CN110196060A - A kind of working method of navigation system and vehicle based on Beidou - Google Patents
A kind of working method of navigation system and vehicle based on Beidou Download PDFInfo
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- CN110196060A CN110196060A CN201910442959.3A CN201910442959A CN110196060A CN 110196060 A CN110196060 A CN 110196060A CN 201910442959 A CN201910442959 A CN 201910442959A CN 110196060 A CN110196060 A CN 110196060A
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- 238000012216 screening Methods 0.000 claims abstract description 12
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- 238000002788 crimping Methods 0.000 description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- 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
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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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
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- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
It include: processor module the present invention relates to a kind of navigation system based on Beidou and the working method of vehicle, this navigation system, Beidou navigation locating module, the data memory module being connected with the processor module；The data memory module is stored with map datum, vehicle turning radius data；The processor module is suitable for the target location according to vehicle current location and input, and combines the turning radius data schema guidance path of current vehicle；Navigation system and its working method of the invention, the minimum turning radius r to match with this vehicle vehicle can be searched by vehicle turning radius data, and from corresponding bend section is searched in map in preliminary planning guidance path, and each bend section of the turning radius data screening according to corresponding to this vehicle, it obtains and is suitble to planning guidance path corresponding to the bend section of this vehicle, to guarantee that vehicle can arrive at the destination by the way.
Description
Technical field
The present invention relates to navigation fields, and in particular to a kind of working method of navigation system and vehicle based on Beidou.
Background technique
Navigation system plays the role of key when driving, can carry out path rule to initial position to target position
Draw, but traditional path planning, often consider because being known as high speed, congestion level, running time etc., but have ignored vehicle
Whether turning radius matches with the turning radius in path, therefore after will appear the route according to navigation programming, discovery has a
Bend, vehicle can not be successfully turning, cause in a dilemma.
Therefore, above-mentioned technical problem how is avoided, the technology that navigation is this field to the degree of intelligence of path planning is improved
Problem.
Summary of the invention
The object of the present invention is to provide a kind of navigation system and its working methods, are advised again according to vehicle to guidance path
It draws, to obtain the planning guidance path for being suitble to this vehicle.
In order to solve the above-mentioned technical problems, the present invention provides a kind of navigation system, comprising: processor module, and at this
Manage the connected Beidou navigation locating module of device module, data memory module；The data memory module is stored with map datum, vehicle
Type turning radius data；The processor module is suitable for the target location according to vehicle current location and input, and combines and work as
The turning radius data schema guidance path of vehicle in front.
Further, the processor module is suitable for precomputing between vehicle current location and the target location of input
Several preliminary planning guidance paths；And corresponding bend section is searched in each preliminary planning guidance path, and according to this vehicle
Each bend section of corresponding turning radius data screening obtains and planning corresponding to the bend section of this vehicle is suitble to navigate
Path.
Further, minimum turning radius r corresponding to this vehicle is obtained from vehicle turning radius data；The processor
Suitable for minimum turning radius r compares with the turning radius R in each bend section, filters out turning radius R and be more than or equal to minimum
The bend section of turning radius r, and according to the target location weight in bend section and vehicle current location and input after each screening
New planning guidance path.
Further, the processor module is further adapted for for the real-time road in the bend section of acquisition being classified, that is, is divided into
Unimpeded, jogging, crowded, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight；I.e.
R1=R*(1-kx)；In formula, R1 be revised turning radius, k is weight coefficient, with respectively indicate it is unimpeded, jogging, it is crowded, gather around
Four kinds of ranks are blocked up, x is bend correction factor, takes 0 < x < 1.
Further, the processor module is also connected with back wheels of vehicle steering system；When vehicle enter bend after, processor
Module is according to the bend section obtained from map and combines current vehicle speed, on the basis of front-wheel steer, after adjust automatically
The steering angle of wheel, i.e. vehicle realize trailing wheel toe-in when turning to.
Another aspect, in order to solve above-mentioned same technical problem, the present invention also provides a kind of work of navigation system
Method.
The navigation system includes: processor module, the Beidou navigation locating module that is connected with the processor module, data
Memory module；The data memory module is stored with map datum, vehicle turning radius data；And the working method packet
Include: the processor module is suitable for the target location according to vehicle current location and input, and combines the turning of current vehicle
Radius data plans guidance path.
