CN105651275A - Navigation method and device - Google Patents
Navigation method and device Download PDFInfo
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- CN105651275A CN105651275A CN201410674493.7A CN201410674493A CN105651275A CN 105651275 A CN105651275 A CN 105651275A CN 201410674493 A CN201410674493 A CN 201410674493A CN 105651275 A CN105651275 A CN 105651275A
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- driftage
- navigation
- gps location
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention provides a navigation method and device; the method comprises the steps: planning a navigation path from a starting position set by a user to a target position; acquiring a navigation object position, determining whether the navigation object position is a non GPS position, and if the navigation object position is the non GPS position, adjusting a yaw threshold according to the positioning accuracy of the non GPS position; according to the adjusted yaw threshold and the planned navigation path, carrying out navigation guidance for a navigation object. The problem in the prior art that when a navigation object cannot receive a GPS signal, error is caused and a path is re-planned due to inaccurate position positioning is solved. The invention relates to the technical field of geographic information.
Description
Technical field
The present invention relates to technical field of geographic information, particularly relate to a kind of navigation method and device.
Background technology
At present, the GPS navigation equipment that user uses can be any equipment being provided with navigation engine. When navigating, departure place that navigation engine is selected according to user, point of destination, via ground, avoid etc. calculate guidance path by corresponding navigation path planning principle, and receive gps signal by navigation engine according to the gps receiver in GPS navigation equipment, determine the GPS location of navigation object (such as: vehicle), travel direction, speed etc. in real time, it is combined into the guidance path that user calculates, user is carried out navigation guide.
But, in the region that the region or gps signal that cannot receive gps signal are more weak, there will be navigation engine cannot according to gps signal, it is determined that the situation of the GPS location of navigation object, travel direction, speed etc., thus causes navigation engine cannot continue user is carried out navigation guide.
Summary of the invention
Embodiments provide a kind of navigation method and device, it is possible to realize, in the region more weak without the region of gps signal or gps signal, user is proceeded navigation guide.
Based on the problems referred to above, a kind of navigation method that the embodiment of the present invention provides, comprising:
Plan the guidance path from the zero position of user's setting to destination locations;
Obtain navigation object position, judge whether described navigation object position is non-GPS location, if described navigation object position is non-GPS location, then according to the positioning precision of this non-GPS location, adjustment driftage threshold value;
According to the guidance path of the driftage threshold value after adjustment and planning, for described navigation object carries out navigation guide.
A kind of Nvgtl aids that the embodiment of the present invention provides, comprising:
First path planning module, for planning the guidance path from the zero position of user's setting to destination locations;
Position acquisition module, for obtaining navigation object position;
Align_type judges module, for judging whether the navigation object position that described position acquisition module obtains is non-GPS location, if described navigation object position is non-GPS location, then triggers driftage threshold adjustment module;
Described driftage threshold adjustment module, for the positioning precision according to non-GPS location, adjustment driftage threshold value;
Navigation guide module, for the guidance path according to the driftage threshold value after the adjustment of described adjusting module and planning, for described navigation object carries out navigation guide.
The useful effect of the embodiment of the present invention comprises:
The navigation method that the embodiment of the present invention provides and device, plan the guidance path from the zero position of user's setting to destination locations;Obtain navigation object position, judge whether navigation object position is non-GPS location, if navigation object position is non-GPS location, then according to the positioning precision of this non-GPS location, adjustment driftage threshold value, according to the guidance path of the driftage threshold value after adjustment and planning, for navigation object carries out navigation guide. the technical scheme that the embodiment of the present invention provides, in the region more weak without the region of gps signal or gps signal, the non-GPS location of navigation object is utilized to carry out navigation guide for navigation object, but owing to the positioning precision of non-GPS location is less than GPS location, if driftage threshold value is not adjusted, but continue to use the driftage threshold value that GPS location is corresponding, the situation of path planning then can frequently occur again, therefore when the position attribute of the navigation object position obtained is non-GPS location, the technical scheme that the embodiment of the present invention provides needs driftage threshold value adjusted according to this non-GPS location positioning precision, to avoid the situation of path planning again frequently occurred because non-GPS location positioning precision is not high, thus realize to provide normal navigation guide service for navigation object in the region more weak without the region of gps signal or gps signal.
Accompanying drawing explanation
The schema of a kind of method of navigating that Fig. 1 provides for the embodiment of the present invention;
The schema of a kind of method of navigating that Fig. 2 provides for the embodiment of the present invention 1;
Fig. 3 a-Fig. 3 c for utilizing of providing of the embodiment of the present invention non-GPS location is auxiliary navigates time GPS navigation system interface display schematic diagram;
The structural representation of a kind of Nvgtl aids that Fig. 4 a-Fig. 4 b provides for the embodiment of the present invention.
