Parking lot navigation method and apparatus, electronic device and storage medium
By creating a map in the parking lot and generating navigation instructions using relative orientation, the problem of high requirements for memory and sense of direction in traditional parking lot car finding methods is solved, achieving low-cost and efficient parking lot navigation.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- ZOU XIAOFEI
- Filing Date
- 2025-02-25
- Publication Date
- 2026-07-30
AI Technical Summary
Traditional parking lot car-finding methods require drivers to have a strong memory and sense of direction, and existing navigation technologies are costly and complex to implement, making them difficult to promote on a large scale.
Create a parking lot map, obtain the target and starting parking space numbers, combine the map to determine the navigation endpoint and starting point, generate navigation instructions based on relative location, guide the user's travel direction, and dynamically adjust the route.
No on-site hardware installation is required, reducing costs, improving navigation accuracy and efficiency, and making it easier for users to find their vehicles.
Smart Images
Figure CN2025078973_30072026_PF_FP_ABST
Abstract
Description
A parking lot navigation method, device, electronic device and storage medium Technical Field
[0001] This invention relates to the field of parking management technology, specifically to a parking lot navigation method, device, electronic equipment, and storage medium. Background Technology
[0002] With social development and the progress of the times, more and more people own cars. However, finding their vehicle after parking remains a challenging problem. Traditional methods require drivers to remember their parking space number and exact location within the parking lot, but this demands a high level of memory and a strong sense of direction. Furthermore, in large or complex parking lots, even if a driver remembers their parking space number, they may still be unable to find their original spot if they return via a different elevator, often resulting in them spending a significant amount of time searching for their vehicle.
[0003] Currently, parking lot location methods have emerged. Indoor navigation based on beacon infrastructure such as Bluetooth and Wi-Fi is costly, requiring widespread beacon deployment and pre-calibration by navigation manufacturers, making large-scale application difficult in the short term. QR code positioning navigation technology requires pre-positioning QR codes in shopping malls, and its inability to determine the user's real-time location leads to poor navigation performance. Image recognition navigation technology requires collecting and recognizing large amounts of image data, making it complex and costly, hindering widespread adoption. Summary of the Invention
[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a parking lot navigation method, the method comprising:
[0005] Create a parking lot map, which includes parking space location information and a road network, the road network including nodes and edges;
[0006] Obtain the target parking space number and the starting parking space number. The target parking space number is the parking space number of the parking space where the target vehicle is located, and the starting parking space number is the parking space number determined by the user based on the current starting position.
[0007] Based on the target parking space number and the starting parking space number, combined with the parking lot map, determine the navigation destination Y and the navigation starting point A, and generate a navigation route based on the navigation destination Y and the navigation starting point A, combined with the parking lot map.
[0008] Determine the relative position of the user to the starting parking space, generate navigation instructions based on the relative position, and determine the user's actual travel direction based on the navigation instructions.
[0009] Furthermore, obtaining the target parking space number and the starting parking space number includes: receiving user input information to determine the target parking space number and the starting parking space number, wherein the user input information includes one or more of text input information, voice input information, or parking lot map selection information.
[0010] Furthermore, after receiving user input information to determine the starting parking space number, the method further includes: generating user correct location confirmation information, wherein the user's correct location is located on one side of the starting parking space.
[0011] Further, based on the target parking space number and the starting parking space number, and in conjunction with the parking lot map, the navigation destination Y and the navigation starting point A are determined, including: determining the destination location Z based on the target parking space number and the parking space location information, and determining the navigation destination Y based on the destination location Z and the road network; determining the starting location S based on the starting parking space number and the parking space location information, and determining the navigation starting point A based on the starting location S and the road network.
[0012] Further, determining the navigation destination Y based on the destination position Z and the road network includes: projecting the destination position Z along the parking orientation of the target parking space onto the edge of the road network closest to the destination position Z to obtain a destination node, and determining the navigation destination Y based on the destination node; determining the navigation starting point A based on the starting point position S and the road network includes: projecting the starting point S along the parking orientation of the starting parking space onto the edge of the road network closest to the starting point position S to obtain a first node, and determining the navigation starting point A based on the first node.
[0013] Further, determining the relative position of the user and the starting parking space includes: determining a second node B adjacent to the first node based on the navigation path; determining a first connecting line AS based on the navigation starting point A and the starting position S; determining a second connecting line AB based on the navigation starting point A and the second node B; determining the angle between the first connecting line AS and the second connecting line AB; and determining the relative position of the user and the starting parking space based on the value of the angle.
[0014] Further, determining the angle between the first connecting line AS and the second connecting line AB includes: obtaining the angle by which the second connecting line AB rotates counterclockwise around A until it coincides with the first connecting line AS, and determining the angle based on the angle of rotation.
[0015] Further, determining the relative position of the user and the starting parking space based on the value of the included angle includes: determining the correspondence between the range of the included angle and the relative position, and determining the relative position of the user and the starting parking space based on the actual range of the included angle.
[0016] Further, determining the correspondence between the range of the included angle and the relative position includes: when the range of the included angle is [22.5, 157.5], determining that the user is located to the left of the starting parking space; when the range of the included angle is [202.5, 337.5], determining that the user is located to the right of the starting parking space; when the range of the included angle is (157.5, 202.5), determining that the user is located behind the starting parking space.
