CN103743407A - Navigation method and device - Google Patents
Navigation method and device Download PDFInfo
- Publication number
- CN103743407A CN103743407A CN201410024640.6A CN201410024640A CN103743407A CN 103743407 A CN103743407 A CN 103743407A CN 201410024640 A CN201410024640 A CN 201410024640A CN 103743407 A CN103743407 A CN 103743407A
- Authority
- CN
- China
- Prior art keywords
- path
- subpath
- node
- initialization
- initialization path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title abstract description 38
- 238000012937 correction Methods 0.000 claims abstract description 38
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention discloses a navigation method and device. The navigation method comprises the following steps: determining an initialization path between a starting point and a destination; determining at least one node in the initialization path; determining a sub-path from the current position to the node if the travel direction deviates from the initialization path, wherein the sub-path is taken as a correction path for performing regression on the initialization path. According to the method, the nodes are determined in the initialization path, the sub-path is searched to guide vehicles to return to the initialization path according to the nodes, the whole path is recalculated and simplified into sub-path calculation, and the calculated amount of re-planning the path is reduced.
Description
Technical field
The embodiment of the present invention relates to airmanship, relates in particular to a kind of air navigation aid and device.
Background technology
Navigation is a certain equipment of guiding, and from the method that a bit moves to another point of advertised route, airmanship is generally used for the transit equipments such as aircraft, boats and ships, automobile.
Existing air navigation aid normally user by navigation terminal and server communication, the comprehensive much information of server, the such as information such as dynamic information, historical wheelpath, online calculates the path of a running cost minimum, and navigation terminal receives this path and in order to guide user to travel.If navigation terminal departs from this path in the process of moving, server can be according to the current position of navigation terminal and final position, is the navigation terminal path of reruning.And if navigation terminal is in off-line state in the process of moving, when user has departed from original route, the method that navigation terminal carries out reruning in path is position and the final position current according to user, the map datum of navigation terminal this locality is planned a paths again.
The defect that existing airmanship exists is, off-line again during path planning, can take a large amount of calculation resources of navigation terminal, and be subject to the restriction of navigation terminal local data amount and arithmetic capability, cause computing response speed slow, cannot obtain preferred path.
Summary of the invention
The embodiment of the present invention provides a kind of air navigation aid and device, to realize when having departed from original route in driving process, reduces again the calculated amount of programme path.
First aspect, the embodiment of the present invention provides a kind of air navigation aid, and the method comprises:
Determine the initialization path between starting point and terminal;
In described initialization path, determine at least one node;
If travelled, depart from described initialization path, determine from current location to the subpath described node, as the correction path that returns described initialization path.
Second aspect, the embodiment of the present invention provides a kind of guider, and this device comprises:
Path initialization unit, for determining the initialization path between starting point and terminal;
Node determination unit, for determining at least one node in described initialization path;
Revise path determining unit, if depart from described initialization path for travelling, determine from current location to the subpath described node, as the correction path that returns described initialization path.
The present invention passes through to determine node in initialization path, and finds subpath guided vehicle recurrence initialization path according to node, is reruned and be reduced to subpath calculating in whole piece path, has reduced the calculated amount of programme path again.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the air navigation aid that provides of the embodiment of the present invention one;
The process flow diagram of the air navigation aid that Fig. 4 provides for the embodiment of the present invention two;
The process flow diagram of the air navigation aid that Fig. 3 provides for the embodiment of the present invention three;
The process flow diagram of the air navigation aid that Fig. 2 provides for the embodiment of the present invention four;
Fig. 5 is the structural representation of the guider that provides of the embodiment of the present invention five.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, in accompanying drawing, only show part related to the present invention but not entire infrastructure.
Embodiment mono-
The process flow diagram of the air navigation aid that Fig. 1 provides for the embodiment of the present invention one, the present embodiment, applicable to the navigate situation of pathfinding of navigation terminal in Vehicle Driving Cycle process, is particularly applicable to navigation terminal and disconnects the situation of carrying out off-line navigation with being connected of server.The method can be carried out by the guider being configured in vehicle mounted guidance terminal, specifically comprises:
110, determine the initialization path between starting point and terminal.
