Vehicle finding method and apparatus, and electronic device

Abstract

A vehicle finding method and apparatus, and an electronic device. The method comprises: S1710, acquiring first map information of a first area and a first location of a first intelligent driving device in the first area, wherein the first map information is associated with environmental information collected by at least one intelligent driving device in the first area, and the first map information indicates a traversable area in the first area; S1720, acquiring a first image collected by an electronic device, and on the basis of the first image, determining a second location of the electronic device in the first area; and S1730, on the basis of first map information, controlling the display of first guidance information on a second image, wherein the second image is an image collected by the electronic device in response to a first instruction, and the first guidance information indicates a first path from the second location to the first location. Therefore, the method can be applied to the vehicle finding field of intelligent vehicles, and can improve the vehicle finding efficiency and success rate in a scenario in which there is no GNSS signal or the GNSS signal is weak.

Description

Car searching method, device and electronic device

[0001] The present application claims priority to the Chinese patent application No. 202410775549.1, filed on June 14, 2024, and entitled "Car searching method, device and electronic device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the field of intelligent car searching, and more particularly, to a car searching method, device and electronic device. BACKGROUND

[0003] With the rapid development of intelligent cars, people's demand for car searching in parking lots is also becoming stronger and stronger. However, the terrain of the parking lot is complex, and the global navigation satellite system (GNSS) signal strength of some underground parking lots is weak, which cannot accurately locate the position of the vehicle. Users often use manual photographing recording to assist in searching for the vehicle, or users judge the position of the vehicle according to the environmental pictures fed back by the vehicle. That is, users need to find their own vehicles according to the understanding of the environmental pictures, and the user's understanding of the pictures may be wrong, which leads to the error of judging the parking position of the vehicle, affecting the car searching efficiency and user experience.

[0004] Therefore, a car searching scheme capable of improving the car searching efficiency is urgently needed. SUMMARY

[0005] The present application provides a car searching method, device and electronic device, which does not require the user to actively record the parking position of the vehicle, and can determine the position of the electronic device through the images collected by the electronic device, thereby providing car searching navigation for the user, which helps to improve the car searching efficiency and the user's car searching experience.

[0006] In a first aspect, a car searching method is provided, which can be executed by an electronic device, or can also be executed by a chip or circuit for the electronic device. For ease of description, the following will be described by taking the electronic device as an example, which can be a terminal device such as a mobile phone, a tablet computer, a watch, etc.

[0007] The method comprises: obtaining first map information of a first region and a first position of a first intelligent driving device in the first region, the first map information being associated with perception information collected by at least one intelligent driving device in the first region, and the first map information indicating a passable region in the first region; obtaining a first image collected by the electronic device; determining a second position of the electronic device in the first region according to the first image; and displaying first guide information on a second image according to the first map information, the second image being an image collected by the electronic device in response to a first instruction, and the first guide information indicating a first path from the second position to the first position.

[0008] Exemplarily, the plurality of intelligent driving devices can be vehicles, and the first intelligent driving device can also be a vehicle.

[0009] In the technical solution, the electronic device can determine the position thereof according to the matching degree of the image collected by the electronic device and the information collected by the plurality of vehicles in the parking area, and thus the positioning can be implemented without relying on GNSS positioning information, and then a vehicle-searching path can be planned for the user. When the GNSS signal in the parking area is weak, the vehicle-searching efficiency of the user is not affected, and the vehicle-searching experience of the user is improved. In particular, for a scenario in which the parking area has multiple floors, since the positioning is implemented according to the image matching degree, the positioning success rate and accuracy of the electronic device can be improved, and the specific floor in which the electronic device is located can be quickly and accurately determined, and thus the vehicle-searching efficiency and success rate are improved.

[0010] In combination with the first aspect, in some implementations of the first aspect, the first image is collected by the electronic device in the first pose, and the method further comprises: obtaining a third image, the third image being collected by the electronic device in the second position in the first region in a second pose; when the matching degree between the third image and the first map information is less than or equal to a matching degree threshold, and / or when a proportion of the passable region included in the third image is less than or equal to a proportion threshold, controlling the prompt unit to prompt first information, the first information being used to prompt adjustment of the pose of the electronic device; and in response to a second instruction, collecting the first image, the second instruction being associated with a detection result of the pose transformation of the electronic device to the first pose.

[0011] In the technical solution, when the angle of view of the image collected by the electronic device is greatly different from the angle of view of the image collected by the vehicle in the parking area, the user is prompted to adjust the pose of the electronic device, which helps to improve the positioning success rate and thus improve the vehicle-searching efficiency.

[0012] In combination with the first aspect, in some implementations of the first aspect, the first information comprises a first icon, the first icon being used to indicate an angle of view of a second intelligent driving device when collecting an image in the second position, the second intelligent driving device being one of the at least one intelligent driving device, and the controlling of the prompt unit to prompt the first information comprises: controlling the first icon to be displayed on the third image according to the second pose.

[0013] In the technical solution, the first icon can make the user intuitively perceive the difference between the electronic device perspective and the vehicle end perspective, thereby guiding the user to adjust the pose of the electronic device, helping to assist the user to quickly adjust the pose of the electronic device to a suitable pose, thereby improving the positioning success rate of the electronic device, and further improving the car searching efficiency.

[0014] With reference to the first aspect, in some implementations of the first aspect, the first image comprises a first drivable area, the first drivable area being contained in a passable area indicated by the first map information, and the method further comprises: controlling the display device to display the first image, and displaying the first icon in the first drivable area of the first image.

[0015] In some implementations, the prompting unit comprises the display device. Exemplarily, the first icon is a vehicle model, and when the vehicle model is displayed in the first drivable area, the bottom of the tire of the vehicle model coincides with the ground of the first drivable area.

[0016] In the technical solution, the first icon displayed in the first drivable area can indicate the user that the current perspective of the electronic device is consistent with the vehicle end perspective or has little difference, so as to prevent the user from randomly changing the pose of the electronic device, and help to improve the positioning success rate.

[0017] With reference to the first aspect, in some implementations of the first aspect, the first information comprises m second icons, the m second icons indicating matching parts of the third image and the first map information, and m is a positive integer. The method of controlling the prompting unit to prompt the first information comprises: controlling the display of the m second icons on the third image in a first time period.

[0018] Exemplarily, the more the number of the second icons, the more the matching parts of the image and the first map information, that is, the better the matching degree of the image and the first map information. Therefore, by displaying the second icon, it is helpful to make the user determine the matching degree of the third image and the first map information, thereby guiding the user to adjust the pose of the electronic device, helping to improve the positioning success rate of the electronic device, and further improving the car searching efficiency.

[0019] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: controlling the display of n second icons on the first image in a second time period, the n second icons indicating matching parts of the first image and the first map information; wherein n is a positive integer, n is greater than m, the end time of the first time period is earlier than the start time of the second time period, or the end time of the first time period coincides with the start time of the second time period.

[0020] With reference to the first aspect, in some implementations of the first aspect, the first information further comprises at least one of the following: text information or audio information.

[0021] With reference to the first aspect, in some implementations of the first aspect, the method further includes: when the screen direction of the electronic device is the first direction, controlling the prompting unit to prompt adjustment of the screen direction of the electronic device to the second direction, the effective information displayed by the electronic device in the first direction being less than the effective information displayed by the electronic device in the second direction, the effective information indicating the position of the electronic device.

[0022] When the screen direction of the electronic device is inappropriate, the feature points same as the feature points in the first map information in the image displayed in the display screen of the electronic device cannot be displayed or are displayed less, resulting in failure to effectively realize the positioning guidance to the user. Through the above technical solution, more effective information (such as information for positioning of the electronic device) can be displayed in the display screen of the electronic device, so that the user can be better guided to adjust the pose of the electronic device, thereby improving the positioning success rate.

[0023] With reference to the first aspect, in some implementations of the first aspect, the first map information is acquired at a first time point, and the first map information indicates N passable regions in the first region and a connectivity relationship between the N passable regions, N being a positive integer; the method further includes: acquiring second map information at a second time point, the second map information indicating M passable regions in the first region and a connectivity relationship between the M passable regions, there being at least one different passable region between the M passable regions and the N passable regions, M being a positive integer; and controlling display of second guidance information according to the second map information, the second guidance information indicating a second path from a third position where the electronic device is located to the first position.

[0024] In the above technical solution, when the information of the passable region in the parking area changes, the related information of the passable region can be updated in time to avoid the situation that the navigation path is not passable, which helps to improve the success rate of finding the car and the efficiency of storing the car.

[0025] With reference to the first aspect, in some implementations of the first aspect, the passable region includes a region available for driving of the intelligent driving device, and / or a region available for passing of the pedestrian.

[0026] With reference to the first aspect, in some implementations of the first aspect, the fourth position needs to be passed through from the first position to the second position, and the first guidance information includes at least one of the following: a sub-path indicating from a current position where the electronic device is located to the fourth position, a navigation distance between the current position and the fourth position, a navigation distance between the current position and the first position, or a time length required from the current position to the first position.

[0027] In a second aspect, a vehicle searching apparatus is provided, which is arranged in an electronic device, and includes a first obtaining unit, a second obtaining unit, and a processing unit. The first obtaining unit is configured to obtain first map information of a first region and a first position of a first intelligent driving device in the first region. The first map information is associated with perception information collected by at least one intelligent driving device in the first region, and indicates a passable region in the first region. The second obtaining unit is configured to obtain a first image collected by the electronic device. The processing unit is configured to determine a second position of the electronic device in the first region according to the first image. The processing unit is further configured to display first guide information on a second image according to the first map information, the second image being an image collected by the electronic device in response to a first instruction, and the first guide information indicating a first path from the second position to the first position.

[0028] With reference to the second aspect, in some implementations of the second aspect, the apparatus further includes a perception unit and a prompt unit, the first image is collected by the electronic device in a first pose, the second obtaining unit is further configured to obtain a third image, the third image being collected by the electronic device in the second position of the first region in a second pose, the processing unit is further configured to control the prompt unit to prompt first information when a matching degree between the third image and the first map information is less than or equal to a matching degree threshold, and / or when a proportion of passable regions included in the third image is less than or equal to a proportion threshold, the first information being used to prompt adjustment of the pose of the electronic device, and the perception unit is configured to collect the first image in response to a second instruction, the second instruction being associated with a detection result of a pose transformation of the electronic device to the first pose.