[0017] Further, determining the correspondence between the range of the included angle and the relative position includes: when the included angle is in the range of [22.5, 67.5), determining that the user is located on the left front side of the starting parking space; when the included angle is in the range of [67.5, 112.5), determining that the user is located on the left side of the starting parking space; when the included angle is in the range of [112.5, 157.5), determining that the user is located on the left rear side of the starting parking space; when the included angle is in the range of [157.5, 202.5), determining that the user is located on the rear side of the starting parking space; when the included angle is in the range of [202.5, 247.5), determining that the user is located on the right rear side of the starting parking space; when the included angle is in the range of [247.5, 292.5), determining that the user is located on the left ... When the angle is within the range of [292.5, 337.5], the user is determined to be located on the right side of the starting parking space; when the included angle is within the range of [292.5, 337.5], the user is determined to be located on the right front side of the starting parking space.
[0018] Furthermore, the method also includes: after the user has traveled a certain distance from the navigation starting point A, receiving the current parking space number corresponding to the current location input by the user, updating the starting parking space number to the current parking space number, and dynamically adjusting the navigation path and navigation instructions according to the current parking space number until the user is guided to the target parking space.
[0019] Furthermore, the method also includes: after the user has traveled a certain distance from the navigation starting point A, receiving the current parking space number corresponding to the current location input by the user, updating the user's current location according to the current parking space number, and dynamically adjusting the navigation instructions according to the user's current location until the user is guided to the target parking space.
[0020] Furthermore, after receiving the current parking space number corresponding to the current location input by the user, the method further includes: detecting the number of driving lanes adjacent to the current parking space according to the parking lot map; if the number of driving lanes is at least two, generating a projection point for each driving lane and allowing the user to select it; and confirming the user's relative position to the current parking space based on the projection point selected by the user.
[0021] Further, the projection point is the perpendicular projection point from the center point of the parking space to the edge of the road network corresponding to each of the driving lanes. The present invention also relates to a parking lot navigation device, the device comprising:
[0022] The map creation module is used to create parking lot maps, which include parking space location information and road network.
[0023] The information acquisition module is used to acquire the target parking space number and the starting parking space number. The target parking space number is the parking space number of the parking space where the target vehicle is located, and the starting parking space number is the parking space number determined by the user based on the current starting position.
[0024] The route planning module is used to determine the navigation destination Y and the navigation starting point A based on the target parking space number and the starting parking space number, combined with the parking lot map, and to generate a navigation route based on the navigation destination Y and the navigation starting point A, combined with the parking lot map.
[0025] The navigation guidance module is used to determine the relative position of the user and the starting parking space, generate navigation instructions based on the relative position, and determine the user's actual direction of travel based on the navigation instructions.
[0026] The present invention also relates to an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the aforementioned parking lot navigation method.
[0027] The present invention also relates to a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the parking lot navigation method as described above.
[0028] The positive effects that can be achieved by adopting the technical solution of this invention are:
[0029] 1) This invention requires no on-site hardware installation, no on-site calibration, and no on-site data collection such as images, which greatly reduces costs and facilitates promotion.
[0030] 2) This invention can determine the user's actual direction of travel based on the relative position of the user and the parking space, ensuring that the user moves along the correct navigation direction, improving navigation accuracy and efficiency, and making it convenient for users to use. Attached Figure Description
[0031] Figure 1 is a first schematic diagram of the parking lot navigation method flow in the first embodiment;
[0032] Figures 2-1 to 2-2 are parking space diagrams, Figure 2-1 is a longitudinal parking space diagram, and Figure 2-2 is a transverse parking space diagram;
[0033] Figure 3 is a schematic diagram of the navigation path for parking lot navigation in the first embodiment;
[0034] Figure 4 is a schematic diagram of the correct user position in the first embodiment;
[0035] Figure 5 is a second schematic diagram of the parking lot navigation method flow in the first embodiment;
[0036] Figure 6 is a third schematic diagram of the parking lot navigation method flow in the first embodiment;
[0037] Figure 7 is a schematic diagram showing the relative positions of the user and the parking space in the first embodiment;
[0038] Figure 8 is a schematic diagram of the projection points generated for each driving lane in the first embodiment;
[0039] Figure 9 is a schematic diagram of the structural composition of a parking lot navigation device in the second embodiment;
[0040] Figure 10 is a schematic diagram of the structure of an electronic device in the third embodiment. Detailed Implementation
[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be further described clearly and completely below with reference to the accompanying drawings of the embodiments of this invention. It should be noted that the described embodiments are merely some embodiments of this invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.
[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.
[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
[0044] First Embodiment
[0045] Referring to Figure 1, this embodiment provides a parking lot navigation method, which includes:
[0046] Step S100: Create a parking lot map, which includes parking space location information and a road network, and the road network includes nodes and edges;
[0047] For example, the navigation method of this embodiment can be applied to a mobile terminal, which can be a mobile phone, tablet computer, PDA, or laptop computer. When creating a parking lot map, map software is used to establish marker points and route maps for each location area. For indoor navigation such as parking lots, a design floor plan is usually imported. For unified management and convenient subsequent use, it is usually necessary to align the floor plan with an external geographic location map (such as a satellite-based map, GIS map, etc.). In this embodiment, for parking lots, different areas and floors are managed separately, and different maps are created for subsequent selection. The parking lot map is stored by area, and each area information includes the boundary polygon of the area and the latitude and longitude coordinates and codes of all points within the area. The codes are usually composed of English letters and numbers. The parking lot map in this embodiment includes parking space location information and a road network. The parking space location information includes the location of the parking space on the map and the corresponding parking space number. Thus, the location (specific location) of the parking space number in the parking lot map can be determined by combining the parking space number with the parking lot map. The road network is a weighted directed graph, including nodes and edges. In this context, nodes represent intersections or road segment endpoints, edges represent road segments, and the weight of an edge represents the toll cost (distance) of the road segment.