When vehicle utilizes navigation terminal to carry out pathfinding, first specify starting point and terminal.For example, starting point can be current location, can utilize global position system to determine the position that vehicle is current, and terminal is destination.The embodiment of the present invention is the initialization path that meets in advance predetermined policy according to starting point and one of evaluation of end point, and predetermined policy can be the path of the path of selecting distance the shortest, road conditions optimum or not containing the path of charge station etc.Initialization path can be carried out off-line based on parameters such as diagram datas locally by navigation terminal and determine also to have server to determine online, can consider many factors, for example consider the traffic congestion situation of road or arrange as required some must through place etc.
120, in described initialization path, determine at least one node.
Wherein, node refer to vehicle according to initialization path travel the place of process, the selection mode of node can have multiple, can set difference based on the consideration of different factors and really establish rules.For example, according to node spacing distance, according to the default place that easily occurs branch road etc.Node can be determined by navigation terminal, also can according to multidate information, be determined and return to navigation terminal by server.For instance, node can be determined at once having determined after initialization path, can is also to determine when vehicle departs from initialization path again.
130, if travelled, depart from described initialization path, determine from current location to the subpath described node, as the correction path that returns described initialization path.
In Vehicle Driving Cycle process, vehicle is generally to travel according to predetermined initialization path, but vehicle may depart from this initialization path for some reason, when vehicle has departed from initialization path, navigation terminal generally all has the function in the path of reruning, because terminal is determined, so navigation terminal can recalculate a path that can arrive this terminal according to local map datum, but the existing Path Method of reruning is not considered any traffic information, just calculate a path that can arrive in theory this terminal, and owing to may have more path from current location to terminal, its calculated amount may excessively cause computing time longer, and the air navigation aid that the embodiment of the present invention provides is when vehicle has departed from initialization path, the subpath of searching from current location to described node is as revising path, its objective is that guided vehicle gets back in described initialization path.Finding the operation in correction path can be found by navigation terminal off-line, also can be found online by server, then definite correction path is sent to navigation terminal.
Because vehicle has generally departed from after initialization path, its distance of travelling can be not excessive, so getting back to the subpath of described node can be not long yet, deviation position and described internodal path can be not too much yet, so the air navigation aid that the embodiment of the present invention provides is reruned whole piece path to be reduced to subpath calculating, has reduced the calculated amount of programme path again.
On the basis of technique scheme, the operation of determining the initialization path between starting point and terminal is preferably definite online by server, so comprehensively some dynamic traffic informations, the information such as such as congestion in road situation, roadblock, current traffic control, thereby the path optimizing of acquisition running cost minimum.Therefore, a kind of preferred implementation of this operation can be reception server according to dynamic information and historical wheelpath the initialization path between starting point and the terminal of line computation.
For instance, determine in the operation of at least one node in described initialization path, a kind of optimal way can be to select intersection place in initialization path or distance Along ent as described node.
For instance, described node is the place that vehicle will pass through while travelling according to initialization path, and the effect of node is in order to determine subpath, is the intersection point of subpath and initialization path, so node can be the point of crossing of road, such as crossing, road entrance or outlet etc.Again for instance, if while having long one section of road not exist with the point of crossing of other road in initialization path, number of nodes in initialization path will be less so, finding subpath will be restricted, so can also initialization path be carried out to decile according to the length of distance when determining node, be divided into the path that multiple path lengths are identical, using Along ent as described node, can provide more selection for finding subpath, thereby find optimal subpath as revising path.
Embodiment bis-
The process flow diagram of the air navigation aid that Fig. 2 provides for the embodiment of the present invention two, on the basis of above-described embodiment, the present embodiment provides the mode in a kind of definite correction path, specifically comprises:
110, determine the initialization path between starting point and terminal.
120, in described initialization path, determine at least one node.
In the present embodiment, if travelled, depart from described initialization path, determine from current location to the subpath described node, as the operation in the correction path that returns described initialization path, can be optimized for following form:
1311, if travelled, depart from described initialization path, calculate from current location to treating through the subpath node.
For instance, treat that through node be the node that vehicles failed arrived, for example vehicle has travelled after a segment distance and has departed from according to initialization, now vehicle may pass through some node, so finding during subpath the path that no longer goes to find between node and the current location of process, and only also need look for path between node and the current position of process not as subpath.The initialization path that searching mode described in the present embodiment can reduce calculated amount and avoid vehicle repeated travel to travel.
1312, calculate the distance of reaching home after described subpath returns described initialization path.