[0029] With reference to the second aspect, in some implementations of the second aspect, the first information includes a first icon, the first icon being used to indicate a visual angle of a second intelligent driving device when collecting the image in the second position, the second intelligent driving device being one of the at least one intelligent driving device, and the processing unit is configured to control the first icon to be displayed on the third image according to the second pose.

[0030] With reference to the second aspect, in some implementations of the second aspect, the first information includes m second icons, the m second icons indicating matching parts of the third image and the first map information, m being a positive integer, and the processing unit is configured to control the m second icons to be displayed on the third image in a first time period.

[0031] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to control n second icons to be displayed on the first image in a second time period, the n second icons indicating matching parts of the first image and the first map information, n being a positive integer, n being greater than m, an ending moment of the first time period being earlier than a starting moment of the second time period, or the ending moment of the first time period coinciding with the starting moment of the second time period.

[0032] With reference to the second aspect, in some implementations of the second aspect, the first information further includes at least one of: text information or audio information.

[0033] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the prompting unit to prompt adjustment of the screen direction of the electronic device to a second direction when the screen direction of the electronic device is a first direction, the effective information displayed by the electronic device in the first direction being less than the effective information displayed by the electronic device in the second direction, the effective information indicating the position of the electronic device.

[0034] With reference to the second aspect, in some implementations of the second aspect, the first map information is acquired by the first acquiring unit at a first time, and the first map information indicates N passable regions in the first region and a connectivity relationship between the N passable regions, N being a positive integer; the first acquiring unit is further configured to acquire second map information at a second time, the second map information indicating M passable regions in the first region and a connectivity relationship between the M passable regions, there being at least one different passable region between the M passable regions and the N passable regions, M being a positive integer; and the processing unit is configured to control display of second guide information according to the second map information, the second guide information indicating a second path from a third position of the electronic device to the first position.

[0035] With reference to the second aspect, in some implementations of the second aspect, the passable region includes a region available for driving of an intelligent driving device, and / or a region available for passage of a pedestrian.

[0036] With reference to the second aspect, in some implementations of the second aspect, the fourth position is required to be passed through in order to go from the first position to the second position, and the first guide information includes at least one of: a sub-path indicating a path from a current position of the electronic device to the fourth position, a navigation distance between the current position and the fourth position, a navigation distance between the current position and the first position, or a time length required to go from the current position to the first position.

[0037] A third aspect provides a vehicle searching apparatus, comprising: a processor configured to execute a computer program stored in the memory, so that the apparatus performs the method in any possible implementation manner of the first aspect.

[0038] With reference to the third aspect, in some implementations of the third aspect, the vehicle searching apparatus further comprises a memory.

[0039] A fourth aspect provides an electronic device, comprising the apparatus in any possible implementation manner of the second aspect or the third aspect.

[0040] In a fifth aspect, a computer program product is provided. The computer program product includes computer program codes, which, when executed on a computer or a processor, cause the computer or the processor to perform the method in any possible implementation of the first aspect.

[0041] It should be noted that the computer program codes can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0042] In a sixth aspect, a computer readable medium is provided. The computer readable medium stores instructions, which, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0043] In a seventh aspect, a chip is provided. The chip includes a circuit configured to perform the method in any possible implementation of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0044] FIG. 1 is a schematic block diagram of a vehicle searching system according to an embodiment of the present application;

[0045] FIG. 2 is a schematic diagram of a hardware architecture of an electronic device according to an embodiment of the present application;

[0046] FIG. 3 is a schematic diagram of a software architecture of an electronic device according to an embodiment of the present application;

[0047] FIG. 4 is a schematic diagram of an information interaction process in a vehicle searching process according to an embodiment of the present application;

[0048] FIG. 5 is a schematic diagram of an application scenario of a vehicle searching method according to an embodiment of the present application;

[0049] FIG. 6 is another schematic diagram of an application scenario of a vehicle searching method according to an embodiment of the present application;

[0050] FIG. 7 is still another schematic diagram of an application scenario of a vehicle searching method according to an embodiment of the present application;

[0051] FIG. 8 is still another schematic diagram of an application scenario of a vehicle searching method according to an embodiment of the present application;

[0052] FIG. 9 is a schematic diagram of matching degrees of images collected from a vehicle end perspective and a mobile phone end perspective according to an embodiment of the present application;

[0053] FIG. 10 is another schematic diagram of matching degrees of images collected from a vehicle end perspective and a mobile phone end perspective according to an embodiment of the present application;

[0054] FIG. 11 is a schematic diagram of a group of GUIs according to an embodiment of the present application;

[0055] FIG. 12 is a schematic diagram of another set of GUIs provided by embodiments of the present application;

[0056] FIG. 13 is a schematic diagram of another set of GUIs provided by embodiments of the present application;

[0057] FIG. 14 is a schematic diagram of another application scenario of the vehicle searching method provided by embodiments of the present application;

[0058] FIG. 15 is a schematic diagram of another application scenario of the vehicle searching method provided by embodiments of the present application;

[0059] FIG. 16 is a schematic diagram of another application scenario of the vehicle searching method provided by embodiments of the present application;

[0060] FIG. 17 is a schematic flowchart of the vehicle searching method provided by embodiments of the present application;

[0061] FIG. 18 is a schematic block diagram of a vehicle searching apparatus provided by embodiments of the present application;

[0062] FIG. 19 is another schematic block diagram of a vehicle searching apparatus provided by embodiments of the present application. DETAILED DESCRIPTION

[0063] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0064] FIG. 1 is a schematic block diagram of a vehicle searching system provided by embodiments of the present application. As shown in FIG. 1, the system includes an electronic device 100, a smart driving device 200 and a server 300. The smart driving device 200 can include a perception system 220 and a computing platform 250, wherein the perception system 220 can include several kinds of sensors for sensing information of the environment around the smart driving device 200. For example, the perception system 220 can include a positioning system, which can be a global positioning system (GPS), a Beidou system or other positioning systems. For another example, the perception system 220 can also include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar and a camera.

[0065] Part or all of the functions of the intelligent driving device 200 can be controlled by the computing platform 250. The computing platform 250 can include processors 252 to 25n, which are circuits having processing capabilities of signals. In one implementation, the processor can be a circuit having instruction reading and running capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a kind of microprocessor), or a digital signal processor (DSP), etc. In another implementation, the processor can implement certain functions through a logical relationship of hardware circuits, which is fixed or can be reconfigured, such as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD) implemented hardware circuit, such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processor loads the configuration document to implement the hardware circuit configuration process, which can be understood as the process of the processor loading instructions to implement the functions of the above part or all units. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as a kind of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 250 can also include a memory for storing instructions, and part or all of the processors 252 to 25n can call the instructions in the memory to implement corresponding functions.

[0066] In the embodiments of the present application, the plurality of intelligent driving devices 200 can collect the environment information of the region A through the perception system 220 during driving in a region (such as region A), and send the collected environment information to the server 300. The server 300 can construct a map of the region A according to the environment information from the plurality of intelligent driving devices 200. Exemplarily, the environment information can include images, laser point clouds, etc. The server 300 can construct the map based on simultaneous localization and mapping (SLAM or concurrent mapping and localization, CML). After the map is constructed, the server 300 can send the constructed map information to the intelligent driving device 200, so that the intelligent driving device 200 determines its own position in the region A and sends the position to the server 300. The server 300 can send the map of the region A and the position of the intelligent driving device 200 in the region A to the electronic device 100 associated with the intelligent driving device 200, so that the electronic device 100 can plan a path from the position of the electronic device 100 to the position of the intelligent driving device 200.

[0067] The electronic device 100 involved in the present application can include various handheld devices, wearable devices, computing devices or other processing devices connected to a wireless modem with wireless communication function, and various forms of terminals, mobile stations, user equipment and the like. For example, watches, bracelets, wireless earphones, electronic wallets, etc.

[0068] The intelligent driving device 200 involved in the present application can include on-road vehicles, water vehicles, air vehicles, industrial devices, agricultural devices, or entertainment devices, etc. For example, the intelligent driving device 200 can be a vehicle, which is a general concept of a vehicle, and can be a vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), an entertainment device, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of vehicle.

[0069] Fig. 2 shows a structural schematic diagram of an electronic device 100 provided by an embodiment of the present application. The electronic device 100 can include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a loudspeaker 170A, a receiver 170B, a microphone 170C, a headset interface 170D, a sensor module 180, a key 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 can include a pressure sensor 180A, a gyroscope sensor 180B, a barometric pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0070] It can be understood that the structure shown in the embodiments of the present application is only an exemplary description of the electronic device 100. In other embodiments of the present application, the electronic device 100 can include more or fewer components than shown, or combine certain components, or split certain components, or different arrangement of components. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0071] The processor 110 can include one or more processing units, for example: the processor 110 can include an application processor (AP), a modem processor, a GPU, an image signal processor (ISP), a controller, a memory, a video codec, a DSP, a baseband processor, and / or an NPU, etc. Different processing units can be independent devices, or can be integrated in one or more processors.

[0072] The controller can be the nerve center and command center of the electronic device 100. The controller can generate operation control signals according to instruction operation codes and timing signals, and complete the control of fetching and executing instructions.

[0073] The processor 110 can also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory can hold instructions or data that the processor 110 has just used or is recycling. If the processor 110 needs to use the instructions or data again, it can be called directly from the memory. This avoids repeated access and reduces the latency of the processor 110, thus improving the efficiency of the system.

[0074] In some embodiments, the processor 110 can include one or more interfaces. The interfaces can include an inter-integrated circuit (I2C) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, and / or a universal serial bus (USB) interface, etc.

[0075] The USB interface 130 is an interface that conforms to the USB standard specification, and can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 130 can be used to connect a charger to charge the electronic device 100, and can also be used to transmit data between the electronic device 100 and a peripheral device. It can also be used to connect earphones to play audio through the earphones. The interface can also be used to connect other electronic devices, such as AR devices, etc.

[0076] It can be understood that the interface connection relationship between the modules shown in the embodiments of the present application is only illustrative. In other embodiments of the present application, the electronic device 100 can also use different interface connection methods or combinations of multiple interface connection methods as described in the above embodiments.

