CN109035859A - A kind of parking position localization method and device - Google Patents
A kind of parking position localization method and device Download PDFInfo
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- CN109035859A CN109035859A CN201811045915.9A CN201811045915A CN109035859A CN 109035859 A CN109035859 A CN 109035859A CN 201811045915 A CN201811045915 A CN 201811045915A CN 109035859 A CN109035859 A CN 109035859A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
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Abstract
This application provides a kind of parking position localization method and devices, wherein this method is by recording the traveling video of the vehicle；Then after determining that vehicle enters parking lot, it is based on the traveling video, determines the parking floor information that vehicle finally drives into；Further, the reverse image recorded based on the traveling video and when vehicle backing, the surrounding enviroment information on parking stall where the parking stall numbering on parking stall where determining the vehicle and the vehicle；Finally, sending the dead ship condition information of the vehicle to the terminal device that the vehicle is bound, the dead ship condition information includes the parking floor information, the parking stall numbering and the surrounding enviroment information.In this way, user can be helped rapidly and accurately to search out parked vehicle to avoid the limitation of parking environment.
Description
Technical Field
The present application relates to the field of information processing technologies, and in particular, to a parking position positioning method and apparatus.
Background
As automobiles enter individual homes in large quantities, parking spaces required for parking the automobiles are also getting larger and larger. In order to save land resources, underground parking lots are built in more and more places, for example, underground parking lots are built in places such as superstores, buildings, hotels and the like. For some people who are not familiar with the parking lot, when the people return to the parking lot again after parking, the problem that the people cannot quickly find their own vehicles due to the fact that the people are not familiar with the parking lot may occur.
In the prior art, a user positions a vehicle through a Global Positioning System (GPS), and then searches for the vehicle according to the GPS. However, the positioning range of the GPS is 10 meters, accurate positioning cannot be achieved, and in an underground parking lot, a vehicle cannot receive GPS signals, so that in the underground parking lot, it is difficult for a vehicle owner to quickly find his or her vehicle by using the GPS.
Disclosure of Invention
In view of the above, the present disclosure is directed to a method and an apparatus for locating a parking position, so as to help a user quickly and accurately find a parked vehicle in an underground parking lot.
In a first aspect, an embodiment of the present application provides a parking position locating method, where the method includes:
recording a driving video of the vehicle;
after the vehicle is determined to enter the parking lot, determining the information of the parking floor which the vehicle finally enters based on the driving video;
determining the parking space number of the parking space where the vehicle is located and the surrounding environment information of the parking space where the vehicle is located based on the driving video and the reversing image recorded when the vehicle reverses;
and sending the parking state information of the vehicle to the terminal equipment bound with the vehicle, wherein the parking state information comprises the parking floor information, the parking space number and the surrounding environment information.
With reference to the first aspect, this application provides a first possible implementation manner of the first aspect, where the determining that the vehicle enters the parking lot includes:
and when the driving video is identified to contain the parking lot identification information and the parking lot entrance information, determining that the vehicle enters the parking lot.
With reference to the first aspect, an embodiment of the present application provides a second possible implementation manner of the first aspect, where the parking floor information includes: a parking floor number, and a parking area number.
With reference to the first aspect, an embodiment of the present application provides a third possible implementation manner of the first aspect, where determining, based on the driving video and a reverse image recorded when the vehicle reverses, a parking space number of a parking space where the vehicle is located includes:
screening out a selected image containing the same parking space number information from each frame of image of the driving video and the reversing image;
and determining the vehicle number information contained in the selected image as the parking space number of the parking space in which the vehicle is positioned.
With reference to the third possible implementation manner of the first aspect, an embodiment of the present application provides a fourth possible implementation manner of the first aspect, where before determining a parking space number of a parking space where the vehicle is located based on the driving video and a reverse image recorded when the vehicle reverses, the method further includes:
and carrying out image mirror image inversion on each frame of image in the reversing image.
In a second aspect, an embodiment of the present application further provides a parking position positioning device, including:
the recording module is used for recording the driving video of the vehicle;
the first determination module is used for determining the information of the parking floor which the vehicle finally drives into based on the driving video after determining that the vehicle enters the parking lot;
the second determination module is used for determining the parking space number of the parking space where the vehicle is located and the surrounding environment information of the parking space where the vehicle is located based on the driving video and the reversing image recorded when the vehicle reverses;
and the sending module is used for sending the parking state information of the vehicle to the terminal equipment bound with the vehicle, wherein the parking state information comprises the parking floor information, the parking space number and the surrounding environment information.