[0048] Considering that maps vary between different locations and even different areas within the same location, users need to match their location and area to ensure the parking map loaded on the mobile terminal corresponds to the parking lot they are in. In this embodiment, the user can use satellite or base station positioning on the mobile terminal to request a list of locations within a certain range (e.g., 100 meters) from the server. After receiving the user's request, the server queries the database for locations that meet the distance criteria, sorts them from nearest to farthest, and returns them to the mobile terminal. If the server returns non-empty data, the nearest location is used as the current location. The user confirms whether the location is correct; if not, they can manually select from the list or map. When the device's satellite positioning is inaccurate, there may be location matching errors, requiring the user to manually correct them. When the positioning service is unavailable, the user can also query from the server by name or select directly from the map. Considering that a location is usually divided into multiple areas for management (e.g., a shopping mall has Area A and Area B, and the parking lot in Area A has different floors), this embodiment has multiple parking spaces in one area, each with a unique number, i.e., a parking space number, which identifies the corresponding area. Alternatively, in another option, the system can automatically match parking spaces based on the user's reported parking space number. Once the user has selected the location and area, a parking map of the area can be downloaded from the server.
[0049] Referring to Figure 2, the orientation of parking spaces is explained. Figure 2-1 shows longitudinal parking spaces, and Figure 2-2 shows lateral parking spaces. When creating the parking lot map, the orientation information for each parking space is stored. The coordinates of the four corner points (points 1, 2, 3, and 4) of the parking space are stored in clockwise order on the parking lot map. Point 1-2 is the parking entry side, close to the driving lane and usually parallel to it. The orientation of the parking space is defined as 4->1 (from 4 to 1), that is, the orientation of the parking entry side is the parking space orientation. Generally, the parking space number (e.g., A001) is painted on the 1-2 side, while the other three sides (2-3, 3-4, and 4-1) are not painted. This allows users to clearly see the parking space number on the driving lane on the side the space faces, while it is not visible, unclear, or inconvenient to identify on the other sides. Therefore, the driving lane on the side the parking space faces is the best location for users to identify the parking space number.
[0050] Step S200: Obtain the target parking space number and the starting parking space number. The target parking space number is the parking space number of the parking space where the target vehicle is located, and the starting parking space number is the parking space number determined by the user based on the current starting position.
[0051] In order to obtain the target parking space number and the starting parking space number, this embodiment adopts the method of receiving user input information to determine the target parking space number and the starting parking space number. The user input information includes one or more of the following: text input information, voice input information, or parking lot map selection information.
[0052] Referring to Figure 3, for example, parking space number A103 is the starting parking space number, and parking space number A173 is the target parking space number. When the user enters the target parking space number A173 into the mobile terminal, the target location corresponding to the user's target parking space A173 will be stored until the user covers the target location again in the same area. The user can enter the target parking space number A173 into the mobile terminal by text input (such as keyboard typing, handwriting typing, etc.) or voice broadcast, or directly select the target parking space on the parking space map displayed on the mobile terminal to enter the target parking space number A173.
[0053] In this embodiment, the mobile terminal prompts the user to stand in the driving lane before entering the starting parking space number A103. This driving lane is located on the side facing the parking space, that is, on the side where the parking entrance is located, directly opposite the parking space entrance. In this embodiment, when the user is in the driving lane facing the parking space, the user's specific location can be inferred from the parking space number entered by the user, thereby providing the user with guidance on the relevant direction of travel.
[0054] After receiving user input information to determine the starting parking space number, the method further includes: generating user correct location confirmation information, wherein the user's correct location is located on the side of the parking space corresponding to the starting parking space number.
[0055] Specifically, after the user enters the starting parking space number, the mobile terminal will pop up an interface to ask the user to confirm whether they are standing in the correct position, and give voice and text prompts such as "Please confirm that you are in the position facing the XXX parking space before clicking Continue" or "Please confirm that you are in the position on the vehicle entry side before clicking Continue".
[0056] Referring to Figure 4, when the parking space number determined by the user's current location (e.g., the parking space closest to the user) is A103, the user should be standing in the correct position. The correct position means the user should be in the driveway on the side marked with the parking space number (i.e., the side the parking space is facing), and not in other incorrect positions, such as the side opposite the parking space number (the side facing away from the parking space) or the side perpendicular to the parking space's orientation. Even if there is no parking at position A103, and the user can identify the parking space number from other incorrect positions, the user is still required to stand in the correct position.
[0057] Step S300: Based on the target parking space number and the starting parking space number, and in conjunction with the parking lot map, determine the navigation destination Y and the navigation starting point A, and generate a navigation path based on the navigation destination Y and the navigation starting point A in conjunction with the parking lot map;
[0058] Once the navigation destination Y and the navigation starting point A are determined, the travel cost between them can be calculated using algorithms such as A* or genetic algorithms. Based on this travel cost, an optimal route (e.g., the shortest distance) can be planned to determine the navigation path. Additionally, during the navigation path generation process, parking space numbers near each turn are extracted to remind and confirm that the user has reached a key intersection (e.g., a turning point), preventing them from getting lost or taking the wrong turn.