[0077] In the present application, the electronic device 100 communicates with the intelligent driving device 200 and the server 300 through the mobile communication module 150 and / or the wireless communication module 160.

[0078] The mobile communication module 150 can provide a solution for wireless communication including 2G / 3G / 4G / 5G, etc. applied to the electronic device 100. The mobile communication module 150 can include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive an electromagnetic wave by the antenna 1, and perform filtering, amplification, etc. on the received electromagnetic wave, and transfer the processed signal to the modem processor to be demodulated. The mobile communication module 150 can also amplify a signal modulated by the modem processor, and radiate the signal as an electromagnetic wave through the antenna 1. In some embodiments, at least part of the function modules of the mobile communication module 150 can be disposed in the processor 110.

[0079] In some embodiments, at least part of the function modules of the mobile communication module 150 can be disposed in the same device as at least part of the modules of the processor 110.

[0080] The wireless communication module 160 can provide a solution for wireless communication including wireless local area networks (WLAN) such as wireless fidelity (Wi-Fi) networks, Bluetooth (BT), GNSS, frequency modulation (FM), near field communication (NFC), infrared (IR) technology, etc. applied to the electronic device 100. The wireless communication module 160 can be one or more devices integrated with at least one communication processing module. The wireless communication module 160 receives an electromagnetic wave via the antenna 2, performs frequency modulation and filtering on the electromagnetic wave signal, and transmits the processed signal to the processor 110. The wireless communication module 160 can also receive a signal to be transmitted from the processor 110, perform frequency modulation and amplification on the signal, and radiate the signal as an electromagnetic wave through the antenna 2.

[0081] In some embodiments, the antenna 1 and the mobile communication module 150 of the electronic device 100 are coupled, and the antenna 2 and the wireless communication module 160 are coupled, so that the electronic device 100 can communicate with a network and other devices through wireless communication technology. The wireless communication technology can include any one of global system of mobile communication (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS can include GPS, global navigation satellite system (GLONASS), beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS), or satellite based augmentation systems (SBAS).

[0082] The electronic device 100 implements a display function through a GPU, a display screen 194, and an application processor, etc. The GPU is a microprocessor for image processing, which is connected to the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 can include one or more GPUs, which execute program instructions to generate or change display information.

[0083] The display screen 194 is configured to display images, videos, and the like. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flex light-emitting diode (FLED), a Miniled, a MicroLed, a Micro-oLed, a quantum dot light emitting diodes (QLED), or the like. In some embodiments, the electronic device 100 can include one or N display screens 194, where N is a positive integer greater than 1.

[0084] The external memory interface 120 can be configured to connect an external memory card, such as a Micro SD card, to extend the storage capacity of the electronic device 100. The external memory card communicates with the processor 110 via the external memory interface 120 to perform data storage functions. For example, music, video, and the like can be saved in the external memory card.

[0085] The internal memory 121 can be configured to store computer-executable program codes including instructions. The processor 110 performs various functional applications and data processing of the electronic device 100 by running the instructions stored in the internal memory 121. The internal memory 121 can include a program storage area and a data storage area. The program storage area can store an operating system, at least one application (App) required for a function (such as a sound play function, an image play function, and the like), and the like. The data storage area can store data created during the use of the electronic device 100 (such as audio data, a phonebook, and the like), and the like. In addition, the internal memory 121 can include a high-speed random access memory, and can further include a non-volatile memory such as at least one of a magnetic disk storage device, a flash memory device, a universal flash storage (UFS), and the like.

[0086] The keys 190 include a power key, a volume key, and the like. The keys 190 can be mechanical keys. Alternatively, the keys 190 can be touch keys. The electronic device 100 can receive key inputs and generate key signal inputs related to user settings and function control of the electronic device 100.

[0087] The indicator 192 can be an indicator light configured to indicate a charging state, a power change, and can also be configured to indicate a message, a missed call, a notification, and the like.

[0088] The software system of the electronic device 100 can employ a layered architecture, an event-driven architecture, a microkernel architecture, a microservices architecture, or a cloud architecture. Embodiments of the present application illustrate the software structure of the electronic device 100 using a layered architecture.

[0089] FIG. 3 is a block diagram of the software structure of the electronic device 100 according to an embodiment of the present application. A layered architecture divides software into several layers, each of which has a clear role and division of labor. Layers communicate with each other through software interfaces. In some embodiments, an Android system is divided into four layers, from top to bottom, an application layer, an application framework layer, and a kernel layer. The application layer can include a series of application packages.

[0090] As shown in FIG. 3, the application packages can include camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, short message, etc.

[0091] The application framework layer provides application programming interfaces (APIs) and programming frameworks for the applications of the application layer. The application framework layer includes a number of pre-defined functions.

[0092] As shown in FIG. 3, the application framework layer can include a window manager, a content provider, a view system, a phone manager, a resource manager, a notification manager, etc.

[0093] The window manager is used to manage window programs. The window manager can obtain the size of the display screen, determine whether there is a status bar, lock the screen, and take screenshots, etc.

[0094] The content provider is used to store and obtain data, and make the data accessible to applications. The data can include videos, images, audios, dialed and received calls, browsing history and bookmarks, phone books, etc.

[0095] The view system includes visual controls, such as controls for displaying text, controls for displaying pictures, etc. The view system can be used to build applications. A display interface can be composed of one or more views. For example, a display interface including a short message notification icon can include a view for displaying text and a view for displaying pictures.

[0096] The phone manager is used to provide communication functions of the electronic device 100. For example, management of call states (including call connection, call hang-up, etc.).

[0097] The resource manager provides various resources for applications, such as localized strings, icons, pictures, layout files, video files, etc.

[0098] The notification manager enables applications to display notification information in the status bar, which can be used to convey a message of the informing type, and can automatically disappear after a short stay without user interaction. For example, the notification manager is used to inform the completion of downloading, message reminders, etc. The notification manager can also be a notification in the form of a chart or a scroll bar text appearing in the top status bar of the system, such as a notification of an application running in the background, and can also be a notification in the form of a dialogue window appearing on the screen. For example, the status bar prompts text information, issues a prompt sound, the electronic device vibrates, the indicator light flashes, etc.

[0099] As shown in FIG. 3, the system library can include a plurality of functional modules. For example, a surface manager, media libraries, a three-dimensional graphics processing library (for example, OpenGL ES), a two-dimensional graphics engine (for example, SGL), etc.

[0100] The surface manager is used to manage the display subsystem, and provides a plurality of applications with the fusion of 2D and 3D layers. The media library supports a plurality of commonly used audio, video format playback and recording, and static image files, etc.

[0101] The media library can support a plurality of audio and video coding formats, for example, MPEG4, H.264, MP3, advanced audio coding (AAC), adaptive multi-rate (AMR), joint photographic experts group (JPG), portable network graphics (PNG), etc.

[0102] The three-dimensional graphics processing library is used to realize three-dimensional graphics drawing, image rendering, synthesis, and layer processing, etc.

[0103] The two-dimensional graphics engine is a drawing engine for two-dimensional drawing.

[0104] The kernel layer is a layer between hardware and software. The kernel layer at least includes a display driver, a camera driver, an audio driver, and a sensor driver.

[0105] It should be understood that the technical solutions in the embodiments of the present application can be used in Android, iPhone operating system (IOS), and the like.

[0106] As described above, with the rapid development of intelligent vehicles, people's demand for finding vehicles in parking lots is also becoming stronger and stronger. However, the terrain of some parking lots is complex, and the GNSS signal strength of some underground parking lots is weak, which cannot accurately locate the position of the vehicle. Under the current technical background, users often use manual photographing recording to assist in finding vehicles, or users judge the position of the vehicle according to the environmental pictures fed back by the vehicle. That is, users need to find their own vehicles according to the understanding of the environmental pictures, and the user's understanding of the pictures may be wrong, which leads to the error of judging the parking position of the vehicle, affecting the efficiency of finding the vehicle and the user experience. In addition, some large underground parking lots will set up a car finding system, which saves the map of the underground parking lot. According to the parking space number input by the user, a route from the position where the user is located to the position calibrated by the parking space number input by the user can be generated, so as to guide the user to the position calibrated by the parking space number. However, this scheme can only help users quickly find vehicles in the case that the user accurately remembers the parking space number of the vehicle; in the case that the user does not remember or remembers incorrectly the parking space number, the user cannot quickly find the vehicle through this scheme.

[0107] In view of this, the embodiments of the present application provide a car finding method, device and system, which do not require users to actively record the parking position of the vehicle, but can determine the position where the electronic device is located through the image collected by the electronic device, and then guide the user to find the car.

[0108] FIG. 4 shows an exemplary flow of information interaction between an electronic device, an intelligent driving device and a server in a car finding method provided by the embodiments of the present application. Taking an example of an intelligent driving device 200 including multiple vehicles, an electronic device 100 including device 1, and a server 300 including a cloud server, in some implementation manners, a vehicle 2 and multiple vehicles including vehicle 1 can communicate with the cloud server, and the cloud server can be an original equipment manufacturer (OEM) server. Exemplarily, the operating system used by the car machine of vehicle 2 and the car machine of vehicle 1 is the same operating system, or the car machines of vehicle 1 and vehicle 2 are produced by the same original equipment manufacturer (OEM), so that vehicle 1 and vehicle 2 can use the car finding method provided by the embodiments of the present application. Specifically, the method 400 includes:

[0109] S401, multiple vehicles (including vehicle 1) send the perception information associated with the parking area 1 and the path of the ego vehicle in the parking area 1 to the cloud server.

[0110] In some implementations, the perception information sent by the plurality of vehicles to the cloud server includes identification information of the parking area 1. For example, the identification information can include GNSS positioning information of the parking area 1. For example, the GPS signal of the parking area 1 is weak or there is no GPS signal, so that the vehicle cannot be positioned by GPS in the parking area 1. Each vehicle in the plurality of vehicles records the GPS signal before entering the parking area 1, collects the perception information after entering the parking area 1, and sends the collected perception information and the recorded GPS signal before entering the parking area 1 to the cloud server, so that the cloud server can determine the parking area corresponding to the perception information according to the GPS signal.