With reference to the second aspect, the present application provides a first possible implementation manner of the second aspect, where the recording module, when configured to determine that the vehicle enters the parking lot, is specifically configured to:
and when the driving video is identified to contain the parking lot identification information and the parking lot entrance information, determining that the vehicle enters the parking lot.
With reference to the second aspect, embodiments of the present application provide a second possible implementation manner of the second aspect, where the parking floor information includes: a parking floor number, and a parking area number.
With reference to the second aspect, an embodiment of the present application provides a third possible implementation manner of the second aspect, where the first determining module, when determining the parking space number of the parking space where the vehicle is located based on the driving video and the reverse image recorded when the vehicle reverses, is specifically configured to:
screening out a selected image containing the same parking space number information from each frame of image of the driving video and the reversing image;
and determining the vehicle number information contained in the selected image as the parking space number of the parking space in which the vehicle is positioned.
With reference to the third possible implementation manner of the second aspect, an embodiment of the present application provides a fourth possible implementation manner of the second aspect, where the second determining module, before determining a parking space number of a parking space in which the vehicle is located based on the driving video and a reverse image recorded when the vehicle reverses, is further configured to:
and carrying out image mirror image inversion on each frame of image in the reversing image.
In a third aspect, an embodiment of the present application further provides an electronic device, where the electronic device includes: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions being executable by the processor to perform the steps of the vehicle control method described above in the first aspect and any possible implementation manner of the first aspect.
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 is executed by a processor to perform the steps of the vehicle control method described above in the first aspect and any possible implementation manner of the first aspect.
According to the parking position positioning method and device provided by the embodiment of the application, after the vehicle is determined to enter the parking lot, the driving video of the vehicle in the parking lot is recorded; then determining the information of the parking floor which the vehicle finally drives into based on the driving video; further, based on the driving video and a reversing image recorded when the vehicle reverses, determining a parking space number of a parking space where the vehicle is located and surrounding environment information of the parking space where the vehicle is located; and finally, sending the parking state information of the vehicle to a terminal device bound with the vehicle, wherein the parking state information comprises the parking floor information, the parking space number and the surrounding environment information. Compared with the prior art that the vehicle is searched through the GPS, the user can quickly and accurately search the vehicle through the received parking information containing the parking floor information, the parking area information, the parking space number and the surrounding environment of the vehicle, and the vehicle is not limited by the parking environment and is convenient and rapid.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flow chart illustrating a parking position locating method according to an embodiment of the present application;
fig. 2 shows a schematic flow chart of a parking space number identification method provided in the embodiment of the present application;
fig. 3 is a schematic diagram illustrating an architecture of a parking position positioning device 300 according to an embodiment of the present application;
fig. 4 shows a schematic structural diagram of an electronic device 400 provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In consideration of the fact that the vehicles cannot receive the GPS signals in the underground parking lot, the user cannot quickly and accurately find the parked vehicles according to the GPS signals. In view of the foregoing problems, embodiments of the present application provide a method and an apparatus for positioning a parking position, which are described below by way of embodiments.
To facilitate understanding of the present embodiment, a parking position locating method disclosed in the embodiments of the present application will be described in detail first.
Example one
Referring to fig. 1, a schematic flow chart of a parking position locating method provided in an embodiment of the present application is shown, including the following steps:
and S101, recording a running video of the vehicle.
In this step, the driving video of the vehicle may be recorded by a front camera, for example, the front camera may be an Advanced Driver Assistance Systems (ADAS) camera or a front camera of a driving recorder.
Wherein,
s102, after the vehicle is determined to enter the parking lot, the information of the parking floor where the vehicle finally enters is determined based on the driving video.
In a specific implementation, the method for determining that the vehicle enters the parking lot may be:
and when the driving video is identified to contain the parking lot identification information and the parking lot entrance information, determining that the vehicle enters the parking lot.
In one possible implementation mode, after the vehicle is started, whether the driving video contains the parking lot identification information or not is identified based on the driving video recorded by the vehicle, and whether the vehicle enters the parking lot or not is judged;
in another possible embodiment, whether the vehicle enters the parking lot may also be determined by setting a destination in a navigation system of the vehicle in advance, for example, setting the destination to be a certain underground parking lot, and when it is detected that the vehicle is within a preset distance range from the destination, identifying whether the driving video includes parking lot identification information based on the driving video recorded by the vehicle;
in addition, the recognition of the running video can be triggered manually by setting a trigger button in a mode of manually triggering a recognition function, and whether the vehicle enters a parking lot or not is judged.