Further, the processor module is suitable for precomputing between vehicle current location and the target location of input
Several preliminary planning guidance paths；And corresponding bend section is searched in each preliminary planning guidance path, and according to this vehicle
Each bend section of corresponding turning radius data screening obtains and planning corresponding to the bend section of this vehicle is suitble to navigate
Path；Minimum turning radius r corresponding to this vehicle is obtained from vehicle turning radius data；The processor is suitable for will be minimum
Turning radius r filters out turning radius R more than or equal to minimum turning radius r's compared with the turning radius R in each bend section
Bend section, and according to after each screening bend section and vehicle current location and the target location of input again plan navigation road
Diameter；The processor module is further adapted for for the real-time road in the bend section of acquisition being classified, that is, be divided into it is unimpeded, walk or drive slowly, gather around
It squeezes, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight；That is R1=R* (1-kx)；
In formula, R1 is revised turning radius, and k is weight coefficient, to respectively indicate unimpeded, jogging, crowded, four kinds of ranks of congestion, x
For bend correction factor, 0 < x < 1 is taken.
The invention has the advantages that navigation system and its working method of the invention can by vehicle turning radius data
To search the minimum turning radius r to match with this vehicle vehicle, and it is corresponding curved from being searched in preliminary planning guidance path in map
Road segment segment, and each bend section of the turning radius data screening according to corresponding to this vehicle obtain the bend for being suitble to this vehicle
Planning guidance path corresponding to section, to guarantee that vehicle can arrive at the destination by the way.
The third aspect, the present invention also provides a kind of vehicles, to solve the technical problem of vehicle turning difficulty.
The headstock of the vehicle is equipped with multiple rows of front-wheel, and each row's front-wheel respectively corresponds independent transfer and driving dress
It sets, and each transfer and driving device are connected with vehicle electronics ECU system, vehicle electronics ECU system is led with described
Boat system is connected.
Further, the vehicle electronics ECU system is connected with vehicle-mounted panoramic photographic device, and shoots vehicle turning posture；
After vehicle enters bend, first row front-wheel is first passed through as main deflecting roller and makes turning action, rear side is respectively arranged front-wheel and made
Main deflecting roller is followed to turn to for driven wheel；If vehicle body deviates this lane during the turn, successively control is each from front to back
Row's front-wheel is divided into as main deflecting roller, remaining is respectively arranged front-wheel and is used as driven wheel that main deflecting roller is followed to turn to, and is maintained at vehicle
Current lane is turned to；And when vehicle is gone off the curve, restore first row front-wheel as main deflecting roller.
The invention has the advantages that vehicle of the invention successively controls each row's front-wheel point by multiple rows of front-wheel from front to back
For as main deflecting roller, then remaining each row's front-wheel is used as driven wheel that main deflecting roller is followed to turn to, turning half can be effectively corrected
Diameter avoids vehicle crimping, is especially avoided that whipping phenomenon occurs for the tailstock.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the functional block diagram of navigation system of the invention；
Fig. 2 is the urban road path of simulation；
Fig. 3 a is the turning schematic diagram one of vehicle of the invention；
Fig. 3 b is the turning schematic diagram two of vehicle of the invention；
Fig. 3 c is the turning schematic diagram three of vehicle of the invention.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
As shown in Figure 1, embodiment 1 provides a kind of navigation system, comprising: processor module is connected with the processor module
Beidou navigation locating module, data memory module；The data memory module is stored with map datum, vehicle turning radius number
According to；The processor module is suitable for the target location according to vehicle current location and input, and combines the turning of current vehicle
Radius data plans guidance path.
The processor module is also connected with touch screen for example, by using embedded chip, the processor module, in order to
Carry out corresponding input operation and display.
Specifically, the vehicle turning radius data include but is not limited to the length and width of various types vehicle, wheelbase, vehicle
The data such as turning radius；The processor can input vehicle by interpersonal interactive interface, and from vehicle turning radius data
The turning radius data that middle lookup matches with the vehicle, and using the turning radius data as the weight of navigation programming guidance path
It will foundation.
In various types vehicle: in-between car 8.00~12.00, articulator 10.50~12.50, common fire fighting truck 9.00, big
Type fire fighting truck 12.00, truck 12.00, some special type fire control vehicles 16.00~20.00, unit: rice.
