CN112307148A

CN112307148A - Indoor vehicle searching method and device, server and computer readable storage medium

Info

Publication number: CN112307148A
Application number: CN202011193177.XA
Authority: CN
Inventors: 刘鑫宇; 刘浩; 冯辉
Original assignee: Ping An Puhui Enterprise Management Co Ltd
Current assignee: Ping An Puhui Enterprise Management Co Ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-02-02

Abstract

The application provides an indoor vehicle searching method, an indoor vehicle searching device, a server and a computer readable storage medium, wherein the method comprises the following steps: acquiring a walking track of a user sent by a mobile terminal; matching each preset route track in the preset route track library with a walking track, and determining the preset route track most matched with the walking track as a target route track; acquiring a parking space number corresponding to a starting track point or an ending track point of a target route track, and determining a position coordinate corresponding to the parking space number as a target parking position of a user; determining an initial vehicle searching position and a target parking position according to a vehicle searching request sent by a mobile terminal, and generating a target vehicle searching route according to the initial vehicle searching position and the target parking position; and sending the target vehicle searching route to the mobile terminal. The method and the device can improve the convenience and accuracy of the user in vehicle searching. The present application also relates to the field of blockchain, and the computer-readable storage medium may store data created from use of blockchain nodes.

Description

Indoor vehicle searching method and device, server and computer readable storage medium

Technical Field

The present application relates to the field of indoor navigation technologies, and in particular, to an indoor vehicle finding method, apparatus, device, and computer-readable storage medium.

Background

Along with the continuous improvement of people's living level, more and more people have bought the vehicle as daily vehicle that uses, and each shopping mall, supermarket, enterprise or recreation ground have all built the indoor parking area to make things convenient for customer or staff to park, and the indoor parking area of building at present is great, has many layers even, and after the user parks, the user can avoid and can forget the position of parkking, and inconvenient user seeks the vehicle that parks. Therefore, how to improve the convenience and accuracy of searching the car by the user is a problem to be solved urgently at present.

Disclosure of Invention

The embodiment of the application provides an indoor vehicle searching method, an indoor vehicle searching device, a server and a computer readable storage medium, and aims to improve the convenience and the accuracy of vehicle searching for a user.

In a first aspect, an embodiment of the present application provides an indoor vehicle searching method, which is applied to a server, and the method includes:

the method comprises the steps of obtaining a walking track of a user sent by a mobile terminal, wherein the walking track comprises a track of the user walking from a parking position to an exit of a parking lot;

matching each preset route track in a preset route track library with the walking track, and determining the preset route track most matched with the walking track as a target route track;

acquiring a parking space number corresponding to an initial track point or an end track point of the target route track, and determining a position coordinate corresponding to the parking space number as a target parking position of the user;

determining an initial vehicle searching position and the target parking position according to a vehicle searching request sent by the mobile terminal, and generating a target vehicle searching route according to the initial vehicle searching position and the target parking position;

and sending the target vehicle searching route to the mobile terminal so that the mobile terminal can display the target vehicle searching route, and a user can search for a parked vehicle according to the target vehicle searching route.

In a second aspect, an embodiment of the present application further provides an indoor car searching device, where the indoor car searching device includes:

the mobile terminal comprises a receiving module, a judging module and a judging module, wherein the receiving module is used for acquiring a walking track of a user sent by the mobile terminal, and the walking track comprises a track of the user walking from a parking position to an exit of a parking lot;

the track matching module is used for matching each preset route track in a preset route track library with the walking track and determining the preset route track which is most matched with the walking track as a target route track;

the position determining module is used for acquiring a parking space number corresponding to a starting track point or an ending track point of the target route track, and determining a position coordinate corresponding to the parking space number as a target parking position of the user;

the position determining module is further used for determining an initial vehicle searching position and the target parking position according to a vehicle searching request sent by the mobile terminal;

the route generating module is used for generating a target vehicle searching route according to the starting vehicle searching position and the target parking position;

the sending module is used for sending the target vehicle searching route to the mobile terminal so that the mobile terminal can display the target vehicle searching route, and a user can search for a parked vehicle according to the target vehicle searching route.

In a third aspect, embodiments of the present application further provide a server, where the server includes a processor, a memory, and a computer program stored on the memory and executable by the processor, where the computer program, when executed by the processor, implements the steps of the indoor car-finding method described above.

In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the indoor car-searching method as described above.