For instance, if there are many single sub path, need so to select a single sub path to get back in initialization path as revising Route guiding vehicle.It is to calculate vehicle to get back to the total kilometrage number of reaching home again in initialization path through every single sub path that the embodiment of the present invention provides the method in a kind of definite correction path, and the result obtaining is path length corresponding to every single sub path.For example, when vehicle travels according to an initialization road, depart from, now according to deviation position, determined three single sub path A, B, C, the distance that the distance of learning as calculated vehicle to get back to according to subpath A the distance of reaching home that continues again to travel after initialization path being 6 kilometers, reach home according to subpath B is 5 kilometers, reach home according to subpath C is 7 kilometers.
1313, according to distance, determine that corresponding subpath is as described correction path.
According to above-mentioned result of calculation, determine that a corresponding subpath is as revising path, A as above, B, C tri-single sub path, can select subpath that minimum path length is corresponding as revising path, and chooser path B is as revising path.Use this method path total kilometrage number that can make to travel of reruning to minimize, thereby further reduce running cost.
Embodiment tri-
The process flow diagram of the air navigation aid that Fig. 3 provides for the embodiment of the present invention three, on the basis of above-described embodiment, the present embodiment provides the mode in a kind of definite correction path, specifically comprises:
110, determine the initialization path between starting point and terminal.
120, in described initialization path, determine at least one node.
In the present embodiment, if travelled, depart from described initialization path, determine from current location to the subpath described node, as the operation in the correction path that returns described initialization path, can be optimized for following form:
1321, if travelled, depart from described initialization path, calculate from current location to treating through the subpath node.
1322, determine the road type that subpath is corresponding.
Subpath is deviation position and internodal path, and the road type of every path may be different.For example track quantity difference, the traffic lights quantity difference that comprises.It is to determine road type corresponding to subpath that the embodiment of the present invention provides the another kind of method of determining correction path.For example, when vehicle travels according to an initialization road, depart from, now according to deviation position, determined three single sub path A, B, C, determined that subpath A is that an one way road, subpath B are that a two-way multi-lane roadway, subpath C are the roads that comprises multiple traffic lights.
1323, according to road type, determine that corresponding subpath is as described correction path.
According to the above results, determine that a corresponding subpath is as revising path, A as above, B, C tri-single sub path, the subpath that can select multilane and not contain traffic lights is as revising path, and chooser path B is as revising path.Use this method path of reruning can make vehicle according to the road driving of optimum road conditions, thereby further reduce running cost.
Embodiment tetra-
The process flow diagram of the air navigation aid that Fig. 4 provides for the embodiment of the present invention four, on the basis of above-described embodiment, the present embodiment provides the mode in a kind of definite correction path, specifically comprises:
110, determine the initialization path between starting point and terminal.
120, in described initialization path, determine at least one node.
In the present embodiment, if travelled, depart from described initialization path, determine from current location to the subpath described node, as the operation in the correction path that returns described initialization path, can be optimized for following form:
1331, if travelled, depart from described initialization path, according to the distance of current location and node, select target node.
For instance, when vehicle has departed from initialization path, now deviation position may be nearer apart from initialization path, although also have the node of more not process in initialization path, but in order to reduce calculated amount, only need to select the nearer node of several and deviation position as destination node.For example, centered by deviation position, it is 2 kilometers that search radius is set, and only selects node in 2 kilometers of radiuses as destination node.
1332, calculate the subpath between current location and destination node, as the correction path that returns described initialization path.
Find the path that only need find during subpath between current location and destination node as subpath, then in these subpaths, according to above-mentioned any method, select a single sub path as revising path.Using this method to rerun path can further less calculated amount, improves counting yield.
Embodiment five
The structural representation that Figure 5 shows that the guider that the embodiment of the present invention five provides, the concrete structure of this guider is as follows:
Revise path determining unit 530, if depart from described initialization path for travelling, determine from current location to the subpath described node, as the correction path that returns described initialization path.
On the basis of technique scheme, described path initialization unit 510 specifically for reception server according to dynamic information and historical wheelpath the initialization path between starting point and the terminal of line computation.
On the basis of technique scheme, described node determination unit 520 is specifically for selecting intersection place in initialization path or distance Along ent as described node.
