Vehicle data processing method and apparatus, computer device and storage medium

Abstract

The present application relates to a vehicle data processing method and apparatus, a computer device, a storage medium and a computer program product. The embodiments of the present application are applicable to a vehicle-mounted scenario. The method comprises: inputting a sensor signal generated by a vehicle sensor of a target vehicle into a preset state machine, wherein the preset state machine comprises a logical relation between a plurality of vehicle states (S202); by means of the preset state machine, in a current vehicle state of the target vehicle, updating a shared signal set on the basis of the received sensor signal, determining a next vehicle state of the target vehicle on the basis of the current shared signal set, and switching to the next vehicle state from the current vehicle state, wherein the shared signal set comprises a sensor signal shared by the vehicle states (S204); and by means of the preset state machine, when the vehicle state is switched to a target parking state, on the basis of the received sensor signal, updating a dedicated signal set corresponding to the target parking state, and on the basis of the current shared signal set and the current dedicated signal set, determining parking information of the target vehicle, wherein the parking information is used as vehicle searching guidance information of the target vehicle (S206).

Description

Vehicle data processing method, device, computer equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 30, 2023, with application number 2023114340737 and application name “Vehicle Data Processing Method, Device, Computer Equipment and Storage Medium”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of computer technology, and in particular to a vehicle data processing method, apparatus, computer equipment, storage medium, and computer program product. Background Art

[0003] With the development of transportation technology, more and more people use vehicles as a means of transportation. While using vehicles for travel is convenient, the problem of finding a vehicle after parking is becoming more and more serious.

[0004] Traditionally, users have been required to manually take photos to record their parking locations, allowing them to subsequently search for their cars based on the photos. However, this is time-consuming and labor-intensive, requiring users to manually take photos to record their parking locations each time they park. Manually searching for cars based on photos is also time-consuming and labor-intensive, resulting in low efficiency.

[0005] Summary of the Invention

[0006] Embodiments of the present application provide a vehicle data processing method, apparatus, computer device, computer-readable storage medium, and computer program product.

[0007] The present application provides a vehicle data processing method, applied to a computer device, comprising:

[0008] Inputting a sensor signal generated by a vehicle sensor of a target vehicle into a preset state machine; the preset state machine includes a logical relationship between a plurality of vehicle states;

[0009] By means of the preset state machine, in the current vehicle state of the target vehicle, a shared signal set is updated based on the received sensor signals, a next vehicle state of the target vehicle is determined based on the current shared signal set, and a switch is made from the current vehicle state to the next vehicle state; the shared signal set includes sensor signals shared by various vehicle states;

[0010] Through the preset state machine, when switching to the target parking state, the proprietary signal set corresponding to the target parking state is updated based on the received sensor signal, and the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set; the parking information is used as vehicle-finding guidance information for the target vehicle.

[0011] The present application also provides a vehicle data processing device, comprising:

[0012] a data acquisition module for inputting a sensor signal generated by a vehicle sensor of a target vehicle into a preset state machine; the preset state machine includes a logical relationship between a plurality of vehicle states;

[0013] a data processing module, configured to update a shared signal set based on received sensor signals in a current vehicle state of the target vehicle through the preset state machine, determine a next vehicle state of the target vehicle based on the current shared signal set, and switch from the current vehicle state to the next vehicle state; the shared signal set including sensor signals shared by various vehicle states;

[0014] The data processing module is also used to update the proprietary signal set corresponding to the target parking state based on the received sensor signal through the preset state machine when switching to the target parking state, and determine the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set; the parking information is used as vehicle-finding guidance information for the target vehicle.

[0015] This application provides a vehicle data processing method, which is applied to a terminal and includes:

[0016] Display the parking notice corresponding to the target vehicle;

[0017] In response to a triggering event for the parking notification, displaying vehicle search guidance information for the target vehicle;

[0018] The vehicle search guidance information is determined based on the current shared signal set and the current proprietary signal set by a preset state machine that controls the vehicle state switching. When switching to the target parking state, the shared signal set and the proprietary signal set corresponding to the target parking state are updated based on the received sensor signal. The preset state machine includes the logical relationship between multiple vehicle states, the shared signal set includes sensor signals shared by each vehicle state, and the shared signal set is also used to determine the next vehicle state of the target vehicle.

[0019] The present application also provides a vehicle data processing device, comprising:

[0020] A parking notification display module is used to display the parking notification corresponding to the target vehicle;

[0021] A parking information display module, configured to display vehicle search guidance information for the target vehicle in response to a triggering event for the parking notification;

[0022] The vehicle search guidance information is determined based on the current shared signal set and the current proprietary signal set by a preset state machine that controls the vehicle state switching. When switching to the target parking state, the shared signal set and the proprietary signal set corresponding to the target parking state are updated based on the received sensor signal. The preset state machine includes the logical relationship between multiple vehicle states, the shared signal set includes sensor signals shared by each vehicle state, and the shared signal set is also used to determine the next vehicle state of the target vehicle.

[0023] The present application also provides a computer device including a memory and a processor, wherein the memory stores computer-readable instructions, and the processor implements the steps described in the above-mentioned vehicle data processing method when executing the computer-readable instructions.

[0024] The present application also provides a computer-readable storage medium having computer-readable instructions stored thereon. When the computer-readable instructions are executed by a processor, the steps described in the above-mentioned vehicle data processing method are implemented.

[0025] The present application also provides a computer program product, comprising computer-readable instructions, which implement the steps of the above-mentioned vehicle data processing method when executed by a processor.

[0026] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] FIG1 is a diagram illustrating an application environment of a vehicle data processing method according to an embodiment;

[0029] FIG2 is a schematic flow chart of a vehicle data processing method according to an embodiment;

[0030] FIG3 is a schematic diagram of a process for determining parking information of a target vehicle in an indoor parking state according to an embodiment;

[0031] FIG4 is a schematic diagram of switching between various vehicle states in one embodiment;

[0032] FIG5 is a schematic diagram of an interface of a vehicle data processing method according to another embodiment;

[0033] FIG6 is a schematic diagram of an interface for entering a car search guidance interface through a parking notification in one embodiment;

[0034] FIG7 is a schematic diagram of a car search guidance interface according to an embodiment;

[0035] FIG8 is a schematic diagram of an interface for playing a parking video in one embodiment;

[0036] FIG9 is a schematic diagram of an interface for paying parking fees in one embodiment;

[0037] FIG10 is a schematic diagram of an interface for setting a parking fee skipping entry in one embodiment;

[0038] FIG11 is a schematic diagram of an interface for setting parking fee skipping reminder conditions in one embodiment;

[0039] FIG12 is a schematic diagram of a vehicle search guidance interface on a vehicle terminal in one embodiment;

[0040] FIG13 is a schematic diagram of a car search guidance interface on a car owner's side according to an embodiment;

[0041] FIG14 is a block diagram of a vehicle data processing device according to an embodiment;

[0042] FIG15 is a structural block diagram of a vehicle data processing device according to another embodiment;

[0043] FIG16 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0045] The embodiments of the present application can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, smart transportation, assisted driving, etc.

[0046] The vehicle data processing method provided in the embodiment of the present application can be applied to the application environment shown in Figure 1. Therein, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other servers. The terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented as an independent server or a server cluster consisting of multiple servers or a cloud server.

[0047] It is understood that both the terminal and the server can be used independently to execute the vehicle data processing method provided in the embodiments of the present application. In other words, a computer device can be used independently to execute the vehicle data processing method provided in the embodiments of the present application. The computer device can be either a terminal or a server. Of course, the terminal and the server can also be used in conjunction to execute the vehicle data processing method provided in the embodiments of the present application.

[0048] For example, a terminal is equipped with a preset state machine. The terminal inputs sensor signals generated by the target vehicle's vehicle sensors into the preset state machine, where the preset state machine includes logical relationships between multiple vehicle states. Using the preset state machine, the terminal updates a shared signal set based on received sensor signals in the target vehicle's current vehicle state, determines the target vehicle's next vehicle state based on the current shared signal set, and switches from the current vehicle state to the next vehicle state. The shared signal set includes sensor signals shared by all vehicle states. When switching to the target parking state, the terminal updates a dedicated signal set corresponding to the target parking state based on received sensor signals, determines the target vehicle's parking information based on the current shared signal set and the current dedicated signal set. This parking information serves as guidance for finding the target vehicle. The terminal can display the parking information. The terminal can directly transmit the parking information to other terminals, or it can transmit the parking information to other terminals via a server, which then display the parking information on other terminals.

[0049] For example, a preset state machine is set on the smart vehicle device, and the smart vehicle device determines the parking information of the target vehicle through the preset state machine. The smart vehicle device sends the parking information to the server, and the server sends the parking information to the owner's smartphone, computer, or portable wearable device.

[0050] For example, the terminal displays the parking notice corresponding to the target vehicle, and in response to a triggering event for the parking notice, displays vehicle search guidance information for the target vehicle.

[0051] In one embodiment, as shown in FIG2 , a vehicle data processing method is provided, which is described by taking the method applied to the terminal in FIG1 as an example. It is understood that the method can also be executed by the terminal or server itself, or can be implemented through interaction between the terminal and the server.

[0052] Step S202: Inputting a sensor signal generated by a vehicle sensor of the target vehicle into a preset state machine; the preset state machine includes a logical relationship between a plurality of vehicle states.

[0053] The target vehicle can be any vehicle. Various vehicle sensors are installed on the target vehicle to collect various operating information during vehicle operation, such as vehicle speed, GPS signals, gear position signals, etc. Vehicle sensors can also be called onboard sensors.

[0054] A state machine is an abstract mathematical model that represents the behavior of a class of systems or programs. A preset state machine is a pre-configured state machine for intelligent vehicle search. It includes logical relationships between multiple vehicle states. A vehicle state refers to a state that reflects a specific vehicle behavior during operation and parking. For example, each vehicle state includes an initial state, a parking state, and a stopped state. Logical relationships describe the transition conditions between vehicle states. The preset state machine can control switching and transitions between vehicle states based on these logical relationships.

[0055] In one embodiment, the preset state machine consists of three components: a state set, a transition function, and an initial state. The state set represents all possible vehicle states of the intelligent vehicle search system. The transition function describes the process by which the intelligent vehicle search system transitions from one vehicle state to another. The initial state represents the initial state of the intelligent vehicle search system. An intelligent vehicle search system refers to a system or program that automatically analyzes real-time data generated by onboard sensors during vehicle operation and parking according to predefined procedures and algorithms, and uses this data to obtain vehicle parking information for vehicle search.

[0056] Specifically, while the target vehicle is driving, its vehicle sensors output relevant sensor signals in real time. The terminal inputs these real-time sensor signals into a preset state machine, which controls vehicle state switching and generates parking information for the target vehicle when parked. This allows users to quickly find the vehicle based on this parking information when needed. The preset state machine controls vehicle state switching based on the received sensor signals and generates parking information for the target vehicle when parked based on the received sensor signals.

[0057] In one embodiment, the terminal is a target vehicle. A preset state machine is provided on the target vehicle. The target vehicle inputs sensor signals generated in real time by vehicle sensors into the preset state machine, which controls vehicle state switching and generates parking information for the target vehicle when parking.

[0058] Step S204: Through the preset state machine, in the current vehicle state of the target vehicle, the shared signal set is updated based on the received sensor signal, the next vehicle state of the target vehicle is determined based on the current shared signal set, and the current vehicle state is switched to the next vehicle state; the shared signal set includes sensor signals shared by each vehicle state.

[0059] The current vehicle state refers to the current vehicle state. It can be understood that when the intelligent vehicle search system is started, the current vehicle state is the initial state.

[0060] The shared signal set includes sensor signals shared by all vehicle states. The sensor signals shared by all vehicle states can be sensor signals required for data processing in all vehicle states. All vehicle states can share at least one sensor signal. For example, the sensor signals shared by all vehicle states include at least one of a vehicle positioning signal, a vehicle motion signal, and a vehicle camera image. The vehicle positioning signal refers to the vehicle's GPS signal. The vehicle motion signal refers to a sensor signal reflecting the vehicle's motion; for example, the vehicle motion signal can be the vehicle's speed. The vehicle camera image refers to an image captured by the vehicle's onboard camera.

[0061] The current shared signal set refers to the latest shared signal set, which includes the latest sensor signals shared by each vehicle state.

[0062] Specifically, a preset state machine can control vehicle state transitions based on a shared signal set. Using the preset state machine, the terminal updates the shared signal set based on received sensor signals within the target vehicle's current state, determines the target vehicle's next state based on the current shared signal set, and then switches from the current state to the next state. The preset state machine includes transition conditions between various vehicle states. If, within the target vehicle's current state, the current shared signal set satisfies a transition condition for a particular vehicle state, the target vehicle's next state is determined to be that state.

[0063] For example, the shared signal set may store sensor signals indicating whether the vehicle is stopped. If the current shared signal set includes an ignition-off signal indicating that the vehicle is stopped, the next vehicle state of the target vehicle is determined to be a stopped state.

[0064] Step S206, through the preset state machine, when switching to the target parking state, the proprietary signal set corresponding to the target parking state is updated based on the received sensor signal, and the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set; the parking information is used as vehicle search guidance information for the target vehicle.

[0065] The parking state represents the state of the vehicle during parking. If the preset state machine includes at least one parking state, the target parking state can be any of these states. For example, if the preset state machine includes an initial state, an indoor parking state, an outdoor parking state, and a stopped state, the target parking state can be an indoor parking state. For another example, if the preset state machine includes an initial state, an indoor parking state, an outdoor parking state, and a stopped state, the target parking state can be either an indoor parking state or an outdoor parking state.

[0066] The key to intelligent vehicle search systems lies in determining a vehicle's parking information. To obtain accurate parking information, a dedicated signal set is set for the target parking state. This dedicated signal set includes sensor signals specific to that target parking state. For example, in the target parking state, the vehicle's rear camera image must be recorded to identify the parking space. In other vehicle states, dedicated rear camera image recording is not required, so the dedicated signal set corresponding to the target parking state includes the vehicle's rear camera image. The current dedicated signal set refers to the most recent dedicated signal set. The current dedicated signal set includes the most recent sensor signals specific to the target parking state.