The embodiment of the application provides an indoor vehicle searching method, an indoor vehicle searching device, an indoor vehicle searching server and a computer readable storage medium, wherein a walking track of a user sent by a mobile terminal is obtained, each preset route track in a preset route track library is matched with the walking track, the preset route track which is most matched with the walking track is determined as a target route track, then a parking space number corresponding to a starting track point or an ending track point of the target route track is obtained, a position coordinate corresponding to the parking space number is determined as a target parking position of the user, finally, a starting vehicle searching position and a target parking position are determined according to a vehicle searching request sent by the mobile terminal, a target vehicle searching route is determined according to the starting vehicle searching position and the target parking position, and the target vehicle searching route is sent to the mobile terminal for display, so that the user can search for a parked vehicle according to the target vehicle searching route, the convenience and the accuracy of the user in searching the vehicle are greatly improved, and the user experience is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of a scene for implementing an indoor car-finding method according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of an indoor vehicle searching method provided in the embodiment of the present application;

FIG. 3 is a flow chart illustrating sub-steps of the indoor vehicle-finding method of FIG. 2;

fig. 4 is a schematic flow chart of another indoor car searching method provided in the embodiment of the present application;

fig. 5 is a schematic block diagram of an indoor car searching device provided in an embodiment of the present application;

FIG. 6 is a schematic block diagram of sub-modules of the indoor cart-searching apparatus of FIG. 5;

fig. 7 is a schematic block diagram of another indoor car searching device provided in the embodiment of the present application;

fig. 8 is a block diagram schematically illustrating a structure of a server according to an embodiment of the present disclosure.

The implementation, functional features and advantages of the objectives of the present application will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

To solve the above problems, embodiments of the present application provide an indoor vehicle searching method, apparatus, server and computer-readable storage medium, where a walking track of a user sent by a mobile terminal is obtained, each preset route track in a preset route track library is matched with the walking track, a preset route track most matched with the walking track is determined as a target route track, a parking space number corresponding to a starting track point or an ending track point of the target route track is obtained, a position coordinate corresponding to the parking space number is determined as a target parking position of the user, a starting vehicle searching position and a target parking position are determined according to a vehicle searching request sent by the mobile terminal, a target vehicle searching route is determined according to the starting vehicle searching position and the target parking position, and the target vehicle route is sent to the mobile terminal for display, so that the user can search for a parked vehicle according to the target vehicle searching route, the convenience and the accuracy of the user in searching the vehicle are greatly improved, and the user experience is improved.

Referring to fig. 1, fig. 1 is a schematic view of a scenario for implementing an indoor car-finding method provided by an embodiment of the present application, as shown in fig. 1, the scenario includes a mobile terminal 10 and a server 20, the mobile terminal 10 is connected to the server 20 through a network, wherein a communication type between the mobile terminal 10 and the server 20 includes a network based on a mobile data protocol such as General Packet Radio Service (GPRS), Enhanced Data GSM Environment (EDGE), 3G, 4G, or Long Term Evolution (LTE) protocol, and the like.

When the sensing device in the parking lot detects that the vehicle enters the parking lot, the sensing device collects the driving speed of the vehicle at intervals of first preset time and sends the collected driving speed to the server 20, the server 20 determines the speed change information of the vehicle entering the parking lot according to a plurality of driving speeds of the vehicle, and when the speed change information is determined that the driving speed of the vehicle gradually becomes zero, the server sends parking confirmation prompt information to the mobile terminal 10.

After receiving the parking confirmation prompt message, the mobile terminal 10 displays a parking confirmation popup based on the parking confirmation prompt message, and when detecting a parking confirmation operation of a user in the parking confirmation popup, starts to collect the number of walking steps, the walking step length and the walking direction of the user at intervals of a second preset time through an Inertial Measurement Unit (IMU) in the mobile terminal 10, and determines the position coordinates of the user at different moments according to the position coordinates of the parking position and the collected number of walking steps, walking step length and walking direction; generating a walking track of the user according to the position coordinates of the user at different moments; when the user reaches the exit of the parking lot, the generated walking trajectory is acquired in response to the user terminating the positioning of the trajectory in the parking confirmation pop-up window, and the walking trajectory is transmitted to the server 20.

The server 20 matches each preset route track in the preset route track library with a walking track to determine the preset route track most matched with the walking track as a target route track, then obtains a parking space number corresponding to a starting track point or an ending track point of the target route track, and determines a position coordinate corresponding to the parking space number as a target parking position of the user. When a user needs to find a vehicle, the mobile terminal 10 displays a vehicle-finding page and acquires a warehousing number input by the user on the vehicle-finding page; when a touch operation of the user on the confirmation icon in the car-searching page is detected, a car-searching request is sent to the server 20 according to the warehousing number and the user identifier. The server 20 determines an initial vehicle searching position and a target parking position according to the vehicle searching request sent by the mobile terminal 10, determines a target vehicle searching route according to the initial vehicle searching position and the target parking position, and finally sends the target vehicle searching route to the mobile terminal 10 for displaying, so that a user can search for a parked vehicle according to the target vehicle searching route, convenience and accuracy of vehicle searching of the user are greatly improved, and user experience is improved.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 2, fig. 2 is a schematic flow chart of an indoor car searching method according to an embodiment of the present application.