Embodiment
Embodiments provide a kind of navigation method and device, below in conjunction with Figure of description, the preferred embodiments of the present invention are described, it will be appreciated that preferred embodiment described herein, only for instruction and explanation of the present invention, is not intended to limit the present invention. And when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.
In embodiments of the present invention, it is therefore contemplated that, following method, device can be realized by computer program element, and this computer program element can be stored in the storer of navigational aid, perform computer program element by the treater of navigational aid.
In the examples below, navigational aid can be special in-vehicle navigation apparatus, it is also possible to being intelligent terminal, intelligent terminal comprises mobile terminal, panel computer etc. On intelligent terminal can operation system, this operating system can include but not limited to the iOS etc. of Microsoft Windows System (Windows), Android (Android) and Apple.
Below the embodiment of the present invention is described.
In GPS navigation process, there is the situation of the guidance path that navigation object deviation is planned in advance, in order to continue as navigation object navigation when deviateing the guidance path planned in advance at navigation object, it is possible to be that navigation object plans guidance path again. In correlation technique, it is possible to arrange driftage threshold value, driftage refers to navigation object position deviation guidance path. When the physical location of navigation object exceedes driftage threshold value with the distance of navigation object in the corresponding position of the guidance path planned in advance, again for navigation object navigates.
GPS navigation tolerance range is higher, but not GPS navigation tolerance range is lower than GPS navigation, therefore causes navigation object position on guidance path, but but thinks navigation object deviation guidance path by mistake according to positioning result, thus causes unnecessary path planning again.For this reason, the embodiment of the present invention provides a kind of navigation method, as shown in Figure 1, comprises S101 to S104:
S101, the planning guidance path from the zero position of user's setting to destination locations.
S102, acquisition navigation object position, judge whether navigation object position is non-GPS location.
If S103 S102 judging, navigation object position is non-GPS location, then according to the positioning precision of this non-GPS location, adjustment driftage threshold value.
S104, according to the driftage threshold value after adjustment in S103 and the guidance path of planning, for navigation object carries out navigation guide.
Pass through the embodiment of the present invention, when the navigation object position obtained is non-GPS location, positioning precision according to non-GPS location, driftage threshold value is adjusted, and be that navigation object carries out navigation guide according to the guidance path of the driftage threshold value after adjustment and planning, avoid and cause mistake path planning again because location, position is inaccurate.
In the embodiment of the present invention, for navigation object (such as: vehicle) plans guidance path, and advance according to guidance path, when navigation object position changes, can according to preset rules (such as: the positional information periodically) obtaining navigation object, so, it is possible to the navigation method of embodiment of the present invention offer is provided for the positional information obtained every time.
Below in conjunction with accompanying drawing, with specific embodiment, method provided by the invention and relevant equipment are described in detail.
Embodiment 1:
In the embodiment of the present invention 1, it is provided that a kind of navigation method, as shown in Figure 2, specifically comprises the steps:
S201, the planning guidance path from the zero position of user's setting to destination locations.
S202, acquisition navigation object position, judging whether navigation object position is non-GPS location, if then entering step S203, if not, entering step S210.
The region of stronger gps signal can be received at terminating unit, the GPS location that navigation object position can be determined according to gps signal for terminating unit, the region of gps signal or the more weak region of gps signal cannot be received, the non-GPS location provided by the location-server of network side to terminating unit at terminating unit. Such as, when the operating system of terminating unit is android system, android system can provide the service that the position to navigation object monitors, when the position of navigation object changes, by the api interface of correspondence, the GPS location of navigation object or non-GPS location are fed back to navigation software.
S203, positioning precision according to non-GPS location, adjustment driftage threshold value.
Further, consider that positioning precision corresponding to different non-GPS location may be not identical, the embodiment of the present invention is provided with different driftage threshold values according to the positioning precision of different non-GPS location, therefore, even if navigation object position is defined as non-GPS location continuously, also need the positioning precision according to the non-GPS location determined every time, readjust driftage threshold value.
S204, obtain non-GPS location to the distance of guidance path of planning.
Further, in this step, the guidance path of planning can be made up of multiple section, and each section is made up of multiple longitude and latitude point, and multiple section can be divided into the section completed and the section not yet completed, so in the section not yet completed, non-GPS location is done to the section not yet completed vertical mapping, obtain at the intersection point not completing on section, the distance of non-GPS location and intersection point is defined as the distance of non-GPS location to the guidance path of planning.
