CN110455304A - Automobile navigation method, apparatus and system - Google Patents
Automobile navigation method, apparatus and system Download PDFInfo
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- CN110455304A CN110455304A CN201910719018.XA CN201910719018A CN110455304A CN 110455304 A CN110455304 A CN 110455304A CN 201910719018 A CN201910719018 A CN 201910719018A CN 110455304 A CN110455304 A CN 110455304A
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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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3484—Personalized, e.g. from learned user behaviour or user-defined profiles
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Abstract
This application discloses a kind of automobile navigation method, apparatus and system, which is executed by server terminal, comprising: is received the navigational assistance from navigational assistance requesting terminal and is requested；It is requested according to navigational assistance, assists terminal to the distribution of navigational assistance requesting terminal, and assist terminal to send navigation notice to corresponding, terminal is assisted to be used to send navigation directions information to navigational assistance requesting terminal；Navigation directions information is the navigation directions information formulated according to the real-time geographical locations information of navigational assistance requesting terminal, and real-time current geographic position information is believed by server or the geographical location for assisting terminal to generate；It establishes navigational assistance requesting terminal and assists the communication link between terminal.The air navigation aid provides navigation Service for navigational assistance requesting terminal, is capable of providing good and accurate navigation Service by assisting terminal directly to send navigation directions information to navigational assistance requesting terminal.The present invention is widely used in automobile navigation.
Description
Technical field
This application involves vehicle networking technical fields, more particularly, to a kind of automobile navigation method, apparatus and system.
Background technique
Currently, people are generally navigated using cell phone application when driving trip.But even if hand is used in city
Machine APP navigation can not really solve the problems, such as route guidance.Through practical test, during with Mobile Telephone Gps, GPS function meeting
There is different degrees of delay.The poor area of part signal, accuracy of navigating and real-time are all received and are seriously affected；Especially
It is that the deviation navigated in small streets and lane, as a result can seriously affect car owner's judgement.
The technical principle navigated using cell phone application are as follows: provided and led for mobile phone user by the server being connected with cell phone application
Boat service, server use scheduled navigation algorithm to provide for cell phone application by knowing the starting point and terminal of cell phone application user
At least one navigation routine.When encountering road conditions complexity, navigation is not clear enough and user is in the unfamiliar situation of road, driver
Member is easy to go to the wrong way crossing, causes user lost situation occur, to reduce the experience sense of user.Therefore, it is necessary to give car owner
A kind of novel navigation mode is provided, to facilitate car owner to navigate.
Summary of the invention
The application is intended to solve at least some of the technical problems in related technologies.For this purpose, the application
One purpose is to provide a kind of automobile navigation method, apparatus and system, to solve in a manner of current cell phone application navigation using service
Device is that mobile phone user navigates, and can not provide the technical problem of navigation or navigation inaccuracy.
Technical solution used by the application is:
In a first aspect, the application provides a kind of automobile navigation method, executed by server, comprising:
The navigational assistance from navigational assistance requesting terminal is received to request；The navigational assistance request includes traveling video recording
Video, the traveling video is for determining the current geographic position information；
It is requested according to the navigational assistance, assists terminal to navigational assistance requesting terminal distribution, and assist to corresponding
Terminal sends navigation notice, and the assistance terminal is used to send navigation directions information to the navigational assistance requesting terminal；It is described
Navigation directions information is the navigation directions information formulated according to the real-time geographical locations information of navigational assistance requesting terminal, the reality
When geographical location information by the server or it is described assist terminal generate geographical location believe；
Establish the navigational assistance requesting terminal and the communication link assisted between terminal；
Wherein, the navigational assistance requesting terminal is car-mounted terminal.
Wherein, described to be requested according to the navigational assistance, terminal, packet are assisted to navigational assistance requesting terminal distribution
It includes:
It is requested according to the navigational assistance, sends broadcasting command to other the multiple terminals networked with the server；
Comprehensive score is carried out to response terminal, using the response terminal of highest scoring as the assistance terminal；
Wherein, factor includes following any one or more consideration factor the considerations of the comprehensive score: described to answer
The corresponding user's license information of terminal is answered, the age is driven, whether had record, history assistance record and the response in violation of rules and regulations whole
The distance between end and the navigational assistance requesting terminal；
Corresponding weight is accompanied by above-mentioned Consideration, ranking operation obtains comprehensive score.
Second aspect, the application provide a kind of automobile navigation method, are executed by assistance terminal, comprising:
The navigation received from server notifies that the navigation notice is received from navigation according to the server
It assists the navigational assistance request of requesting terminal and triggers；
It is notified according to the navigation, Xiang Suoshu navigational assistance requesting terminal sends navigation directions information.
Wherein, the navigation directions information is artificial voice guidance information or intelligent Matching multimedia messages；
The artificial speech tutorial message is that the assistance terminal is generated by microphone reception user's input real-time voice
Voice messaging；
The intelligent Matching multimedia messages are to be obtained by travelling video described in neural network algorithm intelligent recognition
Video frame images, and according to the Voice Navigation director information prestored in matching database in image/image-guidance director information/view
Frequency navigation directions information/text navigation directions information.
Wherein, described in the neural network recognization algorithm intelligent recognition traveling video the following steps are included:
By taking pictures road on the way outstanding feature building/road sign/shop title as neural metwork training
Sample, using corresponding landmark information/mark information/shop name information as training label, training neural network
Model；
Video frame images are extracted, video frame images are inputted into neural network model, identify the mark for including in video frame images
Will building information/mark information/shop name information；
In conjunction with landmark information/mark information/shop name information orientation, size information calculate described in lead
Boat assists the current geographic position information of requesting terminal.