As shown in fig. 2, the indoor car-searching method includes steps S101 to S105.

Step S101, obtaining a walking track of a user sent by a mobile terminal, wherein the walking track comprises a track of the user walking from a parking position to an exit of a parking lot.

When the sensing device in the parking lot detects that the vehicle enters the parking lot, the sensing device collects the running speed of the vehicle at intervals of first preset time and sends the collected running speed to the server, the server determines the speed change information of the vehicle entering the parking lot according to a plurality of running speeds of the vehicle, and when the speed change information is determined to be that the running speed of the vehicle gradually becomes zero, the server sends parking confirmation prompt information to the mobile terminal.

After receiving the parking confirmation prompt information, the mobile terminal displays a parking confirmation popup window based on the parking confirmation prompt information, starts to collect the walking step number, the walking step length and the walking direction of the user at a second preset time interval through an Inertial Measurement Unit (IMU) in the mobile terminal when detecting the parking confirmation operation of the user in the parking confirmation popup window, and determines the position coordinates of the user at different moments according to the position coordinates of the parking position and the collected walking step number, walking step length and walking direction; generating a walking track of the user according to the position coordinates of the user at different moments; and when the user reaches the exit of the parking lot, responding to the operation of the user for positioning and terminating the track in the parking confirmation popup window, acquiring the generated walking track, and sending the walking track to the server.

The server acquires the walking track of the user sent by the mobile terminal. Wherein, the trajectory of walking includes that the user walks to the orbit of parking area export by parking position, and the trajectory of walking includes that the parking area export that first track point that parking position corresponds and user reachd corresponds the second track point, and the initial track point of trajectory of walking is first track point, and the end track point of trajectory of walking is second track point.

Step S102, matching each preset route track in a preset route track library with the walking track, and determining the preset route track most matched with the walking track as a target route track.

The preset route track library comprises route tracks between each parking space and each parking lot exit, which are generated in advance by the server, and the generation mode of the route tracks between the parking spaces and the parking lot exits is as follows: the method comprises the steps that a server obtains a parking lot planning map and a parking lot map, and marks parking spaces, drivable paths and non-drivable areas in the parking lot map according to the parking lot planning map to obtain a target parking lot map; the method comprises the steps of obtaining position coordinates of each parking space and position coordinates of each parking lot exit in a target parking lot map, generating a route track between each parking space and each parking lot exit according to the position coordinates of each parking space and the position coordinates of each parking lot exit, and then storing the route track between each parking space and each parking lot exit to obtain a preset route track library.

In an embodiment, as shown in fig. 3, step S102 may include sub-steps S1021 through S1025.

And a substep S1021, obtaining a first discrete point set corresponding to each preset route track in the preset route track library, and obtaining a second discrete point set corresponding to the walking track.

The first discrete point set is a discrete point set of a plane irregular curve corresponding to the preset route track, the first discrete point set comprises a plurality of first discrete points on the preset route track, the second discrete point set is a discrete point set of a plane irregular curve corresponding to the walking track, and the second discrete point set comprises a plurality of second discrete points on the walking track.

And a substep S1022, determining a plurality of first inflection points on each preset route trajectory according to each first discrete point set, and determining a plurality of second inflection points on the walking trajectory according to the second discrete point set.

Wherein, the inflection point is a convex-concave intersection point of the curve, and it is noted that 3 points which are not on the same straight line can determine the convex-concave performance of the curve, therefore, at least 4 points are needed to obtain the inflection point information of the curve. By adopting the definition of the forward straight line and the inside and outside points, the judgment of whether the 3 rd point in the continuous 4 points is an inflection point can be carried out. Since the convex (or concave) curve is an envelope of all its tangents, and therefore, to a lesser extent, the points on the convex (or concave) curve are all on the same side of the family of tangents to it, the tangent to the curve can be replaced by a straight forward line from two successive points, provided that the given set of points consists of a set of curve points that are very close to each other, so that the inflection point can be determined by a classification of the set of points with respect to the straight forward line.

In an embodiment, the determining the plurality of first inflection points on the preset route trajectory according to the first discrete point set may be: acquiring 4 adjacent discrete points on a preset route track from the first discrete point set; generating a first linear equation according to the position coordinates of the first discrete point and the second discrete point which are adjacent in the 4 discrete points, and generating a second linear equation according to the position coordinates of the second discrete point and the third discrete point in the 4 discrete points; substituting the position coordinate of a third discrete point in the 4 discrete points into the first linear equation to obtain a first numerical value, and substituting the position coordinate of a fourth discrete point in the 4 discrete points into the second linear equation to obtain a second numerical value; and determining whether the product of the first numerical value and the second numerical value is smaller than zero, and if the product of the first numerical value and the second numerical value is smaller than zero, determining a third discrete point of the 4 discrete points as an inflection point on the preset route track.