On the basis of technique scheme, described correction path determining unit 530 can comprise following subelement:
Subpath is determined subelement, if depart from described initialization path for travelling, calculates from current location to treating through the subpath node.
Distance computation subunit, for calculating the distance of reaching home after described subpath returns described initialization path.
The first routing subelement, for determining that according to distance corresponding subpath is as described correction path.
On the basis of technique scheme, described correction path determining unit 530 can comprise following subelement:
Subpath is determined subelement, if while departing from described initialization path for travelling, calculates from current location to treating through the subpath node.
Road type is confirmed subelement, for determining road type corresponding to subpath.
The second routing subelement, determines that according to road type corresponding subpath is as described correction path.
On the basis of technique scheme, described correction path determining unit 530 can comprise following subelement:
Destination node chooser unit, if depart from described initialization path for travelling, according to the distance of current location and node, select target node.
Subpath computation subunit, for calculating the subpath between current location and destination node, as the correction path that returns described initialization path.
Note, above are only preferred embodiment of the present invention and institute's application technology principle.Skilled person in the art will appreciate that and the invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious variations, readjust and substitute and can not depart from protection scope of the present invention.Therefore, although the present invention is described in further detail by above embodiment, the present invention is not limited only to above embodiment, in the situation that not departing from the present invention's design, can also comprise more other equivalent embodiment, and scope of the present invention is determined by appended claim scope.
Claims (12)
1. an air navigation aid, is characterized in that, comprising:
Determine the initialization path between starting point and terminal;
In described initialization path, determine at least one node;
If travelled, depart from described initialization path, determine from current location to the subpath described node, as the correction path that returns described initialization path.
2. air navigation aid according to claim 1, is characterized in that, the initialization path between described definite starting point and terminal comprises:
Reception server is the initialization path between starting point and the terminal of line computation according to dynamic information and historical wheelpath.
3. air navigation aid according to claim 1, is characterized in that, determines that at least one node comprises in described initialization path:
Intersection place in selection initialization path or distance Along ent are as described node.
4. according to the air navigation aid described in claim 1-3 any one, it is characterized in that, if travelled, depart from described initialization path, determine from current location to the subpath described node, as the correction path that returns described initialization path, comprising:
If travelled, depart from described initialization path, calculate from current location to treating through the subpath node;
The distance that calculating is reached home after described subpath returns described initialization path;
According to distance, determine that corresponding subpath is as described correction path.
5. according to the air navigation aid described in claim 1-3 any one, it is characterized in that, if travelled, depart from described initialization path, determine from current location to the subpath described node, as the correction path that returns described initialization path, comprising:
If travelled, depart from described initialization path, calculate from current location to treating through the subpath node;
Determine the road type that subpath is corresponding;
According to road type, determine that corresponding subpath is as described correction path.
6. according to the air navigation aid described in claim 1-3 any one, it is characterized in that, if travelled, depart from described initialization path, determine from current location to the subpath described node, as the correction path that returns described initialization path, comprising:
If travelled, depart from described initialization path, according to the distance of current location and node, select target node;
Calculate the subpath between current location and destination node, as the correction path that returns described initialization path.
7. a guider, is characterized in that, comprising:
Path initialization unit, for determining the initialization path between starting point and terminal;
Node determination unit, for determining at least one node in described initialization path;
Revise path determining unit, if depart from described initialization path for travelling, determine from current location to the subpath described node, as the correction path that returns described initialization path.
8. guider according to claim 7, is characterized in that, described path initialization unit specifically for reception server according to dynamic information and historical wheelpath the initialization path between starting point and the terminal of line computation.
9. guider according to claim 7, is characterized in that, described node determination unit is specifically for selecting intersection place in initialization path or distance Along ent as described node.
10. according to the guider described in claim 7-9 any one, it is characterized in that, described correction path determining unit comprises:
Subpath is determined subelement, if depart from described initialization path for travelling, calculates from current location to treating through the subpath node;
Distance computation subunit, for calculating the distance of reaching home after described subpath returns described initialization path;
The first routing subelement, for determining that according to distance corresponding subpath is as described correction path.
11. according to the guider described in claim 7-9 any one, it is characterized in that, described correction path determining unit comprises:
Subpath is determined subelement, if depart from described initialization path for travelling, calculates from current location to treating through the subpath node;
Road type is confirmed subelement, for determining road type corresponding to subpath;
The second routing subelement, determines that according to road type corresponding subpath is as described correction path.