The third aspect, the application provide a kind of automobile navigation method comprising following steps:
Navigational assistance requesting terminal sends navigational assistance request to server；
It is requested according to the navigational assistance, assists terminal to navigational assistance requesting terminal distribution, and assist to corresponding
Terminal sends navigation notice, and the assistance terminal is used to send navigation directions information to the navigational assistance requesting terminal；It is described
Navigation directions information is the navigation directions information formulated according to the real-time geographical locations information of navigational assistance requesting terminal, describedly
Location information is managed by the server or the geographical location information for assisting terminal to generate；
Server establishes the navigational assistance requesting terminal and the communication link assisted between terminal；
Assist terminal to receive to notify from the navigation of server, the navigation notify according to the server it is received come
It is triggered from the navigational assistance request in navigational assistance requesting terminal；
Assist terminal notified according to the navigation, obtain the navigational assistance requesting terminal current geographic position information,
Target geographic position information and traveling video；
According to the traveling video, the video frame images of the traveling video are extracted, identify the mark in image
Will object feature confirms the current geographic position information of the navigational assistance requesting terminal；
The navigation directions information is generated according to the current geographic position information and the target geographic position information；To
The navigational assistance requesting terminal sends the navigation directions information.
Wherein, it is requested according to the navigational assistance, distributing assistance terminal to the navigational assistance requesting terminal includes:
It is requested according to the navigational assistance, sends broadcasting command to other the multiple terminals networked with the server；
Comprehensive score is carried out to response terminal, using the response terminal of highest scoring as the assistance terminal；
Wherein, factor includes following any one or more consideration factor the considerations of the comprehensive score: described to answer
The corresponding user's license information of terminal is answered, the age is driven, whether had record, history assistance record and the response in violation of rules and regulations whole
The distance between end and the navigational assistance requesting terminal；
Corresponding weight is accompanied by above-mentioned Consideration, ranking operation obtains comprehensive score；
Described in the neural network recognization algorithm intelligent recognition traveling video the following steps are included:
By taking pictures road on the way outstanding feature building/road sign/shop title as neural metwork training
Sample, using corresponding landmark information/mark information/shop name information as training label, training neural network
Model；
Video frame images are extracted, video frame images are inputted into neural network model, identify the mark for including in video frame images
Will building information/mark information/shop name information；
In conjunction with landmark information/mark information/shop name information orientation, size information calculate described in lead
Boat assists the current geographic position information of requesting terminal.
Fourth aspect, the application provide a kind of server, comprising:
Navigational assistance request receiving module, for receiving the navigational assistance request from navigational assistance requesting terminal, institute
It states navigational assistance and requests the traveling video for including, the traveling video is for determining the current geographic position letter
Breath；
Terminal distribution module is assisted, is assisted for requesting to distribute to the navigational assistance requesting terminal according to the navigational assistance
Terminal is helped, and sends navigation notice to the assistance terminal, the assistance terminal is used to send out to the navigational assistance requesting terminal
Send navigation directions information；The navigation directions information is to be formulated according to the real-time geographical locations information of navigational assistance requesting terminal
Navigation directions information, the real-time geographical locations information are believed by the server or the geographical location for assisting terminal to generate；
Communication link establishes module, for establishing the navigational assistance requesting terminal and assisting the communication chain between terminal
Road.
5th aspect, the application provides a kind of Vehicular navigation system, including navigational assistance as claimed in claim 7 request is eventually
End, assistance terminal as claimed in claim 9 and server as claimed in claim 8；
The navigational assistance requesting terminal, the assistance terminal are communicated with the server respectively.
The application provides a kind of automobile navigation method, sends navigational assistance to server by navigational assistance requesting terminal and asks
It asks, which requests according to the navigational assistance, assists terminal to navigational assistance requesting terminal distribution, the assistance terminal is direct
Navigation directions information is sent to navigational assistance requesting terminal, provides navigation Service for navigational assistance requesting terminal.
Further, the server is when terminal is assisted in distribution, according to the comprehensive score situation of multiple response terminals, selection
The highest terminal that scores is as terminal is assisted, and to requiring assistance, vehicle provides reliable navigational assistance service.
Further, which notifies according to navigation, obtains the current geographic position letter of navigational assistance requesting terminal
Breath, target geographic position information and traveling video determine working as the navigational assistance terminal according to traveling video
Preceding geographical location information generates navigation directions information according to current geographic position information and target geographic position information.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the flow diagram of an embodiment of the application automobile navigation method；
Fig. 2 is the flow diagram of the second embodiment of the application automobile navigation method；
Fig. 3 is the flow diagram of an embodiment of the step S22 of Fig. 2；
Fig. 4 is the flow diagram of the 3rd embodiment of the application automobile navigation method；
Fig. 5 is the flow diagram of an embodiment of the step S32 of Fig. 4；
Fig. 6 is the flow diagram of an embodiment of the step S221 of Fig. 2；
Fig. 7 is the flow diagram of an embodiment of the step S222 of Fig. 2；
Fig. 8 is the structural schematic diagram of an embodiment of the application Vehicular navigation system；
Fig. 9 is the structural schematic diagram of an embodiment of the navigational assistance requesting terminal of Fig. 8；
Figure 10 is the structural schematic diagram of an embodiment of the server of Fig. 8；
Figure 11 is the structural schematic diagram of an embodiment of the assistance terminal distribution module of Figure 10；
Figure 12 is the structural schematic diagram of an embodiment of the assistance terminal of Fig. 8；
Figure 13 is the schematic diagram of an embodiment of the navigation module of Figure 12；
Figure 14 is the structural schematic diagram of another embodiment of the application Vehicular navigation system；
Figure 15 is the structural schematic diagram of an embodiment of the navigational assistance requesting terminal of Figure 14.
Specific embodiment
The above-mentioned purpose of the application, scheme and advantage in order to better understand, provided hereinafter detailed descriptions.This is retouched in detail
It states by using the attached drawings such as block diagram, flow chart and/or example, illustrates the various embodiments of device and/or method.At these
It include one or more functions and/or operation in block diagram, flow chart and/or example.It will be understood by the skilled person that: this
Each function and/or operation in a little block diagram, flow chart or examples, can be independent by various hardware, software, firmware
Or common implementing, or implemented by any combination of hardware, software and firmware.
One, navigational assistance requesting terminal
The navigational assistance requesting terminal of the application can be car-mounted terminal or mobile phone terminal.Preferably, using vehicle-mounted end
End, because the GPS navigation performance of car-mounted terminal is better than the GPS navigation performance of mobile phone terminal.