[0067] The target vehicle's parking information refers to information related to the target vehicle's parking behavior. For example, parking information may include at least one of the following: parking location, parking floor, parking space, parking start time, parking video, and parking fee. The target vehicle's parking information serves as guidance for finding the target vehicle, allowing users to quickly locate the target vehicle based on this guidance.

[0068] Specifically, the vehicle state includes a target parking state. In the target parking state, a preset state machine can determine parking information based on a shared signal set and a proprietary signal set corresponding to the target parking state. The terminal controls vehicle state switching via the preset state machine. When switching to the target parking state, the preset state machine updates the proprietary signal set corresponding to the target parking state based on received sensor signals, and determines the target vehicle's parking information based on the current shared signal set and the current proprietary signal set.

[0069] For example, in the target parking state, if the parking information generation condition is triggered, the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set. The parking place of the target vehicle can be determined based on the GPS signal in the current shared signal set, and the parking space of the target vehicle can be determined based on the vehicle rear camera image in the current proprietary signal set. The parking place and parking space of the target vehicle are used as the parking information of the target vehicle.

[0070] In one embodiment, a preset state machine includes a state set and transition functions. The terminal establishes a base class containing shared variables, which correspond to a shared signal set. It also establishes various sensor input functions, which receive sensor signal inputs. Furthermore, based on the base class, the terminal establishes subclasses corresponding to each vehicle state. Each subclass inherits the base class and includes specific variables required for that vehicle state. The sensor input function set corresponding to each subclass overrides the sensor input function set corresponding to each subclass. Each sensor input function set corresponding to each subclass includes sensor input functions corresponding to the various sensor signals required for the vehicle state. Different vehicle states may require different sensor signals, and the data processing performed based on those sensor signals may also vary, necessitating the rewriting of the sensor input function set. Ultimately, the preset state machine is derived based on the base class, each subclass, and the sensor input function set corresponding to each subclass. Specifically, the transition functions required by the preset state machine are derived based on the sensor input function set corresponding to each subclass. Under the current vehicle state, data processing is performed based on the sensor input function set corresponding to the subclass corresponding to the current vehicle state. For example, the sensor input function specifies the conditions under which sensor signals must be recorded. In the current vehicle state, the next vehicle state is determined based on the sensor input function set corresponding to the subclass corresponding to the current vehicle state. For example, the sensor input function set specifies the vehicle state to jump to under what conditions. When switching from the current vehicle state to the next vehicle state, the subclass corresponding to the next vehicle state is assigned to the base class. The base class then calls various required sensor modules to obtain sensor signals and perform data processing.

[0071] In one embodiment, the terminal is a target vehicle. The target vehicle is equipped with a vehicle search application, which is used to find the vehicle and includes a preset state machine. While the target vehicle is in motion, if a user opens the vehicle search application, the target vehicle enters an initial state. The target vehicle inputs sensor signals generated in real time by its sensors into the preset state machine. Based on the sensor signals, the preset state machine controls vehicle state switching and generates parking information in the target parking state. The target vehicle can display the generated parking information in the vehicle search application.

[0072] Furthermore, parking information can also be displayed on the vehicle owner's terminal, allowing users to access parking information at any time. The vehicle owner's terminal refers to the terminal used by the driver of the target vehicle, such as a mobile phone, computer, or smartwatch. The vehicle owner's terminal can also be equipped with a car search application, pre-linking the vehicle owner's terminal to the target vehicle. The target vehicle can send the generated parking information to the application server associated with the car search application. The application server then sends the parking information to the vehicle owner's terminal associated with the target vehicle, and the parking information is displayed on the vehicle search application on the vehicle owner's terminal.

[0073] It can be understood that the car-finding application can refer to the car-finding client installed in the terminal, and the client refers to the program installed and running in the terminal; the car-finding application can also refer to a car-finding application that does not require installation. The installation-free application refers to an application that can be used without downloading and installing. This type of application can also be called a mini-program, which usually runs as a subprogram in the client; the car-finding application can also refer to a web car-finding application opened through a browser, and the web application is a program accessed through a browser; and so on.

[0074] In the vehicle data processing method described above, sensor signals generated by vehicle sensors of a target vehicle are input into a preset state machine. The preset state machine includes logical relationships between multiple vehicle states. The preset state machine updates a shared signal set based on received sensor signals in the target vehicle's current vehicle state, determines the target vehicle's next vehicle state based on the current shared signal set, and switches from the current vehicle state to the next vehicle state. The shared signal set includes sensor signals shared by all vehicle states. When switching to a target parking state, the preset state machine updates a specific signal set corresponding to the target parking state based on received sensor signals, and determines parking information for the target vehicle based on the current shared signal set and the current specific signal set. The parking information serves as guidance information for the target vehicle. Thus, the preset state machine includes logical relationships between multiple vehicle states and can intelligently analyze sensor signals generated by the vehicle in real time to switch between vehicle states and determine parking information, thereby improving the efficiency of determining parking information. The preset state machine determines the target vehicle's next vehicle state based on sensor signals shared by all vehicle states, switches from the current vehicle state to the next vehicle state, and, when switching to the target parking state, determines parking information for the target vehicle based on sensor signals shared by all vehicle states and sensor signals specific to the target parking state. By using the shared signal set and the proprietary signal set corresponding to the target parking state, the vehicle state can be switched flexibly and the vehicle search guidance information can be determined quickly and accurately, which can effectively improve the vehicle search efficiency and ensure the accuracy of vehicle search.

[0075] In one embodiment, updating the shared signal set based on received sensor signals includes:

[0076] The received vehicle positioning signal is added to the vehicle positioning signal sequence in the shared signal set, and the received vehicle motion signal is added to the vehicle motion signal sequence in the shared signal set; the received vehicle front camera image that meets the first preset condition is added to the vehicle camera image sequence in the shared signal set; and the received multiple sensor signals that meet the second preset condition are added to the mixed signal sequence in the shared signal set.

[0077] The shared signal set includes a vehicle positioning signal sequence, a vehicle motion signal sequence, a vehicle camera image sequence, and a mixed signal sequence.

[0078] The vehicle positioning signal sequence includes an ordered sequence of vehicle positioning signals. The vehicle positioning signal refers to the vehicle's GPS signal. The vehicle positioning signal can be used to determine parking locations. Determining parking locations by taking into account indoor and outdoor driving conditions can improve the accuracy of parking location determination.

[0079] The vehicle motion signal sequence includes sequentially arranged vehicle motion signals. The vehicle motion signals include at least one of a speed sensor signal and an inertial sensor signal. The vehicle motion signal sequence can be used to determine a parking floor. Determining the parking floor by considering indoor and outdoor driving conditions can improve the accuracy of parking floor determination.

[0080] The vehicle camera image sequence includes sequentially arranged vehicle camera images. The vehicle camera images include vehicle front camera images. The vehicle front camera images can be used to determine parking video.

[0081] The mixed signal sequence includes an ordered array of mixed signals. The mixed signals include multiple sensor signals. For example, the mixed signals include vehicle positioning signals, vehicle motion signals, and vehicle camera images. During driving, the mixed signal sequence can be used to determine whether the vehicle is located indoors or outdoors.

[0082] The first preset condition is a condition preset for vehicle camera images, used to determine whether a received vehicle camera image is added to the vehicle camera image sequence. The first preset condition can be set as needed. For example, a received vehicle camera image may be added to the vehicle camera image sequence only after a preset time interval.

[0083] The second preset condition is a condition preset for the mixed signal and is used to determine whether a received sensor signal belonging to the mixed signal is added to the mixed signal sequence. The second preset condition can be set according to actual needs. For example, a received sensor signal belonging to the mixed signal is added to the mixed signal sequence only after every preset driving distance.

[0084] It is understood that the plurality of types is at least two types. The ordered arrangement may be arranged according to the signal acquisition time or according to the vehicle mileage.

[0085] Specifically, if the preset state machine receives a vehicle positioning signal, the vehicle positioning signal is added to the vehicle positioning signal sequence in the shared signal set. If the preset state machine receives a vehicle motion signal, the received vehicle motion signal is added to the vehicle motion signal sequence in the shared signal set.

[0086] If the preset state machine receives a vehicle front camera image, it determines whether the vehicle front camera image satisfies a first preset condition. If so, the vehicle front camera image is added to the vehicle camera image sequence in the shared signal set. If not, the vehicle front camera image does not need to be added to the vehicle camera image sequence in the shared signal set. For example, the most recently captured vehicle front camera image may be added to the vehicle camera image sequence in the shared signal set every first preset vehicle travel distance; or the most recently captured vehicle front camera image may be added to the vehicle camera image sequence in the shared signal set every first preset travel time.

[0087] If the preset state machine receives a sensor signal that is a mixed signal, it determines whether the sensor signal satisfies a second preset condition. If so, the sensor signal is added to the mixed signal sequence in the shared signal set. If not, the sensor signal need not be added to the mixed signal sequence in the shared signal set. For example, the most recently collected sensor signal that is a mixed signal may be added to the mixed signal sequence in the shared signal set every second preset vehicle travel distance; or the most recently collected sensor signal that is a mixed signal may be added to the mixed signal sequence in the shared signal set every second preset travel time.

[0088] In the above embodiment, the received vehicle positioning signal is added to the vehicle positioning signal sequence in the shared signal set, and the received vehicle motion signal is added to the vehicle motion signal sequence in the shared signal set. This ensures that the vehicle positioning signal sequence and the vehicle motion signal sequence have sufficient data, thereby improving the accuracy of subsequent data processing. The received vehicle front camera image that meets the first preset condition is added to the vehicle camera image sequence in the shared signal set. The vehicle front camera image data volume is relatively large. Filtering the vehicle front camera image based on the first preset condition can save computer storage resources. The received multiple sensor signals that meet the second preset condition are added to the mixed signal sequence in the shared signal set. The mixed signal includes multiple sensor signals and has a relatively large data volume. Filtering the mixed signal based on the second preset condition can save computer storage resources. Furthermore, each vehicle state includes a state where the vehicle is located indoors and a state where the vehicle is located outdoors. Adding the received relevant sensor signals to the shared signal set allows the shared signal set to include sensor signals output when the vehicle is located indoors and sensor signals output when the vehicle is located outdoors. Such a shared signal set helps improve the accuracy of determining the vehicle state and helps accurately distinguish between states where the vehicle is located indoors and states where the vehicle is located outdoors.

[0089] In one embodiment, adding the received vehicle front camera image that meets the first preset condition to the vehicle camera image sequence in the shared signal set includes:

[0090] Based on the received speed sensor signal, the vehicle mileage cumulative value of the first vehicle odometer in the shared signal set is updated; when the vehicle mileage cumulative value of the first vehicle odometer is greater than a first preset threshold, the currently received vehicle front camera image is added to the vehicle camera image sequence in the shared signal set, and the vehicle mileage cumulative value of the first vehicle odometer is reset; when the number of images in the vehicle camera image sequence is greater than a second preset threshold, the images in the vehicle camera image sequence are deleted in positive order according to the image acquisition time.

[0091] The first vehicle odometer is a vehicle odometer that uses vehicle camera images. The vehicle odometer is used to determine the distance traveled by the vehicle. The vehicle camera images include vehicle front camera images. The vehicle front camera images are images captured by capturing the environment in front of the vehicle. For example, the vehicle front camera images are captured by a camera located on the front of the vehicle.

[0092] The speed sensor signal is a sensor signal that reflects the vehicle's movement speed or driving speed. For example, the speed sensor signal can be a wheel speed signal of the vehicle.

[0093] It can be understood that the first preset threshold and the second preset threshold can be set according to actual needs.

[0094] Specifically, if the preset state machine receives a vehicle front camera image, it is required to add the vehicle front camera image to the vehicle camera image sequence in the shared signal set if the vehicle front camera image meets a first preset condition. The first preset condition is related to the first vehicle odometer in the shared signal set. If the preset state machine receives a speed sensor signal, it updates the vehicle mileage accumulated value of the first vehicle odometer in the shared signal set based on the received speed sensor signal. The preset state machine can determine the vehicle speed based on the received speed sensor signal, determine the travel distance based on the vehicle speed and travel time, and update the vehicle mileage accumulated value of the first vehicle odometer based on the travel distance. If the preset state machine receives a vehicle front camera image, it compares the vehicle mileage accumulated value of the first vehicle odometer with a first preset threshold. If the vehicle mileage accumulated value of the first vehicle odometer is greater than the first preset threshold, the preset state machine adds the vehicle front camera image to the vehicle camera image sequence in the shared signal set and resets the vehicle mileage accumulated value of the first vehicle odometer. The vehicle mileage accumulated value of the first vehicle odometer can be reset to a preset value, for example, to zero.

[0095] Furthermore, when the number of images in the vehicle camera image sequence exceeds a second preset threshold, the images in the vehicle camera image sequence may be deleted in ascending order of image acquisition time. That is, when the number of images in the vehicle camera image sequence exceeds the second preset threshold, the image that was added to the vehicle camera image sequence the earliest may be deleted.

[0096] It can be understood that the generation process of the mixed signal sequence in the shared signal set can also refer to the generation process of the vehicle camera image sequence in the shared signal set, and different types of sensor signals belonging to the mixed signal can correspond to the same or different receiving frequencies for joining the mixed signal sequence.

[0097] In one embodiment, the second preset threshold corresponding to the indoor parking state is greater than the second preset threshold corresponding to other vehicle states. The vehicle camera image sequence is used to generate the parking video. In the indoor parking state, adding more vehicle front camera images to the vehicle camera image sequence in the shared signal set can increase the proportion of images captured indoors in the parking video, thereby ensuring the guidance accuracy of the parking video and improving vehicle search accuracy.

