similarity between the wireless signal fingerprints at multiple locations on the stored one or more driving trajectories and the wireless signal fingerprint provided by terminal 100. The driving trajectory that intersects or overlaps with the driving trajectory of terminal 100 may be used to direct vehicle 200 to an empty parking space in building 10. Server 300 may send the determined driving trajectory and the location information of an empty parking space near the driving trajectory to terminal 100. The location information of the empty parking space may indicate the relative positional relationship between the empty parking space and the driving trajectory. The driving trajectory may be used to guide the vehicle to the corresponding empty parking space.

[0130] It should be noted that the server 300 can collect the driving trajectory of the one or more vehicles, the wireless signal fingerprints at multiple locations on the one or more driving trajectories, and the location information of the empty parking spaces near the one or more driving trajectories through crowdsourcing from one or more terminals. For example, in the process of collecting the driving trajectory of the vehicle, the terminal can identify the empty parking spaces near the driving trajectory through the images around the vehicle captured by the camera, and determine the location information of the empty parking spaces. Afterwards, the server 300 can determine the relative position relationship between the vehicle's driving trajectory and each elevator based on the wireless signal fingerprints at multiple locations on the vehicle's driving trajectory and the elevator circle fingerprint library of the building 10. In summary, the server 300 can obtain one or more driving trajectories in the building 10, the relative position relationship between the one or more driving trajectories and each elevator in the building 10, and the relative position relationship between each driving trajectory and one or more empty parking spaces through crowdsourcing.

[0131] In some examples, server 300 can determine the location information of multiple locations on the driving trajectory of terminal 100 based on the wireless signal fingerprints of multiple locations on the driving trajectory of terminal 100. Server 300 can determine the relative positional relationship between the driving trajectory of terminal 100 and each elevator in building 10 based on the relative positional relationship between multiple locations on the driving trajectory of terminal 100 and the elevators. After determining the relative positional relationship between the driving trajectory of terminal 100 and each elevator in building 10, server 300 can compare the driving trajectory of terminal 100 with one or more stored driving trajectories to determine a driving trajectory that has an anchor point with the driving trajectory of terminal 100. Server 300 can send the determined driving trajectory and the location information of the vacant parking space along the driving trajectory to terminal 100.

[0132] In some examples, the terminal 100 may send the driving trajectory to the server 300 after determining that the wireless signal fingerprint matches a certain elevator circle fingerprint library. In this way, the terminal 100 does not need to repeatedly upload the driving trajectory when it is not near the elevator, saving transmission resources.

[0133] It should be noted that, while collecting driving trajectories, the terminal 100 may also collect location information of vacant parking spaces near the driving trajectory. In this way, the server 300 can collect location information of vacant parking spaces in the parking lot of the building 10 through each terminal entering the parking lot of the building 10, thereby helping users driving into the building 10 to find nearby vacant parking spaces.

[0134] S403. The terminal 100 displays one or more driving tracks provided by the server 300 for instructing the vehicle 200 to go to an empty parking space, the location information of the empty parking space, and empty parking space prompt information. The empty parking space prompt information is used to prompt the user to go to the empty parking space according to the driving track.

[0135] After receiving the driving trajectory and vacant parking space location information from the server 300, the terminal 100 may display one or more driving trajectories and vacant parking space location information provided by the server 300. The terminal 100 may also display vacant parking space prompts, prompting the user to drive the vehicle 200 to an vacant parking space according to the driving trajectory. The driving trajectory provided by the server 300 may intersect or overlap with the driving trajectory of the terminal 100.

[0136] In some examples, the terminal 100 may receive input from a user selecting any one of the multiple driving trajectories provided by the server 300 , and in response to the input, hide the driving trajectories other than the selected one of the multiple driving trajectories.

[0137] In other examples, upon receiving multiple driving trajectories from server 300, terminal 100 may display only a target driving trajectory from the multiple driving trajectories. The target driving trajectory is the driving trajectory from the multiple driving trajectories that directs vehicle 200 to a target vacant parking space. The target vacant parking space is the vacant space closest to terminal 100, and / or the vacant parking space with the highest confidence value, and / or the vacant parking space with the most recent recording time. In other examples, server 300 may send only the target driving trajectory to terminal 100.

[0138] In some examples, after receiving the driving trajectory provided by server 300, terminal 100 displays a portion of the driving trajectory between the terminal 100's location and the empty parking space. Specifically, because the driving trajectory provided by server 300 overlaps with the driving trajectory of terminal 100, terminal 100 can determine the driving trajectory from the terminal 100's location to the empty parking space based on the terminal 100's driving trajectory and the driving trajectory provided by server 300. Vehicle 200 can then proceed to the empty parking space according to the driving trajectory displayed by terminal 100 from the terminal 100's location to the location of the empty parking space.

[0139] In some examples, when building 10 includes a multi-story parking garage, the driving path provided by server 300 may span multiple floors. Terminal 100 can determine the floor on which terminal 100 is located from server 300 based on the collected wireless signal fingerprint. Terminal 100 can then display the driving path for the floor on which terminal 100 is located in the driving trajectory.

[0140] Next, the multiple steps shown in Figure 4 are introduced in conjunction with the application scenario.

[0141] For example, as shown in Figure 5, after the terminal 100 detects that the vehicle 200 has entered the parking lot of the building 10, it can collect the driving trajectory from the entrance 21 and collect wireless signal fingerprints at multiple locations along the driving trajectory. The detailed description of how the terminal 100 detects the vehicle entering the building 10 and collects the driving trajectory and wireless signal fingerprints can be found in the above embodiment and will not be repeated here.

[0142] The terminal 100 can send the wireless signal fingerprint to the server 300. After the server 300 matches the wireless signal fingerprint provided by the terminal 100 with the elevator circle fingerprint library of a certain elevator in the building 10, the location information of the corresponding position of the wireless signal fingerprint can be determined. Based on the driving trajectory of the terminal 100 and the stored driving trajectory, the server 300 can determine one or more driving trajectories in the stored driving trajectory that partially overlap or intersect with the driving trajectory of the terminal 100, as well as the location information of the empty parking spaces near the one or more driving trajectories. Here, the driving path collected by the terminal 100 can refer to the driving trajectory 1 shown in Figure 6. The driving trajectory sent by the server 300 to the terminal 100 is the driving trajectory 2 shown in Figure 6. There is an intersection between the driving trajectory 1 and the driving trajectory 2, and the intersection is located near the elevator 31. The empty parking spaces near the driving trajectory 2 include parking spaces 41 and parking spaces 46.

[0143] It should be noted that when the terminal 100 passes by an empty parking space, it can determine the relative positional relationship between the nearby empty parking spaces and the driving trajectory collected by the terminal 100. When the terminal 100 sends the driving trajectory collected by the terminal 100 to the server 300, it also sends the location information of the empty parking spaces near the driving trajectory to the server 300. In this way, the server 300 can obtain the driving trajectory and location information of the empty parking spaces provided by each terminal through crowdsourcing, update the empty parking spaces in the building 10, and enable users who arrive later to drive into the building 10 to obtain the driving trajectory from the server 300, prompting the user to go to the empty parking space.

[0144] Exemplarily, the terminal 100 can display a desktop 701 as shown in Figure 7A. The desktop 701 may include multiple application icons (for example, a parking application icon 702, a gallery application icon, etc.). The parking application icon 702 can be used to trigger the terminal 100 to display the interface of the parking application. Optionally, a status bar is also displayed above the desktop 701, and the status bar may include but is not limited to a communication signal strength indicator (for example, a 4G / 5G communication signal strength indicator, a Wi-Fi communication signal strength indicator), a battery value, time, a Bluetooth indicator (not shown in the figure), and other information. Optionally, there may be a tray (dock) area below the desktop 701, and the dock area may include one or more tray icons (for example, a dial application icon, a message application icon, a contact application icon, a camera application icon, etc.).

[0145] After receiving the driving trajectory and the location information of the empty parking space provided by the server 300 , the terminal 100 receives an input for the parking application icon 702 . In response to the input, the terminal 100 may display an interface 711 as shown in FIG. 7B .

[0146] As shown in Figure 7B, interface 711 may include but is not limited to display area 712. Display area 712 may include but is not limited to display area 713 and prompt information 714. Display area 713 may include but is not limited to track 713A and one or more empty parking space marks. Track 713A may be used to instruct the user to follow the route indicated by track 713A to go to the empty parking space corresponding to the empty parking space mark. The one or more empty parking space marks may include but are not limited to empty parking space mark 713B and empty parking space mark 713C. Track 713A is obtained by terminal 100 based on driving track 1 and driving track 2 shown in Figure 6. Empty parking space mark 713B can be used to indicate parking space 41 shown in Figure 6, and empty parking space mark 713C can be used to indicate parking space 46 shown in Figure 6.

[0147] Optionally, the display area 713 may further include a vehicle identification 713D. The vehicle identification 713D may be used to indicate the location of the terminal 100. The terminal 100 may determine the location of the terminal 100 based on the collected driving trajectory and the location information of multiple locations on the driving trajectory obtained from the server 300.

[0148] Optionally, display area 713 may further include display area 713E, which may be used to display the correspondence between various identifiers and text descriptions. As shown in display area 713E in FIG7B , a vehicle identifier (e.g., vehicle identifier 713D) corresponds to the text description "vehicle." An empty parking space identifier (e.g., empty parking space identifier 713B, empty parking space identifier 713C) corresponds to the text description "empty parking space." In this way, terminal 100 can prompt the user with text descriptions of the meaning of each identifier.

[0149] Among them, prompt information 714 can be used to prompt the user to follow the path 713A shown in the display area 713 to an empty parking space. This prompt information 714 can be a text prompt information, an animation prompt information, an image prompt information, and / or a voice prompt information. For example, prompt information 714 can be a text prompt information: "There are two empty parking spaces ahead. Turn right. Please follow the illustrated path to the empty parking space." In this way, the user can find the location of the empty parking space according to the information prompted by the terminal 100, thereby improving the user's parking efficiency.

[0150] Optionally, interface 711 may further include a display area 715, which may include one or more function controls. The one or more function controls may be used to trigger the terminal 100 to display a display area including function information corresponding to the function controls. For example, the one or more function controls may include, but are not limited to, control 715A, control 715B, and control 715C. Control 715A may be used to trigger the terminal 100 to display a display area including navigation function information prompting the user to the elevator location, such as display area 722 shown in FIG. 7C . Control 715B may be used to trigger the terminal 100 to display a display area including parking function information prompting the user to an empty parking space, such as display area 712 shown in FIG. 7B or display area 712 shown in FIG. 9A . Control 715C may be used to trigger the terminal 100 to display a display area including car search function information prompting the user to the parking location, such as display area 741 shown in FIG. 13A or display area 741 shown in FIG. 13B . In the interface 711 shown in FIG. 7B , the control 715B is in a selected state, and the terminal 100 displays a display area 712 including content related to the parking function.

[0151] It should be noted that when terminal 100 detects that its location coincides with an empty parking space corresponding to an empty parking space identifier, it may send a message to server 300 indicating that the empty parking space corresponding to the empty parking space identifier is occupied. Upon receiving the message from terminal 100, server 300 may update the empty parking space occupied by vehicle 200 to a non-empty space. Server 300 may also cancel storage of the location information for the empty parking space. If the only empty parking space near the driving trajectory is occupied by terminal 100, server 300 may also cancel storage of the driving trajectory. In this way, after assisting the user in parking, server 300 may set the parking space where the user parked their vehicle as a non-empty space and update the information about empty parking spaces in building 10. When other vehicles enter the parking lot of building 10, even if vehicle 200 has not yet parked in an empty space, these other newly entered vehicles will not be prompted to proceed to the empty space occupied by vehicle 200.

[0152] In one possible implementation, the terminal 100 can determine the relative positional relationship between the terminal 100 and the elevator based on the driving trajectory collected by the terminal 100 and the wireless signal fingerprints at multiple locations along the driving trajectory. After detecting that the user has gotten off the vehicle from the parking location, the terminal 100 can display the elevator's location information based on the relative positional relationship between the terminal 100 and the elevator. In this way, when a user travels to an unfamiliar location, the terminal 100 can display the elevator's location information after detecting that the user has gotten off the vehicle, helping the user to reach the elevator. This allows the user to quickly reach other floors by elevator, saving the user time spent searching for the elevator.

[0153] Specifically, server 300 can determine the relative positional relationships between multiple locations on the terminal 100's driving trajectory and a particular elevator based on the wireless signal fingerprint provided by terminal 100. Server 300 stores the relative positional relationships between various elevators and can determine the relative positional relationships between the driving trajectory and each elevator based on the relative positional relationships between the driving trajectory and a particular elevator, as well as the relative positional relationships between various elevators in the building. Server 300 can transmit the relative positional relationships between the terminal 100's driving trajectory and each elevator to terminal 100 when transmitting information such as the location of vacant parking spaces. Upon detecting that a user has exited the vehicle, terminal 100 can determine the relative positional relationship between the parking location and the elevator based on the relative positional relationships between the driving trajectory and the elevator collected by terminal 100. Thus, when the user wishes to return to the parking location, terminal 100 can display a prompt prompting the user to proceed from the parking location to the elevator location based on the relative positional relationships between the parking location and the elevator.

[0154] Alternatively, the terminal 100 may display the target driving trajectory, the target vacant parking space, and the location of the designated elevator obtained from the server 300. In this way, since the user drives the vehicle from the designated elevator to the target vacant parking space according to the target driving trajectory, after getting off at the target vacant parking space, the user can return to the designated elevator along the target driving trajectory, helping the user find the elevator without having to search for the elevator lobby again after getting off.

[0155] In some examples, the terminal 100 can record the user's steps using a pedometer application. When the terminal 100 detects an increase in the user's step count, it can determine that the user has gotten off the vehicle. It should be noted that since some pedometer applications detect the user's step count based on data obtained by sensors such as an IMU, the terminal 100 is not limited to detecting changes in the user's step count to determine whether the user has gotten off the vehicle. The terminal 100 can also use sensors such as an IMU, accelerometer, and gyroscope to detect whether the user has gotten off the vehicle.

[0156] In other examples, the terminal 100 establishes a communication connection with the vehicle terminal (e.g., a central control terminal) of the user's vehicle. When the distance between the terminal 100 and the vehicle terminal exceeds a preset distance, the terminal 100 disconnects the communication connection with the vehicle terminal. The terminal 100 can determine that the user has gotten off the vehicle when it detects that the communication connection with the vehicle terminal is disconnected. Optionally, the vehicle terminal can detect the opening state of the door. When the vehicle terminal detects that the door is opened and then closed, it can confirm that the user has gotten off the vehicle. Alternatively, the driver's seat of the vehicle is provided with a sensor (e.g., a pressure sensor, a gravity sensor), and the vehicle terminal can detect through the sensor that the user has left the driver's seat and confirm that the user has gotten off the vehicle.

