CN103206959A - Navigation device using tunnel information - Google Patents
Navigation device using tunnel information Download PDFInfo
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- CN103206959A CN103206959A CN2012103480247A CN201210348024A CN103206959A CN 103206959 A CN103206959 A CN 103206959A CN 2012103480247 A CN2012103480247 A CN 2012103480247A CN 201210348024 A CN201210348024 A CN 201210348024A CN 103206959 A CN103206959 A CN 103206959A
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Abstract
The invention provides a navigation device using tunnel information. The device is not affected by overrun or underrun in map matching, as well as by entrances and exits of tunnels, and can accurately match maps. The entrance and exit of the tunnel of a current road of a vehicle is detected, regions within a predetermined distance before and after the entrance and exit of the tunnel are set as prohibited areas for adjacent roads to move, and roads adjacent to the entrance and exit detected by a detection unit for the entrance and exit of the tunnel are detected to be tunnel roads or ordinary roads. When the vehicle is in the prohibited areas for adjacent roads to move, a detection unit for the adjacent roads performs a process for inhibiting moving to a map match of the adjacent roads on basis of a tunnel road or an ordinary road. For example, when the vehicle is located in the prohibited areas for adjacent roads to move near the tunnel entrance, and overrun is subjected to the map matching, movement inhibition in the adjacent roads is carried out if the adjacent roads are ordinary roads.
Description
Technical field
The present invention relates to guider, particularly utilize guider by the tunnel information that utilizes tunnel information can carry out more suitable map match.
Background technology
In guider, can utilize GPS to obtain correct current ground.And then, the current road that corresponds on the map can always can be put this parking stall the road that corresponds on the map thus and is correctly known current where travelling by map match (map matching).In addition, in the self-discipline boat method based on vehicle speed pulse and orientation detection, also carry out this map match.
But, when making current location match road on the map, not necessarily can correctly current location be embedded in the road of map, match sometimes the real current location of ratio on the same link on the front leading (overrun) and match the hysteresis (underrun) of the position at the rear on the same link.On the other hand, if receive regulation number GPS could detect correct position, but in the tunnel or the place backlight of mansion can not receive GPS, can not measure correct position.
In addition, whether judgement has the entrance of specified link near according to the location data of GPS receiver or the current location that goes out from the data computation of angular transducer, acceleration transducer, at this moment, carry out the judgement whether this car travels/travel with specified link in specified link, under the situation that this car travels in specified link or travels with specified link, make not break away from the travel compulsory map match control of road of this current car from the position.In patent documentation 1, following technology is disclosed: under the state of Ordinary Rd and the parallel existence of toll road, although travel but location error in data and having entered under the situation of toll road at Ordinary Rd, prevent from being identified as having entered toll road by the control of carrying out compulsory map match.
Patent documentation 1: the spy opens flat 11-304512
Like this, GPS can not measure correct position in the tunnel, and lead and lag is arranged in map match, thus the place that extends in parallel in two road take place below such problem.
Namely, shown in Fig. 5 (a), road A and B are parallel to be extended, current be present in P position, this road of putting the road A of expression as this parking stall of reality enter in the tunnel in the T position and the leading and coupling of the coupling of GPS when being positioned at the Q position in tunnel, when the road B that extends on the tight next door of this road is when being not the Ordinary Rd in tunnel, in vehicle, can receive GPS owing to current, travel so be identified as in Ordinary Rd, be the R position that is present in the parallel road B that extends according to the Q position deduction in the tunnel, can match the R position of road B.
In addition, shown in Fig. 5 (b), be the P position of road A in current location, namely in the tunnel, travel and come out from the tunnel and when carrying out map match with the boat method of restraining oneself etc. at once, when being estimated as in advance the place Q after being present in to come out from the tunnel, owing to still be in the tunnel currently, so can not receive GPS, the mistake coupling is the R place among the tunnel of the road B of extension by being located at.
And then, shown in Fig. 5 (c), during P place in the tunnel that is present in road A, when map match wants map to match place Q because of hysteresis, owing to currently can not receive GPS, so map match is to the R place that is present in the road B in the tunnel.
In addition, shown in Fig. 5 (d), current be present in just come out from the tunnel of road A place P the time, when map match wants map to match place Q because of hysteresis, owing to currently can receive GPS, not the problem of the place R in tunnel so map match can occur to adjacent road B.
The actual example of travelling of expression in Fig. 6, represented following example in the figure: when when road V travels, having entered between Close Tunnel, normally travel by map match by the GPS location before this, make a mistake in the map match but enter afterwards to be shown in as above-mentioned Fig. 5 (a) between Close Tunnel, mistakenly map match to adjacent with road V be not on other roads W in tunnel, under this state, travel.The mistake of map match takes place like this.
Summary of the invention
Thereby fundamental purpose of the present invention provides a kind of guider, can not be subjected to the leading or lagging influence in the map match and not be subjected to the gateway in tunnel to carry out correct map match with influencing.