[0098] In the above embodiment, when the accumulated vehicle mileage value of the first vehicle odometer exceeds a first preset threshold, the currently received vehicle front camera image is added to the vehicle camera image sequence in the shared signal set, and the accumulated vehicle mileage value of the first vehicle odometer is reset. This allows the accumulated vehicle mileage value of the first vehicle odometer to be used to add the vehicle front camera image to the vehicle camera image sequence in the shared signal set at predetermined vehicle travel distances, thereby ensuring that the vehicle camera image sequence in the shared signal set consistently maintains guidance images. When the number of images in the vehicle camera image sequence exceeds a second preset threshold, the images in the vehicle camera image sequence are deleted in ascending order of image acquisition time. This allows images that occupy computer resources and have little guidance value to be deleted from the vehicle camera image sequence in a timely manner, thereby improving the effective utilization of storage space.

[0099] In one embodiment, determining a next vehicle state of a target vehicle based on a current set of shared signals includes:

[0100] When the current vehicle state of the target vehicle is not a stopped state and no sensor signal indicating that the vehicle has stopped is received, the mixed signal sequence in the current shared signal set is input into the parking lot entry and exit recognition model to obtain a predicted vehicle state, and the predicted vehicle state is used as the next vehicle state of the target vehicle; the predicted vehicle state is an indoor parking state or an outdoor state; when a sensor signal indicating that the vehicle has stopped is received, the next vehicle state of the target vehicle is determined to be a stopped state; when a sensor signal indicating that the vehicle has started is received in the stopped state, the next vehicle state of the target vehicle is determined to be a started state.

[0101] The parking lot entry and exit recognition model is an artificial intelligence model used to identify whether a vehicle is entering or leaving an indoor parking lot. The model's input data is a mixed signal sequence, and its output data is a predicted vehicle state, either indoor parking or outdoor. If the predicted vehicle state is indoor parking, it indicates that the vehicle has entered the parking lot. If the predicted vehicle state is outdoor, it indicates that the vehicle has left the parking lot.

[0102] Specifically, upon receiving a sensor signal indicating a vehicle stop, the preset state machine determines that the next vehicle state of the target vehicle is a stop state. That is, after the vehicle starts, if it is detected that the vehicle is stopped, the next vehicle state of the target vehicle is determined to be a stop state, and then the vehicle switches to the stop state.

[0103] In the stopped state, upon receiving a sensor signal indicating vehicle start, the preset state machine determines the target vehicle's next vehicle state to be the start state. In other words, after the vehicle stops, if vehicle start is detected, the target vehicle's next vehicle state is determined to be the start state, and the state is switched to the start state. It is understood that the start state can also be referred to as the initial state.

[0104] If the target vehicle's current state is not stopped and no sensor signals indicating a stop are received, the preset state machine inputs the mixed signal sequence from the current shared signal set into the parking lot entry and exit recognition model to obtain a predicted vehicle state, which is then used as the target vehicle's next state. In other words, after the vehicle is started and detected as entering an indoor parking lot, the target vehicle's next state is determined to be indoor parking, and the vehicle switches to indoor parking.

[0105] It is understood that the sensor signal indicating that the vehicle is stopped may be a parking gear, such as P gear, or other sensor signals. The sensor signal indicating that the vehicle is started may be a forward gear, such as N gear, or other sensor signals.

[0106] In one embodiment, the parking lot entry and exit recognition model is a multimodal model. A multimodal model is an artificial intelligence model capable of processing multiple types of data. By combining these different types of data, a multimodal model can provide more comprehensive and accurate information. The latest mixed signal sequence can be regularly input into the parking lot entry and exit recognition model. By combining the multiple sensor signals in the mixed signal sequence, the parking lot entry and exit recognition model can output an accurate prediction of the vehicle state.

[0107] In the above embodiment, the mixed signal sequence in the current shared signal set includes multiple sensor signals. The mixed signal sequence in the current shared signal set is input into the parking lot entry and exit recognition model to obtain the predicted vehicle status. The sensor signals from multiple perspectives can be integrated to accurately determine whether the vehicle is entering or leaving the indoor parking lot, thereby improving the accuracy of judgment.

[0108] In one embodiment, as shown in FIG3 , when switching to the target parking state, the proprietary signal set corresponding to the target parking state is updated based on the received sensor signals, and parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set, including:

[0109] Step S302 : When switching to the indoor parking state, based on the received vehicle gear position signal, the vehicle parking state in the proprietary signal set corresponding to the indoor parking state is updated; the indoor parking state is the target parking state.

[0110] The target parking state is an indoor parking state. The proprietary signal set corresponding to the indoor parking state includes the vehicle parking state. The vehicle parking state is divided into a forward state and a reverse state. When a vehicle gear position signal indicating a reverse gear is received, the vehicle parking state is determined to be a reverse state. When a vehicle gear position signal indicating a forward gear is received, the vehicle parking state is determined to be a forward state.

[0111] Step S304 : When the vehicle parking state is the forward state, the vehicle camera image sequence in the shared signal set is updated based on the received vehicle front camera image.

[0112] Step S306 : When the vehicle parking state is the reverse state, the vehicle camera image sequence in the shared signal set and the vehicle rear camera image sequence in the dedicated signal set are updated based on the received vehicle rear camera image.

[0113] The proprietary signal set corresponding to the indoor parking status also includes a vehicle rear camera image sequence. This image sequence includes an ordered sequence of vehicle rear camera images. These images are captured by capturing the environment behind the vehicle. For example, the images are captured by a camera located at the rear of the vehicle. This image sequence is used to determine parking spaces.

[0114] Specifically, when switching to the indoor parking state, if the preset state machine receives a vehicle gear position signal, the vehicle parking state in the dedicated signal set corresponding to the indoor parking state is promptly updated based on the vehicle gear position signal. When the vehicle parking state is the forward state, if the preset state machine receives a vehicle front camera image, the vehicle camera image sequence in the shared signal set is updated based on the vehicle front camera image to record the forward driving scene. When the vehicle parking state is the reverse state, if the preset state machine receives a vehicle rear camera image, the vehicle camera image sequence in the shared signal set is updated based on the received vehicle rear camera image to record the rear reverse scene. When the vehicle parking state is the reverse state, if the preset state machine receives a vehicle rear camera image, the vehicle rear camera image sequence in the dedicated signal set can also be updated based on the received vehicle rear camera image.

[0115] Step S308, when receiving the sensor signal indicating that the vehicle has stopped, the parking space is identified based on the current vehicle rear camera image sequence to obtain the parking space corresponding to the target vehicle, the parking floor number is identified based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, the parking place corresponding to the target vehicle is determined based on the current vehicle positioning signal sequence, and the parking space, parking floor, parking place corresponding to the target vehicle and the current vehicle camera image sequence are used to obtain the parking information of the target vehicle in the indoor parking state.

[0116] The vehicle rear camera image sequence in the proprietary signal set is used to identify parking spaces, where a parking space is a designated parking space. For example, the parking space number is identified based on the vehicle rear camera image in the vehicle rear camera image sequence. The vehicle motion signal sequence in the shared signal set is used to identify parking floors, where a parking floor is a floor where a vehicle is parked. For example, the vehicle motion signal in the vehicle motion signal sequence is used to identify the floor the vehicle is traveling on as the parking floor. The vehicle positioning signal sequence in the shared signal set is used to identify parking locations, where a parking location is a building where the vehicle is parked.

[0117] The current vehicle rear camera image sequence refers to the latest vehicle rear camera image sequence. The current vehicle motion signal sequence refers to the latest vehicle motion signal sequence. The current vehicle positioning signal sequence refers to the latest vehicle positioning signal sequence.

[0118] Specifically, if the preset state machine receives a sensor signal indicating that the vehicle has stopped, it will identify the parking space based on the current vehicle's rear camera image sequence to obtain the parking space corresponding to the target vehicle, identify the parking floor number based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, determine the parking place corresponding to the target vehicle based on the current vehicle positioning signal sequence, and obtain the parking information of the target vehicle in the indoor parking state based on the parking space, parking floor, parking place corresponding to the target vehicle and the current vehicle camera image sequence.

[0119] In the above embodiment, when the vehicle switches to an indoor parking state, the parking state in the dedicated signal set corresponding to the indoor parking state is updated based on the received vehicle gear position signal. Different vehicle parking states require different data processing to subsequently generate accurate parking information. When the vehicle is in the forward parking state, the vehicle camera image sequence in the shared signal set is updated based on the received vehicle front camera image to record the front driving scene and generate a parking video containing the front driving scene. When the vehicle is in the reverse parking state, the vehicle camera image sequence in the shared signal set is updated based on the received vehicle rear camera image to record the rear driving scene and generate a parking video containing the rear driving scene. The parking space is identified based on the received vehicle rear camera image and the dedicated signal set rear camera image sequence. When a sensor signal indicating vehicle stop is received, the parking space is identified based on the current vehicle rear camera image sequence, the parking level is identified based on the current vehicle motion signal sequence, and the parking location is identified based on the current vehicle positioning signal sequence. Based on the parking space, parking level, parking location, and the current vehicle camera image sequence corresponding to the target vehicle, comprehensive and accurate parking information for the target vehicle in the indoor parking state can be obtained.

[0120] In one embodiment, updating a vehicle camera image sequence in a shared signal set and a vehicle rear camera image sequence in a dedicated signal set based on a received vehicle rear camera image includes:

[0121] The received vehicle rear camera image is added to the vehicle camera image sequence in the shared signal set; based on the received speed sensor signal, the vehicle mileage cumulative value of the second vehicle odometer in the proprietary signal set is updated; when the vehicle mileage cumulative value of the second vehicle odometer is greater than a third preset threshold and there is an empty parking space within the preset range of the target vehicle, the currently received vehicle rear camera image is added to the vehicle rear camera image sequence in the proprietary signal set, and the second vehicle odometer is reset.

[0122] The second vehicle odometer is a vehicle odometer for the image of the vehicle's rear camera. It can be understood that the third preset threshold and the preset range can be set according to actual needs.

[0123] Specifically, in the indoor parking state, if the preset state machine receives a speed sensor signal, it updates the vehicle mileage cumulative value of the second vehicle odometer in the dedicated signal set corresponding to the indoor parking state based on the speed sensor signal. In the indoor parking state, when the vehicle is in the reverse parking state, if the preset state machine receives a vehicle rear camera image, it adds the vehicle rear camera image to the vehicle camera image sequence in the shared signal set. When the vehicle mileage cumulative value of the second vehicle odometer is greater than a third preset threshold and there is an available parking space within the preset range of the target vehicle, the preset state machine adds the currently received vehicle rear camera image to the vehicle rear camera image sequence in the dedicated signal set and resets the second vehicle odometer.

[0124] In one embodiment, a parking space recognition model can be used to identify whether there are vacant parking spaces within a preset range of a target vehicle. This artificial intelligence model takes as input the vehicle's surround-view camera image and outputs predicted labels. These labels are classified as positive or negative. A positive label indicates that there are vacant parking spaces within the preset range of the target vehicle, while a negative label indicates that there are no vacant parking spaces within the preset range of the target vehicle.

[0125] In the above-described embodiment, the received vehicle rear camera image is added to the vehicle camera image sequence in the shared signal set to record the rear driving scene during reversing and generate a parking video containing the rear driving scene. If there are no vacant parking spaces within the preset range of the target vehicle, it indicates that the target vehicle is still searching for an available parking space. At this time, the captured vehicle rear camera image is of little use in determining the parking space. Therefore, when the accumulated vehicle mileage value of the second vehicle odometer is greater than a third preset threshold and there is an vacant parking space within the preset range of the target vehicle, the currently received vehicle rear camera image is added to the vehicle rear camera image sequence in the dedicated signal set. This avoids adding useless vehicle rear camera images to the vehicle rear camera image sequence in the dedicated signal set, conserves computer resources, and improves the effective utilization of storage space.

[0126] In one embodiment, the vehicle data processing method further includes:

[0127] Character recognition is performed on the vehicle rear camera image in the vehicle rear camera image sequence added to the proprietary signal set to obtain the parking space logo and recognition confidence corresponding to the vehicle rear camera image.

[0128] Parking space recognition is performed based on the image sequence of the current vehicle's rear camera to obtain the parking space corresponding to the target vehicle, including:

[0129] From the current vehicle rear camera image sequence, the vehicle rear camera images with recognition confidence greater than a preset confidence are selected as candidate rear camera images; based on the parking space identifications corresponding to the candidate rear camera images, the parking space identification similarities between the candidate rear camera images are calculated; based on the parking space identification similarities, the target rear camera image is determined from the candidate rear camera images; based on the parking space identification similarities, the parking space corresponding to the target rear camera image is determined.

[0130] Character recognition refers to optical character recognition (OCR). Character recognition on a vehicle's rear-facing camera image involves performing OCR on the image to identify parking space signs. A parking space sign is a symbol used to identify a parking space. For example, a parking space sign could be a parking space number.

[0131] Recognition confidence indicates the reliability and accuracy of parking space sign recognition. A higher recognition confidence indicates a more accurate recognition result. The preset confidence level is a pre-set confidence threshold used to filter vehicle rear camera images.

[0132] The parking space sign similarity between two rear-facing camera images refers to the similarity between the parking space signs corresponding to the two rear-facing camera images.

[0133] Specifically, the preset state machine can perform OCR recognition on the vehicle rear camera image in the vehicle rear camera image sequence added to the proprietary signal set to obtain the parking space identification and recognition confidence level corresponding to the vehicle rear camera image. It is understood that OCR recognition can be performed when the vehicle rear camera image is added to the vehicle rear camera image sequence, or when performing parking space recognition, OCR recognition can be performed on the vehicle rear camera image in the vehicle rear camera image sequence.

[0134] When performing parking space recognition, the preset state machine first filters vehicle rear camera images based on a preset confidence level. From the current sequence of vehicle rear camera images, vehicle rear camera images with recognition confidence levels greater than the preset confidence level are selected as candidate rear camera images. The preset state machine then determines a target rear camera image from the selected candidate rear camera images and, based on the parking space identifier corresponding to the target rear camera image, identifies the parking space corresponding to the target vehicle. For example, if the parking space identifier corresponding to the target rear camera image is P17, P17 is selected as the parking space identifier for the parking space corresponding to the target vehicle. Based on the parking space identifiers corresponding to the candidate rear camera images, the preset state machine calculates the parking space identifier similarity between each candidate rear camera image and, based on the parking space identifier similarity, determines the target rear camera image from each candidate rear camera image. For example, the candidate rear camera image with the highest parking space identifier similarity to the other candidate rear camera images is selected as the target rear camera image; the candidate rear camera image with a parking space identifier similarity greater than a preset similarity level is selected as the target rear camera image.