Two, terminal is assisted
Navigational assistance requesting terminal and assist terminal can integrated setting on the same terminal device, that is to say, that
The terminal device both can be used as navigational assistance requesting terminal, be also used as the assistance terminal of other navigational assistance requesting terminals.
Same user is also possible to aid either seeking help person.
It is of course also possible to by the navigational assistance requesting terminal and the assistance terminal be respectively arranged at two different terminals it
On.
Three, server
The server of the application can be entity device, or virtual server.
Preferably, server is remote server, and server and navigational assistance requesting terminal assist to carry out far between terminal
Journey wireless communication, wherein wireless communication can be blue tooth wireless communication, WIFI wireless telecommunications and mobile data communication etc., at this
Embodiment is communicated using mobile data, in order to which server can receive each local navigational assistance requesting terminal and assist eventually
The navigational assistance request at end and navigation directions information.
The application is described in detail below with reference to attached drawing and in conjunction with the embodiments.It should be noted that the application's says
Bright book and claims and term " first " in above-mentioned attached drawing, " second " etc. are to be used to distinguish similar objects, without
It is used to describe a particular order or precedence order.
Embodiment one:
Referring to Fig. 1, Fig. 1 is the flow diagram of an embodiment of the application automobile navigation method.As shown in Figure 1, should
Method is executed by navigational assistance requesting terminal, is included the following steps:
S11: sending navigational assistance request to server, which is used to be requested according to the navigational assistance, gives the navigation
Requesting terminal distribution is assisted to assist terminal；
Wherein, to server send navigational assistance request when, need to server submit user essential information with into
Row registration logs in, and the essential information of the navigational assistance requesting terminal includes: ID number and/or the user of navigational assistance requesting terminal
Identity information.Wherein, the essential information of the navigational assistance requesting terminal includes: the ID number and/or use of navigational assistance requesting terminal
Family identity information.Navigational assistance request includes the traveling video of vehicle, which is used for according to its determination
The geographical location information of the navigational assistance requesting terminal.Optionally, the traveling video include: vehicle in the process of moving,
The driving video acquired by video camera or automobile data recorder；Or vehicle is in the current road segment figure of currently emergency station acquisition
As data.
Preferably, which requests further include: the essential information or current geographic of the navigational assistance requesting terminal
Location information.The geographical location information can be with are as follows: three-dimensional of the navigational assistance requesting terminal in GPS system (global positioning system)
Coordinate data (X, Y, Z)；Or the sharing position information that the server can identify, some map location of such as shared map
Information, server are converted into the three-dimensional coordinate data according to the sharing position information.Navigation has been stored in server database
Assist the ID number of requesting terminal and the linked database of subscriber identity information.Server obtains the navigational assistance according to the ID number and asks
Ask the subscriber identity information and contact method of terminal.For example, the server interval is arranged in advance acquires navigational assistance request eventually
The geographical location information at end.When server receives navigational assistance request, by the ID number of the navigational assistance requesting terminal (or
Person's subscriber identity information), you can learn that the navigational assistance requesting terminal nearest moment uploads to the geographical location letter of the server
Breath, server is using the newest geographical location information of navigational assistance requesting terminal as the current geographic position of navigational assistance requesting terminal
Confidence breath.
In addition, navigational assistance request can also include: target geographic position information.
It is preferable, after sending navigational assistance request to server, the confirmation message from server is received, with to leading
Boat assists request to be confirmed, prevents the transmission navigational assistance request key for being not intended to touch navigational assistance requesting terminal and causes
Unnecessary navigational assistance.
S12: the navigation directions information from the assistance terminal is obtained.
In step s 12, navigational assistance requesting terminal and assistance terminal real time communication, obtain from the assistance terminal
Navigation directions information.
Wherein, the transmission mode of the navigation directions information includes following a kind of and more than one mode: voice, video,
Text or image.Optionally, which uses communication, directly receives assistance terminal hair
Voice, video or the verbal description of the two dimension or three-dimensional navigation route schematic diagram or conducting wire route guiding sent are led with auxiliary
Boat assists requesting terminal to navigate.
Optionally, which can also be sent to the navigation directions information server, and server receives this and leads
Navigate director information, after judgement confirmation, sends the navigation directions information to the navigational assistance requesting terminal.
In the present embodiment, by sending navigational assistance request to server, wherein include navigation in navigational assistance request
Essential information, current geographic position information, target geographic position information and the traveling video for assisting requesting terminal, are convenient for
Server is according to the essential information of navigational assistance requesting terminal, current geographic position information, target geographic position information and row
It sails video information and chooses suitable assistance terminal, refer in order to assist terminal accurately to navigate to navigational assistance requesting terminal
Fuse breath.
Embodiment two:
Referring to Fig. 2, Fig. 2 is the flow diagram of an embodiment of the application automobile navigation method.As shown in Fig. 2, should
Method is executed by server, is included the following steps:
S21: it receives the navigational assistance from navigational assistance requesting terminal and requests；
Wherein, navigational assistance request includes traveling video, the current geographic position information, target geographic position of vehicle
Information and the essential information of navigational assistance requesting terminal.On the one hand the current position of navigational assistance requesting terminal can be directly acquired
Location information is managed, if can not accurately obtain the current geographic position information of navigational assistance requesting terminal, can be recorded according to traveling
As video determines current geographic position information.
S22: requesting according to the navigational assistance, assists terminal to navigational assistance requesting terminal distribution, which uses
It is notified in navigational assistance requesting terminal transmission navigation directions information, and to corresponding assistance terminal transmission navigation；
Navigation notice includes current geographic position information, target geographic position information and the row of navigational assistance requesting terminal
Sail video.
Terminal is assisted to be used to send navigation directions information to navigational assistance requesting terminal, navigation directions information is according to navigation
The navigation directions information for assisting the real-time geographical locations information of requesting terminal to formulate, geographical location information is by server or assists eventually
Hold the geographical location information generated.