When the driving video is identified, each frame of video of the driving video can be identified, and when the identified video contains the parking lot identification information and the parking lot entrance information, the vehicle can be determined to enter the parking lot.
The parking lot identification information may be, for example, a sign indicating a parking lot, and the parking lot entrance information may be a rail at a toll station before entering the parking lot.
The parking floor information includes a parking floor number and a parking area number. Such as parking floor numbers B1, B2, etc., and parking area numbers a zone, B zone, etc.
In one possible implementation, after the vehicle enters the parking lot, the front-facing camera records a driving video of the vehicle, judges a floor and a region where the vehicle enters based on each frame of video of the driving video, and takes the last identified floor number as a parking floor number and the last identified region number as a parking region number.
For example, if the vehicle is parked at the B3 floor, the vehicle first passes through B1, then passes through B2, and finally arrives at B3, and during the travel of the vehicle from B1 to B3, B1 and B2 are also recognized, but if the floor number recognized last is B3, B3 is recorded as the parking floor number. If the vehicle returns from B3 to B2 again, the last identified area is numbered B2 and the last recorded parking floor is numbered B2.
And S103, determining the parking space number of the parking space where the vehicle is located and the surrounding environment information of the parking space where the vehicle is located based on the driving video and the reversing image recorded when the vehicle reverses.
Specifically, after the vehicle is parked in the parking space, the surrounding environment information of the parking space in which the vehicle is located may be determined. The surrounding environment information of the parking space where the vehicle is located comprises the steps of shooting the front and back environment pictures of the vehicle through a front camera of the vehicle and a rear camera pre-installed on the vehicle, wherein the rear camera pre-installed on the vehicle can also be used for shooting the backing image when the vehicle backs.
For example, when the hand brake is started, the vehicle can be judged to be parked on a parking space, and the environmental information in front of the parked vehicle is shot through the front camera; the environmental information of the rear side of the vehicle where the vehicle is parked is photographed by a rear camera which is mounted on the vehicle in advance.
A possible method for determining the parking space number comprises the following steps:
screening out a selected image containing the same parking space number information from each frame of image of the driving video and the reversing image;
and determining the vehicle number information contained in the selected image as the parking space number of the parking space where the vehicle is located.
Since in most parking lots the slot numbers are printed on the ground. Therefore, if the vehicle enters the parking space in a forward warehousing mode, the parking space number information can record a driving video through the front camera, and then the parking space number in the driving video is identified; if the mode that the vehicle enters the parking space is not forward parking, for example, the vehicle can be backed up and parked at the side, and the like, at the moment, the front camera cannot acquire the parking space number on the ground, the back-up image can be recorded through the rear camera, and the parking space number can be identified.
When the parking space number is identified through the reversing image, before the parking space number of the parking space where the vehicle is located is determined, image mirror image inversion can be carried out on each frame of image in the reversing image. Because the images collected by the rear camera are presented and recorded in a mirror image mode, each frame of image in the reversing image can be subjected to image mirror image reversal so as to accurately identify the parking space number. A possible parking space number identification method, as shown in fig. 2:
step 201, identifying each frame of video in the driving video and the reversing image.
Step 202, judging whether the driving video contains the parking space number information.
If the judgment result is yes, that is, the driving video includes the parking space number information, execute step 205;
if the judgment result is no, that is, the driving video does not contain the parking space number information, executing step 203;
step 203, determine whether the image of backing up includes the parking space number information.
If the determination result is yes, that is, the backing image includes the parking space number information, execute step 204;
if the determination result is negative, that is, the car backing image does not include the parking space number information, step 201 is executed to re-identify each frame of video in the driving video and the car backing image.
And step 204, performing image mirror image inversion on each frame of image of the reverse image.
And step 205, determining the parking space number according to the parking space number information.
In another possible parking space number identification method, whether parking space number information is contained in the reversing image or not can be judged, and if the judgment result is yes, each frame of video in the reversing image is reversed; if the judgment result is negative, whether the driving video contains the parking space number information is judged. The judgment method has the same principle as the parking space number identification method shown in fig. 2, and is not described herein again.
And S104, sending the parking state information of the vehicle to the terminal equipment bound with the vehicle.
The parking state information comprises parking floor information, parking space numbers and surrounding environment information.
In one possible embodiment, the parking status information of the vehicle can be transmitted to the vehicle-bound terminal via a local network connection, such as bluetooth, or a mobile communication network.