[0135] In the above embodiment, vehicle rear camera images with recognition confidence greater than a preset confidence level are selected from the current vehicle rear camera image sequence as candidate rear camera images. This can filter out inaccurately recognized vehicle rear camera images, thereby helping to improve parking space recognition accuracy. Based on the parking space identification corresponding to the candidate rear camera images, the parking space identification similarity between each candidate rear camera image is calculated. Based on the parking space identification similarity, a target rear camera image is determined from each candidate rear camera image. A candidate rear camera image containing a complete parking space identification can be selected as the target rear camera image. A candidate rear camera image containing a complete parking space identification is a candidate rear camera image that is relatively similar to the other candidate rear camera images. Based on the parking space identification corresponding to the target rear camera image, the parking space corresponding to the target vehicle is determined, thereby ensuring parking space recognition accuracy.

[0136] In one embodiment, the parking floor number is identified based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, including:

[0137] Based on the inertial sensor signal in the current vehicle motion signal sequence, the target vehicle's front driving angle sequence is determined. Based on the speed sensor signal in the current vehicle motion signal sequence, the target vehicle's driving speed sequence is determined. Based on the target vehicle's front driving angle sequence and driving speed sequence, the parking floor corresponding to the target vehicle is determined.

[0138] The inertial sensor signal is used to determine the vehicle's front angle. The speed sensor signal is used to determine the vehicle's speed. The vehicle's front angle and speed are combined to determine the vehicle's floor.

[0139] Specifically, when identifying parking floors, a preset state machine determines the target vehicle's headway angle sequence based on inertial sensor signals in the current vehicle motion signal sequence. The headway angle sequence includes headway angles arranged in a time-ordered sequence. Based on the headway angles, it can be determined whether the vehicle is traveling downward, upward, or horizontally. Based on the speed sensor signals in the current vehicle motion signal sequence, the preset state machine determines the target vehicle's speed sequence. The speed sequence includes vehicle speeds arranged in a time-ordered sequence. Based on the speed, the vehicle's travel distance can be determined. Combining the headway angles and speeds, the vehicle's travel distance perpendicular to the ground surface can be determined, thereby identifying the parking floor. For example, if a vehicle first travels downward and then horizontally, and the distance traveled perpendicular to the ground surface during the downward movement exceeds a preset distance, the vehicle is determined to have traveled one floor downward. The preset state machine determines the parking floor corresponding to the target vehicle based on the target vehicle's headway angle sequence and speed sequence. When the target vehicle is identified as entering an indoor parking lot, it is determined that the target vehicle is located on the ground surface. The parking floor is determined by determining the floor the target vehicle has passed based on the headway angle sequence and speed sequence.

[0140] In the above embodiment, the target vehicle's headway angle sequence and speed sequence are determined based on the current vehicle motion signal sequence. The headway angle sequence is used to determine the vehicle's direction of motion perpendicular to the ground surface, and the speed sequence is used to determine the vehicle's travel distance. By combining the headway angle sequence and speed sequence of the target vehicle, the vehicle's direction perpendicular to the ground surface can be determined, thereby determining the parking floor corresponding to the target vehicle. By combining the headway angle sequence and speed sequence of the target vehicle to determine the parking floor corresponding to the target vehicle, the accuracy of parking floor recognition can be guaranteed.

[0141] In one embodiment, determining a parking space corresponding to a target vehicle based on a current vehicle positioning signal sequence includes:

[0142] From the current vehicle positioning signal sequence, the vehicle positioning signal with a signal strength greater than a preset strength is obtained in reverse order of signal generation time as the target positioning signal; the point of interest corresponding to the target positioning signal is used as the parking place corresponding to the target vehicle.

[0143] The vehicle positioning signal is a GPS signal, which has a corresponding signal strength. The preset strength is a pre-set signal strength threshold used to filter GPS signals. A point of interest (POI) is a point of interest (POI). The POI corresponding to the target positioning signal is the POI closest to the target positioning signal.

[0144] Specifically, when identifying a parking space, the preset state machine retrieves, in reverse chronological order from the current vehicle positioning signal sequence, vehicle positioning signals with signal strengths greater than a preset strength as target positioning signals. Specifically, the preset state machine retrieves the most recently acquired vehicle positioning signal with signal strengths greater than a preset strength from the current vehicle positioning signal sequence as the target positioning signal. Based on the target positioning signal, the preset state machine queries the corresponding POI and identifies the POI corresponding to the target positioning signal as the parking space corresponding to the target vehicle.

[0145] In the above embodiment, after the vehicle enters the indoor parking lot, the collected GPS signal will be relatively weak and inaccurate. When identifying the parking place, the vehicle positioning signal with a signal strength greater than a preset strength is obtained from the current vehicle positioning signal sequence in reverse order of the signal generation time as the target positioning signal. The GPS signal with a stronger signal collected near the indoor parking lot can be used as the target positioning signal, and the point of interest corresponding to the target positioning signal is used as the parking place corresponding to the target vehicle, which can ensure the accuracy of parking place identification.

[0146] In one embodiment, the vehicle data processing method further includes:

[0147] When the vehicle parking state is updated from the forward state to the reverse state, the vehicle mileage cumulative value of the third vehicle odometer in the proprietary signal set is updated based on the received speed sensor signal; the third vehicle mileage cumulative value from entering the indoor parking state to the termination of the last reverse is used to count the vehicle mileage cumulative value; when the difference between the current vehicle mileage cumulative value and the historical vehicle mileage cumulative value of the third vehicle odometer is greater than a fourth preset threshold, the vehicle rear camera image sequence in the proprietary signal set is cleared; after determining the parking information of the target vehicle in the indoor parking state, the vehicle positioning signal sequence, vehicle camera image sequence and vehicle rear camera image sequence in the current shared signal set are cleared.

[0148] The third odometer is used to calculate the cumulative vehicle mileage from the time the vehicle enters the indoor parking state to the time the vehicle last reversed. The current cumulative vehicle mileage value of the third odometer refers to the latest cumulative vehicle mileage value of the third odometer, which represents the cumulative vehicle mileage from the time the vehicle enters the indoor parking state to the time the vehicle last reversed. The historical cumulative vehicle mileage value of the third odometer refers to the previous cumulative vehicle mileage value of the third odometer, which represents the cumulative vehicle mileage from the time the vehicle enters the indoor parking state to the time the vehicle last reversed.

[0149] It can be understood that the fourth preset threshold can be set according to actual needs.

[0150] Specifically, when the vehicle's parking state is updated from a forward state to a reverse state, the preset state machine updates the vehicle mileage cumulative value of the third vehicle odometer in the proprietary signal set based on the received speed sensor signal. When the difference between the current vehicle mileage cumulative value and the historical vehicle mileage cumulative value of the third vehicle odometer is greater than a fourth preset threshold, it indicates that the driving distance between two adjacent reverse parkings is large, which to a certain extent can reflect that the vehicle has selected a new parking space. At this time, the preset state machine can clear the vehicle rear camera image sequence in the proprietary signal set to avoid identifying the parking space that the vehicle has abandoned during subsequent parking space recognition. After determining the parking information of the target vehicle in the indoor parking state, the preset state machine can promptly clear the vehicle positioning signal sequence, vehicle camera image sequence, and vehicle rear camera image sequence in the current shared signal set in the proprietary signal set to prepare data for the target vehicle's next parking.

[0151] In the above embodiment, when the difference between the current vehicle mileage cumulative value and the historical vehicle mileage cumulative value of the third vehicle odometer is greater than the fourth preset threshold, the vehicle rear camera image sequence in the proprietary signal set is cleared. After determining the parking information of the target vehicle in the indoor parking state, the vehicle positioning signal sequence, vehicle camera image sequence and vehicle rear camera image sequence in the current shared signal set and the proprietary signal set are cleared. This can avoid data confusion between the two parkings and improve the accuracy of the parking information generated each time.

[0152] In one embodiment, the vehicle data processing method further includes:

[0153] Through the preset state machine, when switching to the outdoor state, when a sensor signal indicating that the vehicle has stopped is received, the parking place corresponding to the target vehicle is determined based on the vehicle positioning signal sequence in the current shared signal set; the vehicle surround-view camera image is obtained; and based on the parking place corresponding to the target vehicle and the vehicle surround-view camera image, the parking information of the target vehicle in the outdoor state is obtained.

[0154] Among them, the vehicle surround view camera image is an image obtained by capturing the environment around the vehicle.

[0155] Specifically, after a target vehicle leaves an indoor parking lot, it can also generate corresponding parking information as vehicle-finding guidance when parked outdoors. Using a preset state machine, when receiving a sensor signal indicating a vehicle stop, the terminal determines the target vehicle's corresponding parking location based on the vehicle positioning signal sequence in the current shared signal set. For example, the terminal uses the vehicle positioning signal in the current shared signal set, obtained in reverse chronological order of signal generation, with a signal strength greater than a preset strength, as the target positioning signal, and the point of interest corresponding to the target positioning signal as the target vehicle's corresponding parking location. Using a preset state machine, when receiving a sensor signal indicating a vehicle stop, the terminal captures the vehicle's surround-view camera image to record the vehicle's surroundings while parked outdoors. Finally, using the preset state machine, the terminal obtains the target vehicle's parking information in the outdoor state based on the target vehicle's corresponding parking location and the vehicle's surround-view camera image.

[0156] It is understandable that the parking information in the outdoor state may also include other information, such as parking spaces.

[0157] In the above embodiment, in the outdoor state, when a sensor signal indicating that the vehicle has stopped is received, the parking place corresponding to the target vehicle is determined based on the vehicle positioning signal sequence in the current shared signal set, and the vehicle surround-view camera image is obtained. Based on the parking place corresponding to the target vehicle and the vehicle surround-view camera image, the simplified parking information of the target vehicle in the outdoor state can be quickly obtained.

[0158] In one embodiment, the vehicle data processing method further includes:

[0159] After determining the parking information of the target vehicle in an outdoor state through a preset state machine, the vehicle positioning signal sequence, vehicle motion signal sequence, and vehicle camera image sequence in the current shared signal set are cleared.

[0160] Specifically, after the terminal determines the target vehicle's parking information outdoors through a preset state machine, it clears the vehicle positioning signal sequence, vehicle motion signal sequence, and vehicle camera image sequence from the current shared signal set to prepare data for the target vehicle's next parking. Furthermore, timely clearing the vehicle positioning signal sequence, vehicle motion signal sequence, and vehicle camera image sequence from the current shared signal set can prevent data confusion between two parking attempts, improving the accuracy of each generated parking information.

[0161] In one embodiment, the vehicle data processing method further includes:

[0162] When the preset state machine determines that the next vehicle state is an indoor parking state or an outdoor state, the vehicle positioning signal sequence and the vehicle camera image sequence in the current shared signal set are cleared.

[0163] Specifically, when the terminal determines, through the preset state machine, that the next vehicle state is indoor parking or outdoor parking, it clears the vehicle positioning signal sequence and vehicle camera image sequence from the current shared signal set to prepare data for the target vehicle's next parking. Furthermore, timely clearing the vehicle positioning signal sequence and vehicle camera image sequence from the current shared signal set can avoid data confusion between two parking attempts, improving the accuracy of each generated parking information. When the terminal determines, through the preset state machine, that the next vehicle state is indoor parking or outdoor parking, it does not clear the vehicle motion signal sequence, which helps accurately determine the parking floor when parking indoors.

[0164] In one embodiment, the vehicle data processing method further includes:

[0165] When switching from the target parking state to the stop state, the parking place and parking start time corresponding to the target vehicle are obtained from the parking information corresponding to the target vehicle, and the parking fee jump reminder condition corresponding to the target vehicle is determined based on the parking place and parking start time; when the parking duration of the target vehicle meets the parking fee jump reminder condition, a parking fee reminder notification corresponding to the target vehicle is generated; the parking fee reminder notification is used to be displayed on at least one of the target vehicle and the owner terminal corresponding to the target vehicle.

[0166] The parking start time can be the time the vehicle enters the target parking state. For example, for indoor parking, the parking start time can be the time the vehicle enters the parking lot. The parking start time can also be the time the vehicle enters the stopped state. For example, for indoor parking, the parking start time can be the time the vehicle enters the stopped state. The parking duration refers to the duration of parking starting from the parking start time.

[0167] Parking fee skipping reminders notify drivers of additional parking fees when their parking time exceeds the scheduled free time or the prepaid parking fee. Typically, parking lots set a set free parking time limit, such as 30 minutes or an hour, after which additional parking fees are required. When a vehicle's parking time exceeds the free time limit, the corresponding fee can be automatically calculated and the driver will be notified.

[0168] Parking fee skipping reminder conditions are the conditions that must be met to trigger a parking fee skipping reminder. These conditions can be set based on actual needs. For example, a parking fee skipping reminder condition could trigger a reminder every 10 minutes, or every additional 10 yuan required. Parking fee reminder notifications notify users that they need to pay their parking fee.

[0169] Specifically, when switching from the target parking state to the stopped state, the terminal retrieves the target vehicle's corresponding parking location and parking start time from the parking information corresponding to the target vehicle. Based on the parking location and parking start time, it determines the parking fee skipping reminder conditions for the target vehicle. It will be appreciated that different parking locations correspond to different charging standards. When the target vehicle's parking duration meets the parking fee skipping reminder conditions, the terminal generates a parking fee reminder notification for the target vehicle and displays it to the user. The parking fee reminder notification can be displayed on the target vehicle or on the vehicle owner's terminal corresponding to the target vehicle.

[0170] In the above embodiment, when switching from the target parking state to the stopped state, the parking fee jump reminder condition corresponding to the target vehicle is determined based on the parking place and the parking start time. When the parking duration of the target vehicle meets the parking fee jump reminder condition, a parking fee reminder notification corresponding to the target vehicle is generated, which can automatically and timely remind the user of information related to the parking fee, thereby improving interaction efficiency.