Specifically, referring to Fig. 3, as shown in figure 3, step S22 includes following sub-step:
S221: requesting according to the navigational assistance, sends broadcasting command to other the multiple terminals networked with the server；
In step S221, optionally, scheduled communication protocol is arranged in server and multiple networked terminals.It is led receiving
Boat assists first to identify to judge its authenticity navigational assistance request when request, to receiving guide after navigational assistance request
Boat assists whether terminal transmission requests to assist confirmation message, after the confirmation message for receiving navigational assistance requesting terminal, to multiple
Networked terminals send scheduled broadcasting command.
S222: comprehensive score is carried out to response terminal, using the response terminal of highest scoring as the assistance terminal.
In step S222, server is according to whether receive the acknowledgement command of broadcasting command, to determine response terminal.So
Afterwards, server carries out comprehensive score to multiple response terminal.
Wherein, factor includes following a kind of and more than one influence factor the considerations of the comprehensive score: the response terminal
Corresponding user's license information, drive the age, whether had in violation of rules and regulations record, history assist record and the response terminal and this lead
Boat assists the distance between requesting terminal.
Scoring formula can be used to indicate in the methods of marking, and using each influence factor as the scoring factor, the scoring is public
Formula considers the scoring magnitude and scoring weight of each scoring factor simultaneously.
S23, it establishes the navigational assistance requesting terminal and assists the communication link between terminal；
Select the response terminal of highest scoring as assist terminal, and establish navigational assistance requesting terminal and assist terminal it
Between communication link, in order to assist terminal directly with navigational assistance requesting terminal direct communication carry out navigation directions.
In the present embodiment, server receives after the navigational assistance request of navigational assistance requesting terminal, gives
Terminal is assisted in navigational assistance requesting terminal distribution, to provide navigation Service to the navigational assistance requesting terminal.Compared to known
The method for obtaining navigation routine from server in technology, the air navigation aid of the present embodiment is more flexible, and more humane.
Further, server sends broadcasting command to multiple networked terminals, and to response terminal using specific scoring
Formula carries out comprehensive score, picks out the highest terminal of scoring as terminal is assisted, to enable the navigational assistance requesting terminal
Obtain the best service.
Embodiment three:
Referring to Fig. 4, Fig. 4 is the flow diagram of an embodiment of the application automobile navigation method.As shown in figure 4, should
Method is executed by assistance terminal, is included the following steps:
S31: the navigation received from the server notifies that navigation notice is received from leading according to the server
Boat is assisted the navigational assistance request of requesting terminal and is triggered；
In step S31, terminal and server is assisted to keep long connection communication state, terminal is assisted to be constantly in monitoring shape
State to monitor the communications command of server transmission, and identifies whether the communications command is navigation notice.
Optionally, the server and the assistance terminal are communicated using the communication protocol of agreement, are wrapped in the communication protocol
The data packet communication format of the notification command word containing navigation and navigation notice.
S32: notifying according to the navigation, sends navigation directions information to the navigational assistance requesting terminal.Wherein, navigation directions
Information is artificial voice guidance information or intelligent Matching multimedia messages, and the voice guidance information is that terminal is assisted to pass through Mike
Wind receives user and inputs what real-time voice generated, and intelligent Matching multimedia messages are the traveling video recording of neural network algorithm intelligent recognition
Video obtains video frame images, and is led according to the Voice Navigation director information/image prestored in video frame images matching database
Boat director information/video navigation director information/text navigation directions information, wherein letter is guided in the Voice Navigation of database purchase
Breath/image-guidance director information/video navigation director information/text navigation directions information is worked as according to traveling video determination
Preceding geographical location information is extracted to the route between target geographic position.
Specifically, referring to Fig. 5, as shown in figure 5, step S32 includes following sub-step:
S321: it is notified according to the navigation, obtains current geographic position information, the target geographic of the navigational assistance requesting terminal
Location information and traveling video；
In step S321, after assisting terminal to receive navigation notification data packet, which is carried out
Data analysis, to obtain the particular content of navigational assistance request, such as: the current geographic position letter of the navigational assistance requesting terminal
The traveling video of breath and the navigational assistance requesting terminal.
S322: the current geographic position information of the navigational assistance requesting terminal is determined according to the traveling video；
According to traveling video, the video frame images of traveling video are extracted, identify the symbolic characteristic in image,
Symbolic characteristic includes landmark, road sign and shop title etc., by landmark, road sign, store name
Claim to identify and calculate navigation requests assistance the distance between terminal and landmark, road sign and shop, to confirm that this is led
Boat assists the current geographic position information of requesting terminal.Wherein, the video frame images in traveling video are carried out significant
Building, road sign and the identification of shop title are to judge that navigation assists the algorithm of the current geographic position of requesting terminal to neural network
Algorithm, through network algorithm identify traveling video the following steps are included:
By taking pictures road on the way outstanding feature building/road sign/shop title as neural metwork training
Sample, using corresponding landmark information/mark information/shop name information as training label, training neural network
Model；
Video frame images are extracted, video frame images are inputted into neural network model, identify the mark for including in video frame images
Will building information/mark information/shop name information；
Navigational assistance request is calculated eventually in conjunction with landmark information/mark information/store information orientation, size
The current geographic position information at end, wherein can by landmark/road sign/shop orientation in traveling video
Navigational assistance requesting terminal is judged in which direction of landmark/road sign/shop, further according in traveling video
Landmark information/mark information/store information size is to judge that the distance of navigational assistance requesting terminal in turn can
Judge the current geographic position of navigational assistance requesting terminal.
On the display interface for assisting terminal, the traveling video may be viewed by.The display interface also provides text box, should
Text box is used to input the current geographic position of navigational assistance requesting terminal.
It assists terminal user to watch after the traveling video, accurate navigational assistance is inputted in text frame and is asked
Seek the current geographic position of terminal.
S323: the navigation directions information is generated according to the current geographic position information and the target geographic position information；
In step S323, terminal is assisted to get current geographic position and the target geographic position of navigational assistance requesting terminal
After setting, which is generated using scheduled navigation algorithm.The transmission mode of the navigation directions information is in embodiment
It has been described in detail in one step S12, therefore not to repeat here.