[0157] Optionally, the terminal 100 may also display the elevator location information and elevator prompt information when detecting that the location of the terminal 100 coincides with the location of an empty parking space provided by the server 300. For example, the terminal 100 may determine that the location of the terminal 100 coincides with the location of an empty parking space provided by the server 300 when detecting that the driving trajectory collected by the terminal 100 intersects with the empty parking space corresponding to the empty parking space identifier.

[0158] For example, after the terminal 100 displays the interface 711 in the display area 712 shown in FIG7B , if it detects that the user gets off at the parking space 41 corresponding to the empty parking space mark 713B, the terminal 100 may display the interface 711 shown in FIG7C .

[0159] 7C , the interface 711 includes a display area 721. The display area 721 includes a display area 722. The display area 722 can be used to indicate the relative positional relationship between each elevator and the parking position.

[0160] Display area 722 may include, but is not limited to, one or more elevator signs. The one or more elevator signs may include elevator sign 722A, elevator sign 722B, and elevator sign 722C. The one or more elevator signs are used to indicate the location of each elevator in the parking lot.

[0161] The display area 722 may also include a vehicle identifier 722D and / or a user identifier 722F. The vehicle identifier 722D may be used to indicate the vehicle's location, i.e., its parking position. The user identifier 722F may be used to indicate the location of the terminal 100. For example, the terminal 100 may collect the user's movement trajectory after exiting the vehicle. The terminal 100 may determine the terminal's real-time location based on the parking position and the user's movement trajectory after exiting the vehicle. The description of the terminal 100 collecting movement trajectories can be found in the above-described embodiment and will not be repeated here. In this way, the user can confirm the direction and distance between themselves and each elevator by observing the user identifier 722F.

[0162] Optionally, display area 722 may also display a trajectory 722E. Trajectory 722E may be used to indicate the path from the parking location to the elevator that the vehicle passed. Since server 300 can determine the relative positional relationship between the location corresponding to the wireless signal fingerprint and the elevator based on the wireless signal fingerprint collected by terminal 100 near the elevator, terminal 100 can determine the location near the elevator on the driving trajectory collected by terminal 100. Terminal 100 may display a portion of the driving trajectory from a location near the elevator to the parking location. Here, the elevator is elevator 31 in building 10. Thus, terminal 100 can display this portion of the driving trajectory to help the user follow the driving path of vehicle 200 from elevator 31 to parking space 41 and then from parking space 41 back to elevator 31. In some examples, terminal 100 may only display the identifiers of elevators near the driving trajectory collected by terminal 100.

[0163] Optionally, display area 722 may further include display area 722G. Display area 722G may be used to display the correspondence between various identifiers and text descriptions. As shown in display area 722G in FIG7C , a vehicle identifier (e.g., vehicle identifier 722D) corresponds to the text description "vehicle." An elevator identifier (e.g., elevator identifier 722A, elevator identifier 722B, elevator identifier 722C) corresponds to the text description "elevator." A user identifier (e.g., user identifier 722F) corresponds to the text description "my location." In this way, terminal 100 can prompt the user with text descriptions of the meaning of each identifier.

[0164] Optionally, the display area 721 shown in FIG7C may further include an address bar 723. The address bar 723 includes a starting address 723A and a destination address 723B. Here, the starting address 723A may display the text message "My Location," indicating that the starting location is the user's location. Since the terminal 100 has not yet received the user's input selecting the destination address, the destination address 723B does not display the text message.

[0165] Optionally, the terminal 100 may also display elevator prompt information in the interface 711 shown in FIG. 7C . The elevator prompt information may be used to prompt the user to go from the parking location to the location of the elevator corresponding to the location information of the elevator according to the content shown in the display area 722 .

[0166] Optionally, when the terminal 100 displays the display area 712 as shown in FIG7B , the terminal 100 may display the interface 711 as shown in FIG7C in response to receiving the user input for the control 715A. In particular, when the terminal 100 has not detected that the user has gotten off the vehicle, the vehicle identification 722D may not be displayed.

[0167] In some examples, the terminal 100 may display navigation prompts after detecting that a user has gotten out of the parking location. The terminal 100 may obtain navigation prompts based on the terminal 100's location, the parking location, and the driving trajectory collected by the terminal 100. Based on the terminal 100's relative position on the driving trajectory, the terminal 100 may prompt the user how to follow the driving trajectory to the location of an elevator near the driving trajectory. The terminal 100 may determine the terminal 100's location based on the movement trajectory collected after departing from the parking location. In this way, the terminal 100 can provide more detailed navigation prompts based on the driving trajectory collected by the user, guiding the user step by step to the location of the elevator.

[0168] In other examples, the terminal 100 displays one or more elevator identifiers. Upon receiving user input for an elevator identifier near the travel path, the terminal 100 may display navigation prompts in response to the input. Upon receiving user input for an elevator identifier of another elevator, the terminal 100 may display guidance prompts in response to the input. Other elevators are elevators in the building other than those near the travel path. The guidance prompts may prompt the user to proceed in a specified direction and a specified distance, where the specified direction is the direction of the elevator corresponding to the selected elevator identifier relative to the location of the terminal 100, and the specified distance is the straight-line distance between the elevator corresponding to the selected elevator identifier and the location of the terminal 100, calculated by the terminal 100 based on the two locations. This guidance information allows the user to determine the location of the selected elevator and its distance from the user. The user can plan a route to the elevator based on the parking lot layout within their field of view.

[0169] For example, after receiving the user's input (eg, a single click) for the elevator logo 722A, the terminal 100 may display the interface 711 shown in FIG. 7D in response to the input.

[0170] As shown in Figure 7D , navigation prompt information is displayed in display area 722. Terminal 100 can obtain navigation prompt information based on its specific location on the driving trajectory corresponding to trajectory 722E. Here, terminal 100 detects that terminal 100 is at the location corresponding to user identifier 722F shown in Figure 7C . Following the path indicated by trajectory 722E, terminal 100 determines to first prompt the user to move forward a certain distance, then to turn left, and finally to move forward a certain distance to reach elevator 31. Navigation prompt information may include, but is not limited to, text prompt information, animation prompt information, image prompt information, voice prompt information, and so on. The navigation prompt information in display area 722 may include both image prompt information and text prompt information. For example, the image prompt information may be an arrow icon, which can be used to indicate the user's direction of travel. The text prompt information may be, for example, "Please go straight for 10 meters," which can be used to indicate the distance the user has to travel. Optionally, display area 721 may also include an address bar 723. Here, the text information in destination address 723B is: "Elevator 31."

[0171] For another example, after the terminal 100 displays the interface 711 in the display area 712 shown in FIG. 7B , if it detects that the user gets off the vehicle at the parking space 41 corresponding to the empty parking space mark 713B, the terminal 100 may display the interface 711 shown in FIG. 7D .

[0172] 8, after getting off the car, the user can go from the parking space 41 to the elevator 31 according to the contents shown in FIG7C and FIG7D. In this way, the terminal 100 can provide the user with a navigation function, so that the user can go to the elevator hall according to the contents displayed on the terminal 100.

[0173] In some examples, when the multiple driving trajectories provided by the server 300 include a driving trajectory that passes through a target vacant parking space and an elevator other than a designated elevator, the terminal 100 can display the driving trajectory that passes through the target vacant parking space and the elevator other than the designated elevator. In this way, the terminal 100 can display driving trajectories that help the user reach multiple elevators, and the user can select the elevator they want to go to.

[0174] In some examples, when the terminal 100 travels from the parking location to the elevator along the target driving trajectory, the terminal 100 can receive user input, identify vacant parking spaces near the target driving trajectory, and send the location information of the vacant parking spaces collected by the terminal 100 to the server 300. In this way, the server 300 can update each vacant parking space along the target driving path based on the vacant parking spaces reported by the user, thereby improving the reliability of the vacant parking spaces stored by the server 300.

[0175] In some examples, the terminal 100 may display parking prompt information after receiving the target driving trajectory sent by the server 300. The parking prompt information can be used to prompt the user to get off at the elevator. After detecting that the user has gotten off, the terminal 100 may notify the vehicle 200 to go to the target empty parking space according to the target driving trajectory. In this way, when the terminal 100 is within the specified range of the specified elevator (for example, within the range of the elevator circle fingerprint library), the user can be prompted to get off, so that the user can take the elevator after getting off. In addition, the terminal 100 can control the vehicle 200 to automatically go to the empty parking space and perform the parking operation. The user does not need to drive the vehicle to the empty parking space by himself, and then walk from the parking position to the elevator after parking, which greatly saves the time spent on parking.

[0176] It should be noted that the server 300 is not limited to the terminal 100 and can send the target driving trajectory to the vehicle 200. The vehicle 200 can display or broadcast parking prompts and, after detecting that the user has exited the vehicle, proceed to the target empty parking space to park. It is understood that since the user cannot view the content displayed on the vehicle 200 after exiting the vehicle, the vehicle 200 can send the location information of the parking location (i.e., the target empty parking space) to the terminal 100 after parking. In this way, after receiving the user's input to find the vehicle, the terminal 100 can display the location information of the parking location to help the user find the vehicle.

[0177] In some examples, after server 300 identifies one or more driving trajectories that overlap with the driving trajectory provided by terminal 100 (or vehicle 200), it can determine whether vehicle 200 can autonomously move to the vacant parking space based on one or more types of parking information for vacant parking spaces near the one or more driving trajectories. The one or more types of parking information may include, but is not limited to, reporting time, number of reports, and vacant space density. The reporting time is the time when server 300 most recently received the location information for the vacant parking space, i.e., the most recent refresh time for the vacant parking space. The number of reports is the number of times server 300 received the location information for the vacant parking space within a preset time period. The vacant space density is the number of vacant parking spaces within a preset range. Based on this one or more types of parking information, server 300 can determine a confidence level for the vacant parking space. This confidence level can be used to determine whether vehicle 200 can perform an automated parking maneuver. The closer the vacant parking space's reporting time is to the vehicle 200's system time, the greater the confidence level for the vacant parking space. The further away from the vehicle 200's system time the vacant parking space's reporting time is, the lower the confidence value for the vacant parking space. The more frequently an vacant parking space is reported, the higher the confidence value for the vacant parking space. The fewer frequently an vacant parking space is reported, the lower the confidence value for the vacant parking space. The greater the vacant space density, the greater the confidence value for the vacant parking space. The smaller the vacant space density, the lower the confidence value for the vacant parking space. Thus, the closer the vacant parking space's reporting time is to the vehicle 200's system time, the greater the likelihood that the vacant parking space is not occupied by another vehicle. Therefore, the confidence value for an vacant parking space whose reporting time is closer to the current time is higher. The more frequently an vacant parking space is reported, the more likely other users are to park in that vacant space. Therefore, the more frequently an vacant parking space is reported, the higher the confidence value. The greater the vacant space density, the more available vacant spaces are nearby, making the space less likely to be occupied. Therefore, the greater the vacant space density, the higher the confidence value.

[0178] If the confidence level of the empty parking space calculated by the server 300 is higher than a preset confidence threshold, the vehicle 200 can perform an automatic parking operation in the empty parking space. If the confidence level of the empty parking space calculated by the server 300 is lower than the preset confidence threshold, the vehicle 200 cannot perform an automatic parking operation in the empty parking space.

[0179] Optionally, the server 300 may send the confidence level of the empty parking space to the terminal 100 (or vehicle 200) when sending the location information and driving trajectory of the empty parking space to the terminal 100 (or vehicle 200). The terminal 100 (or vehicle 200) may determine whether the vehicle 200 can go to the empty parking space on its own based on the confidence level of the empty parking space.

[0180] It is understood that when the vehicle 200 can perform an automatic parking operation for multiple empty parking spaces, the vehicle 200 can select the nearest empty parking space and perform the automatic parking operation. Alternatively, the vehicle 200 (or the terminal 100) can display the identifiers of the multiple empty parking spaces, and after receiving the user's input for the identifier of any empty parking space, in response to the input, perform an automatic parking operation for the empty parking space corresponding to the identifier. In this way, the vehicle 200 can automatically go to the nearest empty parking space to park, or go to the empty parking space where the user prefers to park. Optionally, the vehicle 200 can perform an automatic parking operation after detecting that the user has gotten off the vehicle.

[0181] When vehicle 200 follows the driving trajectory provided by server 300 and approaches an empty parking space, it can send a message to server 300 indicating that the empty parking space is occupied. This message can include the identifier of the empty parking space and / or its location information. Server 300 can then mark the parking space as occupied by the vehicle. This prevents the space from being occupied by another vehicle while the vehicle is approaching the empty space.

[0182] In some examples, if the vehicle 200 sends a message to the server 300 that the empty parking space is occupied, and the server 300 has already received a message that the empty parking space has been occupied by another vehicle, the server 300 can send the location information of the remaining empty parking spaces near the empty parking space to the vehicle 200. The vehicle 200 can automatically go to the remaining empty parking spaces according to the driving trajectory provided by the server 300. Optionally, when there are no other empty parking spaces near the occupied empty parking space, the vehicle 200 can send a prompt message to the terminal 100 to prompt the user to return to the parking lot and return to the location where the user got off. In this way, when the vehicle 200 cannot go to the empty parking space on its own, it can return to the location where the user got off and prompt the user to go to the location of the vehicle 200, so that the user can park the vehicle 200 in the parking lot.

[0183] It should be noted that, when the vehicle 200 is traveling along the driving track to an empty parking space, it can obtain the location information of the empty parking spaces near the driving track and send the location information of the empty parking spaces to the server 300. In this way, the server 300 can update the empty parking spaces near the driving track.

[0184] It should also be noted that when vehicle 200 travels from the location where the user exited the vehicle to an empty parking space, the vehicle's driving trajectory can be collected. This driving trajectory can be used to indicate the relative position of vehicle 200 and the location where the user exited the vehicle. Vehicle 200 can report the collected driving trajectory to terminal 100. Terminal 100 can display the location information of vehicle 200 based on the driving trajectory of vehicle 200. In this way, the user can determine the location of vehicle 200 based on the content displayed on terminal 100. When vehicle 200 enters the target empty parking space, it can exit automatic parking mode and shut down the vehicle.