[0171] In a specific embodiment, the present invention utilizes a pre-set state machine to automatically determine, record, and notify the user of information related to the current vehicle's parking location based on vehicle sensors, significantly reducing the time and effort required to find the vehicle. The pre-set state machine is a Deterministic Finite Automation (DFA) state machine.

[0172] As shown in Figure 4, the preset state machine consists of four states: [initial state, indoor parking state, outdoor state and stop state], which are defined as follows: Initial state 1 is the default state after the system is started; Indoor parking state 2 is the state corresponding to when the vehicle is judged to be in the indoor parking lot by the indoor parking lot entry and exit algorithm (i.e., the parking lot entry and exit recognition model); Outdoor state 3 is the state corresponding to when the vehicle is judged to be outdoors by the indoor parking lot entry and exit algorithm; Stop state 4: The state corresponding to when the sensor signal such as shifting into P gear (lower priority), turning off the engine, locking the vehicle, etc. indicates that the vehicle has entered the parking state.

[0173] To record parking video, parking space number, parking location, parking floor, and automated message notifications during the parking process, each state requires maintaining a set of shared variables. These shared variables include: a fixed-length, sequential sensor sequence 1, including camera images, GPS signals, wheel speed, and other data, which serves as input to the parking entry and exit algorithm and ultimately outputs whether the vehicle is in the parking lot; a sequential GPS position sequence 2; a sensor signal sequence 3 for calculating the number of parking floors; a sequential image frame sequence 4; and an odometer (O1…On) for determining the vehicle's travel distance for different requirements. The sequential arrangement can be chronological or odometer-ordered.

[0174] For each state, its private variables and state transition process are:

[0175] 1. Initial State 1

[0176] No private variables

[0177] State transfer:

[0178] 1. Receive the front camera image:

[0179] Update odometer O2. If the mileage L2 output by odometer O2 is greater than a preset threshold, add the front camera image to sequence 4. Then reset O2. If the number of images in sequence 4 exceeds a preset threshold T1, remove the oldest image.

[0180] When Sequence 1 meets the requirements of the indoor parking lot entry and exit algorithm, Sequence 1 is input into the indoor parking lot entry and exit algorithm. If the output result is outdoor, Sequence 4 is cleared, Sequence 2 is cleared, and the process jumps to outdoor state 3. If the output result is indoor, the process jumps to indoor parking state 2.

[0181] 2. Receive a stop signal such as P gear / ignition off:

[0182] Clear sequence 2, clear sequence 3, clear sequence 4, and jump to stop state 4.

[0183] 3. Receive GPS signal:

[0184] Add GPS data to sequence 2.

[0185] 4. Receive signals from IMU (Inertial Measurement Unit), tachometer, etc.:

[0186] Add sequence 3.

[0187] 2. Indoor parking status 2

[0188] Private variables: mileage L1 from entering the parking lot to the end of the last reversing operation, recorded by odometer O1; reversing status R, which is true if the vehicle is currently reversing; and sequence 5 of images captured by the rear camera for OCR recognition and their corresponding OCR results.

[0189] State transfer:

[0190] 1. Receive the front camera image:

[0191] 1-1. When Sequence 1 meets the requirements of the indoor parking lot entry and exit algorithm, input Sequence 1 into the indoor parking lot entry and exit algorithm. If the output result is outdoor, clear Sequence 4 and Sequence 2, and jump to outdoor state 3.

[0192] 1-2. If R is false:

[0193] Update odometer O2. If the mileage L2 output by odometer O2 is greater than a preset threshold, add the front camera image to sequence 4 and reset O2. If the number of images in sequence 4 is greater than a preset threshold T2 (T2>T1), the oldest added image is kicked out.

[0194] 2. Receive GPS signal:

[0195] Add GPS data to sequence 2.

[0196] 3. Receive signals from IMU, tachometer, etc.:

[0197] Add sequence 3.

[0198] 4. Reverse gear signal received:

[0199] R is updated to true. If the difference between O1 and the previous recorded value is greater than the threshold, sequence 5 is cleared and the mileage corresponding to the current O1 is recorded.

[0200] 5. Receive forward gear signal

[0201] R is updated to false.

[0202] 6. Receive the image from the rear camera:

[0203] 6-1. If R is true:

[0204] If the mileage L3 recorded by odometer O3 is greater than the specified threshold and the parking space recognition model identifies a parking space within a certain distance, O3 is reset and the rear camera image is added to sequence 4. This rear camera image is preprocessed to improve image quality. OCR recognition is performed on the preprocessed image and added to sequence 5 along with the recognition result, confidence level, and other parameters.

[0205] 7. When receiving a stop signal such as P gear / ignition off:

[0206] Update R to false. Calculate the number of parking floors based on sequence 3, then clear sequence 3 and reset O1 and O3.

[0207] Select the most appropriate parking space number and its corresponding image from sequence 5, and generate a parking video based on sequence 4. Filter out the first GPS location with a signal strength greater than the threshold from sequence 2 in reverse order, and reversely check the POI to determine the timestamp when entering the parking lot based on the GPS information. If necessary, match the parking space recognition result with the indoor map to obtain more accurate absolute positioning and floor information. Desensitize relevant information such as images and videos according to compliance requirements. Upload parking videos, parking space numbers, parking space number images, parking floors, parking locations and other information to the background or user device, and notify the user. If there is no network or other reasons for not being able to provide parking information (such as unrecognized numbers, etc.), inform the user. Then, clear sequence 2, clear sequence 4, clear sequence 5, and jump to stop state 4.

[0208] The backend sets parking fee skipping reminders based on parking location or entry time.

[0209] 3. Outdoor Status 3

[0210] No private variables

[0211] 1. Receive the front camera image:

[0212] Update odometer O2. If the mileage L2 output by odometer O2 is greater than a preset threshold, add the front camera image to sequence 4 and reset O2. If the number of images in sequence 4 is greater than a preset threshold T2 (T2>T1), the oldest added image is kicked out.

[0213] When Sequence 1 meets the requirements of the indoor parking lot entry and exit algorithm, Sequence 1 is input into the indoor parking lot entry and exit algorithm. If the output result is indoor, jump to indoor parking state 2.

[0214] 2. Receive a stop signal such as P gear / ignition off:

[0215] From sequence 2, the system retrieves the first GPS location with a signal strength greater than the threshold, searches for the point of interest (POI), and uses the surround-view camera to capture four photos of the vehicle's surroundings. The current time is recorded as the parking time. Information such as photos is desensitized according to compliance requirements. The system then uploads the GPS and surrounding photos to the backend or user device, notifying the user. If the upload or data acquisition fails, the user is notified. Sequences 2, 3, and 4 are then cleared, and the system transitions to stop state 4.

[0216] The backend sets parking fee skipping reminders based on parking location or entry time.

[0217] 3. Receive GPS signal:

[0218] Add GPS data to sequence 2.

[0219] 4. Receive signals from IMU, tachometer, etc.:

[0220] Add sequence 3.

[0221] 4. Stop state 4:

[0222] No private variables

[0223] State transfer:

[0224] 1. Receive forward gear signal:

[0225] Jump to initial state 1.

[0226] In practice, the above design can be easily implemented using an object-oriented approach. Specifically, a base class is created that contains basic variables and functions that accept various sensor inputs. Subclasses then inherit from the base class, create their own private variables, and override the sensor input functions. In practice, state switching is accomplished by dynamically binding and switching instances at runtime.

[0227] This application proposes an automatic finite state machine with four states that can transition between states and execute functional operations solely based on onboard sensors. This state machine can handle complex problem spaces consisting of an infinite number of driver behaviors. The sensors relied on by this application are all commonly available hardware on vehicles, without increasing field costs or requiring additional driver effort, effectively reducing the time and effort drivers spend searching for their vehicles in parking lots.

[0228] In one embodiment, as shown in FIG5 , a vehicle data processing method is provided, which is described by taking the method applied to a terminal as an example. It is understood that the terminal can be a target vehicle or another terminal.

[0229] Step S502: Display the parking notification corresponding to the target vehicle.

[0230] Among them, the parking notification is a message that notifies the user to check the parking information.

[0231] Specifically, after generating the parking information of the target vehicle, the terminal can obtain a parking notice related to the parking information corresponding to the target vehicle, and the terminal displays the parking notice corresponding to the target vehicle for the user to review.

[0232] If the terminal is the target vehicle, after the target vehicle generates parking information through a preset state machine, it can generate a parking notification corresponding to the parking information and display the parking notification corresponding to the target vehicle. If the terminal is the target vehicle's owner terminal, the owner terminal can receive parking information sent from the server, generate a parking notification corresponding to the parking information, and display the parking notification corresponding to the target vehicle. If the terminal is the target vehicle's owner terminal, the owner terminal can receive parking notifications sent from the server and display the parking notification corresponding to the target vehicle.

[0233] It is understood that a parking notification can be a message formed by at least one type of media data, such as voice, text, image, or video. Of course, the display format of a parking notification can also be customized as needed. For example, a parking notification can be a text message that notifies the user to view parking information via text message; a parking notification can be a reminder message in an application that notifies the user to view parking information within the application; an application reminder message can be displayed within the application or outside the application, and so on.

[0234] Step S504 : In response to the triggering event for the parking notification, displaying vehicle search guidance information of the target vehicle.

[0235] The trigger event for a parking notification can be generated based on a user's triggering action, for example, a user clicking on a parking notification generates a trigger event for the parking notification. The trigger event for a parking notification can also be automatically triggered when certain conditions are met, for example, if the user does not view the parking notification within a certain period of time, a trigger event for the parking notification is automatically generated.

[0236] Vehicle guidance information is generated by a preset state machine that controls vehicle state transitions. When switching to the target parking state, the shared signal set and the dedicated signal set corresponding to the target parking state are updated based on received sensor signals. The information is determined based on the current shared signal set and the current dedicated signal set. The preset state machine includes the logical relationships between multiple vehicle states, and the shared signal set includes sensor signals shared by each vehicle state.

[0237] It can be understood that the specific process of determining the vehicle search guidance information can refer to the contents of the aforementioned embodiments and will not be repeated here.

[0238] Specifically, the terminal responds to the triggering event for the parking notification and displays the target vehicle's car-finding guidance information. The user can quickly learn the relevant parking information of the target vehicle by consulting the car-finding guidance information.

[0239] For example, a parking notice corresponding to a target vehicle is displayed in a car-finding application. After the user clicks on the parking notice, further car-finding guidance information is displayed in the car-finding application.

[0240] In one embodiment, in response to a parking notification trigger event, the terminal displays a vehicle-finding guidance interface, which displays guidance information for the target vehicle. The vehicle-finding guidance interface is a user interface designed to help users quickly find their parked vehicles. The vehicle-finding guidance interface is specifically designed to display guidance information.

[0241] In the above-mentioned vehicle data processing method, the preset state machine includes logical relationships between multiple vehicle states and is capable of intelligently analyzing sensor signals generated by the vehicle in real time to switch vehicle states and determine parking information, thereby improving the efficiency of determining parking information. The preset state machine determines the next vehicle state of the target vehicle based on sensor signals shared by each vehicle state, switches from the current vehicle state to the next vehicle state, and, upon switching to the target parking state, determines the parking information of the target vehicle based on sensor signals shared by each vehicle state and sensor signals specific to the target parking state. By combining a shared signal set with a proprietary signal set corresponding to the target parking state, vehicle states can be flexibly switched and vehicle search guidance information can be quickly and accurately determined, effectively improving vehicle search efficiency and ensuring vehicle search accuracy. A parking notification corresponding to the target vehicle is displayed. In response to a trigger event for the parking notification, vehicle search guidance information for the target vehicle is displayed. The displayed vehicle search guidance information can promptly help users quickly find their vehicle.

[0242] In one embodiment, displaying a parking notice corresponding to a target vehicle includes:

[0243] When the target vehicle switches from the target parking state to the stopped state, a parking notification corresponding to the target vehicle is displayed in the parent application.

[0244] In response to a parking notification trigger event, display vehicle-finding guidance information for the target vehicle, including:

[0245] In response to the triggering operation for the parking notification, a car-finding sub-application in the parent application is entered, and car-finding guidance information of the target vehicle is displayed in the car-finding sub-application.

[0246] A parent application is an application that can run independently. A child application is an application that cannot run independently and requires the support of the parent application. For example, a child application can be a mini-program. A car-finding sub-application is a sub-application used to find a car.

[0247] It is understood that the trigger operation can specifically be a touch operation, a cursor operation, a key operation, or a voice operation. Among them, the touch operation can be a touch click operation, a touch press operation, or a touch slide operation, and the touch operation can be a single-point touch operation or a multi-point touch operation; the cursor operation can be an operation of controlling the cursor to click or control the cursor to press; the key operation can be a virtual key operation or a physical key operation, etc.

[0248] Specifically, when the target vehicle switches from the target parking state to the stopped state, the terminal obtains the parking notification corresponding to the target vehicle and displays it in the parent application. The user can click on the parking notification to enter the vehicle-finding sub-application within the parent application. In response to the triggering operation for the parking notification, the terminal enters the vehicle-finding sub-application within the parent application and displays the parking notification corresponding to the target vehicle within the vehicle-finding sub-application.

[0249] In one embodiment, a parking notification corresponding to the target vehicle is displayed on the parent application's car search platform. This platform is a platform within the parent application that publishes car search guidance information. For example, it can be a public account within the parent application. Users can click on the parking notification to access a car search sub-application within the parent application. In response to a triggering operation on the parking notification, the terminal accesses the car search sub-application within the parent application, where the parking notification corresponding to the target vehicle is displayed.

[0250] For example, referring to Figure 6 (a), a parking notification 602 corresponding to the target vehicle is displayed in the parent application's car search public account (Big Goose Find Car). Parking notification 602 includes the target vehicle's license plate number, parking location (i.e., parking space), entry time (i.e., parking start time), parking space number (i.e., parking space), and parking floor number (i.e., parking floor). Users can click on the parking notification to enter the parent application's car search sub-application (Little Goose Find Car). Referring to Figure 6 (b), the car search sub-application displays guidance information for the target vehicle.