In the present embodiment, navigational assistance request is sent by navigational assistance terminal to server, then assists terminal record
Enter voice and be sent to navigational assistance requesting terminal to navigate.On the other hand, it can be stored up according to databases and travel video recording
The matched Voice Navigation director information of video information/image-guidance director information/video navigation director information/text navigation directions
Information is navigated, and the guidance of two kinds of navigation modes is mentioned compared to machine arithmetic is carried out by server completely in known technology
The navigation mode of confession, two kinds of navigation directions information are more acurrate, so that correct navigation routine is provided for navigation requests user, with
It can accurately travel convenient for navigation requests user to target geographic position.
Optionally, assist terminal display interface on show the navigation directions information, with facilitate assist terminal user with
When to the navigational assistance requesting terminal carry out route guidance.
S324: the navigation directions information is sent to the navigational assistance requesting terminal.
In step S324, assist terminal that can use existing wechat, SMS, mobile phone speech call or specific
The modes such as cell phone application, send navigation directions information to navigational assistance requesting terminal.
In the present embodiment, it by assisting terminal to provide navigation directions information, is mentioned compared to known technology using server
It is capable of providing more just for navigation directions information due to assisting terminal more flexible compared to the navigation directions mode that server provides
The navigation of benefit.
Further, in this embodiment using identifying and confirming traveling video, it is convenient to know navigation association inaccurate
In the case where the current geographic position for helping requesting terminal, enable that terminal is assisted accurately to know the current of the navigational assistance requesting terminal
Geographical location, to provide accurate navigation routine for this navigation.
It can be quickly emergency automobile navigation in addition, assisting terminal that can automatically generate navigation directions information.
In other embodiments, step S32 can not also be used by assisting terminal to automatically generate navigation directions information, be led to
Assistance terminal user is crossed according to its driving experience, the manually generated navigation directions information.After assisting terminal to receive navigation notice,
It assists terminal user to use manual type, dials the mobile phone of navigational assistance requesting terminal user, assisted by world-of-mouth communication mode
Navigational assistance requesting terminal user navigates, and facilitates and assists terminal and navigational assistance requesting terminal that can not communicate or communicate letter
Implement navigation in the case where number bad.
Example IV, referring to Fig. 6, Fig. 6 is the flow diagram of S221 in the embodiment of the application automobile navigation method,
This method is executed by server, wherein S221 the following steps are included:
S2211: it is requested according to the navigational assistance, obtains the current geographic position of the navigational assistance requesting terminal；
S2212: setting detection range, and using current geographic position be the center of circle according to preset detection range as the model of radius
It encloses and interior other terminals is scanned for.
S2213: setting other terminal quantity a reference values, meets other terminal parameters of setting then when searching other terminals
Other terminal quantity a reference values are completed, then server and other multiple terminals are networked to send broadcasting command.
Several detection ranges can be wherein set, set three detection ranges in the present embodiment, and respectively 5,10,15 is public
In, it is being to detect the presence of it in circle of the center of circle using detection range as radius using the current geographic position of navigational assistance requesting terminal
His terminal does not meet and sets other terminal quantity a reference values, then executes the search that the second detection range carries out other terminals,
Meet other terminals of other terminal quantity a reference values until searching the search of other terminals can be completed.By step by step to it
His terminal carries out the search in specified quantity, on the one hand can quickly obtain the assistance of other neighbouring terminals, on the other hand set
Other a certain number of terminals quickly can carry out subsequent analysis to other a certain number of terminals in order to server, so as to
In quickly obtaining other optimal terminals.
Referring to Fig. 7, Fig. 7 is the flow diagram of S222 in the embodiment of the application automobile navigation method, wherein S222
The following steps are included:
S2221: according to the acknowledgement command for whether receiving broadcasting command received, to determine response terminal；
S2222: it scores the corresponding subscriber identity information of response terminal；
The subscriber identity information for wherein replying terminal includes: user's driving information, drives age, user's inhabitation address and occupy
The firmly time limit, history record etc. in violation of rules and regulations, wherein user's driving information includes user's gender, age, to and each user user's body
Part information is analyzed, and analysis method uses Analytic Hierarchy Process Model, first to user identity such as user's driving information, driving ages
Parameter carries out a weight distribution, and is scored to obtain according to the subscriber identity parameter of each single item user of different response terminals
The weight of each, i.e., according to which response terminal is selected, as destination layer, for subscriber identity parameter as rule layer, response is whole
End calculates the weight vector of each response terminal by Analytic Hierarchy Process Model for solution layer, using highest weight vector then as most
Good response terminal.
For example, screen five response terminals in the detection range of setting and be respectively labeled as B1, B2, B3, B4, B5,
Then user's driving information, drive age, user's inhabitation address and the inhabitation time limit, history record in violation of rules and regulations be respectively labeled as A1, A2,
A3, A4 and weighted value are respectively a, b, c, d, then start to model, first construction pairwise comparison matrix, calculate single sequence weigh to
Amount show that A1A2A3A4 assists the weight of terminal to navigation requests, then calculates separately B1B2B3B4B5 to A1,
B1B2B3B4B52 to A2, B1B2B3B4B52 to A3, B1B2B3B4B52 to the weight of A4, finally calculate total rank order filtering with
And transplantability inspection is carried out, each response terminal is obtained to the weight vector of navigational assistance requesting terminal, can be judged five
In a response terminal with reference to user's driving information, drive age, user's inhabitation address and the inhabitation time limit, history in violation of rules and regulations record because
Element, the navigation directions for being more conform with navigational assistance requesting terminal of which response terminal.
S2223: the response terminal for being scored acquisition from high score to low point according to the selection of the response terminal quantity of setting, and it is right
The distance between each response terminal and the navigational assistance requesting terminal score；
Wherein, the weight vector score of the response terminal in a fixed quantity and response terminal and the navigational assistance are requested eventually
The distance between end is analyzed, and the distance of response terminal and the navigational assistance requesting terminal to fixed quantity is ranked up,
And set distance weighted value, and the size of distance weighting value is big according to the distance between response terminal and navigational assistance requesting terminal
Response terminal that is small to be allocated, and the distance weighting value of each response terminal being added with weight vector to obtain highest scoring.