[0185] In some examples, the empty vehicle position confidence is calculated as follows:

[0186] Confidence=w t ·max(T thr +t Latest -t,0)+w n n+w d ·d

[0187] Among them, T thr is the critical time parameter, T thr The value is a fixed value, such as T thr It can be 60 minutes. Latest is the reporting time of the empty parking space, in minutes. Wherein, t can be the system time of the server 300, in minutes. Wherein, n can be the number of reports of the empty parking space within a preset time (for example, within 60 minutes). Wherein, d can be the number of empty parking spaces within the preset range of the empty parking space. For example, the preset range can be an area within a radius of 30 meters with the empty parking space as the center. It should be noted that the preset range here is only an example and should not constitute a specific limitation on the preset range. Wherein, w t ,w n ,w d is the weight of each parameter, for example, w t It can be 0.3, w n It can be 0.3, w d It can be 0.4. In other examples, t can be the time point when the terminal 100 (or vehicle 200) receives the user's input to search for an empty parking space. For example, when the confidence level of an empty parking space is greater than a preset confidence threshold (e.g., the preset confidence threshold is 60), it indicates that the vehicle 200 can perform the automatic parking operation. When the confidence level of an empty parking space is less than the preset confidence threshold (e.g., the preset confidence threshold is 60), it indicates that the vehicle 200 cannot perform the automatic parking operation.

[0188] For example, the terminal 100 displays the desktop 701 shown in FIG7A . Upon receiving user input (e.g., a single device) for the parking application icon 702 , the terminal 100 may respond to the input by displaying the interface 711 shown in FIG9A . A partial description of the interface 711 shown in FIG9A can be found in the embodiment shown in FIG7B , and will not be repeated here.

[0189] As shown in Figure 9A, display area 713 includes an empty parking space indicator 713B and an empty parking space indicator 713C. Empty parking space indicator 713B can be used to trigger vehicle 200 to move to the empty parking space corresponding to empty parking space indicator 713B. Empty parking space indicator 713C can be used to trigger vehicle 200 to move to the empty parking space corresponding to empty parking space indicator 713C. Display area 713 may also include an elevator indicator 713F, which can be used to instruct the user on how to get to the elevator after exiting the vehicle. Here, vehicle indicator 713D is located near elevator indicator 713F. Display area 712 may also include a display area 731, which includes a widget 731A and prompt information 731B. Widget 731A can be used to trigger terminal 100 to notify vehicle 200 to move to the empty parking space. Prompt information 731B can be used to prompt the user to exit the vehicle at the location corresponding to elevator indicator 713F and, after exiting the vehicle, trigger vehicle 200 to perform an automatic parking operation using widget 731A. For example, the prompt information 731B may be a text prompt information: "You have arrived at the elevator hall and can get off here. Please select an empty parking space after getting off and press the 'Auto Parking' button. The vehicle will automatically go to the empty parking space to park."

[0190] After receiving user input regarding empty parking space indicator 713B shown in FIG9B , terminal 100 may mark empty parking space indicator 713B in response to the input. The marked empty parking space indicator 713B may indicate to the user that the empty parking space corresponding to empty parking space indicator 713B has been selected. Optionally, terminal 100 may also hide empty parking space indicator 713C in response to the input regarding empty parking space indicator 713B shown in FIG9B .

[0191] Afterwards, after receiving input to the control 731A, the terminal 100 may display the interface 711 shown in FIG. 9B in response to the input.

[0192] As shown in Figure 9B, the display area 712 includes a prompt message 732, which can be used to prompt the user that the vehicle 200 is heading to an empty parking space. For example, the prompt message 732 can be a text prompt message: "Automatically heading to an empty parking space." Optionally, the interface 711 can also include a display area 713. For a partial description of the display area 713, please refer to the embodiment shown in Figure 9A and will not be repeated here. Among them, the display area 713 can also include a path 713G, which is the driving path of the vehicle 200 heading to the empty parking space corresponding to the empty parking space mark 713B. Here, the path 713G, the vehicle mark 713D and the empty parking space mark 713B can be used to indicate the process of the vehicle 200 heading to the empty parking space.

[0193] It should be noted that, when displaying the interface 711 shown in FIG9B , the terminal 100 can obtain the driving path of the vehicle 200 from the elevator position to the parking position from the vehicle 200 , and the terminal 100 can determine the location information of the vehicle 200 based on the driving path.

[0194] When vehicle 200 determines that it has arrived at an empty parking space 41 based on the collected driving path of vehicle 200 and the driving path provided by server 300, it can park in empty parking space 41. When terminal 100 determines that vehicle 200 has parked in empty parking space 41 based on the collected driving path of vehicle 200, interface 711 as shown in FIG9C can be displayed.

[0195] As shown in FIG9C , the positions of vehicle identifier 713D and vacant parking space identifier 713B in interface 711 overlap, indicating that vehicle 200 has been parked in vacant parking space 41. Interface 711 may also include prompt 733, which may be used to inform the user that the vehicle has been parked in the selected parking space. For example, prompt 733 may be a text prompt such as "Parked."

[0196] Optionally, the terminal 100 may display a display area 731 as shown in FIG9A . Upon receiving user input (e.g., double-clicking) of an empty parking space indicator, the terminal 100 may, in response to the input, notify the vehicle 200 to proceed to the parking space corresponding to the empty parking space indicator. The terminal 100 may also display a prompt prompting the user to select an empty parking space using the empty parking space indicator. This eliminates the need for the user to press control 731A when controlling the vehicle 200 to perform an automatic parking operation, making it more convenient and efficient.

[0197] As shown in FIG10 , the terminal 100 may display the interface 711 shown in FIG9A when the vehicle 200 is near the elevator 31. The interface 711 may be used to prompt the user that the vehicle 200 can perform an automatic parking operation and to prompt the user of an empty parking space where the vehicle 200 can be parked. In this way, after getting off the vehicle, the user may control the vehicle 200 to move to an empty parking space through the terminal 100. Afterwards, the terminal 100 may display the interface 711 shown in FIG9B after receiving the user's input to park the vehicle 200 in the empty parking space 41. For example, the input to park the vehicle 200 in the empty parking space 41 may be a combination of an input to the empty parking space indicator 713B of the interface shown in FIG9A and an input to the control 731A.

[0198] It should be noted that the above description uses the interface displayed by terminal 100 as an example to describe the specific steps for how vehicle 200 performs an automatic parking operation. This is not limited to terminal 100. Vehicle 200 may also display an interface for providing the automatic parking function, allowing the user to select an empty parking space while driving vehicle 200. Vehicle 200 may also perform an automatic parking operation after detecting that the user has exited the vehicle.

[0199] In one possible implementation, the terminal 100 can determine the relative positional relationship between the terminal 100 and the elevator based on the driving trajectory collected by the terminal 100 and the wireless signal fingerprints at multiple locations along the driving trajectory. After detecting that a user has gotten out of the parking location, the terminal 100 can determine the relative positional relationship between the parking location and the elevator based on the relative positional relationship between the terminal 100 and the elevator. Upon receiving a user's input requesting a vehicle search (or car search), the terminal 100 can, in response to the input, display the location information of the parking location and vehicle prompt information based on the relative positional relationship between the elevator and the parking location. The vehicle prompt information can be used to guide the user on how to get from the elevator to the parking location. In this way, when the user returns to the floor where the vehicle is parked, they can find the location of the vehicle using the content displayed on the terminal 100. Even if the user forgets where they parked their vehicle, they do not need to search for it throughout the parking lot, saving time in finding the vehicle.

[0200] In some examples, after receiving a user's input requesting a vehicle, terminal 100 can, in response to this input, notify vehicle 200 to return to the elevator location according to the driving trajectory collected when vehicle 200 traveled from the elevator to the empty parking space. This allows the user to remotely control the vehicle's arrival at the elevator, eliminating the need to physically retrieve the vehicle, thus saving time. Furthermore, if the user can preemptively control the vehicle's return to the elevator's vicinity, the vehicle can wait for the user before the user arrives at the elevator. This allows the user to board the vehicle and proceed to another location after returning to the parking lot via the elevator. In some examples, terminal 100 can determine whether vehicle 200 can travel from its parking location to the elevator location based on the length of the vehicle's driving trajectory from the elevator to the empty parking space. If the length of the driving trajectory from the elevator to the empty parking space is less than a preset length, vehicle 200 is determined to be capable of traveling from its parking location to the elevator location. This ensures that vehicle 200 arrives at the elevator location accurately, avoiding situations where the recorded driving trajectory of vehicle 200 deviates significantly from the actual trajectory of vehicle 200 due to an excessively long driving trajectory, resulting in vehicle 200 arriving at the wrong location. For example, as shown in FIG11 , the process of the terminal 100 notifying the vehicle 200 to go to the elevator location in the positioning method provided in the embodiment of the present application includes the following steps:

[0201] S1101. The terminal 100 receives input from the user to find a car.

[0202] In some examples, the terminal 100 may provide a car-finding function control, which may be used to trigger the terminal 100 to execute steps S1102 and S1103. The user's car-finding input may be an input to the car-finding function control.

[0203] S1102. In response to the user's input of searching for a vehicle, the terminal 100 obtains a driving trajectory 3 based on the driving trajectory 1 collected while the vehicle 200 is traveling to the empty parking space. The driving trajectory 1 includes the parking position and the elevator position. The driving trajectory 3 is used for the vehicle 200 to return from the parking position to the elevator position.

[0204] When the vehicle 200 is driven by the user to the parking location, the terminal 100 can collect the driving trajectory of the vehicle 200. Alternatively, the vehicle 200 can collect the driving trajectory of the vehicle 200 and send the driving trajectory to the terminal 100. When the vehicle 200 is on its own way to the parking location, the vehicle 200 can collect the driving trajectory of the vehicle 200 and send the driving trajectory to the terminal 100 after parking.

[0205] After receiving the user's input to find the vehicle, the terminal 100 can respond to the input and reversely calculate the driving trajectory 3 based on the driving trajectory 1. For example, the VDR trajectory of the vehicle 200 when it stops from the elevator 31 to the empty parking space 41 is the driving trajectory 1. Then the driving trajectory 3 obtained by the terminal 100 is the reversed vehicle retrieval route shown in Figure 12.

[0206] S1103. The terminal 100 determines that the confidence level of the driving trajectory 3 is higher than the preset trajectory confidence level threshold, and notifies the vehicle 200 to move from the parking position to the elevator position according to the driving trajectory 3.

[0207] In some examples, the terminal 100 may determine whether the confidence level of the driving trajectory 3 is higher than a preset trajectory confidence threshold based on the length between the starting position and the destination position in the driving trajectory 3. For example, when the length between the starting position and the destination position in the driving trajectory 3 is greater than a preset length (e.g., 20 meters), it is determined that the confidence level of the driving trajectory 3 is lower than the preset trajectory confidence threshold. When the length between the starting position and the destination position in the driving trajectory 3 is less than a preset length, it is determined that the confidence level of the driving trajectory 3 is higher than the preset trajectory confidence threshold. For example, the starting position is a parking position and the destination position is an elevator position.

[0208] It is understandable that when the vehicle 200 is on its way from the parking position to the elevator position, the location information of the empty parking spaces near the driving trajectory 3 can be collected, and the driving trajectory 3 and the location information of the empty parking spaces can be sent to the server 300.

[0209] In other examples, after receiving the user's input to find a car, the terminal 100 may display the target driving trajectory provided by the server 300. The target driving trajectory may be used to guide the user from a designated elevator to a target empty parking space where the vehicle 200 is parked. Optionally, after receiving the user's input to find a car, the terminal 100 may only display the target driving trajectory when it detects that the distance between the terminal 100 and the designated elevator is less than a preset distance (e.g., 3 meters).

[0210] In other examples, after receiving the user's input to find the car, the terminal 100 can detect that the distance between the terminal 100 and the location of the designated elevator is greater than a preset distance (for example, 3 meters). Then, the terminal 100 can display the location information of the terminal 100, the location information of the parking location, and the location information of each elevator provided by the server 300. In this way, when the user goes to the parking floor by an elevator other than the designated elevator, the terminal 100 can also determine how to go to the parking location.

[0211] In other examples, vehicle 200 automatically moves from a designated elevator to a target vacant parking space along the target driving trajectory, or the length of the target driving trajectory between the designated elevator and the target vacant parking space is less than a preset length. After receiving the user's input to find a vehicle, terminal 100 may send an instruction message to vehicle 200 instructing vehicle 200 to move from the target vacant parking space to the designated elevator along the target driving trajectory.

[0212] Next, the car-finding process in the embodiment of this application is introduced with reference to the interface diagram.

[0213] For example, the terminal 100 stores the driving trajectory of the vehicle 200 from the parking lot entrance to the parking location. The terminal 100 may display the desktop 701 shown in FIG7A. Upon receiving the user input for the parking application icon 702, the terminal 100 may display the interface 711 shown in FIG13A.

[0214] As shown in Figure 13A, interface 711 includes a display area 741. Display area 741 includes display content for the vehicle search function provided by terminal 100. Here, display area 741 may include, but is not limited to, controls 742 and 743. Control 742 may be used to trigger terminal 100 to display content prompting the user to move from the elevator location to the parking location. For example, terminal 100 may display interface 711 as shown in Figure 13B. Control 743 may be used to trigger terminal 100 to display content indicating that vehicle 200 is moving from the parking location to the designated location. For example, when the designated location is the elevator location, terminal 100 may display interface 711 as shown in Figure 15A. When the designated location is a location set by user input received by terminal 100, terminal 100 may display interface 711 as shown in Figure 15B. In this case, since terminal 100 has already acquired the driving trajectory of vehicle 200 from the parking lot entrance to the parking location. Therefore, when the terminal 100 receives an input for the parking application icon 702 , it may determine that the user wants to find a vehicle in response to the input and display an interface 711 as shown in FIG. 13A .

[0215] Optionally, the interface 711 shown in FIG13A may further include a display area 715. For details, please refer to the embodiment shown in FIG7B and will not be described in detail herein. In the interface 711 shown in FIG13A, the control 715C is in a selected state, and the terminal 100 displays a display area 741 including content of the car search function.

[0216] After receiving user input to control 742, terminal 100 can respond to the input by displaying interface 711 as shown in FIG13B . As shown in FIG13B , display area 741 includes display area 751. Display area 751 may include, but is not limited to, one or more elevator identifiers. The one or more elevator identifiers may include, but are not limited to, elevator identifier 751A, elevator identifier 751B, and elevator identifier 751C. Display area 751 may also include a vehicle identifier 751D. In this way, terminal 100 can display the relative position relationship between the vehicle and the elevator, and the user can travel from the elevator location to the parking location based on this relative position relationship. In some examples, terminal 100 may only display elevator identifiers corresponding to elevators within a preset range of the terminal 100's location.

[0217] Optionally, display area 751 may further include a user identifier 751E and / or a track 751F. Track 751F points from elevator identifier 751A to vehicle identifier 751D. Optionally, display area 751 may further include a display area 751G. For a description of display area 751, refer to the description of display area 721 in FIG. 7C , and will not be repeated here.