The processor module is suitable for precomputing several between vehicle current location and the target location of input
Preliminary planning guidance path；And corresponding bend section is searched in each preliminary planning guidance path, and according to corresponding to this vehicle
Each bend section of turning radius data screening, that is, obtain be suitble to planning guidance path corresponding to the bend section of this vehicle,
The planning guidance path can be one or several, so that driver selects.
Fig. 2 is the urban road path of simulation, and A is vehicle current location, B is that target location, remaining each point respectively indicate
It respectively turns in city section.
The path of setting vehicle current location A to target location B have: ACDFEB, AKJIHGB, ACDFIHGB, if turning road
The turning radius of section H is smaller, is 6m, if selecting current vehicle for a certain medium sized vehicle, minimum turning radius r is 8m, then turns
The turning radius of section H is less than 8m, therefore this navigation system is rejected and turned in tri- paths ACDFEB, AKJIHGB, ACDFIHGB
The related corresponding planning guidance path of detour section H, therefore ACDFEB is selected to arrive at the destination B.
Also, optional, the processor is further adapted for the selected each bend section for meeting vehicle turning and requiring, and according to vehicle
The target location of current location and input, it is minimum or distance is most short for condition with the used time, and according to above-mentioned each bend section weight
New planning guidance path, to obtain optimum programming guidance path.
By selecting the vehicle of current vehicle from vehicle turning radius data, that is, obtain vehicle corresponding to this vehicle
Length and width, wheelbase, minimum turning radius r.
The processor is suitable for comparing minimum turning radius r with the turning radius R in each bend section, and screening is gone off the curve
Radius R be more than or equal to minimum turning radius r bend section, and according to after each screening bend section and vehicle current location and
The target location of input plans guidance path again.
The processor module is further adapted for for the real-time road in the bend section of acquisition being classified, that is, is divided into unimpeded, slow
Capable, crowded, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight；That is R1=R* (1-
kx)；In formula, R1 is revised turning radius, and k is weight coefficient, to respectively indicate unimpeded, jogging, crowded, four kinds of grades of congestion
Not, x is bend correction factor, takes 0 < x < 1.
Wherein, the value of the weight coefficient k for example take 0,1,2,3 with respectively with it is unimpeded, jogging, it is crowded, four kinds of congestion
Rank is corresponding, and the value of bend correction factor x can obtain based on experience value, such as take 0.1.For example turning radius R is
50m, when unimpeded, R1=50m；In jogging, R1=45m；When crowded, R1=40m；In congestion, R1=35m；That is, in path
When planning, this navigation system is further adapted for according to real-time road, and adjustment is modified turning radius, is wanted with meeting vehicle turning
It asks, and then realizes and path is planned again.
Or by taking Fig. 2 as an example, if the path of setting vehicle current location A to target location B have: ACDFEB, AKJIHGB,
ACDFIHGB if turning section H is unsatisfactory for the requirement of current vehicle turning radius, and since the section D gets congestion, causes to turn
After radius amendment also can not vehicle turn radius requirement, then this navigation system plans guidance path, i.e. AKJIFEB again, with full
Sufficient vehicle pass-through requirement.
Wherein, real-time road can be obtained from road monitoring server by wireless module.The wireless module can be with
Using 3G/4G module.
The processor module is also connected with back wheels of vehicle steering system；When vehicle enter bend after, processor die root tuber
According to the bend section obtained from map and current vehicle speed is combined, on the basis of front-wheel steer, adjust automatically rear-wheel turns
To angle, i.e., realization vehicle is when turning to, trailing wheel toe-in.
Embodiment 2
On that basis of example 1, the present embodiment 2 provides a kind of working method of navigation system, and the navigation system includes: place
Manage device module, Beidou navigation locating module, the data memory module being connected with the processor module；The data memory module is deposited
Contain map datum, vehicle turning radius data；The working method includes: the processor module suitable for current according to vehicle
The target location in place and input, and combine the turning radius data schema guidance path of current vehicle.
The processor module is suitable for precomputing several between vehicle current location and the target location of input
Preliminary planning guidance path；And corresponding bend section is searched in each preliminary planning guidance path, and according to corresponding to this vehicle
Each bend section of turning radius data screening, that is, obtain be suitble to planning guidance path corresponding to the bend section of this vehicle.