S2224: the response terminal of highest scoring is used as and assists terminal.
It is analyzed by first carrying out Analytic Hierarchy Process Model to subscriber identity information to obtain the high response terminal that scores, then
Score distance between the high a certain number of response terminals and the navigational assistance requesting terminal of scoring, and according to the two it
Between score value be added to obtain optimal response terminal as assistance terminal, be conducive to quickly to select the most suitable navigational assistance and ask
Seek the assistance terminal of terminal.
Embodiment five:
Also referring to Fig. 8 to Figure 13, as shown in figure 8, Fig. 8 is the structure of an embodiment of the application Vehicular navigation system
Schematic diagram.As shown in figure 8, the Vehicular navigation system includes navigational assistance requesting terminal 10, server 20, assists terminal 30, the
One terminal 40 and second terminal 50.
Wherein, navigational assistance requesting terminal 10, assist terminal 30, first terminal 40 and second terminal 50 respectively with service
Device 20 carries out wireless communication respectively.Assist the status of terminal 30, first terminal 40 and second terminal 50 in this network architecture
Identical, difference is, uses and terminal 30 is assisted to provide this navigational assistance for navigational assistance requesting terminal 10, navigate next time
In the process, it may be possible to which first terminal 40 or second terminal 50 are that navigational assistance requesting terminal 10 provides navigational assistance.
Navigational assistance requesting terminal 10, server 20 and the structure composition for assisting terminal 30 are introduced in detail below.
Referring to Fig. 9, Fig. 9 is the structural schematic diagram of an embodiment of the navigational assistance requesting terminal 10 of Fig. 8.Such as Fig. 9 institute
Show, navigational assistance requesting terminal 10 includes: navigational assistance request sending module 11 and navigation directions data obtaining module 12.
Navigational assistance request sending module 11, for sending navigational assistance request to server 20, server 20 is used for root
It is requested according to the navigational assistance, provides the assistance terminal 30 of this time navigation to the distribution of navigational assistance requesting terminal 11, wherein navigation association
Helping request includes the traveling video of vehicle, and navigational assistance request sending module 11 obtains current position according to traveling video
Manage location information.Navigation directions data obtaining module 12, for obtaining from the navigation directions information for assisting terminal 30.Its
In, navigation directions information includes artificial speech tutorial message or only intelligent Matching multimedia messages, voice guidance information are to assist
Terminal receives user by microphone and inputs the voice messaging that real-time voice generates, and intelligent Matching multimedia messages are to pass through nerve
Voice Navigation director information/the image-guidance prestored in network algorithm intelligent recognition traveling video matching database guides letter
Breath/video navigation director information/text navigation directions information.
It is the structural schematic diagram of an embodiment of the server 20 of Fig. 8, Tu11Shi also referring to Figure 10 and Figure 11, Figure 10
The structural schematic diagram of one embodiment of the assistance terminal distribution module 22 of Figure 10.As shown in Figure 10, server 20 includes navigation association
It helps request receiving module 21, terminal distribution module 22, communication link is assisted to establish module 23.
Wherein, navigational assistance request receiving module 21, for receiving the navigation association from navigational assistance requesting terminal 10
Request is helped, navigational assistance request includes traveling video, and traveling video is for determining current geographic position information.It assists
Terminal distribution module 22 is assisted terminal 30 for requesting to distribute to navigational assistance requesting terminal 10 according to the navigational assistance, and is given
It assists terminal 30 to send navigation notice, terminal 30 is assisted to be used to send navigation directions information to the navigational assistance requesting terminal 10.
Navigational assistance request receiving module 21 receives the traveling video of the transmission of navigational assistance requesting terminal 10, wherein according to traveling
Marker feature in video is to get the current location of navigational assistance requesting terminal 10.Communication link establishes module
23, for communication link to be established in navigational assistance requesting terminal 10 and assistance terminal 30, in order to navigational assistance requesting terminal 10
With assistance 30 direct communication of terminal to carry out navigation directions.Referring to Fig. 10, assisting terminal distribution module 22 includes broadcasting command
Transmission unit 221 and response terminal screening unit 222.
Broadcasting command transmission unit 221 be used for according to the navigational assistance request, to the server network it is multiple other
Terminal sends broadcasting command.
Response terminal screening unit 222 is used to carry out comprehensive score to response terminal, and the response terminal of highest scoring is made
For the assistance terminal.Wherein, factor includes following any one or more consideration factor the considerations of the comprehensive score: this is answered
The corresponding user's license information of terminal is answered, the age is driven, whether had record, history assistance record and the response terminal in violation of rules and regulations
The distance between the navigational assistance requesting terminal.By being accompanied by corresponding weight to Consideration, obtained by ranking operation
Scoring, and select the response terminal of highest scoring as assistance terminal 30.
It is the structural schematic diagram of an embodiment of the assistance terminal 30 of Fig. 8, Figure 13 also referring to Figure 12 and Figure 13, Figure 12
It is the schematic diagram of an embodiment of the navigation module 32 of Figure 10.As shown in Figure 10, assisting terminal 30 includes that navigation notice receives mould
Block 31 and navigation module 32.
Wherein, navigation notice receiving module 31, for receiving the navigation notice from server 10, wherein notice letter
Breath includes essential information, current geographic position information, target geographic position information and the traveling record of navigational assistance requesting terminal
As video, navigation notice is requested according to the received navigational assistance from navigational assistance requesting terminal 10 of server 20 and is touched
Hair.Navigation module 32 sends navigation directions information to the navigational assistance requesting terminal 10 for notifying according to the navigation.
Figure 13 is please referred to, navigation module 32 includes navigational assistance solicited message acquiring unit 321, navigational assistance terminal location
Determination unit 322, navigation directions information generating unit 323 and navigation directions information transmitting unit 324.
Navigational assistance solicited message acquiring unit 321 is used to obtain navigational assistance requesting terminal 10 according to navigation notice
Current geographic position information, target geographic position information and traveling video.