[0218] Optionally, the interface 711 may further include an address bar 752. The address bar 752 may include a start address 752A and a destination address 752B. Specifically, the description of the address bar 752 may refer to the description of the address bar 723 in FIG. 7C, which will not be repeated here.

[0219] Alternatively, after receiving user input to control 742, terminal 100 may, in response to the input, display interface 711 as shown in FIG13C . As shown in FIG13C , interface 711 includes a display area 741. Display area 741 may include, but is not limited to, a display area 751. Display area 751 may include navigation information prompting the user to the parking location. For example, when the user is at the location indicated by user identifier 751E in FIG13B , a prompt message prompting the user to turn right may be displayed in display area 751. Here, the prompt message includes a text prompt message: "Please turn right" and an image prompt message, wherein the image prompt message includes a right-turn arrow as shown in FIG13C . Optionally, interface 711 may also include a display area 715. Optionally, display area 741 may also include an address bar 752. Specifically, a description of interface 711 shown in FIG13C can be found in the embodiment shown in FIG7D , and will not be repeated here.

[0220] Optionally, the terminal 100 may display the display content of the display area 751 shown in FIG13C on the interface 711 shown in FIG13B. For example, the terminal 100 may display the display content of the display area 751 shown in FIG13C in the upper left corner of the display area 751 shown in FIG13B.

[0221] For example, the vehicle 200 is parked in the parking space 41, and the user is at the elevator 31. The terminal 100 can help the user go from the elevator 31 to the parking space 41 by displaying the display content shown in FIG. 13B or FIG. 13C, as shown in FIG. 14 .

[0222] Terminal 100 displays interface 711 shown in FIG13A . After receiving user input to control 743, terminal 100 may, in response to the input, execute step S1102 shown in FIG11 . Upon detecting that the confidence level of driving trajectory 3 is higher than a preset trajectory confidence threshold, terminal 100 may notify vehicle 200 to move from the parking location to the elevator location and display interface 711 shown in FIG15A .

[0223] As shown in FIG15A , interface 711 includes a display area 741. Display area 741 includes a prompt message 761. Prompt message 761 can be used to remind the user that vehicle 200 is approaching the elevator from the parking location. For example, prompt message 761 can be a text prompt message: "Vehicle is approaching, please wait in elevator 31."

[0224] In some examples, display area 741 may further include display area 762. Display area 762 may be used to display location information of vehicle 200. Display area 762 may include an elevator logo 762A and a vehicle logo 762B. Elevator logo 762A and vehicle logo 762B may be used to indicate the distance between vehicle 200 and elevator 31.

[0225] Optionally, the display area 762 may further include a track 762C, which may be used to indicate the route of the vehicle 200 to the elevator 31 .

[0226] Optionally, display area 762 can also include user identification 762D, and user identification 762D can be used to represent the position of the user. Like this, the user can determine whether his position is near elevator 31 by user identification 762D, helps the user to determine the position where he is.

[0227] Optionally, the display area 762 may further include a display area 762E. For a description of the display area 762E, reference may be made to the description of the display area 722G in FIG. 7C , which will not be repeated here.

[0228] Optionally, the interface 711 shown in FIG15A may further include a display area 715. A description of the display area 715 can be found in the embodiment shown in FIG7B and will not be repeated here. In the interface 711 shown in FIG15A, the control 715C is selected, and the terminal 100 displays a display area 741 including content related to the vehicle search function.

[0229] It is understandable that after the vehicle 200 reaches the target location by automatic driving, the automatic driving function can be turned off and the user can drive the vehicle 200 to other locations.

[0230] For example, after receiving the driving trajectory 3 sent by the terminal 100, the vehicle 200 can move from the parking position (empty parking space 41) to the elevator position (elevator 31) according to the driving trajectory 3. When the vehicle 200 arrives at the elevator position, the vehicle 200 can be driven by the user to the entrance 21 after detecting that the user has boarded the vehicle, as shown in FIG16 .

[0231] In some examples, when the terminal 100 detects that the confidence level of driving trajectory 3 is higher than a preset trajectory confidence threshold, it may display driving trajectory 3. In response to a user input selecting a specific location on driving trajectory 3, the terminal 100 may notify the vehicle 200 to proceed from the parking location to the specified location along driving trajectory 3. This allows the user to select the most convenient location for boarding on driving trajectory 3, and the vehicle 200 will automatically proceed to that location, making it easier for the user to board the vehicle.

[0232] For example, upon receiving user input on the control 743 shown in FIG. 13A , the terminal 100 may display the interface 711 shown in FIG. 15B in response to the input.

[0233] As shown in FIG15B , display area 741 includes display area 772. Display area 772 is used to display driving trajectory 3 obtained by executing step S1102 shown in FIG11 by terminal 100. Display area 772 includes trajectory 772C and target location marker 772E. Target location marker 772E is located on trajectory 772C, and trajectory 772C can be used to represent driving trajectory 3. Target location marker 772E can be used to indicate the target location that vehicle 200 arrives at after departing from the parking position.

[0234] In some examples, the location corresponding to the target location identifier 772E may be located at the elevator location on the driving trajectory 3, or the location corresponding to the target location identifier 772E may be located at the location closest to the terminal 100 on the driving trajectory 3. In this way, the terminal 100 may set the location corresponding to the target location identifier 772E on the driving trajectory 3 by default, so that the vehicle 200 may default to the elevator or the vicinity of the user, saving the user time in retrieving the vehicle.

[0235] Optionally, the interface 711 shown in FIG15B may further include a confirmation control and a cancel control. The confirmation control may be used to trigger the terminal 100 to notify the vehicle 200 to proceed to the location corresponding to the target location identifier 772E. The cancel control may be used to trigger the terminal 100 to notify the vehicle 200 to pause moving at the location.

[0236] Optionally, the display area 772 may further include an elevator logo 772A and a vehicle logo 772B. In this way, the user can determine the position of the vehicle 200 by the distance between the elevator logo 772A and the vehicle logo 772B.

[0237] Optionally, the display area 772 may further include a user identifier 772D. In this way, the user can determine his or her location through the user identifier 772D, so that the user can go to the location corresponding to the target location identifier 772E.

[0238] Optionally, display area 772 may further include display area 772F. Display area 772F may be used to display the correspondence between each identifier and a text description. As shown in display area 772F in FIG15B , a target location identifier (e.g., target location identifier 772E) corresponds to the text description "target location." In this way, terminal 100 can prompt the user with the meaning of each identifier through text descriptions.

[0239] Optionally, display area 741 may further include prompt information 771. Prompt information 771 may be used to prompt the user to select a target location for vehicle 200. For example, prompt information 771 may be a text prompt such as, "Please select a target location on the route, and the vehicle will automatically proceed to that target location." Optionally, interface 711 may further include display area 715. A description of display area 715 can be found in the embodiment shown in FIG. 15A and is not further described here.

[0240] After receiving the user's input of sliding the target position marker 772E shown in FIG. 15B to the position 773 , the terminal 100 may display the target position marker 772E shown in FIG. 15C in response to the input.

[0241] As shown in FIG15C , display area 772 may further include a track 783, which may be used to indicate the trajectory of vehicle 200 as it moves toward the location corresponding to target location identifier 772E. Interface 711 may further include a prompt 781, which may be used to inform the user that vehicle 200 is moving toward the location corresponding to target location identifier 772E. For example, prompt 781 may be a text prompt such as, "Vehicle is moving toward target location." Thus, when the user is at the location corresponding to user identifier 772D shown in FIG15B , the user may move target location identifier 772E shown in FIG15B to position 773. This allows vehicle 200 to move from its parking position to the location corresponding to the target location identifier as the user moves from the location corresponding to user identifier 772D shown in FIG15B to the location corresponding to user identifier 772D shown in FIG15C . This allows the user and vehicle 200 to meet at the same target location, saving the user time waiting for the vehicle, or the vehicle waiting for the user.

[0242] In some examples, the terminal 100 may detect that the user has gotten off the vehicle after displaying interface 711 as shown in FIG. After detecting that the user has gotten off the vehicle, the terminal 100 may, upon receiving input to control 715C, display interface 711 as shown in FIG. 13A in response to the input. Alternatively, upon detecting that the confidence level of driving trajectory 3 is higher than a preset trajectory confidence threshold in response to the input, the terminal 100 may display interface 711 as shown in FIG. 15A or interface 711 as shown in FIG. 15B . Alternatively, upon detecting that the confidence level of driving trajectory 3 is lower than a preset trajectory confidence threshold in response to the input, the terminal 100 may display interface 711 as shown in FIG. 13B .

[0243] In other examples, the terminal 100 may detect that it has arrived at the location corresponding to the elevator identifier 722A after displaying the interface 711 shown in FIG. 7C or FIG. 7D . After receiving input to control 715C, the terminal 100 may, in response to the input, display the interface 711 shown in FIG. 13A . Alternatively, in response to the input, if the confidence level of the driving trajectory 3 is detected to be higher than a preset trajectory confidence threshold, the terminal 100 may display the interface 711 shown in FIG. 15A or the interface 711 shown in FIG. 15B . Alternatively, in response to the input, if the confidence level of the driving trajectory 3 is detected to be lower than a preset trajectory confidence threshold, the terminal 100 may display the interface 711 shown in FIG. 13B .

[0244] In other examples, the terminal 100 displays the interface 711 shown in FIG9C . After receiving input to control 715C, the terminal 100 may display the interface 711 shown in FIG13A in response to the input. Alternatively, in response to the input, when the confidence level of driving trajectory 3 is detected to be higher than a preset trajectory confidence threshold, the terminal 100 may display the interface 711 shown in FIG15A or the interface 711 shown in FIG15B . Alternatively, in response to the input, when the confidence level of driving trajectory 3 is detected to be lower than a preset trajectory confidence threshold, the terminal 100 may display the interface 711 shown in FIG13B .

[0245] In one possible implementation, server 300 can crowdsource data from multiple vehicles, including the wireless signal fingerprints at multiple locations along each trajectory, and parking lot image data at multiple locations along each trajectory. Based on this crowdsourced data, server 300 can generate a parking lot map. Thus, when terminal 100 enters building 10, it can retrieve a parking lot map of building 10 from server 300 based on the collected wireless signal fingerprints, allowing the user to follow the parking lot map to their desired destination.

[0246] Specifically, the embodiment of the present application can generate a parking lot map through the following steps.

[0247] (1) The server 300 generates a parking lot network based on multiple driving trajectories, wireless signal fingerprints at multiple locations on the multiple driving trajectories, and a fingerprint library of elevator circles of a building.

[0248] When the vehicle terminals of multiple vehicles detect that a vehicle has entered a building, they can collect the vehicle's driving trajectory within the building's parking lot, as well as parking lot image data and wireless signal fingerprints at multiple locations along the driving trajectory. Server 300 can crowdsource the driving trajectory and wireless signal fingerprints collected by multiple vehicles. Based on the wireless fingerprint signals of multiple driving trajectories and the elevator circle fingerprint library, server 300 can determine the relative positional relationship between the multiple driving trajectories and the elevator, that is, determine the relative positional relationship between the multiple driving trajectories. Server 300 can use the relative positional relationship as a constraint and use an algorithm to aggregate the driving trajectories to generate a parking lot network. Server 300 can then use a map application to obtain the longitude and latitude of each entrance and exit of the building. Based on the driving trajectories passing through the entrance and exit and the elevator, the longitude and latitude of the elevator can be determined from the longitude and latitude of the entrance and exit, along the driving trajectory, thereby obtaining a parking lot network with longitude and latitude.

[0249] During this process, when collecting the driving trajectory, the vehicle can also determine the identity of the elevator passed by based on the wireless signal fingerprint, and mark the location of the elevator in the parking lot on the driving trajectory.

[0250] For example, taking the building 10 shown in FIG1 as an example, the partial driving trajectory and the elevator circle range of each elevator obtained by the server 300 are shown in FIG17. Based on this, the server 300 can determine the road network, three elevators, and the parking lot entrance shown by the dotted line in FIG20.

[0251] (2) The server 300 acquires floor information of each floor.

[0252] When the building includes multiple parking floors, determine the floor identification of each road network.

[0253] For example, the server 300 can determine the floor to which each road network belongs based on the wireless signal fingerprint on each driving trajectory and the elevator circle fingerprint library based on the method of determining each floor when generating the elevator circle fingerprint library.

[0254] For another example, a vehicle can use a camera to capture images of a parking lot, including floor markings. When a vehicle passes an elevator, the camera can identify the elevator and the floor information of the elevator or sign, and send the floor information to the server 300. The server 300 can then determine the floors and floor markings of the building, and determine the floor information of the driving trajectory. For example, Figure 18 shows a frame of image captured by a vehicle through a camera. The vehicle can use an image recognition algorithm to determine that the floor is the underground floor based on the text in area 1701 in the image. Optionally, the vehicle can also determine the location of the elevator based on the icon and text in area 1702 in the image.

[0255] (3) The server 300 obtains multiple semantic points of interest (POIs) related to navigation in the parking lot. For example, POIs may include car / pedestrian entrances and exits, stairwells, fire extinguisher locations, etc.

[0256] The vehicle can use parking lot image data captured by the camera to determine POI information. For example, when a vehicle enters a parking lot, the parking lot entrances and exits can be identified using the parking lot image captured by the camera, and the locations of the parking lot entrances and exits can be marked on the vehicle's driving trajectory. Similarly, when the vehicle passes other key locations, these locations can also be marked on the driving trajectory. The vehicle can send both the driving trajectory and the marked points on the driving trajectory to the server 300. The server 300 can then determine each key location on the parking lot network and, based on the longitude and latitude of the parking lot network, determine the absolute longitude and latitude of each marked point.

[0257] (4) The server 300 obtains the location information of each parking space in the parking lot.

[0258] When a vehicle is driving in a parking lot, it can identify the parking spaces it passes through using the parking lot images captured by the camera, mark the identified parking spaces near the vehicle's driving trajectory, and send both the driving trajectory and the parking space marks to the server 300. The server 300 can add marks to the parking lot network and determine the absolute latitude and longitude of each parking space.

[0259] Optionally, the vehicle can also use parking lot images captured by a camera to identify the parking space numbers of each parking space. The vehicle can send its driving trajectory, parking space markings, and parking space numbers to server 300, which can then add parking space numbers to the markings of each parking space in the parking lot network. This allows users to more intuitively locate each parking space when parking.