For example, if the parking status information received by the terminal device is: parking floor number B2, parking area number C, parking space number 23, and surrounding environment information. The user can quickly and accurately find the parked vehicle according to the received parking state information.
In one possible embodiment, the parking status information can also include the entry time into the parking space.
Further, the parking duration of the vehicle in the parking lot can be calculated based on the current time and the recorded driving-in time, the sending interval duration is set, and the calculated parking duration is sent to the terminal device bound by the vehicle according to the interval duration. For example, if the interval duration is set to be 3 hours, the parking duration is sent to the terminal device bound to the vehicle every 3 hours from the time when the vehicle enters the parking lot, so as to remind the user of the parking time.
In the traditional mode, because of the great and unable GPS signal of receiving in underground parking garage of location scope of GPS, consequently seek through GPS and park the vehicle, can't accomplish accurate positioning. By the parking position positioning method, the parking state information can be sent to the terminal equipment bound by the vehicle through local network connection or 4G network, and a user can quickly and accurately find the parked vehicle according to the received parking state information, so that the limitation of parking places is avoided.
Example two
An embodiment of the present application provides a parking position positioning device, and referring to fig. 3, the parking position positioning device 300 according to the embodiment of the present application is schematically configured, and the parking position positioning device 300 includes: a recording module 301, a first determining module 302, a second determining module 303, and a sending module 304.
Specifically, the recording module 301 is configured to record a driving video of the vehicle;
a first determination module 302, configured to determine, based on the driving video, parking floor information that the vehicle has last driven into, after determining that the vehicle has driven into the parking lot;
a second determining module 303, configured to determine, based on the driving video and a reverse image recorded when the vehicle reverses, a parking space number of a parking space where the vehicle is located and surrounding environment information of the parking space where the vehicle is located;
a sending module 304, configured to send parking state information of the vehicle to a terminal device bound to the vehicle, where the parking state information includes the parking floor information, the parking space number, and the ambient environment information.
In a possible implementation, the recording module 301, when configured to determine that the vehicle enters the parking lot, is specifically configured to:
and when the driving video is identified to contain the parking lot identification information and the parking lot entrance information, determining that the vehicle enters the parking lot.
Furthermore, in one possible embodiment, the parking floor information includes: a parking floor number, and a parking area number.
In addition, in a possible embodiment, when determining the parking space number of the parking space in which the vehicle is located based on the driving video and the reverse image recorded when the vehicle reverses, the first determining module 302 is specifically configured to:
screening out a selected image containing the same parking space number information from each frame of image of the driving video and the reversing image;
and determining the vehicle number information contained in the selected image as the parking space number of the parking space in which the vehicle is positioned.
In another possible implementation manner, the second determining module 303, before determining the parking space number of the parking space in which the vehicle is located based on the driving video and the reverse image recorded when the vehicle reverses, is further configured to:
and carrying out image mirror image inversion on each frame of image in the reversing image.
EXAMPLE III
As shown in fig. 4, a schematic structural diagram of an electronic device 400 provided in the third embodiment of the present application includes: a processor 401, a memory 402, and a bus 403;
the memory 402 stores machine-readable instructions executable by the processor 401 (for example, including execution instructions corresponding to the recording module 301, the first determining module 302, the second determining module 303, and the sending module 304 in fig. 3), when the electronic device 400 operates, the processor 401 communicates with the memory 402 through the bus 403, and when the processor 401 executes the following processes:
recording a driving video of the vehicle;
after the vehicle is determined to enter the parking lot, determining the information of the parking floor where the vehicle finally enters based on the driving video;
determining the parking space number of the parking space where the vehicle is located and the surrounding environment information of the parking space where the vehicle is located based on the driving video and the reversing image recorded when the vehicle reverses;
and sending the parking state information of the vehicle to the terminal equipment bound with the vehicle, wherein the parking state information comprises the parking floor information, the parking space number and the surrounding environment information.
Further, the operation of the processor 401 includes:
and when the driving video is identified to contain the parking lot identification information and the parking lot entrance information, determining that the vehicle enters the parking lot.
In addition, in the processing executed by the processor 401, the parking floor information includes: a parking floor number, and a parking area number.
Further, in the processing executed by the processor 401, the determining, based on the driving video and a reverse image recorded when the vehicle is reversed, a parking space number of a parking space where the vehicle is located includes:
screening out a selected image containing the same parking space number information from each frame of image of the driving video and the reversing image;
and determining the vehicle number information contained in the selected image as the parking space number of the parking space in which the vehicle is positioned.