[0059] Referring again to Figure 3, parking spaces near turning points B and C are A105 and A205 respectively, and these key parking space numbers will be highlighted on the map. Furthermore, in this embodiment, the method for extracting parking space numbers near key intersections is to search for the parking space number closest to the key intersection. If multiple identical and closest parking space numbers are found, the first one is selected. Once the optimal route is determined, step-by-step navigation instructions can be generated based on that route.
[0060] Referring to Figure 5, for step 300, determining the navigation endpoint Y and the navigation starting point A specifically includes the following steps:
[0061] Step 310: Determine the destination location Z based on the target parking space number and the parking space location information;
[0062] For example, as shown in Figure 3, when A173 is the target parking space number, the coordinates of the destination location Z can be obtained from the parking lot map based on the target parking space number A173. The coordinates of the destination location Z can be the midpoint coordinates of the parking entry edge of the destination parking space A173 or the center point coordinates of the destination parking space A173.
[0063] Step 320: Determine the navigation endpoint Y based on the endpoint location Z and the road network. In this embodiment, the endpoint location Z is projected along the parking direction of the target parking space onto the edge of the road network closest to the endpoint location Z to obtain the endpoint node, and the navigation endpoint Y is determined based on the endpoint node; in this embodiment, the navigation endpoint Y and the endpoint node are the same point and coincide with each other;
[0064] Step 330: Determine the starting position S based on the starting parking space number and the parking space location information;
[0065] Referring to Figure 3, A103 is the starting parking space number. The coordinates of the starting position S can be obtained from the parking lot map based on the starting parking space number A103. The coordinates of the starting position S can be the midpoint coordinates of the parking entry edge of the starting parking space A103 or the center point coordinates of the starting parking space A103.
[0066] Step 340: Determine navigation starting point A based on the starting point position S and the road network. In this embodiment, the starting point position S is projected along the parking direction of the starting parking space onto the edge of the road network closest to the starting point position S to obtain a first node. Navigation starting point A is then determined based on the first node. For example, the coordinates of the starting point position S are projected along the parking direction of the starting parking space A103 onto the road network closest to it to obtain a first node. Navigation starting point A is then determined based on this first node. In this case, the first node coincides with navigation starting point A, and they are the same point.
[0067] In this embodiment, the starting point S and the ending point Z are projected onto the nearest road network as nodes (S->A, Z->Y) according to the orientation of the parking space corresponding to their respective locations. Thus, the projected nodes are incorporated into the road network and form the navigation starting point A and the navigation ending point Y.
[0068] Steps 330 and 310 can be performed simultaneously, and step 330 is not necessarily located after step 320.
[0069] Step S400: Determine the relative position of the user and the starting parking space, generate navigation instructions based on the relative position, and determine the user's actual travel direction based on the navigation instructions.
[0070] Referring to Figure 6, for step 400, determining the relative position of the user and the starting parking space specifically includes the following steps:
[0071] Step 410: Determine the second node B that is adjacent to the first node according to the navigation path, and determine the first connecting line AS according to the navigation starting point A and the starting point position S;
[0072] The road network itself includes multiple nodes, such as nodes B, C, D, E, F, etc., where each node is a two-dimensional coordinate point, and adjacent nodes are connected by a straight line segment. In this embodiment, the starting position S is projected onto the road network to generate the first node A1, and the ending position Z is projected onto the road network to generate the ending node Y1. For example, when a navigation path is generated using A* based on node A1 (navigation starting point) and ending node Y1 (navigation ending point), the navigation path consists of multiple nodes, with the first node being the navigation starting point and the last node being the navigation ending point. All nodes connected in sequence form a directed polyline, which constitutes the navigation path. Assuming the navigation path includes nodes A1, B, E, and Y1, then node B is adjacent to the first node A1 and is the next node after the first node A1, i.e., the second node B in this embodiment. The line connecting the first node A1 and the second node B is a straight line segment.
[0073] Step 420: Determine the second connecting line AB based on the navigation starting point A and the second node B;
[0074] Step 430: Determine the angle between the first connecting line AS and the second connecting line AB;
[0075] Determining the angle between the first connecting line AS and the second connecting line AB includes: obtaining the angle by which the second connecting line AB rotates counterclockwise around A until it coincides with the first connecting line AS, and determining the angle based on the angle of rotation.
[0076] The following explains the method for calculating the angle ∠BAS between the first connecting line AS and the second connecting line AB. This calculation method includes the following steps:
[0077] Convert the latitude and longitude coordinates (WGS84 coordinate system) of points S, A, and B to plane coordinates (UTM coordinate system); determine the vector. sum vector The details are as follows:
[0078] ;
[0079] ;
[0080] Where the coordinates of point A are The coordinates of point B are The coordinates of point S are .
[0081] vector sum vector The included angle The calculation method is as follows:
[0082] ;
[0083] Among them, atan2 is a commonly used mathematical function that can calculate the angle between a vector and the x-axis. It takes into account the quadrant of the vector and returns an angle (in radians) in the range of −π to −π.
[0084] Considering The value is in radians. Convert it to degrees using the following formula:
[0085] ;
[0086] To ensure that the included angle ∠BAS is between 0 and 360 degrees, for The conversion is performed using the following formula:
[0087] ;
[0088] In the above formula That is, the included angle ∠BAS.
[0089] For step 440, determining the relative position of the user and the starting parking space based on the value of the included angle includes: determining the correspondence between the range of the included angle and the relative position, and determining the relative position of the user and the starting parking space based on the actual range of the included angle.