[0251] In the above embodiment, a parking notice corresponding to the target vehicle is displayed in the parent application. In response to a triggering operation on the parking notice, the user enters the vehicle-finding sub-application within the parent application, where vehicle-finding guidance information for the target vehicle is displayed. This linkage between the parent and sub-applications allows for convenient display of parking notices and vehicle-finding guidance information for the target vehicle, thereby improving vehicle-finding efficiency.

[0252] In one embodiment, displaying vehicle search guidance information for a target vehicle includes:

[0253] In the parking space guidance area of ​​the car search guidance interface, the parking space information in the car search guidance information of the target vehicle is displayed; the parking space information includes at least one of the parking space sign and the parking space image corresponding to the target vehicle; in the parking place guidance area of ​​the car search guidance interface, the parking place information in the car search guidance information of the target vehicle is displayed; the parking place information includes at least one of the parking place and the parking floor corresponding to the target vehicle; in the operation function area of ​​the car search guidance interface, the car search control set is displayed; the car search control set includes at least one of a video playback control for playing the parking video in the car search guidance information of the target vehicle, a parking fee payment control for paying the parking fee, and a parking sharing control for sharing the car search guidance information of the target vehicle.

[0254] The car search guidance interface is used to display car search guidance information. The car search guidance interface includes a parking space guidance area, a parking location guidance area, and an operation function area. The parking space guidance area displays parking space information, including at least one of the parking space sign and parking space image corresponding to the target vehicle. The parking location guidance area displays parking location information, including at least one of the parking location and parking floor corresponding to the target vehicle. The operation function area refers to the functional area accessible to the user. The operation function area displays the car search control set. The car search control set includes at least one control related to car search. Users can activate and access related functions by triggering the control.

[0255] Specifically, the vehicle search guidance interface includes a parking space guidance area, a parking location guidance area, and an operation function area. The terminal can display the parking space information in the vehicle search guidance information of the target vehicle in the parking space guidance area of ​​the vehicle search guidance interface, display the parking location information in the vehicle search guidance information of the target vehicle in the parking location guidance area of ​​the vehicle search guidance interface, and display the vehicle search control set in the operation function area of ​​the vehicle search guidance interface.

[0256] For example, referring to Figure 7 , 702 in Figure 7 is a parking space guidance area, which displays a parking space logo 7021 and a parking space image 7022. 704 in Figure 7 is a parking lot guidance area, which displays parking floors 704. 706 in Figure 7 is an operation function area, which displays a parking fee payment control 7061, which the user can click to pay the parking fee. A video playback control 7062 is displayed in the operation function area, which the user can click to view a parking video. A parking sharing control 7063 is displayed in the operation function area, which the user can click to share the car search guidance interface displaying parking information for the target vehicle with other users.

[0257] In one embodiment, the parking space guidance area and the parking lot guidance area are editable areas. Users can edit and modify relevant parking information in the parking space guidance area. For example, for the parking space identification displayed in the parking space guidance area, the user can modify the parking space identification and change the incorrectly identified parking space identification to the correct parking space identification. Referring to Figure 7, if the parking space identification (B3-075) displayed in the parking space guidance area is incorrect, the user can modify the parking space identification through the editing control displayed in the parking space guidance area and change the incorrect parking space identification to the correct parking space identification. Referring to Figure 7, if the parking floor (minus 3) displayed in the parking lot guidance area is incorrect, the user can switch the parking floor by sliding or clicking on the parking floor and change the incorrect parking floor to the correct parking floor.

[0258] In the above embodiment, displaying different types of parking information in different areas within the car-finding guidance interface can improve the user's efficiency in accessing parking information, thereby helping to improve car-finding efficiency. Displaying a set of car-finding controls within the car-finding guidance interface allows different car-finding functions to be implemented using different types of car-finding controls, thereby helping to improve car-finding efficiency.

[0259] In one embodiment, displaying vehicle search guidance information for a target vehicle includes:

[0260] Display a video playback control; in response to a trigger operation on the video playback control, play a parking video formed based on a vehicle camera image sequence in the vehicle search guidance information of the target vehicle; when playing the parking video, highlight the playback area of ​​the parking video; when playing the parking video, display a video closing control; in response to a trigger operation on the video closing control, cancel the playback of the parking video.

[0261] The video play control is used to start playing the parking video, and the video close control is used to close playing the parking video.

[0262] The highlighted display may be performed by marking the selected content with a different color or style, so that the selected content is visually distinguished from other content, thereby highlighting the importance of the selected content.

[0263] Specifically, the target vehicle's vehicle-finding guidance information also includes a sequence of vehicle camera images used to generate a parking video. The user can trigger the playback of the parking video to facilitate vehicle retrieval. In response to a parking notification trigger event, the terminal displays a video playback control. The user can trigger the video playback control to start playing the parking video. In response to the triggering operation on the video playback control, the terminal plays the parking video generated based on the sequence of vehicle camera images in the target vehicle's vehicle-finding guidance information. While the parking video is playing, the terminal can also display a video-off control. The user can trigger the video-off control to stop playing the parking video. In response to the triggering operation on the video-off control, the terminal cancels the parking video.

[0264] Furthermore, when playing the parking video, the terminal can highlight the playback area of ​​the parking video.

[0265] It can be understood that the terminal can display the video playback control in the car search guidance interface. For example, referring to (a) in Figure 8, the video playback control 802 is displayed in the car search guidance interface, and the user clicks the video playback control to trigger the playback of the parking video. Referring to (b) in Figure 8, after the user clicks the video playback control, the playback area 804 is displayed on the upper layer of the car search guidance interface, and the parking video is played in the playback area. When playing the parking video, the playback area of ​​the parking video is displayed brightly, and the lower car search guidance interface is displayed dimly. A video close control 806 is displayed in the playback area, and the user clicks the video close control to close the playback of the parking video and close the display of the playback area. Of course, the terminal can also display video playback controls in other interfaces. For example, the video playback control is displayed in the interface for displaying parking notifications.

[0266] In one embodiment, a video playback control is displayed within the car-finding guidance interface. While the parking video is playing, other areas of the interface are disabled to prevent users from accidentally operating the video. After the parking video is finished or the user triggers the video close control, other areas of the interface are restored to a enabled state.

[0267] In the above embodiment, the user can start playing the parking video by triggering the video playback control. By playing the parking video, the user can intuitively understand the parking location, thereby further improving the efficiency of finding the car.

[0268] In one embodiment, the vehicle data processing method further includes:

[0269] Display a parking fee payment control; in response to a trigger operation on the parking fee payment control, display a payment graphic code corresponding to the parking lot in the vehicle-finding guidance information of the target vehicle; in response to a trigger operation on the payment graphic code, transfer the parking fee corresponding to the target vehicle to the parking fee account corresponding to the parking lot in the vehicle-finding guidance information of the target vehicle.

[0270] The parking fee payment control is used to pay parking fees. The payment graphic code is a graphic code used for payment. For example, the payment graphic code can be a payment QR code. The parking guidance information includes parking locations, and parking locations have corresponding parking fee accounts. The parking fee account corresponding to the parking location is the account held by the parking lot for collecting parking fees.

[0271] Specifically, the terminal can display a parking fee payment control, which the user can trigger to pay the parking fee. In response to the triggering operation on the parking fee payment control, the terminal displays a payment graphic code corresponding to the parking location in the target vehicle's vehicle-finding information. The user can trigger the payment graphic code to complete the parking fee payment. The terminal can query the target vehicle's parking location from the target vehicle's vehicle-finding information and then query the payment graphic code corresponding to the parking location from the backend. In response to the triggering operation on the payment graphic code, the terminal transfers the parking fee corresponding to the target vehicle to the parking fee account corresponding to the parking location in the target vehicle's vehicle-finding information.

[0272] It is understood that the terminal can display a parking fee payment control in the car search guidance interface. For example, referring to (a) in Figure 9, a parking fee payment control 902 is displayed in the car search guidance interface, and the user clicks the parking fee payment control to trigger the display of a payment graphic code. Referring to (b) in Figure 9, after the user clicks the parking fee payment control, a payment area 904 is displayed in the upper layer of the car search guidance interface. The parking location in the car search guidance information of the target vehicle is displayed in the payment area, and the payment graphic code corresponding to the parking location is displayed in the payment area. The user can determine whether the displayed parking location is correct. If not, the user can edit the parking location to correct it. The user can transfer the parking fee corresponding to the target vehicle to the parking fee account corresponding to the parking location by identifying the payment graphic code. When the payment area is displayed, the payment area is displayed brightly, and the car search guidance interface below is displayed dimly.

[0273] The terminal can also display a parking fee payment control in other interfaces. For example, referring to Figure 10, a parking fee payment control 1002 is displayed in the car search public account. The user clicks the parking fee payment control to trigger the display of a payment graphic code. The user can then identify the payment graphic code to transfer the parking fee corresponding to the target vehicle to the parking fee account corresponding to the parking lot in the target vehicle's car search information.

[0274] In the above embodiment, users can conveniently pay parking fees by triggering the parking fee payment control. Traditionally, users typically find a payment graphic code in the parking lot and then scan it to pay. However, in this application, the parking fee payment function is combined with the car search guidance function. Users can not only quickly find their car by consulting the car search guidance information, but also quickly pay the parking fee to the parking lot indicated in the car search guidance information through the parking fee payment control, effectively improving the interactive convenience in parking scenarios.

[0275] In one embodiment, the vehicle data processing method further includes:

[0276] Display the parking fee jump setting entry; in response to the trigger operation on the parking fee jump setting entry, display the parking fee jump reminder attribute; in response to the editing operation on the parking fee jump reminder attribute, update the parking fee jump reminder attribute to the parking fee jump reminder attribute edited by the editing operation, so that the parking fee jump reminder condition of the target vehicle is updated to the edited parking fee jump reminder attribute.

[0277] The parking fee skip setting entry is used to set parking fee skip reminder conditions. These conditions include at least one parking fee skip reminder attribute. These attributes include factors such as the parking fee skip reminder cycle, reminder time, and number of reminders.

[0278] Specifically, a user can trigger a parking fee skip setting entry to set a parking fee skip reminder condition. The terminal displays the parking fee skip setting entry, and the user can trigger the parking fee skip setting entry to display parking fee skip reminder attributes, which are components of the parking fee skip reminder condition. In response to the triggering operation on the parking fee skip setting entry, the terminal displays the parking fee skip reminder attributes, and the user can modify the parking fee skip reminder attributes to set the desired parking fee skip reminder condition. For example, the user can enter the desired parking fee skip reminder attributes in an input box or select the desired parking fee skip reminder attributes in an option box. In response to the editing operation on the parking fee skip reminder attributes, the terminal updates the displayed parking fee skip reminder attributes to the edited parking fee skip reminder attributes, thereby updating the parking fee skip reminder condition of the target vehicle to the edited parking fee skip reminder attributes.

[0279] It is understood that the terminal can display a parking fee skipping setting entry within the vehicle-finding guidance interface. For example, referring to FIG11(a), the vehicle-finding guidance interface displays a parking fee skipping setting entry 1102 and a parking fee skipping reminder activation control 1104. The user can enable or disable the parking fee skipping reminder function by clicking the parking fee skipping reminder activation control. The user can also click the parking fee skipping setting entry to trigger the display of the parking fee skipping reminder attributes. Referring to FIG11(b), after the user clicks the parking fee skipping setting entry, a settings area 1106 is displayed in the upper layer of the vehicle-finding guidance interface, displaying the parking fee skipping reminder attributes. The user can select specific attribute values ​​for the parking fee skipping reminder attributes from a drop-down box as needed. The attribute values ​​selected by the user are combined into parking fee skipping reminder conditions. When the parking fee skipping reminder conditions are met, a parking fee reminder notification is generated and displayed. Of course, the terminal can also display the parking fee skipping setting entry within other interfaces, such as within the interface used to display parking notifications.

[0280] In the above embodiment, in this application, the parking fee skipping reminder condition can be a personalized condition. The parking fee skipping reminder condition supports user setting. Users can conveniently set the parking fee skipping reminder condition by triggering the parking fee skipping setting portal. Furthermore, the parking fee skipping reminder function is combined with the car search guidance function. Users can not only quickly find their car by consulting the car search guidance information, but also set the parking fee skipping reminder condition through the parking fee skipping setting portal, effectively improving the interactive convenience in parking scenarios.

[0281] In a specific embodiment, the method of the present application can be applied to intelligent car search on the vehicle side. The vehicle side refers to the terminal where the vehicle is located. Download the car search application on the target vehicle, open the car search application while the target vehicle is driving, and the car search application controls the switching of the vehicle state through a preset state machine, generates parking information in the target parking state through the preset state machine, and displays the generated parking information as car search guidance information in the car search application. The car search guidance interface of the vehicle side can refer to Figure 12. The vehicle side displays parking space information, parking place information and a car search control set in the car search guidance interface. The parking space information includes the parking space identification and parking space image corresponding to the target vehicle, the parking place information includes the parking place and parking floor corresponding to the target vehicle, and the car search control set includes a video playback control for playing the parking video in the car search guidance information and a parking fee payment control for paying the parking fee.

[0282] In a specific embodiment, the method of the present application can be applied to intelligent vehicle search on the owner's end. The owner's end refers to the terminal held by the vehicle owner, also referred to as the owner's terminal. A vehicle search application is downloaded on the owner's terminal and the target vehicle, binding the owner's terminal and the target vehicle. For example, the owner's terminal and the target vehicle's vehicle search application are logged in using the target vehicle's license plate number, thereby binding the owner's terminal and the target vehicle using the target vehicle's license plate number. The target vehicle can send parking information as vehicle search guidance information to the owner's terminal, and the owner's terminal can display the vehicle search guidance information in the vehicle search application. The owner's end-side vehicle search guidance interface can be seen in Figure 13. The owner's end-side vehicle search guidance interface displays parking space information, parking location information, and a set of vehicle search controls. The parking space information includes the parking space identification and parking space image corresponding to the target vehicle. The parking location information includes the parking location and parking floor corresponding to the target vehicle. The vehicle search control set includes a video playback control for playing the parking video in the vehicle search guidance information, a parking fee payment control for paying the parking fee, and a parking sharing control for sharing the vehicle search guidance information.