In addition, the processing executed by processor 401, before determining the parking space number of the parking space where the vehicle is located based on the driving video and the reverse image recorded when the vehicle is reversed, further includes:
and carrying out image mirror image inversion on each frame of image in the reversing image.
Example four
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the parking position locating method in any of the above embodiments.
Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, and the like, and when a computer program on the storage medium is executed, the steps of the parking position locating method can be executed, so that the limitation of a parking environment is avoided, and a user is helped to quickly and accurately find a parked vehicle.
The computer program product for performing the parking position locating method provided in the embodiment of the present application includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and details are not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A parking position locating method, comprising:
recording a driving video of the vehicle;
after the vehicle is determined to enter the parking lot, determining the information of the parking floor which the vehicle finally enters based on the driving video;
determining the parking space number of the parking space where the vehicle is located and the surrounding environment information of the parking space where the vehicle is located based on the driving video and the reversing image recorded when the vehicle reverses;
and sending the parking state information of the vehicle to the terminal equipment bound with the vehicle, wherein the parking state information comprises the parking floor information, the parking space number and the surrounding environment information.
2. The method of claim 1, wherein the determining that the vehicle enters a parking lot comprises:
and when the driving video is identified to contain the parking lot identification information and the parking lot entrance information, determining that the vehicle enters the parking lot.
3. The method of claim 1, wherein the parking floor information comprises: a parking floor number, and a parking area number.
4. The method of claim 1, wherein determining the parking space number of the parking space in which the vehicle is located based on the driving video and a reverse image recorded when the vehicle reverses comprises:
screening out a selected image containing the same parking space number information from each frame of image of the driving video and the reversing image;
and determining the vehicle number information contained in the selected image as the parking space number of the parking space in which the vehicle is positioned.
5. The method according to claim 4, wherein before determining the parking space number of the parking space in which the vehicle is located based on the driving video and the reverse image recorded when the vehicle reverses, the method further comprises:
and carrying out image mirror image inversion on each frame of image in the reversing image.
6. A parking position positioning device, comprising:
the recording module is used for recording the driving video of the vehicle;
the first determination module is used for determining the information of the parking floor which is driven by the vehicle finally based on the driving video after the vehicle is determined to enter the parking lot;
the second determination module is used for determining the parking space number of the parking space where the vehicle is located and the surrounding environment information of the parking space where the vehicle is located based on the driving video and the reversing image recorded when the vehicle reverses;
and the sending module is used for sending the parking state information of the vehicle to the terminal equipment bound with the vehicle, wherein the parking state information comprises the parking floor information, the parking space number and the surrounding environment information.
7. The device according to claim 6, characterized in that the recording module, when being configured to determine that the vehicle enters a parking lot, is specifically configured to:
and when the driving video is identified to contain the parking lot identification information and the parking lot entrance information, determining that the vehicle enters the parking lot.
8. The apparatus of claim 6, wherein the second determining module, before determining the parking space number of the parking space where the vehicle is located based on the driving video and the reverse image recorded when the vehicle reverses, is further configured to:
and carrying out image mirror image inversion on each frame of image in the reversing image.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine readable instructions when executed by the processor performing the steps of the parking position locating method according to any one of claims 1 to 5.
10. A computer-readable storage medium, having stored thereon a computer program for executing the steps of the parking position locating method according to any one of claims 1 to 5 when the computer program is executed by a processor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109637177A (en) * | 2018-12-19 | 2019-04-16 | 斑马网络技术有限公司 | Vehicle positioning method, device, equipment and storage medium |
| CN110211421A (en) * | 2019-06-27 | 2019-09-06 | 北京理工大学 | Parking space information intelligent identification Method and system based on cloud |
| CN110796891A (en) * | 2019-10-16 | 2020-02-14 | 广东以诺通讯有限公司 | Parking lot vehicle searching method and system, computer equipment and storage medium |
| CN111554084A (en) * | 2020-05-19 | 2020-08-18 | 新石器慧通（北京）科技有限公司 | Method for searching unmanned vehicle |
| CN111724621A (en) * | 2020-06-23 | 2020-09-29 | 上海擎感智能科技有限公司 | Vehicle searching system, method, computer readable storage medium and client |
| CN111726277A (en) * | 2019-03-22 | 2020-09-29 | 上海博泰悦臻电子设备制造有限公司 | WeChat-based parking position recording and sharing method and system |
| CN111832340A (en) * | 2019-04-16 | 2020-10-27 | 杭州海康威视数字技术股份有限公司 | Parking and warehousing method, device and system |
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