In the above manner, a plurality of first inflection points on the preset route trajectory may be determined. It can be understood that the determination manner of the plurality of second inflection points on the walking trajectory may refer to the determination manner of the plurality of first inflection points on the preset route trajectory, and details thereof are not repeated herein.

For example, the adjacent 4 discrete points on the preset route track are p1(x1, y1), p2(x2, y2), p3(x3, y3) and p4(x4, y4), and the first linear equation L can be generated by the discrete points p1(x1, y1) and p2(x2, y2)₁Is S₁₂(x, y) ═ 0, the second equation of a straight line L can be generated by the discrete points p3(x3, y3) and p4(x4, y4)₂Is S₃₄(x, y) — 0, and the position coordinates of the discrete point p3(x3, y3) are substituted into the first linear equation L₁To obtain a first value, the position coordinates of the discrete point p4(x4, y4) are substituted into a second linear equation L₂And obtaining a second value, and if the product of the first value and the second value is less than zero, determining that the discrete point p3(x3, y3) is an inflection point on the preset route track.

And a substep S1023 of screening the preset route trajectories in the preset route trajectory library according to the plurality of first inflection points and the plurality of second inflection points to obtain a plurality of candidate route trajectories.

Illustratively, a first distance between adjacent inflection points in a plurality of first inflection points on each preset route trajectory is determined, and a second distance between adjacent inflection points in a plurality of second inflection points is determined; and screening a plurality of candidate route tracks from a preset route track library according to a first distance and a second distance between adjacent inflection points in the plurality of first inflection points on each preset route track. The absolute value of the difference between the first distance and the second distance between adjacent inflection points in the plurality of first inflection points on the candidate route trajectory is less than or equal to a preset distance difference, and the preset distance difference may be set based on an actual situation, which is not specifically limited in the embodiment of the present application.

Exemplarily, an absolute value of a position difference between each first inflection point and the corresponding second inflection point on each preset route track is determined; and screening a plurality of candidate route tracks from a preset route track library according to the absolute value of the position difference between each first inflection point and the corresponding second inflection point on each preset route track. The absolute value of the position difference between each first inflection point and the corresponding second inflection point on the candidate route trajectory is less than or equal to a preset position difference, the position difference comprises a horizontal coordinate difference and a vertical coordinate difference, and the preset position difference can be set based on actual conditions.

Substep S1024, determining a plurality of first curvatures of each of the candidate route trajectories and determining a plurality of second curvatures on the walking trajectory.

Exemplarily, according to a first discrete point set corresponding to each candidate route track, determining the curvature of each discrete point on each candidate route track to obtain a plurality of first curvatures of each candidate route track; and determining the curvature of each discrete point on the walking track according to the second discrete point set corresponding to the walking track to obtain a plurality of second curvatures of the walking track.

And a sub-step S1025 of determining the target route track from the plurality of candidate route tracks according to the plurality of first curvatures and the plurality of second curvatures on each candidate route track.

Illustratively, a curvature difference between each first curvature and the corresponding second curvature on each candidate route trajectory is determined; and determining a target route track from the plurality of candidate route tracks according to the curvature difference value and the preset curvature difference value range. The curvature difference value between each first curvature and the corresponding second curvature on the target route track is within a preset curvature difference value range, and the preset curvature difference value range may be set based on an actual situation, which is not specifically limited in the embodiment of the present application, for example, the preset curvature difference value range is [ -1,1 ].

For example, starting from a starting track point on the candidate route track, a first track point on the candidate route track is numbered in sequence until an ending track point on the candidate route track is numbered, thereby obtaining the number of each first track point on the candidate route track, numbering the second track points on the walking track in sequence from the initial track point on the walking track until the ending track point on the walking track is numbered, thereby obtaining the number of each second track point on the walking track, taking the first curvature of the first track point and the second curvature of the second track point with the same number as a group of curvatures, and determining a curvature difference value between the first curvature and the corresponding second curvature in each group of curvatures to obtain a plurality of curvature difference values, and if each curvature difference value is within a preset curvature difference value range, determining the candidate route track as a target route track.

In an embodiment, the determining the target route track from the candidate route tracks according to the plurality of first curvatures and the plurality of second curvatures on each candidate route track may be: and determining the matching degree between each candidate route track and the walking track according to the plurality of first curvatures of each candidate route track and the plurality of second curvatures of the walking track, and determining the candidate route track with the highest matching degree as the target route track. The candidate route track corresponding to the highest matching degree is determined as the target route track, so that the accuracy of determining the parking position can be further improved, and the convenience and the accuracy of searching the vehicle by the user are improved.