[0260] For example, Figure 19 shows a frame of image captured by a camera of a vehicle. The vehicle can identify the parking space in Figure 19 through an image recognition algorithm. For example, area 1801 includes a parking space. It should be noted that when other vehicles are parked in the parking space, the location where the other vehicles are parked can also be determined as a parking space. Optionally, the vehicle can also identify the parking space number of each parking space in Figure 19 through an image recognition algorithm. For example, the vehicle can identify the text in area 1802 in Figure 19 as: "B1-A01", and use the text content as the parking space number of the parking space.

[0261] It is understood that the vehicle can simultaneously perform the above steps while driving, collect various data during the vehicle's driving process, and send the collected data to the server 300. When generating the parking lot network, the server 300 can add floor information, elevator markings, key location markings, vacant parking space markings, etc. to the parking lot network based on the data collected by the vehicle.

[0262] For example, server 300 can use the above method to generate a parking map as shown in FIG20 based on driving data, wireless signal fingerprints, POIs, parking lot images, and other data collected from each vehicle on floor 11 of building 10. The parking map shown in FIG20 includes the layout of each parking space, elevator, road, and entrance / exit on floor 11 of building 10. Optionally, the parking map generated in FIG20 can also display the parking space number information for each parking space.

[0263] In this way, server 300 stores crowdsourced parking maps of various buildings. These maps can indicate information such as the parking lot's road network, floor levels, entrances and exits, elevators, and parking space numbers. When other vehicles enter a parking lot, the map of the parking lot floor where the vehicle is located can be determined based on the vehicle's collected driving trajectory and wireless signal fingerprint. This helps users understand the parking lot layout and reach their destination more quickly.

[0264] The server 300 can also crowdsource the location information of vacant parking spaces collected by each vehicle and mark each vacant parking space on a parking lot map. Specifically, upon detecting a vehicle entering a parking lot, a terminal (e.g., a vehicle's central control terminal, a mobile phone, or other portable terminal) can collect the vehicle's driving trajectory, wireless signal fingerprints at multiple locations along the driving trajectory, and the location information of vacant parking spaces near the driving trajectory.

[0265] The terminal can collect inertial data through a sensor (e.g., an inertial measurement unit) and calculate the driving trajectory using a specified algorithm (e.g., a VDR algorithm). The terminal can collect wireless signals through a wireless communication module and extract one or more features of the wireless signals as wireless signal fingerprints. The terminal can collect parking lot image data through the vehicle's camera, apply the parking lot image to an image recognition algorithm, identify empty parking spaces in the parking lot image, and determine the relative positional relationship between the empty parking spaces and the driving trajectory.

[0266] The terminal can send the collected data to server 300, which can match the wireless signal fingerprint with the wireless signals in the elevator circle fingerprint library to determine the location corresponding to the wireless signal fingerprint. After determining the location information of multiple locations on the driving trajectory based on the wireless signal fingerprint, server 300 can determine the location of the driving trajectory in the parking lot. Based on the location of the driving trajectory in the parking lot and the relative positional relationship between the empty parking spaces and the driving trajectory, server 300 can determine the location of each empty parking space in the parking lot and mark the empty parking spaces collected by each vehicle on the parking lot map.

[0267] Alternatively, upon detecting entry into a parking lot, the terminal may collect wireless signal fingerprints and parking lot image data at multiple locations. The terminal may use an image recognition algorithm to identify the parking space numbers of empty parking spaces in the parking lot image. The terminal may send the wireless signal fingerprint and the parking space numbers of the empty parking spaces to the server 300. The server 300 may match the wireless signal fingerprint with the elevator circle fingerprint library to determine the location of the parking lot where the terminal is located, as well as a parking lot map corresponding to the parking lot. The server 300 may mark the empty parking spaces on the parking lot map based on the parking space numbers of the empty parking spaces. In this way, when a building includes multi-story parking lots, the server 300 may determine the specific floor where the terminal is located based on the wireless signal fingerprint collected by the terminal, and send the terminal a parking lot map of the floor where the terminal is located, which includes markings for empty parking spaces. The terminal may display the parking lot map including the markings for the empty parking spaces, making it easier for users to park according to the parking lot map.

[0268] In this way, the server 300 can update the empty parking spaces on the parking lot map through the vehicles entering the parking lot, thereby reducing the time users spend searching for empty parking spaces in the parking lot.

[0269] In one possible implementation, when terminal 100 detects vehicle 200 entering the parking lot of building 10, terminal 100 can obtain the driving trajectory of vehicle 200 after departing from the parking lot entrance and collect wireless signal fingerprints at multiple locations along vehicle 200's driving trajectory. Terminal 100 can determine the location information of one or more vacant parking spaces based on the driving trajectory of vehicle 200, the wireless signal fingerprints at multiple locations along the driving trajectory of vehicle 200, the elevator circle fingerprint library provided by server 300, and a parking lot map provided by server 300 that includes vacant parking space markers. The elevator circle fingerprint library includes a correspondence between wireless signal fingerprints and locations within a preset elevator range. Terminal 100 can display the parking lot map that includes vacant parking space markers and vacant parking space prompt information. This vacant parking space prompt information can be used to inform the user of the location of the vacant parking space. In this way, terminal 100 can determine the location of terminal 100 within the parking lot based on the driving trajectory and wireless signal fingerprints. Server 300 can provide terminal 100 with a parking lot map for the parking lot floor where terminal 100 is located. Terminal 100 can display the parking map of building 10 and the location of terminal 100, so that users can determine the location of empty parking spaces on the parking map through the location of terminal 100 and the parking map. Users can go to the empty parking spaces according to the parking map, helping users find parking places faster and improve parking efficiency.

[0270] It should be noted that when vehicle 200 enters the parking lot, terminal 100 needs to collect the driving trajectory of vehicle 200 and the wireless signal fingerprints collected at multiple locations along the driving trajectory. Terminal 100 can send the wireless signal fingerprints to server 300. Server 300 can determine the location corresponding to the wireless signal fingerprint within the preset range of the elevator based on the wireless signal fingerprint provided by terminal 100 and the elevator circle fingerprint library of building 10. Terminal 100 can determine the location information of terminal 100 based on the position within the preset range of the elevator on the driving trajectory and the driving estimate. The location information of terminal 100 can be used to indicate the specific location of terminal 100 in the parking lot.

[0271] In some examples, when vehicle 200 enters building 10, it can send the identification of building 10 to server 300. After receiving the identification of building 10, server 300 can send a parking map of building 10 to terminal 100, where the parking map includes vacant parking space markers. In this way, terminal 100 can display the parking map when entering building 10, helping the user find an available parking space.

[0272] In some examples, the terminal 100 may use an image recognition algorithm to identify the parking space numbers of empty parking spaces in the parking lot image captured by the terminal 100. The terminal 100 may determine the location of the terminal 100 in the parking lot based on the parking space numbers of the empty parking spaces.

[0273] In some examples, the server 300 may store the time when an empty parking space is updated, i.e., the recorded time of the empty parking space, and send the recorded time of the empty parking space to the terminal 100. When displaying the parking lot map, the terminal 100 may use different markers to mark the empty parking spaces in the parking lot based on the recorded time of the empty parking space. For example, when the terminal 100 determines that the time difference between the recorded time of the empty parking space and the time recorded by the terminal 100 (e.g., 10 minutes) is less than a preset time difference, the empty parking space may be marked with a first marker. When the terminal 100 determines that the time difference between the recorded time of the empty parking space and the time recorded by the terminal 100 is greater than a preset time difference, the empty parking space may be marked with a second marker. The first marker is different from the second marker. It is understood that the terminal 100 may use a third marker to mark non-empty parking spaces. The third marker is different from both the first marker and the second marker. For example, the empty parking space indicated by the first marker may be a parking space icon filled with a first color (e.g., green, black). The empty parking space indicated by the second marker may be a parking space icon filled with a second color (e.g., yellow, gray). The empty parking space represented by the third mark can be a parking space icon filled with a third color (for example, white). The first color, the second color and the third color are all different. In this way, the terminal 100 uses different display methods to display non-empty parking spaces and empty parking spaces with different recording times, helping users to identify empty parking spaces in the parking lot. Since empty parking spaces with earlier recording times are more likely to be occupied by other vehicles, distinguishing empty parking spaces with different recording times by different marks can help users give priority to empty parking spaces with closer recording times, avoiding the situation where the empty parking space is occupied when arriving at the empty parking space.

[0274] For example, the terminal 100 may display a desktop 701 as shown in FIG7A . After receiving a user input for the parking application icon 702 , the terminal 100 may display an interface 800 as shown in FIG21A in response to the input.

[0275] It should be noted that before the terminal 100 displays the interface 800 shown in FIG21A , the terminal 100 detects that the vehicle 200 has entered the building 10. The terminal 100 then collects the vehicle's driving trajectory from the entrance of floor 11, as well as wireless signal fingerprints at multiple locations along the driving trajectory. For details, please refer to the embodiment shown in FIG4 , which will not be described in detail here. The terminal 100 can obtain a parking map for floor 11 from the server 300. The parking map includes markings for vacant parking spaces and the recorded times of vacant spaces.

[0276] As shown in Figure 21A, interface 800 includes a display area 801, which includes a display area 803 and prompt information 802. Display area 801 is used to display the display content of the parking function provided by terminal 100, which is used to help users park in vacant spaces within the parking lot. Display area 803 is used to display a parking lot map and vacant parking space markings. Display area 803 includes a vehicle identifier 803A, which can be used to indicate the location of vehicle 200 within the parking lot. In the parking lot map shown in Figure 21A, terminal 100 uses black to mark vacant parking spaces where the time difference between the recording time and the system time is less than a preset time difference, i.e., vacant parking spaces updated within ten minutes. Terminal 100 uses gray to mark vacant parking spaces where the time difference between the recording time and the system time is greater than a preset time difference, i.e., vacant parking spaces updated more than ten minutes ago. The display area 803 includes one or more empty parking space marks, including an empty parking space mark 803B. The empty parking space mark 803B is a black-marked empty parking space mark.

[0277] Display area 801 may also include prompt information 802. Prompt information 802 may be used to inform the user of the update time of the different colored vacant parking spaces and to provide guidance on how to navigate to the vacant spaces. For example, prompt information 802 may be a text prompt such as: "Black indicates spaces available within 10 minutes, gray indicates spaces available 10 minutes ago. Click on an vacant parking space to plan a navigation route."

[0278] Optionally, the display area 801 may also include a navigation control 804 and a cancel control 805. When the terminal 100 receives a user input (e.g., a single click) for any vacant parking space identifier, the vacant parking space identifier is selected. The navigation control 804 may be used to trigger the terminal 100 to display a navigation route from the terminal 100's location to the location corresponding to the selected vacant parking space identifier. The cancel control 805 may be used to cancel the display of the navigation route.

[0279] Optionally, interface 800 may further include a display area 806, which may include one or more function controls. These one or more function controls may be used to trigger the terminal 100 to display a display area containing function information corresponding to the function controls. For example, these one or more function controls may include, but are not limited to, control 806A, control 806B, and control 806C. Control 806A may be used to trigger the terminal 100 to display a display area containing navigation information prompting the user to the elevator location, such as display area 821 shown in FIG22A . Control 806B may be used to trigger the terminal 100 to display a display area containing parking information prompting the user to an empty parking space, such as display area 801 shown in FIG21A . Control 806C may be used to trigger the terminal 100 to display a display area containing vehicle search information for finding a vehicle, such as display area 801 shown in FIG23A . In interface 800 shown in FIG21A , control 806B is selected, and the terminal 100 displays display area 801 containing parking information.

[0280] The terminal 100 may receive user input for the empty parking space identifier 803B in FIG21A and, in response to the input, select the empty parking space identifier 803B. The terminal 100 may receive user input for the navigation control 804 and, in response to the input, display the interface 800 shown in FIG21B.

[0281] As shown in Figure 21B, the display area 803 includes a track 812. The starting point of the track 812 is the vehicle identification 803A shown in Figure 21A, and the ending point of the track 812 is the empty parking space identification 803B shown in Figure 21A. The track 812 can be used to prompt the user how to drive the vehicle 200 to the parking space shown by the empty parking space identification 803B. Among them, the terminal 100 can determine the location information of the terminal 100 based on the collected driving trajectory and the wireless signal fingerprints at multiple positions on the driving trajectory. The terminal 100 can update the position of the vehicle identification 803A based on the location information of the terminal 100. Due to the change in the position of the vehicle 200, the position of the vehicle identification 803A shown in Figure 21B is different from the position of the vehicle identification 803A shown in Figure 21A. Among them, the partial description of the interface 800 shown in Figure 21B can refer to the embodiment shown in Figure 21A, and will not be repeated here.

[0282] It should be noted that, after receiving the user's input selecting the empty parking space identifier 803B, the terminal 100 can send a message to the server 300 indicating that the empty parking space corresponding to the empty parking space identifier 803B is occupied. The server 300 can then mark the empty parking space as a non-empty space. In this way, when the vehicle 200 is moving toward the empty parking space, the server 300 can avoid sending the location information of the empty parking space to other terminals, thereby preventing multiple vehicles from simultaneously moving toward the same empty parking space.

[0283] Optionally, the display area 801 may further include a prompt message 811, which may be used to prompt the user to go to an empty parking space along the track 812. For example, the prompt message 811 may be a text prompt message: "Navigating, please follow the illustrated route to the parking space."

[0284] When the terminal 100 detects that the distance between the terminal 100 and the location of the empty parking space corresponding to the empty parking space marker 803B is less than a preset distance (eg, 1 meter), the terminal 100 determines that the vehicle 200 has arrived at the empty parking space corresponding to the empty parking space marker 803B. The terminal 100 may display an interface 800 as shown in FIG.

[0285] As shown in Figure 21C, vehicle identifier 803A in interface 800 is positioned above empty parking space identifier 803B. Interface 800 may also include prompt 812, which may be used to prompt the user to arrive at the parking location. For example, prompt 812 may be a text prompt such as, "Arrived at target parking space." Optionally, interface 800 may also include a confirmation control 813. When terminal 100 receives input to confirmation control 813 and then receives user input for other empty parking space identifiers, navigation route planning will no longer occur. In some examples, confirmation control 813 may be used to trigger terminal 100 to display navigation function content.

[0286] In one possible implementation, after acquiring the parking lot map and detecting that the user has gotten off the vehicle at the parking location, the terminal 100 may display the parking lot map and the parking location identifier. Thus, the user can proceed from the parking location to another location in the parking lot, such as an elevator, based on the parking lot map displayed on the terminal 100.

[0287] For example, the terminal 100 displays the interface 800 shown in FIG21C . After receiving user input for control 806A, the terminal 100 may, in response to the input, display the interface 800 shown in FIG22A . It should be noted that the input is not limited to the input for control 806A. The terminal 100 may also display the interface 800 shown in FIG22A when detecting that the user has gotten off the vehicle. Alternatively, the terminal 100 may also display the interface 800 shown in FIG22A after receiving input for the confirmation control 813 shown in FIG21C . This embodiment of the present application is not limited to this.