[0283] In a specific embodiment, the method of the present application can be applied to intelligent car search based on a social application in the car owner's terminal. The car owner's terminal is installed with a social application, and the car search public account in the social application is associated with the car search applet in the social application. The car owner follows the car search public account in the social application, and logs in to the car search applet and the car search application on the target vehicle through the license plate number of the target vehicle. The target vehicle can determine the parking information of the target vehicle through a preset state machine, and send the parking information as car search guidance information to the car owner's terminal. When the car owner's terminal receives the car search guidance information of the target vehicle, the car owner's terminal displays the parking notification corresponding to the target vehicle in the car search public account. After the user clicks on the parking notification, the car owner's terminal enters the car search applet, and displays detailed car search guidance information in the car search applet. Integrating the car search guidance function in the social application can effectively improve the efficiency of car search.

[0284] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0285] Based on the same inventive concept, embodiments of the present application also provide a vehicle data processing device for implementing the aforementioned vehicle data processing method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more vehicle data processing device embodiments provided below can be found in the above-described limitations of the vehicle data processing method and will not be further elaborated here.

[0286] In one embodiment, as shown in FIG14 , a vehicle data processing device 1400 is provided, comprising: a data acquisition module 1402 and a data processing module 1404 , wherein:

[0287] The data acquisition module 1402 is used to input the sensor signal generated by the vehicle sensor of the target vehicle into a preset state machine; the preset state machine includes the logical relationship between multiple vehicle states.

[0288] The data processing module 1404 is used to update the shared signal set based on the received sensor signals in the current vehicle state of the target vehicle through a preset state machine, determine the next vehicle state of the target vehicle based on the current shared signal set, and switch from the current vehicle state to the next vehicle state; the shared signal set includes sensor signals shared by each vehicle state.

[0289] The data processing module 1404 is also used to update the proprietary signal set corresponding to the target parking state based on the received sensor signal through a preset state machine when switching to the target parking state, and determine the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set; the parking information is used as vehicle-finding guidance information for the target vehicle.

[0290] In one embodiment, the data processing module 1404 is further configured to:

[0291] Adding the received vehicle positioning signal to the vehicle positioning signal sequence in the shared signal set, and adding the received vehicle motion signal to the vehicle motion signal sequence in the shared signal set;

[0292] Adding the received vehicle front camera image that meets the first preset condition to the vehicle camera image sequence in the shared signal set;

[0293] The received multiple sensor signals that meet the second preset condition are added to the mixed signal sequence in the shared signal set.

[0294] In one embodiment, the data processing module 1404 is further configured to:

[0295] updating a vehicle mileage accumulation value of a first vehicle odometer in the shared signal set based on the received speed sensor signal;

[0296] When the vehicle mileage cumulative value of the first vehicle odometer is greater than a first preset threshold, adding the currently received vehicle front camera image to the vehicle camera image sequence in the shared signal set, and resetting the vehicle mileage cumulative value of the first vehicle odometer;

[0297] When the number of images in the vehicle camera image sequence is greater than a second preset threshold, the images in the vehicle camera image sequence are deleted in positive order according to the image acquisition time.

[0298] In one embodiment, the data processing module 1404 is further configured to:

[0299] When the current vehicle state of the target vehicle is not a stopped state and no sensor signal indicating that the vehicle is stopped is received, the mixed signal sequence in the current shared signal set is input into the parking lot entry and exit recognition model to obtain a predicted vehicle state, which is used as the next vehicle state of the target vehicle; the predicted vehicle state is either an indoor parking state or an outdoor state;

[0300] Upon receiving a sensor signal indicating that the vehicle is stopped, determining that the next vehicle state of the target vehicle is a stopped state;

[0301] When a sensor signal indicating vehicle start is received in a stopped state, it is determined that the next vehicle state of the target vehicle is a started state.

[0302] In one embodiment, the data processing module 1404 is further configured to:

[0303] When switching to the indoor parking state, the vehicle parking state in the proprietary signal set corresponding to the indoor parking state is updated based on the received vehicle gear position signal; the indoor parking state is the target parking state;

[0304] When the vehicle parking state is the forward state, updating the vehicle camera image sequence in the shared signal set based on the received vehicle front camera image;

[0305] When the parking state of the vehicle is a reverse state, updating the vehicle camera image sequence in the shared signal set and the vehicle rear camera image sequence in the proprietary signal set based on the received vehicle rear camera image;

[0306] When a sensor signal indicating that the vehicle has stopped is received, parking space recognition is performed based on the current vehicle rear camera image sequence to obtain the parking space corresponding to the target vehicle, parking floor recognition is performed based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, parking place corresponding to the target vehicle is determined based on the current vehicle positioning signal sequence, and parking information of the target vehicle in an indoor parking state is obtained based on the parking space, parking floor, parking place corresponding to the target vehicle and the current vehicle camera image sequence.

[0307] In one embodiment, the data processing module 1404 is further configured to:

[0308] Adding the received vehicle rear camera image to the vehicle camera image sequence in the shared signal set;

[0309] updating a vehicle mileage accumulation value of a second vehicle odometer in the proprietary signal set based on the received speed sensor signal;

[0310] When the accumulated vehicle mileage value of the second vehicle odometer is greater than a third preset threshold and there is an empty parking space within a preset range of the target vehicle, the currently received vehicle rear camera image is added to the vehicle rear camera image sequence in the proprietary signal set, and the second vehicle odometer is reset.

[0311] In one embodiment, the data processing module 1404 is further configured to:

[0312] Performing character recognition on the vehicle rear camera image in the vehicle rear camera image sequence added to the proprietary signal set to obtain a parking space identification and recognition confidence corresponding to the vehicle rear camera image;

[0313] From the current vehicle rear camera image sequence, a vehicle rear camera image with a recognition confidence greater than a preset confidence is selected as a candidate rear camera image;

[0314] Calculating the parking space sign similarity between each candidate rear-camera image based on the parking space sign corresponding to the candidate rear-camera image;

[0315] Determine a target rear camera image from each candidate rear camera image based on the parking space sign similarity;

[0316] The parking space corresponding to the target vehicle is determined based on the parking space identification corresponding to the target rear camera image.

[0317] In one embodiment, the data processing module 1404 is further configured to:

[0318] Determine the target vehicle's headway angle sequence based on the inertial sensor signal in the current vehicle motion signal sequence, and determine the target vehicle's travel speed sequence based on the speed sensor signal in the current vehicle motion signal sequence;

[0319] The parking floor corresponding to the target vehicle is determined based on the head vehicle driving angle sequence and driving speed sequence of the target vehicle.

[0320] In one embodiment, the data processing module 1404 is further configured to:

[0321] From the current vehicle positioning signal sequence, the vehicle positioning signal with a signal strength greater than a preset strength is obtained in reverse order of signal generation time as the target positioning signal;

[0322] The point of interest corresponding to the target positioning signal is used as the parking place corresponding to the target vehicle.

[0323] In one embodiment, the data processing module 1404 is further configured to:

[0324] When the vehicle parking state is updated from the forward state to the reverse state, the vehicle mileage cumulative value of the third vehicle odometer in the proprietary signal set is updated based on the received speed sensor signal; the third vehicle odometer is used to count the vehicle mileage cumulative value from entering the indoor parking state to the last reverse termination;

[0325] When a difference between a current vehicle mileage accumulation value and a historical vehicle mileage accumulation value of the third vehicle odometer is greater than a fourth preset threshold, clearing the vehicle rear camera image sequence in the proprietary signal set;

[0326] After determining the parking information of the target vehicle in the indoor parking state, the vehicle positioning signal sequence, the vehicle camera image sequence in the current shared signal set, and the vehicle rear camera image sequence in the proprietary signal set are cleared.

[0327] In one embodiment, the data processing module 1404 is further configured to:

[0328] Through the preset state machine, when switching to the outdoor state, when receiving the sensor signal indicating that the vehicle is stopped, the parking place corresponding to the target vehicle is determined based on the vehicle positioning signal sequence in the current shared signal set;

[0329] Get the vehicle's surround view camera image;

[0330] Based on the parking space corresponding to the target vehicle and the vehicle surround view camera image, the parking information of the target vehicle in the outdoor state is obtained.

[0331] In one embodiment, the data processing module 1404 is further configured to:

[0332] After determining the parking information of the target vehicle in an outdoor state through a preset state machine, the vehicle positioning signal sequence, vehicle motion signal sequence, and vehicle camera image sequence in the current shared signal set are cleared.

[0333] In one embodiment, the data processing module 1404 is further configured to:

[0334] When the preset state machine determines that the next vehicle state is an indoor parking state or an outdoor state, the vehicle positioning signal sequence and the vehicle camera image sequence in the current shared signal set are cleared.

[0335] In one embodiment, the data processing module 1404 is further configured to:

[0336] When switching from the target parking state to the stopped state, obtaining the parking location and parking start time corresponding to the target vehicle from the parking information corresponding to the target vehicle, and determining the parking fee skipping reminder condition corresponding to the target vehicle based on the parking location and parking start time;

[0337] When the parking duration of the target vehicle meets the parking fee jump reminder condition, a parking fee reminder notification corresponding to the target vehicle is generated; the parking fee reminder notification is used to be displayed on at least one of the target vehicle and the owner terminal corresponding to the target vehicle.

[0338] In one embodiment, as shown in FIG15 , a vehicle data processing device 1500 is provided, comprising: a parking notification display module 1502 and a parking information display module 1504 , wherein:

[0339] The parking notification display module 1502 is used to display the parking notification corresponding to the target vehicle.

[0340] The parking information display module 1504 is configured to display the vehicle search guidance information of the target vehicle in response to a triggering event for the parking notification.

[0341] The vehicle search guidance information is determined based on the current shared signal set and the current proprietary signal set by the preset state machine that controls the vehicle state switching. When switching to the target parking state, the shared signal set and the proprietary signal set corresponding to the target parking state are updated based on the received sensor signals. The preset state machine includes the logical relationship between multiple vehicle states, and the shared signal set includes the sensor signals shared by each vehicle state.

[0342] In one embodiment, the parking notification display module 1502 is further configured to display a parking notification corresponding to the target vehicle in the parent application when the target vehicle switches from the target parking state to the stopped state.

[0343] The parking information display module 1504 is further configured to: in response to a triggering operation for a parking notification, enter a vehicle search sub-application in the parent application, and display vehicle search guidance information of the target vehicle in the vehicle search sub-application.

[0344] In one embodiment, the parking information display module 1504 is further configured to:

[0345] In the parking space guidance area of ​​the vehicle search guidance interface, the parking space information in the vehicle search guidance information of the target vehicle is displayed; the parking space information includes at least one of a parking space sign and a parking space image corresponding to the target vehicle;

[0346] In the parking place guidance area of ​​the vehicle search guidance interface, the parking place information in the vehicle search guidance information of the target vehicle is displayed; the parking place information includes at least one of the parking place and parking floor corresponding to the target vehicle;

[0347] A car search control set is displayed in the operation function area of ​​the car search guidance interface; the car search control set includes at least one of a video playback control for playing the parking video in the car search guidance information of the target vehicle, a parking fee payment control for paying the parking fee, and a parking sharing control for sharing the car search guidance information of the target vehicle.

[0348] In one embodiment, the parking information display module 1504 is further configured to:

[0349] Display video playback controls;

[0350] In response to a trigger operation on a video playback control, playing a parking video formed based on a vehicle camera image sequence in the vehicle search guidance information of the target vehicle;

[0351] When playing parking videos, highlight the playback area of ​​the parking videos;

[0352] When playing parking videos, display the video closing control;

[0353] In response to a triggering operation on a video off control, playing of the parking video is canceled.

[0354] In one embodiment, the parking information display module 1504 is further configured to:

[0355] Display parking fee payment controls;

[0356] In response to a trigger operation on a parking fee payment control, displaying a payment graphic code corresponding to the parking lot in the target vehicle's vehicle search guidance information;

[0357] In response to a triggering operation on the payment graphic code, the parking fee corresponding to the target vehicle is transferred to a parking fee account corresponding to the parking lot in the vehicle-finding guidance information of the target vehicle.

[0358] In one embodiment, the parking information display module 1504 is further configured to:

[0359] Display the entrance for setting parking fee skipping;

[0360] In response to a triggering operation on a parking fee skipping setting entry, displaying a parking fee skipping reminder attribute;

[0361] In response to the editing operation on the parking fee jump reminder attribute, the parking fee jump reminder attribute is updated and displayed as the parking fee jump reminder attribute edited by the editing operation, so that the parking fee jump reminder condition of the target vehicle is updated to the edited parking fee jump reminder attribute.

[0362] The vehicle data processing device described above includes a preset state machine that includes logical relationships between multiple vehicle states and is capable of intelligently analyzing sensor signals generated by the vehicle in real time to switch vehicle states and determine parking information, thereby improving the efficiency of determining parking information. The preset state machine determines the next vehicle state of the target vehicle based on sensor signals shared by each vehicle state, switches from the current vehicle state to the next vehicle state, and, upon switching to the target parking state, determines the parking information of the target vehicle based on sensor signals shared by each vehicle state and sensor signals specific to the target parking state. By combining a shared signal set with a proprietary signal set corresponding to the target parking state, vehicle states can be flexibly switched and vehicle search guidance information can be quickly and accurately determined, effectively improving vehicle search efficiency and ensuring vehicle search accuracy.

[0363] Each module in the vehicle data processing device described above may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within a computer device in the form of hardware, or may be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0364] In one embodiment, a computer device is provided, which may be a terminal. Its internal structure diagram may be as shown in FIG16 . The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with external terminals via wired or wireless communication, where the wireless communication may be achieved via Wi-Fi, a mobile cellular network, NFC (near-field communication), or other technologies. When executed by the processor, the computer-readable instructions implement a vehicle data processing method. The display unit of the computer device is configured to produce a visually visible image and may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0365] Those skilled in the art will understand that the structure shown in Figure 16 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0366] In one embodiment, a computer device is further provided, including a memory and a processor, wherein the memory stores computer-readable instructions, and the processor implements the steps in the above-mentioned method embodiments when executing the computer-readable instructions.