Further, in this step, for the positioning precision of non-GPS location is provided with driftage threshold value, for weighing whether navigation object goes off course. Compared with the driftage threshold value that GPS location is corresponding, the tolerance range that the tolerance range navigated due to non-GPS location is navigated lower than GPS location, therefore, driftage threshold value corresponding to each non-GPS location positioning precision is all greater than driftage threshold value corresponding to GPS location usually.
S205, judging whether the distance obtained in S204 is more than or equal to the driftage threshold value after adjustment, if then entering step S206, if not, then entering step S209.
S206, the statistics non-GPS location of continuous print are more than or equal to the number of times of the driftage threshold value after the adjustment of its correspondence to the distance of guidance path planned;
Wherein, threshold value of going off course adjusts according to the positioning precision of each non-GPS location.
Goodly, when the attribute of the current position obtained is non-GPS location, it it is the position being positioned at the signal transmitter near navigation object current position due to positional information, precision is usually less than GPS location, and stability is usually also lower than GPS location, therefore, occur sometimes certain measure non-GPS location be greater than adjustment to the distance of guidance path of planning after driftage threshold value, and the non-GPS location next time measured be less than adjustment to the distance of guidance path of planning after driftage threshold value, the situation that this kind of repetitive measurement result fluctuates back and forth, in order to accurately judge whether navigation object goes off course, the number of times that the non-GPS location of continuous print is more than or equal to the driftage threshold value after the adjustment of its correspondence to the distance of guidance path of planning can be added up, when this number of times is more than or equal to default driftage number of times, touch driftage logic again and again plan navigation way.
Further, when specifically implementing, it is possible to driftage counter is set, record non-GPS location be not less than adjustment continuously to the distance of guidance path of planning after the number of times of driftage threshold value.
S207, judging in S206 the number of times of statistics and whether it is more than or equal to preset driftage number of times, if then entering step S208, if not, then entering step S209.
S208, the guidance path planned from non-GPS location to point of destination. Enter step S202.
Further, it is also possible to do not perform step S206��S207, in step S205, when the distance obtained is more than or equal to the driftage threshold value after adjustment, directly perform this step.
S209, continue navigation object is carried out navigation guide in the way of inertial navigation.
In the embodiment of the present invention, in execution step 209 simultaneously also at execution step S202, in time driftage threshold value is adjusted.
In this step, if not GPS location is less than driftage threshold value to the distance of guidance path of planning, even if even if illustrating that the current travel path of navigation object exists deviation with path planning, this deviation is can in tolerance.
In this step, inertial navigation is that GPS navigation system is supported, a kind of self-aid navigation mode, usually inertia element (jerkmeter) is utilized to measure the acceleration of vehicle itself, obtain speed and position through anomalous integral computing, thus reach the object to navigation object navigation location.
S210, the driftage threshold value corresponding according to the guidance path planned and GPS location are that navigation object carries out navigation guide service. Enter step S202.
In the embodiment of the present invention, in execution step 210 simultaneously also at execution step S202, in time driftage threshold value is adjusted.
Fig. 3 a-Fig. 3 c is in navigation procedure, when not receiving gps signal, adopt the navigation method that the embodiment of the present invention provides, when utilizing that non-GPS location is auxiliary navigates, GPS navigation system interface display schematic diagram, as shown in Figure 3 a, station location marker 301 is the position of navigation object in path planning, station location marker 302 is the non-GPS location obtained, now, position in path planning and the distance between the non-GPS location of acquisition are less than the driftage threshold value after adjustment, navigation can be continued in the way of inertial navigation, as shown in Figure 3 b, continuous several times records the position in path planning and the distance between the non-GPS location of acquisition is not less than the driftage threshold value after adjustment, and number of times is not less than presets driftage number of times, then trigger driftage logic, goodly, now GPS navigation system can play will again programme path voice (such as: you have deviateed route, for you plan again), after route is planned successfully again, continue current navigation, as shown in Figure 3 c, station location marker 301 and station location marker 302 overlap completely, characterize the position in now path planning consistent with the non-GPS location of the acquisition of planning.
The embodiment of the present invention additionally provides a kind of Nvgtl aids and equipment, and the principle dealt with problems due to these devices and equipment is similar to aforementioned buddy method, and therefore the enforcement of this device and equipment see the enforcement of aforementioned method, can repeat part and repeat no more.