[0111] During the driving of each vehicle in the plurality of vehicles in the parking area 1, the environment information of the passing area can be collected by the perception system (such as a camera, a laser radar, etc.), and the environment information can be in the form of an image, a video stream (including multiple images), a laser point cloud, etc. In an example, each vehicle in the plurality of vehicles can extract feature points from the environment information and upload the feature points as perception information to the cloud server. In another example, the plurality of vehicles can upload the environment information as perception information to the cloud server, the cloud server extracts feature points according to the perception information, and constructs a map of the parking area 1. The feature points involved in the present application can include corner points, or can also include high-dimensional feature points, for example, the high-dimensional feature points can indicate more abstract features, for example, can indicate the features of an area. It can be understood that the perception information indicates the environment around the driving area of the vehicle, and therefore, according to the perception information collected by the plurality of vehicles, a map of the parking area 1 can be constructed, and the area available for vehicle passage in the parking area 1 can be determined.

[0112] For example, the vehicle or the cloud server can extract feature points by using a scale-invariant feature transform (SIFT) algorithm, a speeded up robust features (SURF) algorithm, an oriented fast and rotated brief (ORB) algorithm, etc. or other ways.

[0113] S402, constructing or refreshing the map information of the parking area 1, the map information including the passable areas of the parking area 1 and the connectivity relationship between the passable areas.

[0114] Exemplarily, the map information can include a plurality of feature points in the parking area 1. It can be understood that when the map information is in the form of feature points, the calculation power consumption required by the vehicle or the electronic device for positioning is reduced, and the storage overhead required by the vehicle, the electronic device or the cloud server for storing the map information is also small, the communication overhead required by the parties for transmitting the map information is small, and the calculation power cost, storage cost and communication cost of the vehicle search system can be reduced.

[0115] In some implementations, the cloud server does not have the map information of the parking area 1, and the cloud server can construct the map information of the parking area 1 according to the perception information from the plurality of vehicles; when the cloud server already has the map information of the parking area 1, the cloud server can update the map information of the parking area 1 according to the perception information from the plurality of vehicles.

[0116] In some implementations, the parking area 1 can include at least one layer of parking area, and the map information includes a passable area in each layer of parking area in the at least one layer of parking area, and a connecting position (such as a passable position) between adjacent two layers of parking area.

[0117] S403, the cloud server sends the map information of the parking area 1 to the vehicle 2.

[0118] In an example, the plurality of vehicles in S401 includes the vehicle 2, and the cloud server can receive the perception information associated with the parking area 1 sent by the vehicle 2, determine that the vehicle 2 is in the parking area 1 according to the perception information, and then send the map information of the parking area 1 to the vehicle 2.

[0119] In another example, the plurality of vehicles in S401 does not include the vehicle 2, and the vehicle 2 records the GPS signal before entering the parking area 1, and sends the GPS signal recorded before entering the parking area 1 to the cloud server after detecting no GPS signal, and the cloud server sends the map information of the parking area 1 to the vehicle 2 according to the GPS signal.

[0120] S404, the vehicle 2 determines the position 1 of the vehicle in the parking area 1 according to the map information.

[0121] Exemplarily, the perception system of the vehicle 2 collects the perception information, and matches the collected perception information with the map information, so as to determine the position 1 of the vehicle in the parking area 1. Exemplarily, taking the map information including an image of the parking area 1 as an example, the perception information collected by the vehicle 2 is also an image, and the image collected by the vehicle 2 at the position 1 can be matched with the feature points in the map information, so as to determine that the vehicle 2 is located at the position 1.

[0122] In some implementations, after the vehicle 2 acquires the map information, the vehicle 2 can determine a parking position close to the elevator or the staircase according to the map information, and recommend the parking position to the user through a prompting device (such as a center control display screen, a loudspeaker, etc.) of the vehicle 2. Alternatively, if the vehicle 2 has parked in the parking area 1 before, the vehicle 2 can determine a parking position close to the last time the user started searching for the vehicle according to the last time the user started searching for the vehicle, and recommend the parking position to the user through the prompting device of the vehicle 2. When the vehicle parks at the recommended parking position, the recommended parking position is the position 1.

[0123] S405, the vehicle 2 sends the position 1 to the cloud server.

[0124] In some implementations, the position of the vehicle 2 in the parking area 1 can also be determined by the cloud server. For example, after the vehicle 2 stops at the position 1, the vehicle 2 collects images at the position 1 and sends the collected images to the cloud server. The cloud server matches the images collected by the vehicle 2 with the feature points in the map information to determine that the vehicle 2 is located at the position 1, and then sends the position 1 to the vehicle 2.

[0125] S406, the cloud server sends the map information of the parking area 1 and the position 1 to the device 1.

[0126] For example, the device 1 is a device associated with the vehicle 2, and the association can include that the accounts of the two devices (such as the device 1 and the vehicle 2) are the same; or the accounts of the two devices are different, but both are accounts of authorized users of the vehicle 2.

[0127] In some implementations, when the cloud server receives the perception information sent by the vehicle 2, the cloud server sends the map information of the parking area 1 and the position 1 to the device 1.

[0128] In yet some implementations, when the device 1 detects that the owner application (APP) is opened, the device 1 requests the map information from the cloud server, and the cloud server sends the map information of the last parking place (i.e. the parking area 1) of the vehicle 2 and the position of the vehicle 2 in the last parking place to the device 1 in response to the request of the device 1; or when the device 1 detects that the owner APP is opened and the vehicle searching function is turned on, the device 1 requests the map information from the cloud server, and the cloud server sends the map information of the parking area 1 and the position 1 to the device 1 in response to the request of the device 1. The owner APP can include an application that provides vehicle control for legal authorized users of the vehicle, and / or an application that provides services such as vehicle status information for legal authorized users of the vehicle.

[0129] S407, the device 1 determines the position 2 and the orientation of the device 1 in the parking area 1 according to the map information and the images collected by the device 1 in the parking area 1.

[0130] Exemplarily, the device 1 matches the image collected by the device 1 in the parking area 1 with the feature points in the map information, so as to determine that the device 1 is located at the position 2 and the orientation of the camera of the device 1 at the position 2.

[0131] It should be noted that the foregoing process of image matching can be implemented by a feature point matching algorithm, for example, image matching by a feature point matching algorithm based on a Transformer.

[0132] Optionally, the step of determining the position 2 of the device 1 can also be performed by a cloud server. Specifically, the step can include S408 to S410.

[0133] S408, the device 1 sends the image collected by the device 1 in the parking area 1 to the cloud server.

[0134] S409, the cloud server determines the position 2 and the orientation of the device 1 in the parking area 1 according to the map information and the image collected by the device 1 in the parking area 1.

[0135] S410, the cloud server sends the position 2 and the orientation of the device 1 to the device 1.

[0136] S411, the device 1 plans a path from the device 2 to the device 1 according to the map information and the orientation of the device 1.

[0137] The device 1 plans a path from the device 2 to the device 1 according to the connectivity of the passable areas in the parking area 1, and controls the display screen to display guide information indicating the path from the position 2 to the position 1.

[0138] In some implementations, when the device 1 moves to the position 1, the path from the position 2 to the position 1 can be sent to the cloud server. When the path from the position 2 to the position 1 does not coincide with the passable path formed by the passable areas in the map information, the cloud server can update the passable areas and the connectivity of the passable areas in the parking area 1 according to the movement path of the device 1.

[0139] The above introduces the detailed process of the vehicle searching method provided by the embodiments of the present application. In order to facilitate understanding of the technical solutions of the present application, the application of the embodiments of the present application in some scenarios will be described in detail below in combination with FIGS. 5 to 14.

[0140] Fig. 5 shows a schematic diagram of a parking area 350, which can be regarded as an example of the aforementioned parking area 1. As shown in (a) of Fig. 5, the parking area 350 includes an entrance 351, an exit 352 and an exit 353. The parking area 350 includes a plurality of parking spaces, some of which are parked with vehicles (e.g. a vehicle 354), and in addition, the parking area 350 includes some vehicles in driving (e.g. a vehicle 355). The parking area 350 includes a plurality of pillars 356, and walls of the parking area 350 are shown at 357. The vehicles parked in the parking spaces can collect perception information (i.e. environmental information of the parking area 350) during driving to the parking spaces, and send the collected perception information to the cloud server, so that the cloud server constructs map information of the parking area 350. The vehicles in driving can collect perception information and send the collected perception information to the cloud server. It can be understood that, according to the images collected by the vehicles during driving, the cloud server can determine the passable areas in the parking area 350. For example, the cloud server receives perception information including images or point clouds around the shadow areas a-e, and then determines that the shadow areas a-e are all passable areas, and further determines the connectivity between the shadow areas a-e based on the constructed map information.

[0141] It should be noted that the shadow areas a-e shown in Fig. 5 indicate the areas passable by vehicles, which are also passable by people. In addition to the feedback of passable areas by vehicles, the parking area 350 can also include areas that are not passable by vehicles but passable by people, for example, the passage between the parking spaces 361 and 362 (i.e. the shadow area f) shown in (a) of Fig. 5 is passable by people but not passable by vehicles. The electronic device held by the pedestrian can record the motion path in the parking area 350 during walking in the parking area 350, and upload the motion path to the cloud server, so that the cloud server determines more passable areas in the parking area 350 and the connectivity between the more passable areas.

[0142] In actual implementation, the cloud server can update the map information of the parking area 350 according to the perception information uploaded by the vehicles in the parking area 350 or the path uploaded by the electronic device. For example, if it is determined according to the received perception information and / or path that a passable area has no vehicle driving path or electronic device motion path for a certain time length, it is determined that the passable area becomes impassable. The certain time length can be 0.5 hours, 1 hour, or other time lengths. Alternatively, the certain time length can vary according to different time periods, for example, the certain time length can be 1 hour from 9:00 to 21:00 every day, and the certain time length can be 2 hours from 21:00 to 9:00 the next day. In an example, as shown in (b) of FIG. 5, the construction material 358 is temporarily stacked in the parking area 350 due to construction, which causes some passable areas (shaded areas b and d) of the vehicle to become shorter, so that the connectivity between the shaded areas b and d changes, and finally the passable area of the parking area 350 becomes shaded areas a, b1, c, d1, e, and f. In another example, as shown in (c) of FIG. 5, the exit 353 of the parking area 350 is closed (for example, the sign 359 has marked “the exit ahead is closed”) due to road restrictions, which causes some passable areas (i.e., shaded areas b and d) of the vehicle to become shorter, so that the connectivity between the shaded areas b and d changes. However, the closure of the exit 353 may not affect the motion path of the pedestrian, and the pedestrian can still move from the shaded area b1 to the shaded area b2 via the shaded area b2, so that the final passable area of the parking area 350 becomes shaded areas a, b1, b2, c, d2, e2, and f.