Minimum turning radius r corresponding to this vehicle is obtained from vehicle turning radius data；The processor is suitable for will
Minimum turning radius r filters out turning radius R and is more than or equal to minimum turning half compared with the turning radius R in each bend section
The bend section of diameter r, and according to after each screening bend section and vehicle current location and the target location of input plan again
Guidance path.
The processor module is further adapted for for the real-time road in the bend section of acquisition being classified, that is, is divided into unimpeded, slow
Capable, crowded, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight；That is R1=R* (1-
kx)；In formula, R1 is revised turning radius, and k is weight coefficient, to respectively indicate unimpeded, jogging, crowded, four kinds of grades of congestion
Not, x is bend correction factor, takes 0 < x < 1；Wherein, the value of the weight coefficient k for example take 0,1,2,3 with respectively with it is unimpeded,
Jogging, crowded, four kinds of ranks of congestion are corresponding, and the value of bend correction factor x can obtain based on experience value, such as take
0.1。
Specifically, when section of turning is more crowded, it is clear that for oversize vehicle, turning radius will receive influence,
Therefore, in navigation, it is necessary to be prejudged to such section, after avoiding vehicle from entering the bend, turning occur and be obstructed.
The present invention effectively has modified turning radius according to road conditions, enables the vehicle to effectively keep away by R1=R* (1-kx) formula
Exempt from vehicle and drive into respective stretch, causes congestion.
And the processor module is also connected with back wheels of vehicle steering system；When vehicle enter bend after, processor die
Root tuber is according to the bend section obtained from map and combines current vehicle speed, on the basis of front-wheel steer, adjust automatically rear-wheel
Steering angle, i.e., vehicle turn to when, realize trailing wheel toe-in.
Embodiment 3
As shown in Fig. 3 a, Fig. 3 b and Fig. 3 c, in embodiment 1, the present embodiment 3 provides a kind of vehicle.
The headstock of the vehicle is equipped with multiple rows of front-wheel, and each row's front-wheel respectively corresponds independent transfer and driving dress
It sets, and each transfer and driving device are connected with vehicle electronics ECU system, vehicle electronics ECU system is led with described
Boat system is connected.
The vehicle electronics ECU system is connected with vehicle-mounted panoramic photographic device, and shoots vehicle turning posture, specific to examine
Whether testing result is fed back to vehicle electronics ECU system in current lane by measuring car.
After vehicle enters bend, first row front-wheel is first passed through as main deflecting roller and makes turning action, rear side is respectively arranged
Front-wheel is used as driven wheel that main deflecting roller is followed to turn to；If vehicle body deviates this lane during the turn, from front to back successively
It controls each row's front-wheel to be divided into as main deflecting roller, then remaining each row's front-wheel is used as driven wheel that main deflecting roller is followed to turn to, and makes vehicle
Being maintained at current lane is turned to；And when vehicle is gone off the curve, restore first row front-wheel as main deflecting roller.
The vehicle body run-off-road can be known by vehicle-mounted panoramic photographic device.
Fig. 3 a show turning radius r1 when first row front-wheel is as main deflecting roller and the vehicle turn radius with
Distance L1 on the outside of bend；And from the point of view of tailstock turning path d1, the tailstock may be touched on the outside of bend, cause crimping or
Person encounters barrier.
Fig. 3 b show turning radius r2 when second row front-wheel is as main deflecting roller and the vehicle turn radius with
Distance L2 on the outside of bend；And from the point of view of tailstock turning path d2, the tailstock, which turns outer track, has larger improvement compared with d1.
Fig. 3 c show third row front-wheel as main deflecting roller when turning radius r3 and the vehicle turn radius with
Distance L3 on the outside of bend；From the point of view of tailstock turning path d3, the tailstock will not be touched on the outside of bend, avoided crimping or encountered
Barrier.
From Fig. 3 a to Fig. 3 c this it appears that r1 > r2 > r3, L1 < L2 < L3 and tailstock track improve, therefore this
Design effectively improves the turning radius of vehicle, and vehicle can be made to be maintained in this lane and turned, and avoids crimping,
It is especially avoided that whipping phenomenon occurs in tailstock portion, avoids tailstock portion crimping.