[0288] As shown in Figure 22A, the interface 800 includes a display area 821. The display area 821 is used to display the display content of the navigation function of the terminal 100. Among them, the display area 821 includes a display area 822. The display area 822 displays a parking map of the floor 11 of the building 10 where the terminal 100 is located. The display area 822 includes a vehicle identification 822A, which can be used to indicate the parking location. The display area 822 also includes one or more elevator identifications, which may include but are not limited to an elevator identification 822C, an elevator identification 822D, and an elevator identification 822E. The one or more elevator identifications can indicate the location of the elevator in the parking lot. In this way, the user can determine how to get from the parking location to the elevator location based on the relative position relationship between the vehicle identification 822A and the one or more elevator identifications.

[0289] Optionally, display area 822 may also include a user identifier 822B. User identifier 822B may be used to indicate the location of the user carrying terminal 100. After detecting that the user has exited the vehicle, terminal 100 may collect the terminal 100's movement trajectory and infer the terminal 100's location based on the parking location and movement trajectory. This allows the user to determine their specific location within the parking lot using user identifier 822B. Since some users may take the wrong intersection when following a map, user identifier 822B can help them turn at the correct intersection.

[0290] Optionally, the display area 821 may also include an address bar 824. The address bar 824 includes a starting address 824A and a destination address 824B. Here, the starting address 824A may display text information: "My location", indicating that the starting location is the user's location. Since the terminal 100 has not yet received the user's input to select the destination address, the destination address 824B does not display text information. After receiving the user's input for the identifier in the display area 822 (for example, the elevator identifier 822C), the terminal 100 can use the location corresponding to the identifier as the destination address and display the name of the identifier (for example, elevator 31) in the destination address 824B. Optionally, the display area 821 may also include prompt information 823, which can be used to prompt the user how to determine the destination address 824B. For example, the prompt information 823 can be a text prompt information: "Please click on the elevator hall identifier to select the target elevator hall."

[0291] Optionally, the interface 800 shown in FIG21A may further include a display area 806. The description of the display area 806 can refer to the embodiment of FIG21A and will not be repeated here. Here, a control 806A in the display area 806 is in a selected state.

[0292] After receiving user input regarding elevator identifier 822C, terminal 100 may display interface 800 as shown in FIG22B in response to the input. As shown in FIG22B , display area 821 includes display area 831, which is used to display navigation information from the starting address to the destination address. Terminal 100 may determine navigation information based on the real-time location of terminal 100 and the path from the starting address to the destination address.

[0293] For example, if the terminal 100 detects that it is located at the location corresponding to user identifier 822B shown in FIG22A , the terminal 100 can determine, based on the terminal 100's location and the route from the starting parking location to the destination elevator 31, that the user needs to first proceed to the first intersection, turn left at the first intersection, and then proceed a distance after turning left to reach elevator 31. Therefore, the terminal 100 can display navigation information as shown in display area 831 in FIG22B . For example, the navigation information may include a text prompt such as "Please go straight for 10 meters" and an image prompt. The image prompt may be a straight arrow.

[0294] Optionally, the display area 821 shown in FIG22B may further include an address bar 824, and the destination address 824B may display text information: "Elevator 31." The description of the address bar 824 may refer to the embodiment shown in FIG22A and will not be repeated here.

[0295] Optionally, the display area 821 shown in FIG22B may further include prompt information 832, which may be used to prompt the user to go to the destination address according to the navigation information in the display area 831. For example, the prompt information 832 may be a text prompt information: "Please follow the navigation instructions and go to the target elevator hall."

[0296] In other examples, after receiving user input regarding elevator identifier 822C shown in FIG. 22A , terminal 100 may, in response to the input, display interface 800 as shown in FIG. 22C . As shown in FIG. 22C , display area 822 includes a track 841 that guides the user from the parking location to elevator 31. Optionally, display area 821 may also include an address bar 824 , with the text "Elevator 31" displayed within destination address 824B. Optionally, display area 821 may also include a prompt 842 prompting the user to follow track 841 to the destination address. For example, prompt 842 may include a text prompt such as "Please follow the illustrated route to the target elevator hall." Optionally, interface 800 may also include a display area 806 , with control 806A selected. Optionally, terminal 100 may display navigation information, such as that shown in display area 831 in FIG. 22B , above interface 800 shown in FIG. 22C . Part of the description of the interface 800 can be found in the embodiment shown in FIG22A , and will not be repeated here.

[0297] In some examples, when the terminal 100 is traveling from the parking location to the elevator, the terminal 100 may display a parking map. During the process of traveling from the parking location to the elevator, the terminal 100 may receive user input regarding parking space identifiers on the parking map and mark vacant parking spaces on the parking map. The terminal 100 may send the collected location information of the vacant parking spaces (e.g., the parking space number, latitude and longitude of the vacant parking spaces, etc.) to the server 300. In this way, the server 300 can update the number of vacant parking spaces in the parking lot with the help of the user.

[0298] For example, as shown in FIG22C , the interface 800 may further include a prompt 843 that may be used to prompt the user on how to mark an empty parking space. For example, the prompt 843 may be a text prompt: "Please click on the corresponding parking space sign on your way to the elevator lobby to mark the empty space. Thank you."

[0299] Display area 822 includes a parking space identifier 844. When the user reaches the location corresponding to user identifier 822B shown in FIG22C , they determine that the parking space corresponding to parking space identifier 844 is vacant. The user can mark the parking space as vacant. Specifically, after receiving user input regarding parking space identifier 844, terminal 100 can respond to the input by displaying parking space identifier 844 as shown in FIG22D . As shown in FIG22D , parking space identifier 844 is marked black, indicating that the parking space corresponding to parking space identifier 844 is an available space updated within the past 10 minutes.

[0300] It is understandable that after receiving the input for the parking space identification again, the terminal 100 can cancel the mark of the parking space as an empty parking space and notify the server 300 that the parking space is not empty. In this way, when the user accidentally touches the mark of an empty parking space, the parking space can be modified to a non-empty parking space.

[0301] In some examples, the display area 806 shown in FIG22C may also include a control 806D (not shown). Control 806D is used to trigger the terminal 100 to display content for the clock-in function. This content may include a map of the parking lot floor where the terminal 100 is located and parking space identifiers within the parking lot. The clock-in function can be used to mark vacant parking spaces within the parking lot. Thus, the terminal 100 can provide users with a clock-in function that updates the number of vacant parking spaces within the parking lot. Upon receiving user input, the terminal 100 updates the number of vacant parking spaces within the parking lot and transmits the updated location information of the vacant spaces to the server 300. As users navigate the parking lot, they may encounter some vacant spaces, and users can more clearly identify the locations of these spaces. The server 300 can then retrieve more vacant spaces to assist subsequent drivers entering the parking lot. In some scenarios, parking lot staff can also use this clock-in function to update the number of vacant spaces within the parking lot to assist drivers in parking.

[0302] For example, after receiving the user's input for the control 806D, the terminal 100 may respond to the input by displaying the interface 800 as shown in FIG22E , wherein the control 806D in the display area 806 as shown in FIG22E is in a selected state.

[0303] As shown in FIG22E , display area 851 can be used to display the parking space identification of the parking lot floor where terminal 100 is located. Display area 851 can include display area 853, which includes parking space identification of the parking lot map. The parking space identification can be used to trigger terminal 100 to mark the parking space corresponding to the parking space identification as an empty parking space, and can also trigger terminal 100 to send the location information of the empty parking space to server 300. For example, the parking space identification can include parking space identification 853C, which can be used to trigger terminal 100 to mark parking space identification 853C (e.g., set parking space identification 853C to black) and notify server 300 that the parking space corresponding to parking space identification 853C is an empty parking space.

[0304] The display area 853 may further include a user identifier 853B. The user identifier 853B may be used to indicate the user's location, so that the user can determine the locations of surrounding empty parking spaces based on his or her location.

[0305] The display area 851 may further include a prompt message 852 for prompting the user how to mark an empty parking space. For example, the prompt message 852 may be a text prompt message: "Please click on the parking space sign to mark an empty parking space in the parking lot."

[0306] Optionally, the display area 853 may also include a vehicle identification 853A, which may also help the user determine the location in the parking lot.

[0307] Optionally, the terminal 100 may only display some of the empty parking spaces within a preset field of view in the parking lot map. The preset field of view may be a circular range with the terminal 100 as the center and a preset length (e.g., 5 meters) as the radius. Alternatively, the terminal 100 may receive a zoom operation on the parking lot map by the user to zoom in / out the parking lot map. The terminal 100 may also receive a drag operation on the enlarged parking lot map by the user to display part of the parking lot map. In this way, when the parking lot area is large, the terminal 100 displays the map of the entire parking lot, which will result in the size of each parking space mark being small, making it difficult for the user to select the correct parking space mark. The terminal 100 only displays some of the empty parking spaces within the preset field of view, which can facilitate users in marking empty parking spaces.

[0308] Optionally, the terminal 100 can display the parking space number of the parking space on the parking space sign. In this way, the parking space can be determined by the parking space number to avoid the situation of marking an adjacent wrong parking space.

[0309] In one possible implementation, the terminal 100 may display parking prompt information after receiving the parking lot map and empty parking space identification sent by the server 300. The parking prompt information can be used to prompt the user to get off at the elevator. After detecting that the user has gotten off the vehicle, the terminal 100 may notify the vehicle 200 to go to the empty parking space according to the parking lot map. In this way, when the terminal 100 is within the specified range of the elevator (for example, within the range of the elevator circle fingerprint library), the user can be prompted to get off the vehicle so that the user can take the elevator after getting off the vehicle. In addition, the terminal 100 can control the vehicle 200 to automatically go to the empty parking space and perform the parking operation. The user does not need to drive the vehicle to the empty parking space by himself, and then walk from the parking position to the elevator after parking, which greatly saves the time spent on parking.

[0310] Among them, the server 300 can determine whether the vehicle 200 can go to the empty parking space on its own based on one or more parking information of the empty parking space. Specifically, the description of how the server 300 determines whether the vehicle 200 can perform an automatic parking operation can be found in the embodiment shown in Figure 9A, which will not be repeated here. After determining one or more empty parking spaces where the vehicle 200 can perform an automatic parking operation, the server 300 can send the one or more empty parking spaces to the terminal 100. The terminal 100 can display the identification corresponding to the one or more empty parking spaces, and the one or more empty parking spaces include designated empty parking spaces. After receiving the user's input for the identification corresponding to the designated empty parking space, the terminal 100 can notify the vehicle 200 to go to the designated empty parking space according to the parking lot map after detecting that the user has gotten off the vehicle.

[0311] For example, the terminal 100 displays the desktop 701 shown in FIG7A . After receiving input for the parking application icon 702, the terminal 100 may respond to the input by displaying the interface 800 shown in FIG23A . It should be noted that before displaying the interface 800 shown in FIG23A , the terminal 100 has already obtained a parking map from the server 300, including available parking spaces within the parking lot where automated parking can be performed.

[0312] As shown in Figure 23A, interface 800 includes display area 801. Display area 801 is used to display the display content of the parking function of terminal 100. Display area 801 includes display area 862, which is used to display a parking lot map. Display area 862 includes one or more empty parking space identifiers. Vehicle 200 can automatically drive to the empty parking space corresponding to the one or more empty parking space identifiers. The one or more empty parking space identifiers include empty parking space identifier 862A. Display area 862 also includes vehicle identifier 862B, which is used to indicate the location of vehicle 200. Display area 862 also includes one or more elevator identifiers, which include elevator identifier 862C.

[0313] Display area 801 also includes prompt information 863, which can be used to prompt the user to select a target parking space and get off at the location corresponding to the elevator mark. Vehicle 200 will then automatically proceed to the target parking space. For example, prompt information 863 can be a text prompt message: "Please select a target parking space and get off at the marked elevator. The vehicle will then automatically proceed to the target parking space."

[0314] Optionally, the display area 801 may further include a departure control 864 and a cancel control 865. The departure control 864 may be used to trigger the terminal 100 to notify the vehicle 200 to automatically drive to the target parking space. The cancel control 865 may be used to trigger the terminal 100 to notify the vehicle 200 to cancel the drive to the target parking space. In this way, after getting off the vehicle, the user can click the departure control 864 to control the vehicle 200 to drive to the target parking space, avoiding the situation where the user is driven to the target parking space. After getting off the vehicle, the user can use the cancel control 865 to stop the vehicle 200 from moving. After the vehicle 200 has parked and moved, the user can select another empty parking space identifier to have the vehicle 200 drive to another empty parking space, making it easier for the user to change the target parking space.

[0315] Optionally, the interface 800 shown in FIG23A may further include a display area 806 , in which a control 806B is in a selected state.

[0316] In other examples, the terminal 100 displays the interface 800 shown in FIG21A . Upon receiving a user's selection of an empty parking space identifier (e.g., empty parking space identifier 803B) corresponding to an empty parking space capable of automatic parking, the terminal 100 may display parking prompt information and an automatic parking control in the interface 800 shown in FIG21A . The parking prompt information prompts the user to exit the elevator 31 adjacent to the vehicle identifier 803A. The automatic parking control may trigger the terminal 100 to notify the vehicle 200 to automatically drive to the empty parking space corresponding to the empty parking space identifier 803B.

[0317] After receiving the user input for the empty parking space indicator 862A shown in Figure 23A , the terminal 100 may receive the user input for the departure control 864. In response to the input for the departure control 864, the terminal 100 may display the interface 800 shown in Figure 23B.

[0318] As shown in Figure 23B, the display area 862 includes a track 866, which points from the position of the vehicle 200 to the position of the empty parking space corresponding to the empty parking space identifier 862A. Track 866 can be used to indicate that the vehicle 200 is heading to the empty parking space corresponding to 862A. Here, the vehicle 200 can determine the position of the vehicle 200 based on the wireless signal fingerprint collected within the preset range of the elevator 31 and the driving trajectory of the vehicle 200 starting from the elevator 31. The display area 801 may also include a prompt message 867, which can be used to prompt the user that the vehicle 200 is heading to the target parking space. For example, the prompt message 867 can be a text prompt message: "The vehicle is heading to the target empty parking space." Specifically, part of the description of the interface 800 can refer to the embodiment shown in Figure 23A and will not be repeated here.

[0319] In other examples, after receiving the user's input regarding the empty parking space identification 862A shown in FIG. 23A , the terminal 100 may detect that the user has gotten off the vehicle and display the interface 800 shown in FIG. 23B .