[0090] Referring to Figure 7, the correspondence between the range of included angles and the relative orientations is explained. Considering that the parking lot may not be parallel or directly opposite the driving lane, the orientation of the parking space and the user is divided into 7 orientations, with each orientation having a sector angle range of 45 degrees. When parking space A103 is located to the left front of the user, the relative angle between the two is approximately 45 degrees. In this embodiment, "approximately" means a vertical deviation of 22.5, that is, when the angle is between 22.5 and 67.5 degrees, it is approximately 45 degrees.
[0091] Specifically, when the included angle is in the range of [22.5, 67.5), the user is determined to be located on the left front side of the starting parking space; when the included angle is in the range of [67.5, 112.5), the user is determined to be located on the left side of the starting parking space; when the included angle is in the range of [112.5, 157.5), the user is determined to be located on the left rear side of the starting parking space; when the included angle is in the range of [157.5, 202.5), the user is determined to be located on the rear side of the starting parking space; when the included angle is in the range of [202.5, 247.5), the user is determined to be located on the right rear side of the starting parking space; when the included angle is in the range of [247.5, 292.5), the user is determined to be located on the left rear side of the starting parking space. When the included angle is 90 degrees, the user is determined to be on the right side of the starting parking space; when the included angle is within the range of [292.5, 337.5], the user is determined to be on the right front side of the starting parking space. The relative position of the user and the starting parking space can be determined based on the actual range of the included angle. For example, when the included angle is 90 degrees, it falls within [67.5, 112.5), indicating the user is on the left side of the starting parking space; when the included angle is 45 degrees, it falls within [22.5, 67.5), indicating the user is on the left front side of the starting parking space.
[0092] In this embodiment, the included angle is divided into 7 directions according to different values, basically covering all directions in the plane. This precise and comprehensive division of directions allows the navigation method of this embodiment to adapt to various parking lot scenarios (for example, some parking spaces are not perpendicular or parallel to the driving lane, but are inclined), improving navigation accuracy and efficiency.
[0093] During outdoor navigation, positioning methods such as satellites and mobile phone inertial sensors can be used to confirm the user's direction of travel. In this embodiment, it is assumed that the user's orientation is consistent with the direction of travel; that is, the user moves in the direction they are facing. For example, in Gaode or Baidu Maps, the markers on the map represent the location of the mobile terminal, and the navigation arrows on the map represent the user's direction of travel. When the outdoor navigation software generates the initial navigation path, the user has not yet started moving, or has just come out of the underground parking garage, and satellite positioning has not yet taken effect. At this time, it is not easy for the user to determine the initial direction (which direction to go on a road). When the user has not moved, the outdoor navigation software cannot suggest which direction to go; the user usually has to make the judgment himself. However, once GPS positioning is successful, once the user starts moving, the outdoor navigation software can calculate the user's direction of travel based on the user's GPS positioning trajectory and draw an arrow in the map software to indicate the direction of travel. Therefore, outdoor navigation software can usually easily determine the user's initial direction of travel. As soon as the user moves, even if they initially go in the wrong direction, it is easy to quickly remind the user to turn around, so that the user's direction of travel is consistent with the planned direction of travel in the navigation. However, in indoor environments such as parking lots, satellite signals are weak, making it impossible to infer the user's direction of travel. This is especially true in indoor parking lots, where the enclosed environment and similar surroundings offer few landmarks, making it difficult for users to discern their location and determine their direction. When the navigation prompts "Please go forward," the user cannot confirm which direction is indicated (the specific orientation is uncertain), and the navigation software cannot determine the user's actual direction of travel.
[0094] To address the aforementioned issues, in S400 of this embodiment, the relative position between the user and the starting parking space is first determined. After the relative position between the user and the starting parking space is determined, navigation instructions can be generated based on the relative position, and the user's actual travel direction can be determined based on the navigation instructions.
[0095] The navigation instructions can be converted into navigation voice through the mobile terminal's voice synthesis engine. For example, when the angle is 90 degrees, it falls within the range [67.5, 112.5), indicating that the user is located to the left of the starting parking space. The mobile terminal's voice prompt will say, "Please walk forward and confirm that parking space A103 is to your left." When the angle is 45 degrees, it falls within the range [22.5, 67.5), indicating that the user is located to the left front of the starting parking space. The mobile terminal's voice prompt will say, "Please walk forward and confirm that parking space A103 is to your left front." These navigation instructions provide users with directional guidance, ensuring that the direction the user actually walks is the direction indicated by the navigation path, preventing the user from walking in the wrong direction.
[0096] For example, when the mobile terminal's voice prompt says "Please walk forward and confirm that parking space A103 is on your left," and the user adjusts their orientation so that the actual location of parking space A103 is to the user's left, it can be confirmed that the user's actual direction of travel is the same as the forward direction in the navigation path. This ensures that the user's actual movement direction is consistent with the direction of the navigation path, preventing the user from deviating from the navigation path due to a discrepancy between the user's actual direction of travel and the forward direction of the navigation path. Therefore, in this embodiment, navigation instructions are generated based on relative orientation. These instructions provide guidance on the user's direction of travel, facilitating the determination of the user's actual direction of travel, improving navigation efficiency, preventing the user from deviating from the navigation path, and ensuring that the user can quickly find the target parking space. Furthermore, in this embodiment, S400 can determine the relative orientation of the user and the parking space by determining the angle between their relative positions. Based on this relative orientation, the user can be guided to adjust their orientation and the user's direction of travel can be determined. This eliminates the need for image acquisition and recognition of the parking lot, resulting in low hardware and computing power requirements, low cost, and ease of large-scale deployment.