Navigational assistance terminal location determination unit 322 is used to confirm navigational assistance request eventually according to the traveling video
The current geographic position information at end 10.Wherein, on the one hand according to the marker feature in traveling video, marker feature packet
Landmark, road sign, shop title etc. are included, by getting the marker feature in traveling video and calculating and mark
The distance between will object is to judge the current geographic position information of navigational assistance requesting terminal 10.Wherein judgement traveling video recording view
Landmark, road sign and shop title in frequency mainly pass through neural network algorithm intelligent recognition, and neural network is known
Other algorithm intelligent recognition traveling video the following steps are included:
By taking pictures road on the way outstanding feature building/road sign/shop title as neural metwork training
Sample, using corresponding landmark information/mark information/shop name information as training label, training neural network
Model；
Video frame images are extracted, video frame images are inputted into neural network model, identify the mark for including in video frame images
Will building information/mark information/shop name information；
In conjunction with landmark information/mark information/shop name information orientation, size information calculate described in lead
Boat assists the current geographic position information of requesting terminal.Wherein, landmark information/mark information/shop name information
Known to geographical location.
For example, if there are landmarks in video frame images, known to the geographical location of landmark is
, by the orientation of the landmark in video frame images to calculate the navigational assistance requesting terminal 10 positioned at significant
Which orientation of building calculates landmark and navigation further according to the size of landmark in video frame images
Assist the current geographic position of distance you can get it the navigational assistance requesting terminal 10 of requesting terminal 10.If being deposited in video frame images
Current geographic position in road sign or shop title similarly you can get it navigational assistance requesting terminal 10.
Navigation directions information generating unit 323 is used for according to the current geographic position information and the target geographic position information
Generate the navigation directions information.
Navigation directions information transmitting unit 324 is used to send the navigation directions information to navigational assistance requesting terminal 10.
In the present embodiment, specifically, navigational assistance requesting terminal 10, server 20, assist each module in terminal 30
Working method has elaborated in embodiment one or embodiment two or embodiment three or example IV.
Embodiment six:
Also referring to Figure 14 and Figure 15, as shown in figure 14, Figure 14 is another embodiment of the application Vehicular navigation system
Structural schematic diagram.As shown in figure 14, which includes multiple car-mounted terminals 10 and server 20.Server 20
It can be communicated with each car-mounted terminal 10 respectively.Each car-mounted terminal 10 includes video capture device 30.
Wherein, car-mounted terminal 10 is built-in terminal, is set on the operation panel of vehicle, and car-mounted terminal 10 includes insertion
Formula APP software, the APP software provide visual interface operation.
Video capture device 30 be used for shoot emergency vehicle traveling video record, the row take the photograph video record be used for determination ask
Rescue the current location information of vehicle.Video capture device 30 is video camera or automobile data recorder, or other camera shooting dresses
It sets, is not limited thereto.
The course of work for introducing the Vehicular navigation system for convenience please refers to Figure 15, as shown in figure 15, the automobile navigation system
System includes the first car-mounted terminal 10, the second car-mounted terminal 30 and server 20.Wherein, the first car-mounted terminal 10 and second is vehicle-mounted
The structure composition of terminal 30 is identical, is respectively arranged at emergency vehicle and assists on vehicle.
At work, as shown in figure 15, the first car-mounted terminal 10 (being set to emergency vehicle) passes through the Vehicular navigation system
Navigational assistance request sending module 11 sends navigational assistance request to server 20, which is requested to send by server 20
Navigation to the second car-mounted terminal 30 (be set to and assist vehicle) notifies receiving module 31, and then navigation module 32 is directly to navigation
Director information receiving module 12 sends navigation directions information.
In conclusion being sent out by navigational assistance requesting terminal to server the present invention provides a kind of automobile navigation method
Navigational assistance is sent to request, which requests according to the navigational assistance, assists terminal to navigational assistance requesting terminal distribution, should
It assists terminal directly to send navigation directions information to navigational assistance requesting terminal, provides navigation clothes for navigational assistance requesting terminal
Business.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is the stream referring to method, equipment (system) and computer program product according to an embodiment of the present application
Journey figure and/or block diagram describe.It should be understood that can be realized by computer program instructions each in flowchart and/or the block diagram
The combination of process and/or box in process and/or box and flowchart and/or the block diagram.It can provide these computer journeys
Sequence instruct to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices processor with
A machine is generated, so that the instruction generation executed by computer or the processor of other programmable data processing devices is used for
Realize the dress for the function of specifying in one or more flows of the flowchart and/or one or more blocks of the block diagram
It sets.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.
Obviously, those skilled in the art can carry out various modification and variations without departing from this to embodiments herein
The spirit and scope of the embodiment of application.In this way, if these modifications and variations of embodiments herein belong to the application power
Within the scope of benefit requirement and its equivalent technologies, then the application is also intended to include these modifications and variations.
Claims (10)
1. a kind of automobile navigation method, is executed by server characterized by comprising
The navigational assistance from navigational assistance requesting terminal is received to request；The navigational assistance request includes traveling video recording view
Frequently, the traveling video is for determining current geographic position information；
It is requested according to the navigational assistance, assists terminal to navigational assistance requesting terminal distribution, and assist terminal to corresponding
Navigation notice is sent, the assistance terminal is used to send navigation directions information to the navigational assistance requesting terminal；The navigation
Director information is the navigation directions information formulated according to the real-time geographical locations information of navigational assistance requesting terminal, it is described in real time
Location information is managed to be believed by the server or the geographical location for assisting terminal to generate；
Establish the navigational assistance requesting terminal and the communication link assisted between terminal；
Wherein, the navigational assistance requesting terminal is car-mounted terminal.
2. automobile navigation method according to claim 1, which is characterized in that it is described to be requested according to the navigational assistance, it gives
Terminal is assisted in the navigational assistance requesting terminal distribution, comprising:
It is requested according to the navigational assistance, sends broadcasting command to other the multiple terminals networked with the server；
Comprehensive score is carried out to response terminal, using the response terminal of highest scoring as the assistance terminal；
Wherein, factor includes following any one or more consideration factor the considerations of the comprehensive score: the response is whole
Hold corresponding user's license information, drive the age, whether had in violation of rules and regulations record, history assist record and the response terminal with
The distance between described navigational assistance requesting terminal；
Corresponding weight is accompanied by above-mentioned Consideration, ranking operation obtains comprehensive score.