[0320] In other examples, the terminal 100 may not display the interface 800 shown in FIG. 23B , but may only notify the vehicle 200 to go to the target parking space.

[0321] Afterwards, the terminal 100 detects that the distance between the position of the vehicle 200 and the position corresponding to the empty parking space mark 862A is less than a preset distance difference (for example, 1 meter), and the terminal 100 can display the interface 800 shown in Figure 23C.

[0322] As shown in Figure 23C , vehicle identifier 862B and vacant parking space identifier 862A overlap in display area 862. Display area 801 may also include prompt 868, indicating that vehicle 200 has parked in the target parking space. For example, prompt 868 may include a text message such as "Vehicle has arrived." A detailed description of interface 800 can be found in the embodiment shown in Figure 23A and will not be repeated here.

[0323] In one possible implementation, upon receiving a user's input requesting to find a car (or search for a car), the terminal 100 may display a parking lot map and the parking location in response to the input. This allows the user to find the location of their car based on the information displayed on the terminal 100 after returning to the floor where their car was parked. Even if the user forgets where they parked their car, they do not need to search for it throughout the parking lot, saving time.

[0324] In some examples, when displaying a parking lot map and parking locations, the terminal 100 may also display a trajectory from the terminal 100's location to the parking location. This allows the user to follow the trajectory to the parking location. Optionally, the terminal 100 may also display a prompt prompting the user to follow the trajectory to the parking location.

[0325] After receiving the user's input to find a car, the description of the interface displayed by the terminal 100 can be found in the embodiment shown in Figures 22A to 22C, and will not be repeated here. The difference between the interface displayed by the terminal 100 after receiving the input to find a car and the interface shown in Figures 22A to 22C is the destination location. The destination location in the interface shown in Figures 22A to 22C is the elevator location, while the destination location of the terminal 100 here is the parking location.

[0326] In one possible implementation, terminal 100 can display a parking map and parking locations. Upon receiving a user's request to find a vehicle, terminal 100 can notify vehicle 200 to follow the parking map and proceed from its parking location to the location of terminal 100. This allows the user to summon vehicle 200 via terminal 100 when they reach the floor where their vehicle is parked, eliminating the need to walk to the parking location and saving time in searching for the vehicle.

[0327] For example, a parking map and location information of parking locations are stored in the terminal 100. The terminal 100 displays the desktop 701 shown in FIG7A. Upon receiving user input for the parking application icon 702, the terminal 100 may display the interface 800 shown in FIG24A.

[0328] As shown in Figure 24A, interface 800 includes a display area 871, which is used to display the display content of the vehicle search function. Display area 871 includes a display area 872, which displays a parking map. Display area 872 also includes a vehicle identifier 872A, which indicates the location of vehicle 200. Display area 872 also includes a location identifier 872B, which indicates the destination address of vehicle 200. In some examples, the location corresponding to location identifier 872B is the location of terminal 100.

[0329] Optionally, the display area 872 may further include a track 872C, which is a path obtained by the terminal 100 based on the parking location, the destination location, and the road network planning of the parking lot. The vehicle 200 may follow the path indicated by the track 872C to reach the destination location.

[0330] Optionally, the display area 871 may further include a prompt message 873 for prompting the user to follow the track 872C to the destination. For example, the prompt message 873 may be a text prompt message: "The vehicle is at B1-C08 and will come to pick you up along the illustrated route."

[0331] Optionally, display area 871 may further include a prompt bar 874. Prompt bar 874 includes a prompt message 874A, a confirmation control 874B, and a cancel control 874C. Prompt message 874A may be used to prompt the user to drag positioning marker 872B to change the destination. Confirmation control 874B may be used to trigger terminal 100 to notify vehicle 200 to proceed to the destination corresponding to positioning marker 872B. Cancel control 874C may be used to trigger terminal 100 to notify vehicle 200 to pause movement. Afterward, terminal 100 may receive input from the user dragging positioning marker 872B to change the destination.

[0332] Optionally, the display area 871 may further include a display area 806. In this case, the control 806C is in a selected state. The description of the display area 806 can be found in the embodiment shown in FIG. 21A and will not be repeated here.

[0333] Optionally, after receiving user input for parking application icon 702 shown in FIG7A , terminal 100 may display interface 711 shown in FIG13A in response to the input. After receiving user input for control 743 shown in FIG13A , terminal 100 may display interface 800 shown in FIG24A in response to the input.

[0334] In other examples, the terminal 100 displays an interface 800 as shown in FIG21C , or an interface 800 as shown in FIG22A , or an interface 800 as shown in FIG22B , or an interface 800 as shown in FIG22C , or an interface 800 as shown in FIG22C . After receiving an input to the control 806C, the terminal 100 may display an interface 800 as shown in FIG24A in response to the input.

[0335] In other examples, the terminal 100 displays the interface 800 shown in FIG21C, or the interface 800 shown in FIG22A, or the interface 800 shown in FIG22B, or the interface 800 shown in FIG22C, or the interface 800 shown in FIG22C. After receiving input to the control 806C, the terminal 100 may display the interface 711 shown in FIG13A in response to the input. After receiving input to the control 743 shown in FIG13A, the terminal 100 may display the interface 800 shown in FIG24A in response to the input.

[0336] After receiving user input for the confirmation control 874B shown in FIG. 24A , the terminal 100 may display a prompt message 875 as shown in FIG. 24B in response to the input. Prompt message 875 may be used to inform the user that the vehicle 200 is approaching the destination. For example, prompt message 875 may be a text prompt message such as "Vehicle is approaching." The position of the vehicle identifier 872A shown in FIG. 24B is different from the position of the vehicle identifier 872A shown in FIG. 24A .

[0337] When the terminal 100 detects that the distance between the position of the vehicle 200 and the destination is less than a preset distance difference (for example, 1 meter), the terminal 100 may determine that the vehicle 200 has arrived at the destination, and the terminal 100 may display the interface 800 shown in FIG. 24C .

[0338] As shown in FIG24C , vehicle identifier 872A and location identifier 872B are located at the same location. Display area 871 may also include prompt information 881, which may be used to remind the user that vehicle 200 has arrived at the destination. For example, prompt information 881 may be a text prompt information: "Vehicle has arrived."

[0339] It should be noted that the above embodiment describes the positioning method provided in the embodiment of the present application using the terminal 100 as an example. Not limited to the terminal 100, the vehicle 200 can also perform some of the above steps, for example, collecting driving trajectories, wireless signal fingerprints, obtaining a parking map from the server 300, and displaying a parking map including empty parking space marks. The vehicle 200 can provide the user with a parking function. Specifically, when the vehicle 200 detects that the user has gotten off the vehicle, the vehicle 200 can send a parking map including the parking location to the terminal 100. The terminal 100 can provide the user with navigation and car search functions based on the received parking map of the parking location.

[0340] In some examples, users tend to park their vehicles near elevators or locations other than entrances. Therefore, vehicle 200 may have already collected location information for one or more empty parking spaces before arriving within the preset range of the elevator. Based on the driving trajectory of vehicle 200 and the wireless signal fingerprints at multiple locations along the driving trajectory, server 300 determines that all other parking spaces except those collected by vehicle 200 are non-empty spaces. Server 300 can send the identifiers of empty parking spaces or the location information of empty parking spaces collected by vehicle 200 to terminal 100 or vehicle 200. Upon receiving the identifiers or location information of empty parking spaces sent by server 300, terminal 100 or vehicle 200 can display a prompt message prompting the user to find an empty parking space on their own or return to an empty parking space they have previously passed.

[0341] It should be noted that while vehicle 200 is driving in the parking lot, it can collect the vehicle's driving trajectory and the location information of empty parking spaces, and update the empty parking spaces stored in server 300. Specifically, when vehicle 200 leaves the parking lot from its parking position, it can collect the vehicle's driving trajectory and the location information of empty parking spaces near the driving trajectory. The empty parking spaces collected by vehicle 200 include the parking space where vehicle 200 is parked. Based on the collected driving trajectory and the location information of the empty parking spaces, server 300 can determine whether the stored empty parking spaces are occupied by other vehicles. Based on this, server 300 can cancel the stored location information of the occupied empty parking spaces and add the location information of the new empty parking spaces. In this way, server 300 can collect the location information of empty parking spaces in the parking lot based on all vehicles leaving the parking lot, helping vehicles entering the parking lot later to find empty parking spaces more quickly.

[0342] In some examples, the terminal 100 may display a parking card. This parking card may display functional information for the aforementioned parking, navigation, and car-finding functions. This functional information may include, but is not limited to, prompts for the user to go to an empty parking space, prompts for the user to go to an elevator, and / or prompts for the user to go to the parking location. In response to user input (e.g., a single click) on the parking card, the terminal 100 may display a full-screen parking application interface (e.g., interface 711 shown in Figures 7A-7D, 9A-9C, 13A-13C, 15A-15C, 21A-21C, 22A-22E, 23A-23C, and 24A-24C). The car-finding card may be displayed on the desktop (e.g., desktop 701 shown in Figure 7A) or other designated shortcut interfaces (e.g., the negative one screen, the service center, etc.). The car-finding card can be added or deleted by the user. In some examples, the card may be referred to as a widget. The car-finding card can be a card provided by a parking application, or a card for parking services provided by terminal 100. The parking application can be the application corresponding to parking application icon 702, or it can be a cloud application obtained by terminal 100 through server 300. The application corresponding to parking application icon 702 is an application installed by terminal 100. A cloud application is an application that terminal 100 has not downloaded or installed.

[0343] The terminal 100 provided in an embodiment of the present application is introduced below.

[0344] The terminal 100 can be a mobile phone, a tablet computer, a desktop computer, a laptop computer, a handheld computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a cellular phone, a personal digital assistant (PDA), an augmented reality (AR) device, a virtual reality (VR) device, an artificial intelligence (AI) device, a wearable device (for example, a sports bracelet, a smart watch, smart glasses, etc.), a vehicle-mounted device, a router, a smart home device and / or a smart city device. The embodiments of the present application do not impose any special restrictions on the specific type of the electronic device.

[0345] FIG25 shows a schematic diagram of a hardware structure provided in an embodiment of the present application.

[0346] The following embodiments are described in detail using terminal 100 as an example. It should be understood that terminal 100 shown in FIG25 is merely an example, and terminal 100 may have more or fewer components than those shown in FIG25, may combine two or more components, or may have a different component configuration. The various components shown in FIG25 may be implemented in hardware, including one or more signal processing and / or application-specific integrated circuits, software, or a combination of hardware and software.

[0347] The terminal 100 may include: a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0348] It should be understood that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on terminal 100. In other embodiments of the present application, terminal 100 may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0349] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors.

[0350] The controller may be the nerve center and command center of the terminal 100. The controller may generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0351] Processor 110 may also include a memory for storing instructions and data. In some embodiments, the memory in processor 110 is a cache memory. This memory can store instructions or data that have just been used or are being recycled by processor 110. If processor 110 needs to use the same instruction or data again, it can directly access the memory. This avoids duplicate accesses, reduces processor 110 latency, and thus improves system efficiency.

[0352] In some embodiments, the processor 110 may include one or more interfaces. The interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface.

[0353] It is understood that the interface connection relationship between the modules illustrated in the embodiment of the present invention is merely an illustrative description and does not constitute a structural limitation on the terminal 100. In other embodiments of the present application, the terminal 100 may also adopt a different interface connection method from the above embodiment, or a combination of multiple interface connection methods.

[0354] The charging management module 140 is configured to receive charging input from a charger. The charger can be either a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 can receive charging input from the wired charger via the USB interface 130. In some wireless charging embodiments, the charging management module 140 can receive wireless charging input via the wireless charging coil of the terminal 100. While charging the battery 142, the charging management module 140 can also power the electronic device through the power management module 141.

[0355] The power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140, and provides power to the processor 110, the internal memory 121, the external memory, the display 194, the camera 193, and the wireless communication module 160. The power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle count, and battery health status (leakage, impedance). In some other embodiments, the power management module 141 can also be set in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 can also be set in the same device.

[0356] The wireless communication function of the terminal 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

[0357] Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in terminal 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In other embodiments, the antennas can be used in conjunction with a tuning switch.

[0358] The mobile communication module 150 can provide solutions for wireless communications including 2G / 3G / 4G / 5G applied on the terminal 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the same device as at least some of the modules of the processor 110.

[0359] The modem processor may include a modulator and a demodulator. The modulator is used to modulate the low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is passed to the application processor. The application processor outputs a sound signal through an audio device (not limited to the speaker 170A, the receiver 170B, etc.) or displays an image or video through the display screen 194. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 110 and be set in the same device as the mobile communication module 150 or other functional modules.

[0360] The wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as Wi-Fi networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc. applied on the terminal 100. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, frequency modulate it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0361] In some embodiments, the antenna 1 of the terminal 100 is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the terminal 100 can communicate with the network and other devices through wireless communication technologies. The wireless communication technologies may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology. The GNSS may include global positioning system GPS, global navigation satellite system (GLONASS), Beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS) and / or satellite based augmentation system (SBAS).

[0362] In this embodiment of the present application, the wireless communication module 160 of the terminal 100 can be used to receive communication signals sent by nearby wireless access devices and obtain a wireless signal fingerprint based on the communication signals. Based on the communication signals and the elevator circle fingerprint library provided by the server 300, the terminal 100 can determine one or more locations near the elevator. These one or more locations can be used to determine the parking location of the user's vehicle.

[0363] Terminal 100 implements display functions through a GPU, display screen 194, and an application processor. The GPU is a microprocessor for image processing that connects display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. Processor 110 may include one or more GPUs that execute program instructions to generate or modify display information.

[0364] Display screen 194 is used to display images, videos, and the like. Display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a MiniLED, a MicroLED, a Micro-oLed, or a quantum dot light-emitting diode (QLED). In some embodiments, terminal 100 may include one or N display screens 194, where N is a positive integer greater than one.

[0365] The terminal 100 can implement a shooting function through an ISP, camera 193, a video codec, a GPU, a display 194, and an application processor. The ISP is used to process data fed back by the camera 193. For example, when taking a photo, the shutter is opened, and light is transmitted through the lens to the camera's photosensitive element. The light signal is converted into an electrical signal, which is then transmitted to the ISP for processing and converted into an image visible to the naked eye. The ISP can also perform algorithmic optimization on image noise and brightness. The ISP can also optimize parameters such as exposure and color temperature of the shooting scene. In some embodiments, the ISP can be set in the camera 193.

[0366] Camera 193 is used to capture still images or videos. The lens generates an optical image of an object and projects it onto a photosensitive element. The photosensitive element converts the optical signal into an electrical signal, which is then transmitted to the ISP for conversion into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard format such as RGB or YUV. In some embodiments, terminal 100 may include one or N cameras 193, where N is a positive integer greater than one.