[0143] More specifically, as shown in FIG. 6, for the scenario shown in (a) of FIG. 5, the cloud server determines that the vehicle driving path includes path ①, path ②, and path ③ according to the perception information uploaded by the vehicle, path ① indicates that the shaded area a and the shaded area b in (a) of FIG. 5 are connected, and the shaded area b and the shaded area d are connected, path ② indicates that the shaded area c and the shaded area e in (a) of FIG. 5 are connected, and the shaded area e and the shaded area d are connected, and path ③ indicates that the shaded area a and the shaded area b in (a) of FIG. 5 are connected, and the shaded area b and the shaded area c are connected; the cloud server determines that the electronic device motion path includes path ④ and path ⑤ according to the path uploaded by the electronic device, path ④ indicates that the shaded area b and the shaded area c in (a) of FIG. 5 are connected, the shaded area c and the shaded area f are connected, and the shaded area f and the shaded area d are connected, and path ⑤ indicates that the shaded area b and the shaded area d in (a) of FIG. 5 are connected.

[0144] For the scenario shown in (b) of FIG. 5, the cloud server determines the vehicle driving path according to the perception information uploaded by the vehicle, including path ② and path ③, and determines the electronic device motion path according to the path uploaded by the electronic device, including path ④. That is, the connectivity between the shadow area b and the shadow area d shown in (a) of FIG. 5 does not exist, and for the scenario shown in (b) of FIG. 5, the pedestrian cannot move from the shadow area b1 to the shadow area d1, or from the shadow area d1 to the shadow area b1.

[0145] For the scenario shown in (c) of FIG. 5, the cloud server determines the vehicle driving path according to the perception information uploaded by the vehicle, including path ③ and path ⑥, and determines the electronic device motion path according to the path uploaded by the electronic device, including path ④ and path ⑤. It can be seen that for the scenario shown in (c) of FIG. 5, the vehicle cannot drive from the shadow area b to the shadow area d shown in (a) of FIG. 5, but the pedestrian can still drive from the shadow area b to the shadow area d, and therefore, the passable area and the connectivity of the passable area of the scenario shown in (c) of FIG. 5 can be regarded as the same as the scenario shown in (a) of FIG. 5. If the cloud server determines the vehicle driving path according to the perception information uploaded by the vehicle, including path ③ and path ⑥, and determines the electronic device motion path according to the path uploaded by the electronic device, including path ④, for the scenario shown in (c) of FIG. 5, the connectivity between the shadow area b and the shadow area d shown in (a) of FIG. 5 does not exist, and the pedestrian cannot move from the shadow area d2 to the shadow area b1, or from the shadow area b1 to the shadow area d2.

[0146] In the embodiments of the present application, the electronic device can be a device held or worn by a pedestrian, and therefore, in some scenarios, the motion path of the electronic device can represent the walking path of the pedestrian. It should be understood that the scenarios shown in FIG. 5 are only exemplary, and in actual implementation, there can be other reasons causing the passable area of the parking area or the connectivity of the passable area to change. It should be understood that the path planned for the same starting position and destination position can change or can not change before and after the passable area in the parking area or the connectivity of the passable area changes.

[0147] In some implementations, the user's vehicle has been parked in the parking area 350, and the user can enter the parking area 350 by using the car search function of the electronic device. The car search function provided in the embodiments of the present application can determine the position of the electronic device and the orientation of the camera of the electronic device through the images collected by the electronic device. The following is described by taking the electronic device as a mobile phone and the camera as the rear camera of the mobile phone.

[0148] In an example, as shown in (a) of FIG. 7, taking the user 360 as an example, the user 360 is located near the vehicle 1 in the parking area 350, and the vehicle 370 is the vehicle to be found by the user 360. If the user 360 faces the vehicle 1 to obtain the image of the parking area 350, the image collected by the mobile phone can be as shown in (b) of FIG. 7. In the image, the proportion of the vehicle 1 is large, and the image also includes the vehicle 3 and the vehicle 4. The proportion of the passable area in the image is small, so that the matching degree of the image with the map information of the parking area 350 is poor, and it is difficult to identify the position of the electronic device through the image. In addition, it can be understood that the setting position of the camera of the current vehicle (such as the head, tail, or lower edge of the rearview mirror) makes it difficult for the vehicle to obtain the image of the view angle shown in (b) of FIG. 7 during driving. Therefore, the matching degree of the image included in the map information of the parking area 350 with the image shown in (b) of FIG. 7 can be poor.

[0149] Further, when it is determined that the matching degree of the image shown in (b) of FIG. 7 with the map information of the parking area 350 is poor, the mobile phone can prompt the user to adjust the pose of the mobile phone through a prompt device. The prompt device can include a display screen, a loudspeaker, and the like. For example, as shown in (c) of FIG. 7, the mobile phone can control the display screen to display “Please turn the camera of the mobile phone to the area where the vehicle can drive”, to prompt the user to adjust the pose of the mobile phone. Alternatively, the mobile phone can also control the loudspeaker to play the audio “Please turn the camera of the mobile phone to the area where the vehicle can drive”, to prompt the user to adjust the pose of the mobile phone.

[0150] The user moves to the position shown in (a) of FIG. 8 according to the prompt, and obtains the image by facing the passable area. For example, the image obtained by the user 360 at the position shown in (a) of FIG. 8 is as shown in (b) of FIG. 8. In the image shown in (b) of FIG. 8, the proportion of the passable area is large, and in addition, the image also includes the images of the vehicle 1, the vehicle 2, and the vehicle 3. The mobile phone can determine that the mobile phone is located at the position A according to the matching degree of the image shown in (b) of FIG. 8 and the map information of the parking area 350. Alternatively, the mobile phone can control the prompt device to prompt the user that the positioning is successful. For example, as shown in (c) of FIG. 8, the mobile phone can control the display screen to display “Your position has been determined”, to prompt the user that the positioning is successful.

[0151] Alternatively, in the process of collecting the image by the mobile phone, the user can click the button 601 to take a picture, and the mobile phone performs positioning according to the image obtained by taking the picture. Alternatively, the mobile phone can also not have the button 601, and the mobile phone starts the video recording function when the vehicle searching function is performed (i.e., the image shown in (b) of FIG. 7 or (b) of FIG. 8 is a frame in the video), and then the mobile phone performs positioning according to the frame of the image extracted from the video.

[0152] Fig. 9 and Fig. 10 show the characteristics of the images collected by the vehicle and the images collected by the mobile phone respectively. Fig. 9(a) shows the image collected by the camera of the vehicle, Fig. 9(b) shows the image collected by the camera of the mobile phone, and Fig. 9(c) shows the feature points in the images, the straight lines indicate the correspondence between the feature points in the image collected by the vehicle and the image collected by the mobile phone, and the lines between two feature points indicate that the two feature points are the same point in the parking area. As shown in Fig. 9(c), there are fewer feature points in the image collected by the vehicle and the image collected by the mobile phone. After adjusting the camera of the mobile phone, the image collected by the mobile phone is shown in Fig. 10(b), and as shown in Fig. 9(c), the number of the same feature points in the image collected by the vehicle and the image collected by the mobile phone is obviously increased, which can increase the success rate of the positioning of the mobile phone.

[0153] In some implementations, in the process of positioning the mobile phone, in addition to displaying the image collected by the camera (such as the real-time collected image) on the display screen of the mobile phone, an icon indicating the feature points matched with the map information in the image can also be displayed, and the more the icons indicating the feature points matched with the map information in the image collected by the camera of the mobile phone, the higher the matching degree between the image collected by the camera of the mobile phone and the map information of the parking area. As shown in Fig. 11(a), the matching degree between the image collected by the camera of the mobile phone facing the vehicle 1 and the map information of the parking area is low, and therefore, as shown in Fig. 11(a), there are fewer feature points in the image matched with the map information of the parking area, and therefore, fewer icons 901 (the icons 901 indicate the feature points matched with the map information in the image displayed on the display screen of the mobile phone) can be displayed. As shown in Fig. 11(b), the matching degree between the image collected by the camera of the mobile phone facing the passable area and the map information of the parking area is high, and therefore, as shown in Fig. 11(b), there are more feature points in the image matched with the map information of the parking area, and therefore, more icons 901 can be displayed. The icons 901 can be understood as a kind of information prompting the user to adjust the pose of the mobile phone, for example, when there are fewer icons 901 in the image displayed on the mobile phone, it indicates that the matching degree between the image currently collected by the mobile phone and the image included in the map information is poor, and the pose of the mobile phone needs to be adjusted to collect the image again.

[0154] In some implementations, the mobile phone can render a vehicle model, and display the vehicle model on the basis of the image collected by the camera displayed on the display screen, the vehicle model is used to indicate the view angle of the vehicle when collecting the image in the parking area, and through the position of the vehicle model in the display screen, the user can be prompted to adjust the orientation of the camera of the mobile phone, so that the view angle of the image collected by the camera of the mobile phone is closer to the view angle of the image collected by the camera of the vehicle, thereby improving the positioning speed and the success rate of positioning.