[0097] In one embodiment, the navigation instructions, in addition to confirming the user's direction of travel, also include providing specific navigation guidance to the user during the journey. Specifically, step-by-step navigation instructions are generated based on the navigation path, with each step corresponding to a path segment. The navigation instructions are displayed on the mobile terminal screen and can be voice-announced. Referring to Figure 3, the first navigation instruction is, "Please proceed 6 meters forward and turn right when you see A105." After the user passes point B and turns right, they report seeing A105 or A135. The navigation system determines that the user has reached point B, rotates the map to display segment BC vertically, and announces, "Please proceed 15 meters forward and turn left when you see parking space A205."
[0098] In other embodiments, the parking space and the user's location can be divided into three directions. Specifically, when the included angle is in the range of [22.5, 157.5], the user is determined to be to the left of the starting parking space; when the included angle is in the range of [202.5, 337.5], the user is determined to be to the right of the starting parking space; and when the included angle is in the range of (157.5, 202.5), the user is determined to be behind the starting parking space. In this case, after the navigation command is converted into navigation voice by the mobile terminal's voice synthesis engine, it will provide voice prompts based on the specific range of the included angle: "Please walk forward and confirm that parking space A103 is on your left," "Please walk forward and confirm that parking space A103 is on your right," or "Please walk forward and confirm that parking space A103 is behind you." By dividing the parking space and the user's location into only three directions, the navigation voice prompts can be simplified and made easier for users to understand. Users only need to determine their approximate location—left, right, or front—of the parking space, without needing to precisely determine whether they are "front left" or "rear right." For example, when the voice prompt says, "Please walk forward and confirm that parking space A103 is on your left," the user does not need to precisely determine whether they are on the front left, rear left, or exactly on the left side of the parking space; they only need to be on the left side of the parking space (not in front or behind).
[0099] The parking lot navigation method in this embodiment further includes the following steps:
[0100] After a user travels a certain distance from the navigation starting point A, the system receives the current parking space number corresponding to the current location input by the user, updates the starting parking space number to the current parking space number, and dynamically adjusts the navigation path and navigation guidance information based on the current parking space number until the user reaches the target parking space.
[0101] In this embodiment, while walking, users can report the parking space numbers they see. Reported parking spaces will be highlighted on the mobile terminal. Additionally, the mobile terminal updates the user's location and updates navigation instructions (such as changes in distance prompts) based on the latest reported location. The mobile terminal updates the latest reported parking space location and simultaneously updates the user's inferred location based on the reported parking spaces, displaying this information on the interface. Users can use the latest reported parking space number displayed on the left or right side of the route to help determine if they are walking in the correct direction and avoid going in the wrong direction.
[0102] In other embodiments, the parking lot navigation method further includes the following steps:
[0103] After the user travels a certain distance from the navigation starting point A, the system receives the current parking space number corresponding to the current location from the user's input, updates the user's current location based on the current parking space number, and dynamically adjusts the navigation instructions based on the user's current location until the user is guided to the target parking space.
[0104] At this point, there's no need to update the starting parking space number, nor to replan the navigation route after updating it. Instead, the user's current location is determined and updated based on the reported parking space number. Navigation instructions are dynamically adjusted based on the user's current location to ensure they are following the planned route, allowing them to confirm they haven't deviated. For example, as shown in Figure 3, when a user moves from parking space A103 to A104, they report "I'm in A104" via voice. The navigation instructions are then dynamically adjusted, with a voice prompt saying "Please confirm A104 is on your left." If the user confirms their current location is to the left of parking space A104, it indicates they are following the previous navigation route and haven't deviated. Alternatively, the user's current location can be determined by projecting the center point of the parking space or the midpoint of the parking entry side onto the previously planned navigation route to obtain the nearest projection point. The user's current location is then determined based on this nearest projection point.
[0105] In one embodiment, after the mobile terminal receives the current parking space number corresponding to the user's current location, the method further includes: detecting the number of driving lanes adjacent to the current parking space according to the parking lot map; if the number of driving lanes is at least two, generating a projection point for each driving lane and providing it for the user to select; and confirming the user's relative position to the current parking space based on the projection point selected by the user. The projection point is a perpendicular projection of the parking space's center point onto the edge of the road network corresponding to each driving lane.
[0106] Specifically, as shown in Figure 3, parking space A135 is adjacent to two driving lanes. The mobile terminal needs to determine which driving lane the user is on to confirm their position relative to the current parking space. As shown in Figure 8, after the user reports parking space A135, the mobile terminal detects that the parking space is adjacent to two driving lanes. It then displays two vertical projection points (1 and 2) of the center point of parking space A135 relative to the edges of the road network corresponding to the two driving lanes, allowing the user to select. The user can choose by tapping or voice input. For example, when the user is at vertical projection point 1, they can directly say "I am below A135" via voice. The relative positions the user can report include up, down, left, and right, with the specific position based on the text of the parking space number. For example, vertical projection point 1 is below the text "A135," while vertical projection point 2 is to the left of the text "A135."
[0107] Example 2
[0108] Based on the same technical concept as the method embodiment for parking lot navigation described in Embodiment 1 above, this embodiment provides a parking lot vehicle finding device.