[0367] The digital signal processor is used to process digital signals. In addition to processing digital image signals, it can also process other digital signals. For example, when the terminal 100 selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy.

[0368] Video codecs are used to compress or decompress digital video. Terminal 100 may support one or more video codecs. This allows terminal 100 to play or record videos in various encoding formats, such as Moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, and MPEG4.

[0369] The NPU is a neural network (NN) computing processor. Drawing on the structure of biological neural networks, such as the transmission patterns between neurons in the human brain, it rapidly processes input information and can continuously self-learn. The NPU enables intelligent cognitive applications in the terminal 100, such as image recognition, face recognition, speech recognition, and text comprehension.

[0370] The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the terminal 100. The external memory card communicates with the processor 110 via the external memory interface 120 to implement data storage functions. For example, files such as music and videos can be stored on the external memory card.

[0371] The internal memory 121 can be used to store computer executable program codes, which include instructions. The processor 110 executes various functional applications and data processing of the terminal 100 by running the instructions stored in the internal memory 121. The internal memory 121 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area can store data created during the use of the terminal 100 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0372] The terminal 100 can implement audio functions such as music playback and recording through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone jack 170D, and the application processor.

[0373] The audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signals. The audio module 170 can also be used to encode and decode audio signals. The speaker 170A, also known as the "speaker", is used to convert audio electrical signals into sound signals. The terminal 100 can listen to music or listen to hands-free calls through the speaker 170A. In an embodiment of the present application, the terminal 100 can broadcast a prompt message to the user to the location of the user's vehicle through the speaker 170A. The receiver 170B, also known as the "earpiece", is used to convert audio electrical signals into sound signals. The microphone 170C, also known as the "microphone" or "microphone", is used to convert sound signals into electrical signals. The headphone jack 170D is used to connect a wired headset. The headphone jack 170D can be a USB interface 130, or it can be a 3.5mm Open Mobile Terminal Platform (OMTP) standard interface, or a Cellular Telecommunications Industry Association of the USA (CTIA) standard interface.

[0374] The pressure sensor 180A is used to sense pressure signals and convert the pressure signals into electrical signals.

[0375] The gyro sensor 180B may be used to determine the motion posture of the terminal 100. In some embodiments, the angular velocity of the terminal 100 around three axes (ie, x, y, and z axes) may be determined by the gyro sensor 180B.

[0376] The air pressure sensor 180C is used to measure air pressure.

[0377] The magnetic sensor 180D includes a Hall sensor.

[0378] The acceleration sensor 180E can detect the magnitude of the acceleration of the terminal 100 in various directions (generally three axes).

[0379] In the embodiment of the present application, the terminal 100 can collect inertial data through the gyroscope sensor 180B and the acceleration sensor 180E. Based on the inertial data, the terminal 100 can calculate the pedestrian movement trajectory through an algorithm (e.g., a PDR algorithm), or calculate the vehicle driving trajectory through an algorithm (e.g., a VDR algorithm).

[0380] Optionally, and not limited to, the gyro sensor 180B and the acceleration sensor 180E, the terminal 100 may not include the gyro sensor 180B and the acceleration sensor 180E, and may only include an inertial measurement unit (not shown in FIG10 ). The inertial measurement unit can be used to detect and measure acceleration and rotational motion to obtain inertial data. Among them, the inertial measurement unit may include an accelerometer, an angular velocity meter (or gyroscope), a magnetometer, etc.

[0381] The terminal 100 can determine whether the user has gotten off the vehicle through the wireless communication module 160 and / or a pedometer (not shown in FIG10 ). In some examples, the terminal 100 does not include a pedometer and can determine whether the user has gotten off the vehicle through the gyroscope sensor 180B, the acceleration sensor 180E, or the inertial measurement unit. For details, please refer to the above embodiment and will not be repeated here.

[0382] The terminal 100 can also determine whether the user is taking an elevator using an air pressure sensor 180C, a magnetic sensor 180D, a gyroscope sensor 180B, an acceleration sensor 180E, or an inertial measurement unit. The air pressure sensor 180C can be used to detect the terminal 100's altitude. The terminal 100 can determine whether the user is taking an elevator based on the difference in altitude change detected by the air pressure sensor 180C over a preset period of time. The magnetic sensor 180D can be used to detect geomagnetic changes near the terminal 100. When the terminal 100 follows the elevator through the partition between floors, a specified geomagnetic change characteristic will appear. The terminal 100 can determine whether the user is taking an elevator based on whether the specified geomagnetic change characteristic appears over a preset period of time using the magnetic sensor 180D. The terminal 100 can obtain the user's speed or acceleration value in the elevator's ascending / descending direction using the gyroscope sensor 180B and the acceleration sensor 180E, and determine whether the user is taking an elevator based on this. Among them, the terminal 100 can obtain the user's speed or acceleration in the ascending or descending direction of the elevator through the inertial measurement unit, and determine whether the user is taking the elevator based on this.

[0383] It should be noted that since users tend to remain still and not move when riding in an elevator, the terminal 100 can also use a pedometer, gyroscope sensor 180B, acceleration sensor 180E, or inertial measurement unit to detect that the user's step count has not increased, thereby determining that the terminal 100 has not moved horizontally, that is, the user has not moved. The terminal 100 can then detect whether the user is riding in an elevator based on the above sensors. This can make the determination result more accurate. It should also be noted that the terminal can determine whether the user is riding in an elevator using one or more of the above methods to increase the accuracy of the determination result.

[0384] In some examples, the terminal 100 can process sensor data obtained by the sensor through the NPU to obtain a user's movement trajectory or a vehicle's driving trajectory. In some examples, the terminal 100 can also obtain the similarity between the received wireless signal fingerprint and the wireless signal fingerprint in the elevator circle fingerprint library provided by the server 300 through the NPU.

[0385] The distance sensor 180F is used to measure distance. The proximity light sensor 180G may include, for example, a light-emitting diode (LED) and a light detector, such as a photodiode. The terminal 100 uses the photodiode to detect infrared reflected light from nearby objects. When sufficient reflected light is detected, it can be determined that there is an object near the terminal 100. When insufficient reflected light is detected, the terminal 100 can determine that there is no object near the terminal 100. The terminal 100 can use the proximity light sensor 180G to detect when a user holds the terminal 100 close to their ear to make a call, so that the screen can be automatically turned off to save power. The ambient light sensor 180L is used to sense the brightness of ambient light. The fingerprint sensor 180H is used to collect fingerprints. The temperature sensor 180J is used to detect temperature. The touch sensor 180K, also known as a "touch panel," can be set on the display screen 194. The touch sensor 180K and the display screen 194 form a touch screen, also known as a "touch screen." The touch sensor 180K is used to detect touch operations on or near it. The touch sensor can pass the detected touch operation to the application processor to determine the type of touch event. Visual output related to the touch operation can be provided through the display screen 194. The bone conduction sensor 180M can obtain vibration signals. The button 190 includes a power button, a volume button, etc. The button 190 can be a mechanical button. It can also be a touch button. The terminal 100 can receive key input and generate key signal input related to the user settings and function control of the terminal 100. The motor 191 can generate vibration prompts. The indicator 192 can be an indicator light, which can be used to indicate the charging status, power changes, messages, missed calls, notifications, etc. The SIM card interface 195 is used to connect a SIM card.

[0386] It should be noted that the hardware structure of the vehicle terminal of vehicle 200 can refer to the description of the hardware structure of terminal 100, which will not be repeated here.

[0387] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning method, applied to a terminal, characterized in that: The method comprises: When it is detected that the vehicle drives to the first elevator in the parking lot, a first control, a first prompt information and a first driving trajectory are displayed, wherein the first driving trajectory is used to indicate that the vehicle drives into the first empty parking space, and the first prompt information is used to prompt the user to get off at the first elevator; receiving a first input to the first control; In response to the first input, a first message is sent to the vehicle, where the first message is used to instruct the vehicle to drive into the first empty parking space according to the first driving trajectory.

2. The method according to claim 1, characterized in that After sending the first message to the vehicle, the method further includes: receiving a second message from the vehicle, wherein the second message is used to indicate that the vehicle has entered the first empty parking space; In response to the second message, second prompt information is displayed, where the second prompt information is used to prompt the vehicle to park in the first empty parking space.

3. The method according to claim 2, characterized in that After sending the first message to the vehicle, the method further includes: Acquire a second driving trajectory of the vehicle starting from the first elevator; Determining a position of the vehicle based on the second driving trajectory; Based on the position of the vehicle, the first driving trajectory and a vehicle identification are displayed, where the vehicle identification is used to indicate the position of the vehicle on the first driving trajectory.

4. The method according to claim 2 or 3, characterized in that: After displaying the second prompt information, the method further includes: receiving a second input; In response to the second input, the position of the first elevator, the first empty parking space, and the first driving trajectory are displayed.

5. The method according to claim 4, characterized in that In response to the second input, displaying the position of the first elevator, the first empty parking space, and the first driving trajectory specifically includes: In response to the second input, when it is detected that the distance between the terminal and the first elevator is less than a preset distance, the position of the first elevator, the first empty parking space and the first driving trajectory are displayed.

6. The method according to claim 4 or 5, characterized in that: The method further comprises: The third prompt information is displayed, where the third prompt information is used to prompt the user to go from the first elevator to the first empty parking space according to the first driving trajectory.

7. The method according to claim 4, characterized in that After displaying the position of the first elevator, the first empty parking space, and the first driving trajectory, the method further includes: receiving a third input of a first position of the first driving trajectory; In response to the third input, a positioning mark is displayed at a first position of the first driving trajectory, and a third message is sent to the vehicle, wherein the third message is used to notify the vehicle to go from the first empty parking space to the first position according to the first driving trajectory.

8. The method according to claim 2 or 3, characterized in that: The method further comprises: receiving a fourth input; In response to the fourth input, a fourth message is sent to the vehicle, wherein the fourth message is used to notify the vehicle to go from the first empty parking space to the position of the first elevator according to the first driving trajectory.

9. The method according to claim 8, characterized in that After sending the fourth message to the vehicle, the method further includes: receiving a fifth message from the vehicle, wherein the fifth message is used to indicate that the vehicle has arrived at the first elevator; In response to the fifth message, fourth prompt information is displayed, where the fourth prompt information is used to prompt that the vehicle arrives at the first elevator.

10. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: A fifth input is received; In response to the fifth input, the identification of the elevator of the parking lot, the user identification and the identification of the first empty parking space are displayed, and the user identification is used to indicate the location of the terminal.

11. The method according to any one of claims 1 to 10, characterized in that Before displaying the first control, the first prompt information and the first driving track, the method further includes: When detecting that a vehicle enters a parking lot, obtaining a third driving trajectory of the terminal starting from the entrance of the parking lot, and collecting wireless signal fingerprints of multiple positions on the third driving trajectory; sending the third driving trajectory and wireless signal fingerprints of multiple positions on the third driving trajectory to a server, wherein the server is used to determine one or more driving trajectories intersecting or overlapping with the third driving trajectory based on the wireless signal fingerprints of the multiple positions, wherein the one or more driving trajectories are used to guide the vehicle to drive into an empty parking space, and the one or more driving trajectories include the first driving trajectory; The one or more driving trajectories sent by the server are received.

12. The method according to claim 11, characterized in that The one or more driving trajectories further include a fourth driving trajectory; when displaying the first control, the first prompt information and the first driving trajectory, the method further includes: displaying the fourth driving trajectory; Before receiving the first input to the first control, the method further includes: A sixth input selecting the first driving trajectory is received.

13. The method according to any one of claims 1 to 12, characterized in that Before displaying the first control, the first prompt information and the first driving track, the method further includes: receiving parking information of the first empty parking space sent by the server, the parking information including reporting time, reporting times and empty space density; Calculating, based on the parking information of the first empty parking space, a confidence level of the first empty parking space, wherein the confidence level is used to determine whether the vehicle supports automatic driving to enter the first empty parking space; The displaying of the first control, the first prompt information and the first driving track specifically includes: When it is determined that the confidence level of the first empty parking space is greater than a preset confidence level, the first control, the first prompt information, and the first driving trajectory are displayed.

14. The method according to any one of claims 1 to 13, characterized in that The method further comprises: The terminal obtains the position information of the empty parking space collected during the driving of the vehicle, and sends the position information of the empty parking space to the server, wherein the position information of the empty parking space is used to indicate the relative position relationship between the driving trajectory of the vehicle and the empty parking space.

15. A positioning method, applied to a server, characterized in that: The method comprises: Receiving a first driving trajectory and wireless signal fingerprints at multiple locations on the first driving trajectory sent by a terminal; Based on the wireless signal fingerprints of the multiple locations, determining one or more driving trajectories that intersect or overlap with the first driving trajectory, the one or more driving trajectories being used to guide the vehicle into an empty parking space in the parking lot; The one or more driving trajectories are sent to the terminal.

16. The method according to claim 15, characterized in that The determining of one or more driving trajectories intersecting or overlapping with the first driving trajectory specifically includes: Determine based on multiple elevator circle fingerprint libraries that the wireless signal fingerprints of N positions among the multiple positions on the first action trajectory match the elevator circle fingerprint library of the first elevator, where N is greater than or equal to 1; wherein the elevator circle fingerprint library includes the correspondence between the position information within a preset range of the elevator and the wireless signal fingerprint; Based on the N positions, determining a positional relationship between the first driving trajectory and the elevator in the parking lot; Based on the positional relationship, one or more driving trajectories that intersect or overlap with the first driving trajectory are determined.

17. The method according to claim 15 or 16, characterized in that The method further comprises: Acquire the driving trajectory collected by the terminal, the wireless signal fingerprints of multiple positions on the driving trajectory, and the position information of the empty parking space, wherein the position information of the empty parking space is used to indicate the relative position relationship between the empty parking space and the driving trajectory; Based on the wireless signal fingerprints of multiple positions on the driving trajectory and the elevator circle fingerprint library, determine the position information of the driving trajectory, where the position information of the driving trajectory is used to indicate the relative position relationship between the driving trajectory and the elevator of the parking lot; The location information of the driving track and the location information of the empty parking space are stored.

18. A terminal, characterized in that: The device comprises one or more processors, one or more memories and a transceiver; wherein the transceiver and the one or more memories are coupled to the one or more processors, the transceiver is used to collect wireless signal fingerprints, and the one or more memories are used to store computer executable programs. When the one or more processors execute the computer executable programs, the terminal executes the method as described in any one of claims 1 to 14.

19. A computer-readable storage medium, wherein a computer-executable program is stored in the computer-readable storage medium, and when the computer-executable program is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 14.

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