12. according to the guider described in claim 7-9 any one, it is characterized in that, described correction path determining unit comprises:
Destination node chooser unit, if depart from described initialization path for travelling, according to the distance of current location and node, select target node;
Subpath computation subunit, for calculating the subpath between current location and destination node, as the correction path that returns described initialization path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410024640.6A CN103743407A (en) | 2014-01-20 | 2014-01-20 | Navigation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410024640.6A CN103743407A (en) | 2014-01-20 | 2014-01-20 | Navigation method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103743407A true CN103743407A (en) | 2014-04-23 |
Family
ID=50500449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410024640.6A Pending CN103743407A (en) | 2014-01-20 | 2014-01-20 | Navigation method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103743407A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567887A (en) * | 2014-12-19 | 2015-04-29 | 百度在线网络技术（北京）有限公司 | Path matching method and device |
| CN104764458A (en) * | 2015-03-26 | 2015-07-08 | 腾讯科技（深圳）有限公司 | Method and device for outputting navigation route information |
| CN105466442A (en) * | 2015-12-28 | 2016-04-06 | 宁波云航信息技术有限公司 | Navigation method for dim starting point preset route |
| CN106595683A (en) * | 2015-10-19 | 2017-04-26 | 高德软件有限公司 | Navigation method and device |
| CN106708053A (en) * | 2017-01-26 | 2017-05-24 | 湖南人工智能科技有限公司 | Autonomous navigation robot and autonomous navigation method thereof |
| WO2017215164A1 (en) * | 2016-06-13 | 2017-12-21 | 乐视控股（北京）有限公司 | Navigation method, device, system and server |
| CN108255171A (en) * | 2016-12-29 | 2018-07-06 | 百度（美国）有限责任公司 | For improving the method and system of the stability of autonomous land vehicle |
| CN108465223A (en) * | 2018-03-29 | 2018-08-31 | 四川斐讯信息技术有限公司 | A kind of science running training method and system based on wearable device |
| CN108663060A (en) * | 2017-04-01 | 2018-10-16 | 北京搜狗科技发展有限公司 | It is a kind of navigation processing method and device, a kind of for the device handled that navigate |
| CN109459049A (en) * | 2018-12-14 | 2019-03-12 | 广东星舆科技有限公司 | A kind of vehicle location and air navigation aid, system |
| CN112799384A (en) * | 2019-10-24 | 2021-05-14 | 比亚迪股份有限公司 | Vehicle and driving track planning method and planning device thereof |
| CN114877911A (en) * | 2022-07-08 | 2022-08-09 | 小米汽车科技有限公司 | Path planning method, device, vehicle and storage medium |
| US11460848B1 (en) * | 2018-12-06 | 2022-10-04 | Waymo Llc | Biased trajectory progress metric |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000193478A (en) * | 1998-12-24 | 2000-07-14 | Clarion Co Ltd | Navigation system |
| CN1779416A (en) * | 2004-11-23 | 2006-05-31 | 佛山市顺德区瑞图万方科技有限公司 | Navigation system and method on board |
| CN1938561A (en) * | 2004-03-26 | 2007-03-28 | 日本先锋公司 | Navigation device, route searching method, route searching program, and computer-readable recording medium |
| CN101046393A (en) * | 2007-04-18 | 2007-10-03 | 江苏新科数字技术有限公司 | Path navigation learning process for navigator |
| CN103185595A (en) * | 2011-12-30 | 2013-07-03 | 上海博泰悦臻电子设备制造有限公司 | Navigation method and navigation apparatus |
-
2014
- 2014-01-20 CN CN201410024640.6A patent/CN103743407A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000193478A (en) * | 1998-12-24 | 2000-07-14 | Clarion Co Ltd | Navigation system |
| CN1938561A (en) * | 2004-03-26 | 2007-03-28 | 日本先锋公司 | Navigation device, route searching method, route searching program, and computer-readable recording medium |
| CN1779416A (en) * | 2004-11-23 | 2006-05-31 | 佛山市顺德区瑞图万方科技有限公司 | Navigation system and method on board |
| CN101046393A (en) * | 2007-04-18 | 2007-10-03 | 江苏新科数字技术有限公司 | Path navigation learning process for navigator |
| CN103185595A (en) * | 2011-12-30 | 2013-07-03 | 上海博泰悦臻电子设备制造有限公司 | Navigation method and navigation apparatus |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567887A (en) * | 2014-12-19 | 2015-04-29 | 百度在线网络技术（北京）有限公司 | Path matching method and device |