A kind of Nvgtl aids that the embodiment of the present invention provides, as shown in fig. 4 a, comprising:
First path planning module 401, for planning the guidance path from the zero position of user's setting to destination locations;
Position acquisition module 402, for obtaining navigation object position;
Align_type judges module 403, for judging whether the navigation object position that described position acquisition module 402 obtains is non-GPS location, if described navigation object position is non-GPS location, then triggers driftage threshold adjustment module;
Described driftage threshold adjustment module 404, for the positioning precision according to non-GPS location, adjustment driftage threshold value;
Navigation guide module 405, for the guidance path according to the driftage threshold value after the adjustment of described driftage threshold adjustment module 404 and planning, for described navigation object carries out navigation guide.
Further, as shown in Figure 4 b, described navigation guide module 405, specifically comprises: Distance Judgment unit 4051 and the 2nd path planning unit 4052;
Described Distance Judgment unit 4051, for obtaining the distance of guidance path of described non-GPS location to planning, judge described distance whether be more than or equal to adjustment after driftage threshold value;
Described 2nd path planning unit 4052, during for driftage threshold value after distance is more than or equal to adjustment, planning is from the guidance path described non-GPS location to point of destination.
Further, described device, also comprises: driftage number of times judges module 406;
Described driftage number of times judges module 406, for add up described Distance Judgment unit judges to the non-GPS location of continuous print be more than or equal to the number of times of the driftage threshold value after the adjustment of its correspondence to the distance of guidance path of planning, judge whether the number of times of statistics is more than or equal to and preset driftage number of times, if be more than or equal to, then trigger described 2nd path planning unit 4052.
Further, described device, also comprises: inertial navigation module 407, for Distance Judgment unit 4051 judge obtain described distance be less than described adjustment after driftage threshold value time, continue described navigation object is carried out navigation guide in the way of inertial navigation.
The function of above-mentioned each unit may correspond to the respective handling step in flow process shown in Fig. 1 to Fig. 2, does not repeat them here.
The navigation method that the embodiment of the present invention provides and device, plan the guidance path from the zero position of user's setting to destination locations, obtain navigation object position, judge whether navigation object position is non-GPS location, if navigation object position is non-GPS location, then according to the positioning precision of this non-GPS location, adjustment driftage threshold value, according to the guidance path of the driftage threshold value after adjustment and planning, for navigation object carries out navigation guide. the technical scheme that the embodiment of the present invention provides, in the region more weak without the region of gps signal or gps signal, the non-GPS location of navigation object is utilized to carry out navigation guide for navigation object, but owing to the positioning precision of non-GPS location is less than GPS location, if driftage threshold value is not adjusted, but continue to use the driftage threshold value that GPS location is corresponding, the situation of path planning then can frequently occur again, therefore when the position attribute of the navigation object position obtained is non-GPS location, the technical scheme that the embodiment of the present invention provides needs driftage threshold value adjusted according to this non-GPS location positioning precision, to avoid the situation of path planning again frequently occurred because non-GPS location positioning precision is not high, thus realize to provide normal navigation guide service for navigation object in the region more weak without the region of gps signal or gps signal.
Through the above description of the embodiments, the technician of this area can be well understood to the embodiment of the present invention and can pass through hardware implementing, it is also possible to the mode adding necessary general hardware platform by software realizes. Based on such understanding, the technical scheme of the embodiment of the present invention can embody with the form of software product, it (can be CD-ROM that this software product can be stored in a non-volatile memory medium, USB flash disk, portable hard drive etc.) in, comprise some instructions with so that a computer equipment (can be Personal Computer, server, or the network equipment etc.) performs the method described in each embodiment of the present invention.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, module or flow process in accompanying drawing might not be that enforcement the present invention is necessary.
It will be appreciated by those skilled in the art that the module in the device in embodiment can describe according to embodiment to carry out being distributed in the device of embodiment, it is also possible to carry out respective change and be arranged in the one or more devices being different from the present embodiment. The module of above-described embodiment can merge into a module, it is also possible to splits into multiple submodule block further.
Above-mentioned embodiment of the present invention sequence number, just to describing, does not represent the quality of embodiment.
Obviously, the present invention can be carried out various change and modification and not depart from the spirit and scope of the present invention by the technician of this area. Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these change and modification.
Claims (8)
1. a navigation method, it is characterised in that, comprising:
Plan the guidance path from the zero position of user's setting to destination locations;
Obtain navigation object position, judge whether navigation object position is non-GPS location, if described navigation object position is non-GPS location, then according to the positioning precision of this non-GPS location, adjustment driftage threshold value;
According to the guidance path of the driftage threshold value after adjustment and planning, for described navigation object carries out navigation guide.