[0155] Exemplarily, FIG. 12 shows an interaction process of indicating the user to adjust the pose of the mobile phone by the vehicle model displayed on the mobile phone display screen. In an example, as shown in (a) of FIG. 12, the angle between the camera of the mobile phone and the ground (i.e., the plane on which the vehicle travels) is too large (i.e., the camera of the mobile phone is directed towards the ceiling of the parking area rather than the ground of the parking area), so that the view angle of the camera of the mobile phone is greatly different from the view angle of the camera of the vehicle, resulting in that the vehicle model 920 is only partially displayed in the screen. It can be understood that the partial display of the vehicle model 920 can be understood as a prompt information prompting the user to adjust the pose of the mobile phone. Alternatively, when the vehicle model 920 is not fully displayed, the mobile phone can also control the prompt device to prompt, as shown in (b) of FIG. 12, the mobile phone controls the display screen to display “Please rotate the camera of the mobile phone so that the vehicle model is fully displayed”, or the mobile phone controls the sound emitting device such as the loudspeaker to prompt “Please rotate the camera of the mobile phone so that the vehicle model is fully displayed”. When the user rotates the camera of the mobile phone towards the ground according to the prompt, the view angle of the camera of the mobile phone is closer to the view angle of the camera of the vehicle, at this time, as shown in (c) of FIG. 12, the vehicle model 920 is located in the center of the image displayed on the display screen, at this time, the positioning success rate of the mobile phone is higher. In another example, when the deflection angle of the camera of the mobile phone in the direction parallel to the plane on which the vehicle travels is not appropriate, the view angle of the camera of the mobile phone can also be greatly different from the view angle of the camera of the vehicle, resulting in that the coincidence degree of the vehicle model 920 and the drivable area is poor, as shown in (d) of FIG. 12, the vehicle model 920 is located in the left position of the image and overlaps with the pixels of the column and the vehicle. It can be understood that the display of the vehicle model 920 deviating from the center position of the image can be understood as a prompt information prompting the user to adjust the pose of the mobile phone. Alternatively, when the vehicle model 920 deviates from the center position of the image, the mobile phone can also control the prompt device to prompt, as shown in (e) of FIG. 12, the mobile phone controls the display screen to display “Please rotate the camera of the mobile phone so that the vehicle model is located in the center of the screen”, or the mobile phone controls the sound emitting device such as the loudspeaker to prompt “Please rotate the camera of the mobile phone so that the vehicle model is located in the center of the screen”. When the user rotates the camera of the mobile phone to the right according to the prompt, the view angle of the camera of the mobile phone is closer to the view angle of the camera of the vehicle, at this time, as shown in (f) of FIG. 12, the vehicle model 920 is located in the center of the image displayed on the display screen, at this time, the positioning success rate of the mobile phone is higher. In another example, the vehicle model 920 can always be located in the center position of the image displayed on the display screen, as shown in (g) of FIG. 12, when the angle between the camera of the mobile phone and the ground is too large, the distance between the vehicle model 920 and the ground is large. It can be understood that the poor adhesion of the wheels of the vehicle model 920 to the ground can be understood as a prompt information prompting the user to adjust the pose of the mobile phone.Alternatively, when the distance between the vehicle model 920 and the ground is large, the mobile phone can also control the prompting device to prompt, as shown in (h) of FIG. 12, the mobile phone controls the display screen to display "please rotate the mobile phone to make the vehicle model close to the ground", or the mobile phone controls the sound device such as a loudspeaker to prompt "please rotate the mobile phone to make the vehicle model close to the ground". When the user rotates the camera of the mobile phone towards the ground according to the prompt, the angle of view of the camera of the mobile phone is closer to the angle of view of the camera of the vehicle, at this time, as shown in (c) of FIG. 12, the vehicle model 920 and the ground are well fitted, and the positioning success rate of the mobile phone is higher.

[0156] It can be understood that the image of the parking area displayed on the display screen of the mobile phone in FIG. 12 can be an image collected by the mobile phone in real time.

[0157] In some implementations, when the mobile phone is in portrait mode, the image displayed on the display screen contains less information of the parking area, for example, as shown in (a) of FIG. 13, when the mobile phone is in portrait mode, the proportion of the passable area of the parking area and the ceiling in the image displayed on the display screen is large, which may result in that the feature points of the image collected by the mobile phone and the map information of the parking area are the same and cannot be displayed, so that the positioning and guiding effect on the user cannot be effectively realized. Therefore, when it is detected that the mobile phone is in portrait mode, the user can be prompted to adjust the pose of the mobile phone, such as rotating the mobile phone. For example, as shown in (b) of FIG. 13, the mobile phone controls the display screen to display "please rotate the direction of the mobile phone to display more image information". Further, when the user adjusts the mobile phone to landscape mode, as shown in (c) of FIG. 13, the display screen of the mobile phone can display more information of the parking area.

[0158] It should be understood that the positioning described in the foregoing embodiments includes determining the position of the mobile phone in the parking area and the orientation of the camera of the mobile phone (and the face orientation of the user).

[0159] After the position and orientation of the mobile phone are determined, a path from the position of the mobile phone to the position of the target vehicle can be planned according to the position of the mobile phone and the position of the target vehicle (and the vehicle 370). For example, as shown in (a) of FIG. 14, the user 360 holds the mobile phone and faces the exit 353 to capture an image, and a path to the vehicle 370 is determined according to the position of the user 360 and the position of the vehicle 370, which is via the shadow area b to the shadow area a. That is, the user 360 needs to walk to the right of himself, and thus the prompting device of the mobile phone can be controlled to prompt the user to turn right, for example, as shown in (b) of FIG. 14, the display screen of the mobile phone is controlled to display "Please turn to your right side, the destination is on your right side", or the speaker of the mobile phone is controlled to play audio "Please turn to your right side, the destination is on your right side", to prompt the user to turn right. After the user turns right, an image can be acquired in the direction of the vehicle 4 shown in (a) of FIG. 14, and the display screen is controlled to display the image, as shown in (c) of FIG. 14. As shown in (c) of FIG. 14, the image further includes the vehicle 2 and the vehicle 5, and the intersection 940 and the intersection 950. According to the path to the vehicle determined as described above, the user needs to turn left at the intersection 940, and further, the display screen can be controlled to display part or all of the path to the vehicle on the image of the parking area. In an example, guide information 930 can be displayed on the image, the guide information 930 includes an arrow and the text "Turn left at the intersection ahead", and the arrow points to the intersection 940 to prompt the user to turn left at the intersection 940. In another example, other forms of guide information can also be displayed, such as the guide information 960 and the guide information 970, wherein the guide information 960 is used to indicate that the user needs to straighten in the shadow area b to the vehicle 4, and the guide information 970 is used to indicate the straightening direction (as shown by 971), the straightening distance (as shown by 972), the remaining distance and the required time of the path to the vehicle (as shown by 973). In addition, the guide information 970 can further include an exit button 974, and when it is detected that the user clicks the exit button 974, the navigation to the vehicle can be exited.

[0160] In some implementations, for the prompt shown in (b) of FIG. 14, the user can mistakenly turn left, as shown in (a) of FIG. 15. Assuming that the user turns right, there is construction material 358 in front of the user 360, and thus the image captured by the camera of the mobile phone can be as shown in (b) of FIG. 15. The mobile phone can determine that the orientation of the mobile phone does not match the path to the vehicle according to the image shown in (b) of FIG. 15, and thus the prompting device is controlled to prompt the user that the walking direction is wrong. For example, as shown in (c) of FIG. 15, the display screen of the mobile phone is controlled to display "The road ahead is not available, please turn to your back, the destination is behind you".

[0161] In some implementations, for the prompt shown in (b) of FIG. 14, the user can mistakenly turn left, as shown in (b) of FIG. 15. Assuming that there is no obstacle in front of the user 360 after the user turns, the image captured by the camera of the mobile phone can be as shown in (b) of FIG. 16. In this case, since the user can also reach the vehicle 370 by walking forward through other paths, the route can be re-planned for the user, and the prompt device of the mobile phone can be controlled to prompt. For example, as shown in (c) of FIG. 16, the display screen is controlled to display "Your route has been re-planned". Exemplarily, the re-planned path can be from the shadow area b to the shadow area d, the shadow area c, the shadow area b, and the shadow area a in sequence. Further, according to the re-planned path, the display screen can be controlled to display part or all of the newly planned path to the vehicle on the image of the displayed parking area. For example, as shown in (d) of FIG. 16, guide information 980 can be displayed on the image, which includes an arrow and the text "turn right at the intersection ahead", and the arrow points to the intersection of the shadow area b and the shadow area d to prompt the user to turn right at the intersection.

[0162] The application scenarios and interaction processes of the vehicle searching method provided by the embodiments of the present application are described in detail above in combination with FIGS. 5 to 16. It should be noted that FIGS. 5 to 16 are described by taking a one-layer parking area as an example, and in actual implementation, the technical solutions of the present application can also be used in the scenario of searching for a vehicle in a multi-layer parking area. For example, the electronic device is located at position b on the first floor, and the vehicle is located at position a on the second floor. When it is determined that the electronic device is located at position b on the first floor by the foregoing method, a guide path from position b to position a can be planned, and the relevant guide information can be displayed on the electronic device to enable the user to reach position a on the second floor. In addition, the scenarios shown in FIGS. 5 to 16 are only exemplary descriptions, and in actual implementation, the parking area can be a simpler or more complex scenario.

[0163] The vehicle searching method provided by the embodiments of the present application is described in detail below in combination with FIG. 17.

[0164] FIG. 17 shows a schematic flowchart of a vehicle searching method 1700 provided by an embodiment of the present application. The method 1700 can be performed by the electronic device 100 in the foregoing embodiments. The method 1700 includes:

[0165] S1710, obtaining first map information of a first area and a first position of a first intelligent driving device in the first area, the first map information being associated with environment information collected by at least one intelligent driving device in the first area, and the first map information indicating a passable area in the first area.

[0166] Exemplarily, the first region can include the parking area 1 in the method 400, the first map information can include the map information of the parking area 1, the first intelligent driving device can include the vehicle 2 in the method 400, and the electronic device performing the method can be the device 1 in the method 400. The at least one intelligent driving device can include the first intelligent driving device, or can also not include the first intelligent driving device, and the at least one intelligent driving device includes the vehicle 1 in S401, or can also include multiple vehicles in S401.

[0167] Exemplarily, the first map information is associated with the environment information collected by the at least one intelligent driving device in the first region, which can be understood as that the first map information is constructed or generated according to the environment information collected by the at least one intelligent driving device in the first region.

[0168] Specifically, the electronic device can obtain the first map information and the first position of the first intelligent driving device in the first region from the cloud server. The generation method of the first map information can refer to the description in the method 400, which will not be described here.

[0169] In some implementations, the passable region includes a region available for the intelligent driving device to travel, and / or a region available for a pedestrian to pass.