In an embodiment, the determining the matching degree between the candidate route trajectory and the walking trajectory according to the plurality of first curvatures of the candidate route trajectory and the plurality of second curvatures of the walking trajectory may be: determining a curvature difference value between a first curvature of each first track point on the candidate route track and a second curvature of the corresponding second track point; comparing a curvature difference value between the first curvature of each first track point and the second curvature of the corresponding second track point with a preset curvature difference value to determine the target number of the first track points of which the curvature difference value is less than or equal to the preset curvature difference value; and acquiring the total track point number of the walking track, determining the proportion of the target number to the total track point number, and determining the proportion of the target number to the total track point number as the matching degree between the candidate route track and the walking track. The preset curvature difference value may be set based on an actual situation, which is not specifically limited in the embodiment of the present application.

Step S103, a parking space number corresponding to the starting track point or the ending track point of the target route track is obtained, and a position coordinate corresponding to the parking space number is determined as the target parking position of the user.

For example, if the target route trajectory is a route trajectory having a parking space as a starting point and a parking lot exit as an ending point, a parking space number corresponding to the starting trajectory point of the target route trajectory is acquired and position coordinates corresponding to the parking space number are determined as the target parking position of the user, whereas if the target route trajectory is a route trajectory having a parking space as an ending point and a parking lot exit as a starting point, a parking space number corresponding to the ending trajectory point of the target route trajectory is acquired and position coordinates corresponding to the parking space number are determined as the target parking position of the user. The server stores the mapping relation between the position coordinates of the parking spaces corresponding to the parking space numbers in the indoor parking lot.

Step S104, determining an initial vehicle searching position and the target parking position according to the vehicle searching request sent by the mobile terminal, and generating a target vehicle searching route according to the initial vehicle searching position and the target parking position.

When a user needs to search a car, the mobile terminal displays a car searching page and acquires a warehousing number input by the user on the car searching page; when detecting the touch operation of a user on a confirmation icon in the car searching page, sending a car searching request to a server according to the warehousing number and the user identifier; the server obtains a vehicle searching request sent by the mobile terminal, determines an initial vehicle searching position and a target parking position according to the vehicle searching request sent by the mobile terminal, and determines a target vehicle searching route according to the initial vehicle searching position and the target parking position.

In an embodiment, the vehicle searching request carries a warehousing number and a user identifier, the warehousing number can be a parking space number of a position where a user is located, and can also be a parking lot exit and entrance number of the position where the user is located, and the user identifier can be a mobile phone number of the user and can also be other information of the user.

Step S105, sending the target vehicle searching route to the mobile terminal, so that the mobile terminal can display the target vehicle searching route, and a user can search for a parked vehicle according to the target vehicle searching route.

After the target vehicle searching route is generated, the target vehicle searching route is sent to the mobile terminal, so that the mobile terminal can display the target vehicle searching route, and a user can search for a parked vehicle according to the target vehicle searching route. In the process of searching for a vehicle based on a target vehicle searching route, determining the current movement direction of a user through an Inertial Measurement Unit (IMU) in a mobile terminal, and acquiring the indication direction of the target vehicle searching route; if the current movement direction deviates from the indication direction, deviation prompt information is output to prompt a user to search the vehicle according to the indication direction, and the convenience and the accuracy of searching the vehicle by the user are further improved.

The indoor vehicle searching method provided by the above embodiment includes obtaining a walking track of a user sent by a mobile terminal, matching each preset route track in a preset route track library with the walking track, determining the preset route track most matched with the walking track as a target route track, obtaining a parking space number corresponding to a starting track point or an ending track point of the target route track, determining a position coordinate corresponding to the parking space number as a target parking position of the user, determining a starting vehicle searching position and a target parking position according to a vehicle searching request sent by the mobile terminal, determining a target vehicle searching route according to the starting vehicle searching position and the target parking position, and sending the target vehicle searching route to the mobile terminal for display, so that the user can search a parked vehicle according to the target vehicle searching route, and convenience and accuracy of vehicle searching are greatly improved for the user, the user experience is improved.

Referring to fig. 4, fig. 4 is a schematic flow chart of another indoor car searching method according to an embodiment of the present application.

As shown in fig. 4, the indoor car-searching method includes steps S201 to S206.

Step S201, obtaining the walking track and the movement direction of the user sent by the mobile terminal.

After receiving the parking confirmation prompt information, the mobile terminal displays a parking confirmation popup window based on the parking confirmation prompt information, starts to collect the walking step number, the walking step length and the walking direction of the user at a second preset time interval through an Inertial Measurement Unit (IMU) in the mobile terminal when detecting the parking confirmation operation of the user in the parking confirmation popup window, and determines the position coordinates of the user at different moments according to the position coordinates of the parking position and the collected walking step number, walking step length and walking direction; generating a walking track of the user according to the position coordinates of the user at different moments; and when the user reaches the exit of the parking lot, responding to the track positioning termination operation of the user in the parking confirmation pop window, acquiring the generated walking track and the motion direction acquired by the compass, sending the walking track and the motion direction to the server, and acquiring the walking track and the motion direction of the user sent by the mobile terminal by the server.