[0367] In one embodiment, a computer-readable storage medium is provided, which stores computer-readable instructions. When the computer-readable instructions are executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0368] In one embodiment, a computer program product is provided. The computer program product includes computer-readable instructions. When the computer-readable instructions are executed by a processor, the steps in the above method embodiments are implemented.

[0369] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0370] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through computer-readable instructions. The computer-readable instructions can be stored in a non-volatile computer-readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0371] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0372] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vehicle data processing method, characterized in that: Applied to a computer device, the method comprises: Inputting a sensor signal generated by a vehicle sensor of a target vehicle into a preset state machine; the preset state machine includes a logical relationship between a plurality of vehicle states; By means of the preset state machine, in the current vehicle state of the target vehicle, the shared signal set is updated based on the received sensor signal, the next vehicle state of the target vehicle is determined based on the current shared signal set, and the current vehicle state is switched to the next vehicle state; the shared signal set includes sensor signals shared by various vehicle states; Through the preset state machine, when switching to the target parking state, the proprietary signal set corresponding to the target parking state is updated based on the received sensor signal, and the parking information of the target vehicle is determined based on the current shared signal set and the current proprietary signal set; the parking information is used as the vehicle search guidance information for the target vehicle.

2. The method according to claim 1, characterized in that The updating of the shared signal set based on the received sensor signal comprises: Adding the received vehicle positioning signal to the vehicle positioning signal sequence in the shared signal set, and adding the received vehicle motion signal to the vehicle motion signal sequence in the shared signal set; Adding the received vehicle front camera image that meets the first preset condition to the vehicle camera image sequence in the shared signal set; The received multiple sensor signals that meet the second preset condition are added to the mixed signal sequence in the shared signal set.

3. The method according to claim 2, characterized in that The step of adding the received vehicle front camera image that meets the first preset condition to the vehicle camera image sequence in the shared signal set includes: updating a vehicle mileage accumulation value of a first vehicle odometer in the shared signal set based on the received speed sensor signal; When the vehicle mileage cumulative value of the first vehicle mileage meter is greater than a first preset threshold, adding the currently received vehicle front camera image to the vehicle camera image sequence in the shared signal set, and resetting the vehicle mileage cumulative value of the first vehicle mileage meter; When the number of images in the vehicle camera image sequence is greater than a second preset threshold, the images in the vehicle camera image sequence are deleted in positive order of image acquisition time.

4. The method according to any one of claims 1 to 3, characterized in that The determining the next vehicle state of the target vehicle based on the current shared signal set includes: When the current vehicle state of the target vehicle is not a stopped state and no sensor signal indicating that the vehicle is stopped is received, a mixed signal sequence in the current shared signal set is input into a parking lot entry and exit recognition model to obtain a predicted vehicle state, and the predicted vehicle state is used as the next vehicle state of the target vehicle; the predicted vehicle state is an indoor parking state or an outdoor state; Upon receiving a sensor signal indicating that the vehicle is stopped, determining that the next vehicle state of the target vehicle is the stopped state; When a sensor signal indicating vehicle start is received in the stopped state, it is determined that the next vehicle state of the target vehicle is a start state.

5. The method according to any one of claims 1 to 4, characterized in that When switching to the target parking state, updating the proprietary signal set corresponding to the target parking state based on the received sensor signal, and determining the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set, comprises: When switching to an indoor parking state, updating the vehicle parking state in the proprietary signal set corresponding to the indoor parking state based on the received vehicle gear position signal; the indoor parking state is the target parking state; When the parking state of the vehicle is a forward state, updating a vehicle camera image sequence in a shared signal set based on a received vehicle front camera image; When the parking state of the vehicle is a reverse state, updating the vehicle camera image sequence in the shared signal set and the vehicle rear camera image sequence in the dedicated signal set based on the received vehicle rear camera image; When receiving a sensor signal indicating that the vehicle has stopped, a parking space is identified based on the current vehicle rear camera image sequence to obtain the parking space corresponding to the target vehicle, a parking floor number is identified based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle, a parking place corresponding to the target vehicle is determined based on the current vehicle positioning signal sequence, and a parking space, parking floor, and parking place corresponding to the target vehicle and the current vehicle camera image sequence are determined. The image sequence is used to obtain the parking information of the target vehicle in the indoor parking state.

6. The method according to claim 5, characterized in that The updating of the vehicle camera image sequence in the shared signal set and the vehicle rear camera image sequence in the proprietary signal set based on the received vehicle rear camera image includes: Adding the received vehicle rear camera image to the vehicle camera image sequence in the shared signal set; updating a vehicle mileage accumulation value of a second vehicle odometer in the proprietary signal set based on the received speed sensor signal; When the vehicle mileage accumulated value of the second vehicle odometer is greater than a third preset threshold and there is an empty parking space within a preset range of the target vehicle, the currently received vehicle rear camera image is added to the vehicle rear camera image sequence in the proprietary signal set, and the second vehicle odometer is reset.

7. The method according to claim 5, characterized in that The method further comprises: Performing character recognition on the vehicle rear camera image in the vehicle rear camera image sequence added to the proprietary signal set to obtain a parking space identification and recognition confidence corresponding to the vehicle rear camera image; The method of performing parking space recognition based on the current vehicle rear camera image sequence to obtain a parking space corresponding to the target vehicle includes: From the current vehicle rear camera image sequence, a vehicle rear camera image with a recognition confidence greater than a preset confidence is used as a candidate rear camera image; Based on the parking space identifications corresponding to the candidate rear-camera images, calculating the similarity of the parking space identifications between the candidate rear-camera images; Determining a target rear-camera image from the candidate rear-camera images based on the parking space identification similarity; Based on the parking space identification corresponding to the target rear camera image, a parking space corresponding to the target vehicle is determined.

8. The method according to claim 5, characterized in that The method of identifying the number of parking floors based on the current vehicle motion signal sequence to obtain the parking floor corresponding to the target vehicle includes: Determine the head vehicle travel angle sequence of the target vehicle based on the inertial sensor signal in the current vehicle motion signal sequence, and determine the travel speed sequence of the target vehicle based on the speed sensor signal in the current vehicle motion signal sequence; Based on the head driving angle sequence and driving speed sequence of the target vehicle, the parking floor corresponding to the target vehicle is determined.

9. The method according to claim 5, characterized in that The step of determining a parking place corresponding to the target vehicle based on the current vehicle positioning signal sequence includes: From the current vehicle positioning signal sequence, the vehicle positioning signal with a signal strength greater than a preset strength is obtained in reverse order of signal generation time as the target positioning signal; The point of interest corresponding to the target positioning signal is used as the parking place corresponding to the target vehicle.

10. The method according to claim 5, characterized in that The method further comprises: When the parking state of the vehicle is updated from the forward state to the reverse state, based on the received speed sensor signal, the vehicle mileage cumulative value of the third vehicle odometer in the proprietary signal set is updated; the third vehicle odometer is used to count the vehicle mileage cumulative value from entering the indoor parking state to the last reverse termination; When the difference between the current vehicle mileage accumulation value and the historical vehicle mileage accumulation value of the third vehicle odometer is greater than a fourth preset threshold, clearing the vehicle rear camera image sequence in the proprietary signal set; After determining the parking information of the target vehicle in the indoor parking state, the vehicle positioning signal sequence, the vehicle camera image sequence in the current shared signal set and the vehicle rear camera image sequence in the proprietary signal set are cleared.

11. The method according to any one of claims 1 to 10, characterized in that The method further comprises: By means of the preset state machine, in the case of switching to the outdoor state, when receiving a sensor signal indicating that the vehicle has stopped, a parking place corresponding to the target vehicle is determined based on a vehicle positioning signal sequence in a current shared signal set; Get the vehicle surround view camera image; Based on the parking place corresponding to the target vehicle and the vehicle surround view camera image, parking information of the target vehicle in the outdoor state is obtained.

12. The method according to claim 11, characterized in that The method further comprises: After determining the parking information of the target vehicle in the outdoor state through the preset state machine, clear the current The vehicle positioning signal sequence, vehicle motion signal sequence, and vehicle camera image sequence in the shared signal set.

13. The method according to any one of claims 1 to 12, characterized in that The method further comprises: When it is determined by the preset state machine that the next vehicle state is an indoor parking state or an outdoor state, the vehicle positioning signal sequence and the vehicle camera image sequence in the current shared signal set are cleared.

14. The method according to any one of claims 1 to 13, characterized in that The method further comprises: When switching from the target parking state to the stop state, obtaining a parking place and a parking start time corresponding to the target vehicle from the parking information corresponding to the target vehicle, and determining a parking fee skipping reminder condition corresponding to the target vehicle based on the parking place and the parking start time; When the parking duration of the target vehicle meets the parking fee jump reminder condition, a parking fee reminder notification corresponding to the target vehicle is generated; the parking fee reminder notification is used to be displayed on at least one of the target vehicle and the owner terminal corresponding to the target vehicle.

15. A vehicle data processing method, characterized in that: Applied to a terminal, the method comprises: Display the parking notice corresponding to the target vehicle; In response to a triggering event for the parking notification, displaying vehicle search guidance information for the target vehicle; The vehicle search guidance information is determined based on the current shared signal set and the current proprietary signal set by a preset state machine that controls the vehicle state switching and updates the shared signal set and the proprietary signal set corresponding to the target parking state based on the received sensor signal when switching to the target parking state; the preset state machine includes the logical relationship between multiple vehicle states, and the shared signal set includes sensor signals shared by each vehicle state.

16. The method according to claim 15, characterized in that The display of the parking notice corresponding to the target vehicle includes: When the target vehicle switches from the target parking state to the stopped state, a parking notification corresponding to the target vehicle is displayed in the parent application; The displaying of vehicle search guidance information of the target vehicle in response to the triggering event of the parking notification includes: In response to the triggering operation for the parking notification, a vehicle finding sub-application in the parent application is entered, and vehicle finding guidance information of the target vehicle is displayed in a vehicle finding guidance interface of the vehicle finding sub-application.

17. The method according to claim 15 or 16, characterized in that The display of the vehicle search guidance information of the target vehicle includes: In the parking space guidance area of ​​the vehicle search guidance interface, the parking space information in the vehicle search guidance information of the target vehicle is displayed; the parking space information includes at least one of a parking space mark and a parking space image corresponding to the target vehicle; In the parking place guidance area in the vehicle search guidance interface, the parking place information in the vehicle search guidance information of the target vehicle is displayed; the parking place information includes at least one of the parking place and parking floor corresponding to the target vehicle; A car finding control set is displayed in the operation function area of ​​the car finding guidance interface; the car finding control set includes at least one of a video playback control for playing the parking video in the car finding guidance information of the target vehicle, a parking fee payment control for paying the parking fee, and a parking sharing control for sharing the car finding guidance information of the target vehicle.

18. The method according to any one of claims 15 to 17, characterized in that The display of the vehicle search guidance information of the target vehicle includes: Display video playback controls; In response to a trigger operation on the video playback control, playing a parking video formed based on a vehicle camera image sequence in the vehicle search guidance information of the target vehicle; When playing the parking video, highlighting the playback area of ​​the parking video; When playing the parking video, display a video closing control; In response to a trigger operation on the video closing control, playing of the parking video is canceled.

19. The method according to any one of claims 15 to 18, characterized in that The method further comprises: Display the parking fee payment control; In response to a trigger operation on the parking fee payment control, displaying a payment graphic code corresponding to the parking lot in the vehicle search guidance information of the target vehicle; In response to a triggering operation on the payment graphic code, the parking fee corresponding to the target vehicle is transferred to a parking fee account corresponding to the parking lot in the vehicle search guidance information of the target vehicle.

20. The method according to any one of claims 15 to 19, characterized in that The method further comprises: Display the entrance for setting parking fee skipping fee; In response to a triggering operation on the parking fee skipping setting entry, displaying a parking fee skipping reminder attribute; In response to an editing operation on the parking fee jump reminder attribute, the parking fee jump reminder attribute is updated and displayed as the parking fee jump reminder attribute edited by the editing operation, so that the parking fee jump reminder condition of the target vehicle is updated to the edited parking fee jump reminder attribute.

21. A vehicle data processing device, characterized in that: The device comprises: A data acquisition module, for inputting a sensor signal generated by a vehicle sensor of a target vehicle into a preset state machine; the preset state machine includes a logical relationship between a plurality of vehicle states; A data processing module, configured to update a shared signal set based on a received sensor signal in a current vehicle state of the target vehicle through the preset state machine, determine a next vehicle state of the target vehicle based on the current shared signal set, and switch from the current vehicle state to the next vehicle state; the shared signal set includes sensor signals shared by various vehicle states; The data processing module is also used to update the proprietary signal set corresponding to the target parking state based on the received sensor signal through the preset state machine when switching to the target parking state, and determine the parking information of the target vehicle based on the current shared signal set and the current proprietary signal set; the parking information is used as vehicle search guidance information for the target vehicle.

22. A vehicle data processing device, characterized in that: The device comprises: A parking notice display module is used to display the parking notice corresponding to the target vehicle; A parking information display module, configured to display vehicle search guidance information of the target vehicle in response to a triggering event for the parking notification; The vehicle search guidance information is determined based on the current shared signal set and the current proprietary signal set by a preset state machine that controls the vehicle state switching and updates the shared signal set and the proprietary signal set corresponding to the target parking state based on the received sensor signal when switching to the target parking state; the preset state machine includes the logical relationship between multiple vehicle states, and the shared signal set includes sensor signals shared by each vehicle state.

23. A computer device comprising a memory and a processor, wherein the memory stores computer-readable instructions, characterized in that: When the processor executes the computer-readable instructions, the steps of the method according to any one of claims 1 to 20 are implemented.

24. A computer-readable storage medium having computer-readable instructions stored thereon, characterized in that: When the computer readable instructions are executed by a processor, the steps of the method according to any one of claims 1 to 20 are implemented.

25. A computer program product comprising computer readable instructions, characterized in that: When the computer readable instructions are executed by a processor, the steps of the method according to any one of claims 1 to 20 are implemented.

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