[0170] Exemplarily, if the first region is the parking area 350 shown in (a) of FIG. 5, the passable region can include the shaded regions a-f; if the first region is the parking area 350 shown in (b) of FIG. 5, the passable region can include the shaded regions a, b1, c, d1, e, and f; and if the first region is the parking area 350 shown in (c) of FIG. 5, the passable region can include the shaded regions a, b1, b2, c, d2, e2, and f.

[0171] S1720, obtaining a first image collected by the electronic device.

[0172] Exemplarily, the first image can be an image with a high matching degree with the perception information collected by the at least one intelligent driving device, for example, the first image can be the image shown in (b) of FIG. 8.

[0173] It should be noted that the first image can be an image photographed by the electronic device, or the first image can also be a frame of image in a video stream collected by the electronic device.

[0174] S1730, determining a second position of the electronic device in the first region according to the first image; and displaying first guide information on a second image according to the first map information, the second image being an image collected by the electronic device in response to the first instruction, and the first guide information indicating a first path from the second position to the first position.

[0175] Exemplarily, the second image and the first image can be the same image, or can also be different images. Exemplarily, if the first image does not include a navigation road from the second position to the first position, the first instruction is an instruction for collecting an image generated when it is detected that the user rotates the camera of the mobile phone to face the navigation direction, and the second image can be an image collected when it is detected that the user rotates the camera of the mobile phone to face the navigation direction around the direction perpendicular to the ground and when the first instruction is obtained. For example, the second image can be the image of the parking area shown in (c) of FIG. 14.

[0176] It should be noted that the second position in the embodiments of the present application can be a region, rather than a coordinate point. For example, the second position can be a region determined according to the first image.

[0177] In some implementations, the fourth position needs to be passed from the first position to the second position, and the first guide information includes at least one of the following: a sub-path indicating from a current position of the electronic device to the fourth position, a navigation distance between the current position and the fourth position, a navigation distance between the current position and the first position, or a time length required from the current position to the first position.

[0178] Exemplarily, the fourth position can be the intersection 940 shown in FIG. 14, and the first guide information can include the guide information 930 shown in FIG. 14, or can also include the guide information 970 shown in FIG. 14.

[0179] In some implementations, the first image is collected by the electronic device in the first pose, and the method further includes: obtaining a third image, the third image being collected by the electronic device in a second pose at the second position in the first region; when the matching degree between the third image and the first map information is less than or equal to a matching degree threshold, and / or when the proportion of the passable region included in the third image is less than or equal to a proportion threshold, controlling the prompt unit to prompt first information, the first information being used to prompt adjustment of the pose of the electronic device; and in response to a second instruction, collecting the first image, the second instruction being associated with a detection result of the pose transformation of the electronic device to the first pose.

[0180] In an example, taking the image of the parking area shown in (b) of FIG. 8 as the first image, the third image can be the image of the parking area shown in (b) of FIG. 7. The first information can be the information shown in (c) of FIG. 7. In addition, taking the electronic device as a mobile phone, the second pose can be a pose of the rear camera of the mobile phone facing the vehicle 1 shown in FIG. 7, and the first pose can be a pose of the rear camera of the mobile phone facing the drivable region with the vehicles 1 to 3 on both sides shown in FIG. 8.

[0181] In another example, the third image can also be an image of the parking area shown in (a) of FIG. 12, the first information can include the vehicle model 920 shown in (a) of FIG. 12, or the first information can be text information including (b) of FIG. 12.

[0182] In some implementations, the second instruction is associated with a detection result of a pose transformation of the electronic device to the first pose.

[0183] Exemplarily, the matching degree threshold value can be 40% to 60%, or the matching degree threshold value can also be other numerical values. The proportion of the passable area can be the proportion of the pixels of the passable area in the total pixels of the third image, and the proportion threshold value can be 30% to 50%, or the proportion threshold value can also be other numerical values.

[0184] In some implementations, the first information includes a first icon, the first icon is used to indicate a visual angle of the second intelligent driving device when collecting the image at the second position, the second intelligent driving device is one of the at least one intelligent driving device, and the control prompting unit prompting the first information includes: controlling the first icon to be displayed on the third image according to the second pose.

[0185] Exemplarily, the first icon can be the vehicle model 920 shown in FIG. 12, or the first icon can also be other icons indicating the visual angle of the second intelligent driving device when collecting the image at the second position.

[0186] In some implementations, the first image includes a first drivable area, the first drivable area is contained in the passable area indicated by the first map information, and the method further includes: controlling the display device to display the first image and display the first icon in the first drivable area of the first image.

[0187] Exemplarily, the first drivable area can be the drivable area shown in (c) of FIG. 12 with vehicles 1 to 3 on both sides, and the vehicle model 920 can be displayed in the first drivable area; or the first drivable area can be the drivable area shown in (f) of FIG. 12, and the vehicle model 920 can be displayed in the first drivable area. When the vehicle model is displayed in the first drivable area, the bottom of the tire of the vehicle model 920 coincides with the ground of the first drivable area.

[0188] In some implementations, the first information includes m second icons, the m second icons indicate a matching part of the third image and the first map information, m is a positive integer, and the control prompting unit prompting the first information includes: controlling the m second icons to be displayed on the third image in a first time period.

[0189] Exemplarily, the m second icons can be the plurality of icons 901 shown in (a) of FIG. 11, or the second icons can also be icons of other forms indicating the matching part of the third image and the first map information.

[0190] In some implementations, the n second icons are controlled to be displayed on the first image in a second time period, the n second icons indicating the matching part of the first image and the first map information; wherein n is a positive integer, and n is greater than m, the end moment of the first time period is earlier than the start moment of the second time period, or the end moment of the first time period coincides with the start moment of the second time period.

[0191] Exemplarily, the n second icons can be the plurality of icons 901 shown in (b) of FIG. 11.

[0192] In some implementations, the first information further includes at least one of the following: text information or audio information. Exemplarily, the text information can include the text information "Please turn the camera of the mobile phone to the area where the vehicle can travel" shown in (c) of FIG. 7, and the audio information can include the audio "Please turn the camera of the mobile phone to the area where the vehicle can travel" played by the loudspeaker of the mobile phone in the foregoing embodiment. Or, the text information and the audio information can also include other prompt contents.

[0193] In some implementations, the method further includes: when the screen direction of the electronic device is a first direction, controlling the prompt unit to prompt to adjust the screen direction of the electronic device to a second direction, the effective information displayed by the electronic device in the first direction being less than the effective information displayed by the electronic device in the second direction.

[0194] Exemplarily, the first direction can be the direction shown in (a) of FIG. 13, i.e., the mobile phone is in portrait screen, and the second direction can be the direction shown in (c) of FIG. 13, i.e., the mobile phone is in landscape screen. The effective information can be information used to determine the current position of the mobile phone, or the effective information can include the foregoing first icon and / or second icon.

[0195] In some implementations, the first map information is acquired by the electronic device at a first time, and the first map information indicates N passable areas in the first area and the connectivity relationship between the N passable areas, N being a positive integer; the method further includes: acquiring second map information at a second time, the second map information indicating M passable areas in the first area and the connectivity relationship between the M passable areas, there being at least one different passable area between the M passable areas and the N passable areas, M being a positive integer; and according to the second map information, controlling the display of second guide information, the second guide information indicating a second path from a third position where the electronic device is located to the first position.

[0196] For example, after the user searches for the vehicle at the first time, the user does not change the parking position of the vehicle. For example, the user searches for the vehicle only to place or take an article on or from the vehicle, and then leaves the first area after placing or taking the article. After the user leaves the first area, the map information of the first area changes. Therefore, when the user searches for the vehicle at the second time, the second path needs to be re-planned for the user according to the new map information of the first area. For example, when the first map information is the map information corresponding to the scenario shown in (a) of FIG. 5, the second information can be the map information corresponding to the scenario shown in (b) or (c) of FIG. 5.

[0197] The control method provided in the embodiments of the present application can determine the position of the electronic device according to the matching degree of the image collected by the electronic device and the images collected by the plurality of vehicles in the parking area, and can realize positioning without relying on GNSS positioning information, and then plan a vehicle searching path for the user. When the GNSS signal in the parking area is weak, the user's vehicle searching efficiency is not affected, and the user's vehicle searching experience is improved.

[0198] In the embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be mutually referred to if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0199] The vehicle searching method provided in the embodiments of the present application is described in detail above in combination with FIGS. 1 to 17. The device provided in the embodiments of the present application will be described in detail below in combination with FIGS. 18 and 19. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments, and therefore, the content not described in detail can be referred to the method embodiments described above, and will not be described here again for brevity.

[0200] FIG. 18 shows a schematic block diagram of a vehicle searching device 2000 provided in the embodiments of the present application. The device 2000 can include units for performing the steps performed by the device 1 in the method 400, or the device 2000 can also include units for performing the method 1700. Each unit in the device 2000 is used to implement the corresponding process of the method embodiments described above. The device 2000 includes a first acquisition unit 2010 and a second acquisition unit 2020, which can be used to implement the corresponding data acquisition or transceiving function. The device 2000 further includes a processing unit 2030, which can be used to implement the corresponding processing function.

[0201] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2030 can read the instructions and / or data in the storage unit, so that the device implements the related actions in the foregoing method embodiments.

[0202] It should be understood that the specific process of each unit performing the corresponding steps described above has been described in detail in the method embodiments described above, and for the sake of brevity, will not be repeated here.

[0203] It should also be understood that the apparatus 2000 herein is embodied in the form of functional units. The term "module" or "unit" herein can refer to an application-specific ASIC, an electronic circuit, a processor (for example, a shared processor, a dedicated processor, or a group of processors, etc.) and a memory for executing one or more software or firmware programs, a combination of logic circuitry and / or other suitable components that support the described functions.

[0204] The apparatus of each of the above solutions has a function of implementing the corresponding steps performed by the processor 110 in the above method. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the first acquisition unit 2010 and / or the second acquisition unit 2020 can be replaced by a transceiver, and other units such as the processing unit can be replaced by a processor, for performing the related processing operations in each method embodiment.