Step S202, screening preset route tracks in a preset route track library according to the movement direction to obtain a plurality of first candidate route tracks.

Exemplarily, the driving direction of each preset route track in a preset route track library is obtained; and screening the preset route tracks in the preset route track library according to the movement direction and the driving direction of each preset route track to obtain a plurality of first candidate route tracks. The running direction of each first candidate route track is matched with the motion direction, and the matching of the running direction of the first candidate route track and the motion direction comprises that the running direction of the first candidate route track is the same as the motion direction, or the angle of the running direction of the first candidate route track deviating from the motion direction is smaller than or equal to a preset angle. A plurality of first candidate route tracks meeting the conditions are screened out through the motion direction, the calculation amount of the determined target route track can be reduced, and the calculation speed is improved.

Step S203, matching each of the first candidate route trajectories with the walking trajectory, and determining the first candidate route trajectory that is most matched with the walking trajectory as a target route trajectory.

Exemplarily, a third discrete point set corresponding to each first candidate route track is obtained, and a second discrete point set corresponding to the walking track is obtained; determining a plurality of third inflection points of each first candidate route trajectory according to each third discrete point set, and determining a plurality of second inflection points of the walking trajectory according to the second discrete point set; screening the plurality of first candidate route tracks according to the plurality of third inflection points and the plurality of second inflection points of each first candidate route track to obtain a plurality of second candidate route tracks; determining a plurality of third curvatures of each second candidate route trajectory, and determining a plurality of second curvatures of the walking trajectory; a target route trajectory is determined from the plurality of second candidate route trajectories according to the plurality of third curvatures on each of the second candidate route trajectories and the plurality of second curvatures of the walking trajectory.

And S204, acquiring a parking space number corresponding to the starting track point or the ending track point of the target route track, and determining a position coordinate corresponding to the parking space number as the target parking position of the user.

Step S205, determining an initial vehicle searching position and the target parking position according to the vehicle searching request sent by the mobile terminal, and generating a target vehicle searching route according to the initial vehicle searching position and the target parking position.

Step S206, the target vehicle searching route is sent to the mobile terminal, so that the mobile terminal can display the target vehicle searching route, and a user can search for a parked vehicle according to the target vehicle searching route.

The indoor vehicle searching method provided in the above embodiment obtains a plurality of first candidate route tracks by obtaining a walking track and a motion direction of a user sent by a mobile terminal, and filters a preset route track library according to the motion direction, then matches each first candidate route track with the walking track to determine the first candidate route track most matched with the walking track as a target route track, then obtains a parking space number corresponding to an initial track point or an end track point of the target route track, determines a position coordinate corresponding to the parking space number as a target parking position of the user, then determines an initial vehicle searching position and the target parking position according to a vehicle searching request sent by the mobile terminal, generates a target vehicle searching route according to the initial vehicle searching position and the target parking position, and finally sends the target vehicle searching route to the mobile terminal, the mobile terminal can display the target vehicle searching route, so that a user can search for a parked vehicle according to the target vehicle searching route, convenience and accuracy of vehicle searching of the user are greatly improved, and user experience is improved.

Referring to fig. 5, fig. 5 is a schematic block diagram of an indoor car searching device according to an embodiment of the present application.

As shown in fig. 5, the indoor car-searching device 300 includes: a receiving module 310, a trajectory matching module 320, a location determination module 330, a route generation module 340, and a sending module 350, wherein:

the receiving module 310 is configured to obtain a walking track of a user sent by a mobile terminal, where the walking track includes a track of the user walking from a parking location to an exit of a parking lot;

the track matching module 320 is configured to match each preset route track in a preset route track library with the walking track, and determine a preset route track most matched with the walking track as a target route track;

the position determining module 330 is configured to obtain a parking space number corresponding to a starting track point or an ending track point of the target route track, and determine a position coordinate corresponding to the parking space number as the target parking position of the user;

the position determining module 330 is further configured to determine an initial vehicle searching position and the target parking position according to a vehicle searching request sent by the mobile terminal;

the route generating module 340 is configured to generate a target vehicle searching route according to the starting vehicle searching position and the target parking position;

the sending module 350 is configured to send the target vehicle searching route to the mobile terminal, so that the mobile terminal displays the target vehicle searching route, and a user can search for a parked vehicle according to the target vehicle searching route.