The navigation system can also judge whether vehicle enters turning section in the position of map according to vehicle, and to vehicle
Turning is prejudged, and the timely unlocking vehicle turn signal of vehicle electronics ECU system is passed through；And after vehicle goes out to turn section,
When keeping straight trip, the navigation system closes turn signal according to position of the vehicle on map in time.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (6)
1. a kind of navigation system based on Beidou characterized by comprising processor module is connected with the processor module
Beidou navigation locating module, data memory module；
The data memory module is stored with map datum, vehicle turning radius data；
The processor module is suitable for the target location according to vehicle current location and input, and combines the turning of current vehicle
Radius data plans guidance path.
2. a kind of working method of navigation system characterized by comprising the processor module of the navigation system is suitable for preparatory
Calculate several preliminary planning guidance paths between vehicle current location and the target location of input；
And corresponding bend section is searched in each preliminary planning guidance path, and the turning radius data according to corresponding to this vehicle
Each bend section is screened, that is, obtains and is suitble to planning guidance path corresponding to the bend section of this vehicle.
3. the working method of navigation system according to claim 2, which is characterized in that obtained from vehicle turning radius data
Take minimum turning radius r corresponding to this vehicle；
The processor is suitable for comparing minimum turning radius r with the turning radius R in each bend section, filters out turning radius
R be more than or equal to minimum turning radius r bend section, and according to after each screening bend section and vehicle current location and input
Target location plan guidance path again.
4. the working method of navigation system according to claim 3, which is characterized in that the processor module be further adapted for by
The real-time road in the bend section of acquisition is classified, that is, is divided into unimpeded, jogging, crowded, four kinds of ranks of congestion, and by four kinds of grades
Not Zuo Wei corresponding weight turning radius R is modified；That is R1=R* (1-kx)；
In formula, R1 is revised turning radius, and k is weight coefficient, to respectively indicate unimpeded, jogging, crowded, four kinds of grades of congestion
Not, x is bend correction factor, takes 0 < x < 1.
5. the working method of navigation system according to claim 4, which is characterized in that the processor module is also and after vehicle
Steering system is taken turns to be connected；
When vehicle is after entering bend, processor module is according to the bend section obtained from map and combines current vehicle speed,
On the basis of front-wheel steer, the steering angle of adjust automatically rear-wheel, i.e. vehicle realize trailing wheel toe-in when turning to.
6. a kind of working method of vehicle, which is characterized in that the headstock of the vehicle is equipped with multiple rows of front-wheel, and each row's front-wheel difference
Corresponding independent transfer and driving device, and each transfer and driving device are connected with vehicle electronics ECU system；
The vehicle electronics ECU system is connected with vehicle-mounted panoramic photographic device, and shoots vehicle turning posture；
The working method, comprising: after vehicle enters bend, first pass through first row front-wheel as main deflecting roller and make turning
Movement, rear side respectively arrange front-wheel and are used as driven wheel that main deflecting roller is followed to turn to；
If vehicle body deviates this lane during the turn, each row's front-wheel is successively controlled from front to back and is divided into as main deflecting roller,
Remaining each row's front-wheel is used as driven wheel that main deflecting roller is followed to turn to, and so that vehicle is maintained at current lane and is turned to；And work as
When vehicle is gone off the curve, restore first row front-wheel as main deflecting roller.
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| CN201910442959.3A CN110196060A (en) | 2016-01-25 | 2016-01-25 | A kind of working method of navigation system and vehicle based on Beidou |
| CN201610049285.7A CN106980127B (en) | 2016-01-25 | 2016-01-25 | Navigation system, working method based on Beidou and the vehicle for installing the navigation system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110736480A (en) * | 2019-09-27 | 2020-01-31 | 西安天和防务技术股份有限公司 | Path planning method and device, computer equipment and storage medium |
| CN113465590A (en) * | 2021-06-29 | 2021-10-01 | 三一专用汽车有限责任公司 | Path planning method and device, automatic driving method and device and operation machine |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680180A (en) * | 2018-03-30 | 2018-10-19 | 斑马网络技术有限公司 | Traffic information Vehicular navigation system and its air navigation aid |
| CN112572469A (en) * | 2020-11-16 | 2021-03-30 | 浙江合众新能源汽车有限公司 | Method and system for reminding automobile of passing bend |
| CN113776549A (en) * | 2021-08-26 | 2021-12-10 | 中寰卫星导航通信有限公司 | Path planning method, device and storage medium |
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| CN106980127A (en) | 2017-07-25 |
| CN106980127B (en) | 2019-05-14 |
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