[0205] Exemplarily, the first acquisition unit 2010, the second acquisition unit 2020, and the processing unit 2030 can be arranged in the electronic device 100 shown in FIG. 1 or FIG. 2. More specifically, the first acquisition unit 2010 described above can be arranged in the mobile communication module 150 or the wireless communication module 160 or the processor 110, the second acquisition unit 2020 can be arranged in the camera 193 or the processor 110, and the processing unit 2030 can be arranged in the processor 110.

[0206] In the specific implementation process, each unit in the above apparatus can be integrated together or can also be independently implemented. In one implementation, these units are integrated together to be implemented in the form of a system on a chip (SoC).

[0207] FIG. 19 is another schematic block diagram of a vehicle searching apparatus provided by an embodiment of the present application. The vehicle searching apparatus 2100 shown in FIG. 19 can include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected through an internal connection path. The memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Alternatively, the memory 2130 can be coupled to the processor 2110 through an interface, or the memory 2130 can be integrated with the processor 2110.

[0208] It should be noted that the transceiver 2120 can include, but is not limited to, a transceiver device such as an input / output interface to enable communication between the device 2100 and other devices or communication networks.

[0209] The memory 2130 can be a volatile memory and / or a non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically EPROM (EEPROM), or a flash memory, for example. The volatile memory can be a random access memory (RAM). The RAM can be used as the external cache. The RAM includes various forms of RAM, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM), for example, without limitation.

[0210] The transceiver 2120 uses a transceiver device such as, but not limited to, a transceiver to enable communication between the device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0211] The embodiments of the present application also provide an electronic device, which includes the vehicle searching device 2000 or the vehicle searching device 2100 in the above embodiments.

[0212] The embodiments of the present application also provide a computer program product, which includes computer program codes, when the computer program codes are run on a computer, the computer is enabled to implement the methods in the above embodiments of the present application.

[0213] The embodiment of the present application further provides a computer readable storage medium, which stores computer instructions, and when the computer instructions run on a computer, the computer implements the method in the above-mentioned embodiments of the present application.

[0214] The embodiment of the present application further provides a chip, which comprises a circuit for executing the method in the above-mentioned embodiments of the present application.

[0215] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-mentioned system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0216] In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" herein is a description of the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent: A alone, A and B exist at the same time, and B alone. In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0217] In the embodiments of the present application, the prefix words such as "first", "second" are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as ordinal words in the embodiments of the present application does not constitute a limitation on the described objects, and the description of the described objects should refer to the description of the context in the claims or embodiments, and should not constitute an unnecessary limitation because of the use of such prefix words.

[0218] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-mentioned device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed objects can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0219] In each of the embodiments of the present application, the terms and / or descriptions among the embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0220] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0221] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically independently, or two or more units can be integrated in one unit.

[0222] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of finding a vehicle, characterized by, The application is applied to an electronic device, comprising: obtaining first map information of a first region and a first position of a first intelligent driving device in the first region, the first map information being associated with environment information collected by at least one intelligent driving device in the first region, and the first map information indicating passable regions in the first region; obtaining a first image collected by the electronic device; determining a second position of the electronic device in the first region according to the first image; displaying first guide information on a second image according to the first map information, the second image being an image collected by the electronic device in response to a first instruction, and the first guide information indicating a first path from the second position to the first position.

2. The method of claim 1, wherein, The first image is collected by the electronic device in a first pose, and the method further comprises: obtaining a third image collected by the electronic device in the second position in the first region in a second pose; when a matching degree between the third image and the first map information is less than or equal to a matching degree threshold, and / or when a proportion of passable regions included in the third image is less than or equal to a proportion threshold, controlling a prompt unit to prompt first information for prompting adjustment of the pose of the electronic device; in response to a second instruction, collecting the first image, the second instruction being associated with a detection result of a pose transformation of the electronic device to the first pose.

3. The method of claim 2, wherein, The first information includes a first icon for indicating a viewing angle of a second intelligent driving device when collecting an image in the second position, the second intelligent driving device being one of the at least one intelligent driving device, and the control of the prompt unit to prompt the first information comprises: controlling the first icon to be displayed on the third image according to the second pose.

4. The method of claim 3, wherein, The first image includes a first drivable region, and the first drivable region is included in the passable regions indicated by the first map information, and the method further comprises: controlling a display device to display the first image and display the first icon in the first drivable region of the first image.

5. The method according to any one of claims 2 to 4, characterized in that, The first information includes m second icons indicating matching parts of the third image and the first map information, m being a positive integer, and the control of the prompt unit to prompt the first information comprises: controlling the m second icons to be displayed on the third image in a first time period.

6. The method of claim 5, wherein, The method further comprises: controlling n second icons to be displayed on the first image in a second time period, the n second icons indicating matching parts of the first image and the first map information; wherein n is a positive integer, n is greater than m, an end time of the first time period is earlier than a start time of the second time period, or the end time of the first time period coincides with the start time of the second time period.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: The control unit controls the prompting unit to prompt adjustment of the screen direction of the electronic device to a second direction when the screen direction of the electronic device is a first direction, the effective information displayed by the electronic device in the first direction being less than the effective information displayed by the electronic device in the second direction, the effective information indicating a position of the electronic device.

8. The method according to any one of claims 1 to 7, characterized in that, The first map information is acquired by the electronic device at a first time, and indicates N passable regions in the first region and a connectivity relationship between the N passable regions, N being a positive integer, and the method further comprises: acquiring second map information at a second time, the second map information indicating M passable regions in the first region and a connectivity relationship between the M passable regions, there being at least one different passable region between the M passable regions and the N passable regions, M being a positive integer; controlling display of second guide information according to the second map information, the second guide information indicating a second path from a third position of the electronic device to the first position.

9. The method according to any one of claims 1 to 8, characterized in that, The passable regions include regions available for intelligent driving devices to travel and / or regions available for pedestrians to pass through.

10. The method according to any one of claims 1 to 9, characterized in that, The first guide information includes at least one of the following: a sub-path indicating from a current position of the electronic device to the fourth position, a navigation distance between the current position and the fourth position, a navigation distance between the current position and the first position, or a time length required from the current position to the first position.

11. A vehicle finding apparatus characterized by comprising: The device is arranged in an electronic device, and the device comprises: a first acquisition unit configured to acquire first map information of a first region and a first position of a first intelligent driving device in the first region, the first map information being associated with environment information collected by at least one intelligent driving device in the first region, the first map information indicating passable regions in the first region; a second acquisition unit configured to acquire a first image collected by the electronic device; a processing unit configured to determine a second position of the electronic device in the first region according to the first image; the processing unit is further configured to display first guide information on a second image according to the first map information, the second image being an image collected by the electronic device in response to a first instruction, the first guide information indicating a first path from the second position to the first position.

12. The apparatus of claim 11, wherein, The device further comprises a perception unit and a prompting unit, the first image being collected by the electronic device in a first pose, and the second acquisition unit is further configured to: acquire a third image, the third image being collected by the electronic device in the second position in a second pose; the processing unit is further configured to control the prompting unit to prompt first information for prompting adjustment of the pose of the electronic device when a matching degree between the third image and the first map information is less than or equal to a matching degree threshold, and / or when a proportion of passable regions included in the third image is less than or equal to a proportion threshold. The perception unit is configured to collect the first image in response to a second instruction, the second instruction being associated with a detection result of a pose transformation of the electronic device to the first pose.

13. The apparatus of claim 12, wherein, The first information includes a first icon, the first icon being used to indicate a visual angle of a second intelligent driving device when collecting an image at the second position, the second intelligent driving device being one of the at least one intelligent driving device, and the processing unit is configured to control the first icon to be displayed on the third image according to the second pose.

14. The apparatus of claim 13, wherein, The first image includes a first drivable area, the first drivable area being included in the passable area indicated by the first map information, and the processing unit is further configured to: control a display device to display the first image and display the first icon in the first drivable area of the first image.

15. The apparatus of any one of claims 12-14, wherein, The first information includes m second icons, the m second icons indicating matching parts of the third image and the first map information, m being a positive integer, and the processing unit is configured to control the m second icons to be displayed on the third image in a first time period.

16. The apparatus of claim 15, wherein, The processing unit is further configured to: control n second icons to be displayed on the first image in a second time period, the n second icons indicating matching parts of the first image and the first map information; wherein n is a positive integer, n is greater than m, an end time of the first time period is earlier than a start time of the second time period, or the end time of the first time period coincides with the start time of the second time period.

17. The apparatus of any one of claims 11 to 16, wherein, The processing unit is further configured to: when a screen direction of the electronic device is a first direction, control a prompt unit to prompt to adjust the screen direction of the electronic device to a second direction, effective information displayed by the electronic device in the first direction being less than effective information displayed by the electronic device in the second direction, the effective information indicating a position of the electronic device.

18. The apparatus of any one of claims 11-17, wherein, The first map information is acquired by the first acquisition unit at a first time, and the first map information indicates N passable areas in the first area and a connectivity relationship between the N passable areas, N being a positive integer, and the first acquisition unit is further configured to: acquire second map information at a second time, the second map information indicating M passable areas in the first area and a connectivity relationship between the M passable areas, there being at least one different passable area between the M passable areas and the N passable areas, M being a positive integer; control second guide information to be displayed according to the second map information, the second guide information indicating a second path from a third position where the electronic device is located to the first position.

19. The apparatus of any of claims 11 to 18, wherein, The passable area includes an area available for intelligent driving devices to travel and / or an area available for pedestrians to pass.

20. The apparatus of any one of claims 11-19, wherein, The first guide information comprises at least one of a sub-path from a current position of the electronic device to a fourth position, a navigation distance between the current position and the fourth position, a navigation distance between the current position and the first position, or a time length required from the current position to the first position.

21. A vehicle finding apparatus characterized by comprising: The apparatus comprises: a processor configured to execute a computer program stored in a memory to cause the apparatus to perform the method of any one of claims 1 to 10.

22. The apparatus of claim 21, wherein, The apparatus further comprises the memory.

23. An electronic device, comprising: The apparatus comprises any one of claims 11 to 22.

24. A computer-readable storage medium, characterized in that, instructions stored thereon, which when executed by a processor, implement the method of any one of claims 1 to 10.

25. A computer program product, characterised in that, The computer program product comprises computer program code which, when executed by a processor, implements the method of any one of claims 1 to 10.

26. A chip, characterized by The chip comprises circuitry configured to perform the method of any one of claims 1 to 10.

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