In one embodiment, as shown in fig. 6, the track matching module 320 includes:

the obtaining sub-module 321 is configured to obtain a first discrete point set corresponding to each preset route track in the preset route track library, and obtain a second discrete point set corresponding to the walking track;

a inflection point determining sub-module 322, configured to determine, according to each first discrete point set, a plurality of first inflection points on each preset route trajectory, and determine, according to the second discrete point set, a plurality of second inflection points on the walking trajectory;

the route screening submodule 323 is used for screening the preset route trajectories in the preset route trajectory library according to the first inflection points and the second inflection points to obtain a plurality of candidate route trajectories;

a curvature determination sub-module 324 for determining a plurality of first curvatures for each of the candidate route trajectories and determining a plurality of second curvatures on the walking trajectory;

a trajectory matching sub-module 325, configured to determine the target route trajectory from the plurality of candidate route trajectories according to the plurality of first curvatures and the plurality of second curvatures on each of the candidate route trajectories.

In an embodiment, the route filter sub-module 323 is further configured to:

determining a first distance between adjacent inflection points of a plurality of first inflection points on each preset route trajectory, and determining a second distance between adjacent inflection points of a plurality of second inflection points;

screening a plurality of candidate route tracks from a preset route track library according to a first distance and the second distance between adjacent inflection points in a plurality of first inflection points on each preset route track;

wherein an absolute value of a difference between the second distance and a first distance between adjacent inflection points in the plurality of first inflection points on the candidate route trajectory is less than or equal to a preset distance difference.

In an embodiment, the route filter sub-module 323 is further configured to:

determining an absolute value of a position difference value between each first inflection point and the corresponding second inflection point on each preset route track;

screening a plurality of candidate route tracks from a preset route track library according to the absolute value of the position difference between each first inflection point and the corresponding second inflection point on each preset route track;

wherein an absolute value of a position difference between each first inflection point and the corresponding second inflection point on the candidate route trajectory is less than or equal to a preset position difference.

In an embodiment, the trajectory matching sub-module 325 is further configured to:

determining a curvature difference between each of the first curvatures and the corresponding second curvatures on each of the candidate route trajectories;

and determining a target route track from the plurality of candidate route tracks according to the curvature difference value and a preset curvature difference value range, wherein the curvature difference value between each first curvature and the corresponding second curvature on the target route track is within the preset curvature difference value range.

Referring to fig. 7, fig. 7 is a schematic block diagram of another indoor car searching device according to an embodiment of the present application.

As shown in fig. 7, the indoor car-searching device 400 includes: a receiving module 410, a screening module 420, a trajectory matching module 430, a location determination module 440, a route determination module 450, and a sending module 460, wherein:

the receiving module 410 is configured to obtain a walking track and a motion direction of a user sent by a mobile terminal;

the screening module 420 screens the preset route tracks in the preset route track library according to the motion direction to obtain a plurality of first candidate route tracks;

the trajectory matching module 430 is configured to match each of the first candidate route trajectories with the walking trajectory, and determine the first candidate route trajectory that is most matched with the walking trajectory as a target route trajectory;

the position determining module 440 is configured to obtain a parking space number corresponding to an initial track point or an end track point of the target route track, and determine a position coordinate corresponding to the parking space number as the target parking position of the user;

the position determining module 440 is further configured to determine an initial vehicle searching position and the target parking position according to a vehicle searching request sent by the mobile terminal;

the route determining module 450 is configured to generate a target vehicle searching route according to the starting vehicle searching position and the target parking position;

the sending module 460 is configured to send the target vehicle searching route to the mobile terminal, so that the mobile terminal displays the target vehicle searching route, and a user can search for a parked vehicle according to the target vehicle searching route.

In an embodiment, the track matching module 430 is further configured to:

acquiring the driving direction of each preset route track in the preset route track library;

screening preset route tracks in the preset route track library according to the movement direction and the driving direction of each preset route track to obtain a plurality of first candidate route tracks;

wherein the direction of travel of the first candidate route trajectory matches the direction of motion.

It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working processes of the apparatus and the modules and units described above may refer to the corresponding processes in the foregoing indoor vehicle searching method embodiment, and are not described herein again.

The apparatus provided by the above embodiment may be implemented in a form of a computer program, and the computer program may be run on a server as shown in fig. 8.

Referring to fig. 8, fig. 8 is a schematic block diagram of a server according to an embodiment of the present disclosure.

As shown in fig. 8, the server includes a processor, a memory, and a network interface connected by a system bus, wherein the memory may include a storage medium and an internal memory.

The storage medium may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause a processor to perform any one of the indoor vehicle-finding methods.

The processor is used for providing calculation and control capacity and supporting the operation of the whole server.

The internal memory provides an environment for the execution of a computer program on a storage medium, which, when executed by the processor, causes the processor to perform any of the indoor car-finding methods.