2. the method for claim 1, it is characterised in that, according to the guidance path of the driftage threshold value after adjustment and planning, comprise for described navigation object carries out navigation guide:
Obtain the distance of guidance path of described non-GPS location to planning, judge described distance whether be more than or equal to adjustment after driftage threshold value, if be more than or equal to, then plan from the guidance path described non-GPS location to point of destination.
3. method as claimed in claim 2, it is characterised in that, in planning from before the guidance path described non-GPS location to point of destination, described method comprises:
The statistics non-GPS location of continuous print is more than or equal to the number of times of the driftage threshold value after the adjustment of its correspondence to the distance of guidance path planned;
Judge whether described number of times is more than or equal to and preset driftage number of times, if described number of times is more than or equal to presets driftage number of times, then perform the step of described planning from the guidance path described non-GPS location to point of destination.
4. method as described in item as arbitrary in claim 2��3, it is characterised in that, also comprise:
If described distance is less than the driftage threshold value after described adjustment, then continue described navigation object is carried out navigation guide in the way of inertial navigation.
5. a Nvgtl aids, it is characterised in that, comprising:
First path planning module, for planning the guidance path from the zero position of user's setting to destination locations;
Position acquisition module, for obtaining navigation object position;
Align_type judges module, for judging whether the navigation object position that described position acquisition module obtains is non-GPS location, if described navigation object position is non-GPS location, then triggers driftage threshold adjustment module;
Described driftage threshold adjustment module, for the positioning precision according to non-GPS location, adjustment driftage threshold value;
Navigation guide module, for the guidance path according to the driftage threshold value after the adjustment of described adjusting module and planning, for described navigation object carries out navigation guide.
6. device as claimed in claim 5, it is characterised in that, described navigation guide module, specifically comprises: Distance Judgment unit and the 2nd path planning unit;
Described Distance Judgment unit, for obtaining the distance of guidance path of described non-GPS location to planning, judge described distance whether be more than or equal to adjustment after driftage threshold value;
Described 2nd path planning unit, during for driftage threshold value after distance is more than or equal to adjustment, planning is from the guidance path described non-GPS location to point of destination.
7. device as claimed in claim 6, it is characterised in that, also comprise: driftage number of times judges module;
Described driftage number of times judges module, for add up described Distance Judgment unit judges to the non-GPS location of continuous print be more than or equal to the number of times of the driftage threshold value after the adjustment of its correspondence to the distance of guidance path of planning, judge whether the number of times of statistics is more than or equal to and preset driftage number of times, if be more than or equal to, then trigger described 2nd path planning unit.
8. device as described in item as arbitrary in claim 6��7, it is characterised in that, also comprise:
Inertial navigation module, for Distance Judgment unit judges obtain described distance be less than described adjustment after driftage threshold value time, continue described navigation object is carried out navigation guide in the way of inertial navigation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410674493.7A CN105651275B (en) | 2014-11-21 | 2014-11-21 | A kind of air navigation aid and device |
| PCT/CN2015/095035 WO2016078606A1 (en) | 2014-11-21 | 2015-11-19 | Navigation method and apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410674493.7A CN105651275B (en) | 2014-11-21 | 2014-11-21 | A kind of air navigation aid and device |
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| CN105651275A true CN105651275A (en) | 2016-06-08 |
| CN105651275B CN105651275B (en) | 2018-06-19 |
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| CN201410674493.7A Active CN105651275B (en) | 2014-11-21 | 2014-11-21 | A kind of air navigation aid and device |
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| WO (1) | WO2016078606A1 (en) |
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| CN111457931A (en) * | 2019-01-21 | 2020-07-28 | 广州汽车集团股份有限公司 | Method, device, system and storage medium for controlling local path re-planning of autonomous vehicle |
| CN112581755A (en) * | 2019-09-30 | 2021-03-30 | 本田技研工业株式会社 | Information processing apparatus, information processing method, mobile terminal, and storage medium |
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| CN113959451A (en) * | 2021-09-22 | 2022-01-21 | 北京连山科技股份有限公司 | Response yaw method based on road network and positioning data trigger mechanism |
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| CN111324680B (en) * | 2019-01-25 | 2021-05-18 | 北京嘀嘀无限科技发展有限公司 | Information display method and device |
| CN110186472B (en) * | 2019-05-23 | 2021-03-23 | 中电工业互联网有限公司 | Vehicle yaw detection method, computer device, storage medium, and vehicle system |
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Also Published As
| Publication number | Publication date |
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| WO2016078606A1 (en) | 2016-05-26 |
| CN105651275B (en) | 2018-06-19 |
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