[0109] Referring to Figure 9, this embodiment provides a parking lot navigation device 500, which includes:
[0110] The map creation module 510 is used to create parking lot maps, which include parking space location information and road network.
[0111] The information acquisition module 520 is used to acquire the target parking space number and the starting parking space number. The target parking space number is the parking space number of the parking space where the target vehicle is located, and the starting parking space number is the parking space number determined by the user based on the current starting position.
[0112] The route planning module 530 is used to determine the navigation endpoint Y and the navigation starting point A based on the target parking space number and the starting parking space number, combined with the parking lot map, and to generate a navigation route based on the navigation endpoint Y and the navigation starting point A, combined with the parking lot map.
[0113] The navigation guidance module 540 is used to determine the relative position of the user and the starting parking space, generate navigation instructions based on the relative position, and determine the user's actual travel direction based on the navigation instructions.
[0114] This invention provides a parking lot navigation device. On one hand, it determines the navigation endpoint and starting point based on the user's current location and the location of the target vehicle, and generates a navigation path based on these. On the other hand, while generating the navigation path, the navigation guidance module of this embodiment generates navigation instructions based on the relative orientation, and determines the user's actual direction of travel based on these instructions. These navigation instructions guide the user to confirm their direction of travel, allowing the user to adjust their orientation as needed to ensure that their actual direction of travel is consistent with the direction of travel on the navigation path. This ensures that the user follows the navigation route and prevents navigation failure due to deviation.
[0115] Example 3
[0116] Based on the same technical concept, this embodiment of the invention also provides an electronic device. Referring to FIG10, the electronic device 700 may include: a processor 710, a communication interface 720, a memory 730, and a communication bus 740. The processor 710, communication interface 720, and memory 730 communicate with each other via the communication bus 740. The processor 710 can call logical instructions in the memory 730 to execute the steps of the parking lot car-finding method described in the above embodiments. For example, these include:
[0117] Step S100: Create a parking lot map, which includes parking space location information and road network;
[0118] Step S200: Obtain the target parking space number and the starting parking space number. The target parking space number is the parking space number of the parking space where the target vehicle is located, and the starting parking space number is the parking space number determined by the user based on the current starting position.
[0119] Step S300: Based on the target parking space number and the starting parking space number, and in conjunction with the parking lot map, determine the navigation destination Y and the navigation starting point A, and generate a navigation path based on the navigation destination Y and the navigation starting point A in conjunction with the parking lot map;
[0120] Step S400: Determine the relative position of the user and the starting parking space, generate navigation instructions based on the relative position, and determine the user's actual travel direction based on the navigation instructions.
[0121] The processor 710 can be a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof.
[0122] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0123] The memory 730 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
[0124] Example 4
[0125] Based on the same technical concept, embodiments of the present invention also provide a computer-readable storage medium storing a computer program. This computer program includes at least one piece of code that can be executed by a main control device to control the main control device to implement the steps of the parking lot vehicle locating method as described in the above embodiments. For example, it includes:
[0126] Step S100: Create a parking lot map, which includes parking space location information and road network;
[0127] Step S200: Obtain the target parking space number and the starting parking space number. The target parking space number is the parking space number of the parking space where the target vehicle is located, and the starting parking space number is the parking space number determined by the user based on the current starting position.
[0128] Step S300: Based on the target parking space number and the starting parking space number, and in conjunction with the parking lot map, determine the navigation destination Y and the navigation starting point A, and generate a navigation path based on the navigation destination Y and the navigation starting point A in conjunction with the parking lot map;
[0129] Step S400: Determine the relative position of the user and the starting parking space, generate navigation instructions based on the relative position, and determine the user's actual travel direction based on the navigation instructions.
[0130] Based on the same technical concept, this embodiment of the invention also provides a computer program, which, when executed by a master control device, is used to implement the above-described method embodiments.
[0131] The program may be stored, in whole or in part, on a storage medium packaged with the processor, or in part or in whole on a memory not packaged with the processor.
[0132] Based on the same technical concept, embodiments of the present invention also provide a processor for implementing the above-described method embodiments. The processor may be a chip.
[0133] In summary, the parking lot navigation method, device, electronic device, and storage medium provided by the present invention generate navigation path guidance information simultaneously with the navigation path. This guidance information includes prompts indicating the user's direction of travel, thereby prompting the user to adjust their orientation in a timely manner so that their actual direction of travel is consistent with the navigation direction in the navigation path, ensuring that the user walks along the correct direction along the navigation path and improving navigation efficiency.
[0134] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0135] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.
[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A parking lot navigation method, characterized in that, The method includes: Create a parking lot map, which includes parking space location information and a road network, the road network including nodes and edges; Obtain the target parking space number and the starting parking space number. The target parking space number is the parking space number of the parking space where the target vehicle is located, and the starting parking space number is the parking space number determined by the user based on the current starting position. Based on the target parking space number and the starting parking space number, combined with the parking lot map, determine the navigation destination Y and the navigation starting point A, and generate a navigation route based on the navigation destination Y and the navigation starting point A, combined with the parking lot map. Determine the relative position of the user to the starting parking space, generate navigation instructions based on the relative position, and determine the user's actual travel direction based on the navigation instructions.
2. The parking lot navigation method according to claim 1, characterized in that, The step of obtaining the target parking space number and the starting parking space number includes: receiving user input information to determine the target parking space number and the starting parking space number, wherein the user input information includes one or more of text input information, voice input information, or parking lot map selection information.