3. a kind of automobile navigation method is executed by assistance terminal characterized by comprising
The navigation received from server notifies that the navigation notice is received from navigational assistance according to the server
The navigational assistance of requesting terminal is requested and is triggered；
It is notified according to the navigation, Xiang Suoshu navigational assistance requesting terminal sends navigation directions information.
4. automobile navigation method according to claim 3, which is characterized in that the navigation directions information refers to for artificial speech
Lead information or intelligent Matching multimedia messages；
The artificial speech tutorial message is the language that the assistance terminal receives that user's input real-time voice is generated by microphone
Message breath；
The intelligent Matching multimedia messages are by neural network algorithm intelligent recognition from navigational assistance requesting terminal
Video is travelled, obtains video frame images, and according to the Voice Navigation director information/figure prestored in matching database in image
As navigation directions information/video navigation director information/text navigation directions information.
5. automobile navigation method according to claim 4, which is characterized in that the neural network recognization algorithm intelligent recognition
The traveling video the following steps are included:
By taking pictures road on the way outstanding feature building/road sign/shop title as train samples,
Using corresponding landmark information/mark information/shop name information as training label, training neural network model；
Video frame images are extracted, video frame images are inputted into neural network model, include in identification video frame images is significant
Building information/mark information/shop name information；
The navigation association is calculated in conjunction with landmark information/mark information/shop name information orientation, size information
Help the current geographic position information of requesting terminal.
6. a kind of automobile navigation method, which comprises the following steps:
Navigational assistance requesting terminal sends navigational assistance request to server；
It is requested according to the navigational assistance, assists terminal to navigational assistance requesting terminal distribution, and assist terminal to corresponding
Navigation notice is sent, the assistance terminal is used to send navigation directions information to the navigational assistance requesting terminal；The navigation
Director information is the navigation directions information formulated according to the real-time geographical locations information of navigational assistance requesting terminal, the geography position
Confidence breath is by the server or the geographical location information for assisting terminal to generate；
Server establishes the navigational assistance requesting terminal and the communication link assisted between terminal；
Assist terminal to receive to notify from the navigation of server, the navigation notify according to the server it is received from
The navigational assistance of navigational assistance requesting terminal is requested and is triggered；
It assists terminal to be notified according to the navigation, obtains current geographic position information, the target of the navigational assistance requesting terminal
Geographical location information and traveling video；
According to the traveling video, the video frame images of the traveling video are extracted, identify the marker in image
Feature confirms the current geographic position information of the navigational assistance requesting terminal；
The navigation directions information is generated according to the current geographic position information and the target geographic position information；
The navigation directions information is sent to the navigational assistance requesting terminal.
7. automobile navigation method according to claim 6, which is characterized in that requested according to the navigational assistance, to described
Assistance terminal is distributed in navigational assistance requesting terminal
It is requested according to the navigational assistance, sends broadcasting command to other the multiple terminals networked with the server；
Comprehensive score is carried out to response terminal, using the response terminal of highest scoring as the assistance terminal；
Wherein, factor includes following any one or more consideration factor the considerations of the comprehensive score: the response is whole
Hold corresponding user's license information, drive the age, whether had in violation of rules and regulations record, history assist record and the response terminal with
The distance between described navigational assistance requesting terminal；
Corresponding weight is accompanied by above-mentioned Consideration, ranking operation obtains comprehensive score；
Described in neural network recognization algorithm intelligent recognition traveling video the following steps are included:
By taking pictures road on the way outstanding feature building/road sign/shop title as train samples,
Using corresponding landmark information/mark information/shop name information as training label, training neural network model；
Video frame images are extracted, video frame images are inputted into neural network model, identify the landmark building for including in video frame
Object information/mark information/shop name information；
The navigation association is calculated in conjunction with landmark information/mark information/shop name information orientation, size information
Help the current geographic position information of requesting terminal.
8. a kind of server characterized by comprising
Navigational assistance request receiving module, it is described to lead for receiving the navigational assistance request from navigational assistance requesting terminal
The traveling video that boat assists request to include, the traveling video is for determining current geographic position information；
Terminal distribution module is assisted, is assisted eventually for requesting to distribute to the navigational assistance requesting terminal according to the navigational assistance
End, and navigation notice is sent to the assistance terminal, the assistance terminal is used to send to the navigational assistance requesting terminal and lead
Navigate director information；The navigation directions information is the navigation formulated according to the real-time geographical locations information of navigational assistance requesting terminal
Director information, the real-time geographical locations information are believed by the server or the geographical location for assisting terminal to generate；
Communication link establishes module, for establishing the navigational assistance requesting terminal and assisting the communication link between terminal.
9. a kind of assistance terminal characterized by comprising
Navigation notice receiving module, for receiving the navigation notice from server, the navigation notice is according to the service
The received navigational assistance from navigational assistance requesting terminal of device is requested and is triggered；
Navigation module, for being notified according to the navigation, Xiang Suoshu navigational assistance requesting terminal sends navigation directions information.
10. a kind of Vehicular navigation system, which is characterized in that wanted including navigational assistance requesting terminal as claimed in claim 7, right
Assistance terminal and server as claimed in claim 8 described in asking 9；
The navigational assistance requesting terminal, the assistance terminal are communicated with the server respectively.
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| CN201910719018.XA CN110455304A (en) | 2019-08-05 | 2019-08-05 | Automobile navigation method, apparatus and system |
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| CN201910719018.XA CN110455304A (en) | 2019-08-05 | 2019-08-05 | Automobile navigation method, apparatus and system |
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Cited By (1)
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|---|---|---|---|---|
| CN114358219A (en) * | 2021-12-03 | 2022-04-15 | 星河智联汽车科技有限公司 | Remote navigation method and system |
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