The network interface is used for network communication, such as sending assigned tasks and the like. Those skilled in the art will appreciate that the architecture shown in fig. 8 is a block diagram of only a portion of the architecture associated with the subject application, and does not constitute a limitation on the servers to which the subject application applies, as a particular server may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

It should be understood that the Processor may be a Central Processing Unit (CPU), and the Processor may 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, etc. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Those skilled in the art will appreciate that the architecture shown in fig. 8 is a block diagram of only a portion of the architecture associated with the subject application, and does not constitute a limitation on the servers to which the subject application applies, as a particular server may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

Wherein, in an embodiment, the processor is configured to run a computer program stored in the memory to implement the steps of:

In an embodiment, the matching each preset route track in the preset route track library with the walking track, and determining the preset route track most matched with the walking track as the target route track includes:

acquiring a first discrete point set corresponding to each preset route track in the preset route track library, and acquiring a second discrete point set corresponding to the walking track;

determining a plurality of first inflection points on each preset route track according to each first discrete point set, and determining a plurality of second inflection points on the walking track according to the second discrete point set;

screening the preset route tracks in the preset route track library according to the first inflection points and the second inflection points to obtain a plurality of candidate route tracks;

determining a plurality of first curvatures of each of the candidate route trajectories and determining a plurality of second curvatures on the walking trajectory;

determining the target route trajectory from the plurality of candidate route trajectories according to the plurality of first curvatures and the plurality of second curvatures on each of the candidate route trajectories.

In an embodiment, the screening a preset route trajectory in a preset route trajectory library according to the first inflection points and the second inflection points to obtain a plurality of candidate route trajectories includes:

In one embodiment, the determining a target route trajectory from the plurality of candidate route trajectories according to the plurality of first curvatures and the plurality of second curvatures on each of the candidate route trajectories includes:

Wherein in another embodiment the processor is adapted to run a computer program stored in the memory to implement the steps of:

acquiring a walking track and a motion direction of a user sent by a mobile terminal;

screening preset route tracks in a preset route track library according to the movement direction to obtain a plurality of first candidate route tracks;

matching each first candidate route track with the walking track, and determining the first candidate route track which is most matched with the walking track as a target route track;

In an embodiment, the screening, according to the moving direction, the preset route trajectories in a preset route trajectory library to obtain a plurality of first candidate route trajectories includes:

It should be noted that, as will be clearly understood by those skilled in the art, for convenience and brevity of description, the specific working process of the server described above may refer to the corresponding process in the foregoing indoor vehicle searching method embodiment, and details are not described herein again.

From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially or partially implemented in the form of software products, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and include instructions for causing a server (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments of the present application.

The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed, a method implemented by the computer program instructions may refer to various embodiments of the indoor vehicle searching method of the present application.

The computer readable storage medium may be volatile or nonvolatile. The computer readable storage medium may be an internal storage unit of the server described in the foregoing embodiment, for example, a hard disk or a memory of the server. The computer readable storage medium may also be an external storage device of the server, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the server.

Further, the computer-readable storage medium may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the blockchain node, and the like.

The block chain referred by the application is a novel application mode of computer technologies such as distributed data storage, point-to-point transmission, a consensus mechanism, an encryption algorithm and the like. A block chain (Blockchain), which is essentially a decentralized database, is a series of data blocks associated by using a cryptographic method, and each data block contains information of a batch of network transactions, so as to verify the validity (anti-counterfeiting) of the information and generate a next block. The blockchain may include a blockchain underlying platform, a platform product service layer, an application service layer, and the like.

It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An indoor vehicle searching method is applied to a server, and comprises the following steps:

2. The indoor vehicle searching method according to claim 1, wherein the matching of each preset route track in the preset route track library with the walking track and the determination of the preset route track most matched with the walking track as the target route track comprise:

3. The indoor vehicle searching method according to claim 2, wherein the step of screening the preset route trajectories in the preset route trajectory library according to the first inflection points and the second inflection points to obtain candidate route trajectories comprises:

4. The indoor vehicle searching method according to claim 2, wherein the step of screening the preset route trajectories in the preset route trajectory library according to the first inflection points and the second inflection points to obtain candidate route trajectories comprises:

5. The indoor vehicle seeking method according to claim 2, wherein said determining a target route trajectory from the plurality of candidate route trajectories according to the plurality of first curvatures and the plurality of second curvatures on each of the candidate route trajectories comprises:

6. The indoor car searching method according to any one of claims 1 to 5, wherein the obtaining of the walking track of the user sent by the mobile terminal comprises:

the step of matching each preset route track in a preset route track library with the walking track and determining the preset route track most matched with the walking track as the target route track comprises the following steps:

and matching each first candidate route track with the walking track, and determining the first candidate route track which is most matched with the walking track as a target route track.

7. The indoor vehicle searching method according to claim 6, wherein the step of screening the preset route tracks in the preset route track library according to the moving direction to obtain a plurality of first candidate route tracks comprises:

8. The utility model provides an indoor car device of seeking, its characterized in that, indoor car device of seeking includes:

9. A server, characterized in that the server comprises a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, implements the steps of the indoor car-finding method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when being executed by a processor, implements the steps of the indoor vehicle-finding method according to any one of claims 1 to 7.