| CN104764458A (en) * | 2015-03-26 | 2015-07-08 | 腾讯科技（深圳）有限公司 | Method and device for outputting navigation route information |
| CN106595683A (en) * | 2015-10-19 | 2017-04-26 | 高德软件有限公司 | Navigation method and device |
| CN105466442A (en) * | 2015-12-28 | 2016-04-06 | 宁波云航信息技术有限公司 | Navigation method for dim starting point preset route |
| WO2017215164A1 (en) * | 2016-06-13 | 2017-12-21 | 乐视控股（北京）有限公司 | Navigation method, device, system and server |
| CN108255171A (en) * | 2016-12-29 | 2018-07-06 | 百度（美国）有限责任公司 | For improving the method and system of the stability of autonomous land vehicle |
| CN106708053A (en) * | 2017-01-26 | 2017-05-24 | 湖南人工智能科技有限公司 | Autonomous navigation robot and autonomous navigation method thereof |
| CN108663060A (en) * | 2017-04-01 | 2018-10-16 | 北京搜狗科技发展有限公司 | It is a kind of navigation processing method and device, a kind of for the device handled that navigate |
| CN108465223A (en) * | 2018-03-29 | 2018-08-31 | 四川斐讯信息技术有限公司 | A kind of science running training method and system based on wearable device |
| US11460848B1 (en) * | 2018-12-06 | 2022-10-04 | Waymo Llc | Biased trajectory progress metric |
| CN109459049A (en) * | 2018-12-14 | 2019-03-12 | 广东星舆科技有限公司 | A kind of vehicle location and air navigation aid, system |
| CN112799384A (en) * | 2019-10-24 | 2021-05-14 | 比亚迪股份有限公司 | Vehicle and driving track planning method and planning device thereof |
| CN114877911A (en) * | 2022-07-08 | 2022-08-09 | 小米汽车科技有限公司 | Path planning method, device, vehicle and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103743407A (en) | Navigation method and device | |
| CN112041639B (en) | Method and system for generating parking route | |
| JP7016214B2 (en) | Travelable area setting device and travelable area setting method | |
| JP6769892B2 (en) | Navigation device, route search server, and route search method | |
| CN109375615B (en) | Method and system for generating a field of view for use in an Advanced Driver Assistance System (ADAS) | |
| US9336682B2 (en) | Navigation system for vehicle and navigation service method for the same | |
| CN113631885A (en) | Navigation method and device | |
| Wang et al. | A multi-agent based vehicles re-routing system for unexpected traffic congestion avoidance | |
| WO2022193891A1 (en) | Vehicle travel control method and apparatus, vehicle, server, and storage medium | |
| US11001254B2 (en) | Method of providing parking information for autonomous parking, service server for providing parking information, and system for providing parking information | |
| CN105702073B (en) | A kind of dynamic steering air navigation aid based on road network decision point journey time index value | |
| CN104197948A (en) | Navigation system and method based on traffic information prediction | |
| JPWO2013069054A1 (en) | Autonomous driving system | |
| US9752885B2 (en) | Time-efficient traffic routing system | |
| CN115079702B (en) | Intelligent vehicle planning method and system under mixed road scene | |
| KR20200068772A (en) | Autonomous Driving Method Adapted for a Recognition Failure of Road Line and a Method for Building Driving Guide Data | |
| EP3118836A1 (en) | A method and a device for providing driving suggestions | |
| JP2016017842A (en) | Navigation system | |
| CN118230581A (en) | Method, device and equipment for acquiring lane-level road conditions and vehicle-end navigation system | |
| CN113295177A (en) | Dynamic path planning method and system based on real-time road condition information | |
| CN108955704B (en) | Road identification method and device and navigation route planning method and device | |
| WO2012120325A1 (en) | Combined offboard and onboard navigation system and method | |
| WO2019003992A1 (en) | Information management device | |
| JP2018142082A (en) | Detour recommendation area estimation system, detour recommendation area estimation program, and navigation device | |
| JP6492760B2 (en) | Route guidance system, method and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140423 |