3. The parking lot navigation method according to claim 2, characterized in that, After receiving user input information to determine the starting parking space number, the method further includes: generating user correct location confirmation information, wherein the user's correct location is located on one side of the starting parking space.
4. The parking lot navigation method according to claim 1, characterized in that, Based on the target parking space number and the starting parking space number, and in conjunction with the parking lot map, determine the navigation destination Y and the navigation starting point A, including: determining the destination location Z based on the target parking space number and the parking space location information, and determining the navigation destination Y based on the destination location Z and the road network; determining the starting point S based on the starting parking space number and the parking space location information, and determining the navigation starting point A based on the starting point S and the road network.
5. The parking lot navigation method according to claim 4, characterized in that, The step of determining the navigation destination Y based on the destination position Z and the road network includes: projecting the destination position Z along the parking orientation of the target parking space onto the edge of the road network closest to the destination position Z to obtain a destination node, and determining the navigation destination Y based on the destination node; the step of determining the navigation starting point A based on the starting point S and the road network includes: projecting the starting point S along the parking orientation of the starting parking space onto the edge of the road network closest to the starting point S to obtain a first node, and determining the navigation starting point A based on the first node.
6. The parking lot navigation method according to claim 4, characterized in that, Determining the relative position of the user and the starting parking space includes: determining a second node B adjacent to the first node based on the navigation path; determining a first connecting line AS based on the navigation starting point A and the starting position S; determining a second connecting line AB based on the navigation starting point A and the second node B; determining the angle between the first connecting line AS and the second connecting line AB; and determining the relative position of the user and the starting parking space based on the value of the angle.
7. The parking lot navigation method according to claim 6, characterized in that, Determining the angle between the first line AS and the second line AB includes: obtaining the angle by which the second line AB rotates counterclockwise around A until it coincides with the first line AS, and determining the angle based on the angle of rotation.
8. The parking lot navigation method according to claim 6, characterized in that, Determining the relative position of the user and the starting parking space based on the value of the included angle includes: determining the correspondence between the range of the included angle and the relative position, and determining the relative position of the user and the starting parking space based on the actual range of the included angle.
9. The parking lot navigation method according to claim 8, characterized in that, The step of determining the correspondence between the range of the included angle and the relative position includes: when the range of the included angle is [22.5, 157.5], determining that the user is located to the left of the starting parking space; when the range of the included angle is [202.5, 337.5], determining that the user is located to the right of the starting parking space; and when the range of the included angle is (157.5, 202.5), determining that the user is located behind the starting parking space.
10. The parking lot navigation method according to claim 8, characterized in that, The determination of the correspondence between the included angle range and the relative position includes: when the included angle range is [22.5, 67.5), determining that the user is located on the left front side of the starting parking space; when the included angle range is [67.5, 112.5), determining that the user is located on the left side of the starting parking space; when the included angle range is [112.5, 157.5), determining that the user is located on the left rear side of the starting parking space; when the included angle range is [157.5, 202.5), determining that the user is located on the rear side of the starting parking space; when the included angle range is [202.5, 247.5), determining that the user is located on the right rear side of the starting parking space; when the included angle range is [247.5, 292.5), determining that the user is located on the left rear side of the starting parking space; when the included angle range is [247.5, 292 ... When the angle is within the range of [292.5, 337.5], the user is determined to be located on the right side of the starting parking space; when the included angle is within the range of [292.5, 337.5], the user is determined to be located on the right front side of the starting parking space.
11. The parking lot navigation method according to any one of claims 1-10, characterized in that, The method further includes: after the user travels a certain distance from the navigation starting point A, receiving the current parking space number corresponding to the current location input by the user, updating the starting parking space number to the current parking space number, and dynamically adjusting the navigation path and navigation instructions according to the current parking space number until the user is guided to the target parking space.
12. The parking lot navigation method according to any one of claims 1-10, characterized in that, The method further includes: after the user has traveled a certain distance from the navigation starting point A, receiving the current parking space number corresponding to the current location input by the user, updating the user's current location according to the current parking space number, and dynamically adjusting the navigation instructions according to the user's current location until the user is guided to the target parking space.
13. The parking lot navigation method according to claim 12, characterized in that, After receiving the current parking space number corresponding to the current location input by the user, the method further includes: detecting the number of driving lanes adjacent to the current parking space according to the parking lot map; if the number of driving lanes is at least two, generating a projection point for each driving lane and allowing the user to select it; and confirming the user's relative position to the current parking space based on the projection point selected by the user.
14. The parking lot navigation method according to claim 13, characterized in that, The projection point is the vertical projection point from the center point of the parking space to the edge of the road network corresponding to each of the driving lanes.
15. A parking lot navigation device, characterized in that, The device includes: The map creation module is used to create parking lot maps, which include parking space location information and road network. The information acquisition module is used to acquire the target parking space number and the starting parking space number. The target parking space number is the parking space number of the parking space where the target vehicle is located, and the starting parking space number is the parking space number determined by the user based on the current starting position. The route planning module is used to determine the navigation destination Y and the navigation starting point A based on the target parking space number and the starting parking space number, combined with the parking lot map, and to generate a navigation route based on the navigation destination Y and the navigation starting point A, combined with the parking lot map. The navigation guidance module is used to determine the relative position of the user and the starting parking space, generate navigation instructions based on the relative position, and determine the user's actual direction of travel based on the navigation instructions.
16. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the parking lot navigation method as described in any one of claims 1 to 14.
17. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the parking lot navigation method as described in any one of claims 1 to 14.