Relevant tunnel information of the present invention utilizes guider in order to address the above problem, and it is characterized in that possessing: this car roads and tunnels gateway detecting unit that travels, detect the travel gateway, tunnel of road of this car; Adjacent road moves the prohibited area setup unit, will be made as adjacent road with interior zone from predetermined distance before and after the gateway, the detected tunnel of detecting unit, gateway, above-mentioned tunnel and move prohibited area; The adjacent road detecting unit, detecting the road adjacent with the detected gateway of detecting unit, gateway, above-mentioned tunnel is tunnel road or Ordinary Rd; When put when being present in above-mentioned adjacent road and moving in the prohibited area this parking stall,, forbid moving to the adjacent road of the movement of the map match of adjacent road and forbid handling according to being tunnel road or Ordinary Rd by above-mentioned adjacent road detecting unit.
In addition, relevant tunnel information of the present invention utilizes guider, utilize in the guider at above-mentioned tunnel information, it is characterized in that, putting the adjacent road that is present in tunnel portal in this parking stall moves in the prohibited area and by carrying out in advance under the situation of map match, when adjacent road is Ordinary Rd, carries out adjacent road and move and forbid handling.
In addition, relevant tunnel information of the present invention utilizes guider, utilize in the guider at above-mentioned tunnel information, it is characterized in that, put the adjacent road that is present in tunnel portal moves in the prohibited area and is undertaken by hysteresis under the situation of map match in this parking stall, when adjacent road is the tunnel, carries out adjacent road and move and forbid handling.
In addition, relevant tunnel information of the present invention utilizes guider, utilize in the guider at above-mentioned tunnel information, it is characterized in that, putting the adjacent road that is present in tunnel exit in this parking stall moves in the prohibited area and by carrying out in advance under the situation of map match, when adjacent road is the tunnel, carries out adjacent road and move and forbid handling.
In addition, relevant tunnel information of the present invention utilizes guider, utilize in the guider at above-mentioned tunnel information, it is characterized in that, put the adjacent road that is present in tunnel exit moves in the prohibited area and is undertaken by hysteresis under the situation of map match in this parking stall, when adjacent road is Ordinary Rd, carries out adjacent road and move and forbid handling.
It is characterized in that possessing: this car roads and tunnels gateway detecting unit that travels, detect the travel gateway, tunnel of road of this car; Indeterminate interval setup unit will be made as indeterminate interval with interior interval from predetermined distance before and after the gateway, the detected tunnel of detecting unit, gateway, above-mentioned tunnel; The adjacent road detecting unit, detecting the road adjacent with the detected gateway of detecting unit, gateway, above-mentioned tunnel is tunnel road or Ordinary Rd; When put when being present in the above-mentioned indeterminate zone this parking stall,, forbid moving to the adjacent road of the movement of the map match of adjacent road and forbid handling according to being tunnel road or Ordinary Rd by above-mentioned adjacent road detecting unit.
Description of drawings
Fig. 1 is the functional block diagram of embodiments of the invention.
Fig. 2 is the action flow chart of this embodiment.
Fig. 3 is the figure of expression embodiments of the present invention.
Fig. 4 is the figure of expression other embodiments of the present invention.
Fig. 5 represents the figure of the problem of example in the past.
Fig. 6 represents the figure of example in the past.
Description of reference numerals
10 systems control divisions
11 gps receivers
12 operating range orientation detection portions
13 vehicle location test sections
The 14VICS(registered trademark) information input unit
15 telepilots
16 touch panels
17 indicator signal input parts
18 cartographic information data carriers
19 data input and output portions
20 monitors
21 image efferents
22 loudspeakers
23 audio output units
24 path of navigation operational parts
25 path of navigation storage parts
26 path of navigation guidance parts
31 map display parts
Display part is put in 32 these parking stalls
33 map match portions
34 tunnel location data are taken into portion
35 cars road that travels
36 adjacent road
37 entrances
38 outlets
39 is indeterminate apart from the configuration part
40 crossover distance configuration parts
41 delay distance configuration parts
Embodiment
［ embodiment ］
Embodiments of the invention are described with reference to the accompanying drawings.Fig. 1 is the functional block diagram that tunnel information of the present invention utilizes the embodiment of guider, expression can be implemented the present invention with various forms functional block diagram.In addition, in the figure, the function portion that carries out each function can refer to carry out respectively the unit of each function.
In the FBD (function block diagram) of guider shown in Figure 1, the various function portion that has used since possessing in the past, in systems control division 10, the needed RAM of processing etc. that possesses ROM, the CPU of CPU, logging software, by being recorded in the software among the ROM, each funtion part is carried out specified action not relatedly.
In illustrated guider, this systems control division 10 is connected vehicle location test section 13, the position data of input gps receiver 11, and input correctly detects the current location of vehicle thus from the mobile data based on the vehicle of the operating range orientation detection portion 12 of vehicle speed sensor and angular transducer.These data are put display part 32 and are shown as this parking stall and put in this parking stall of map display part 31.
By the VICS(registered trademark) information input unit 14 receiving traffic informations, particularly receive congestion information and can be used in various guidings.The signal of input telepilot 15 in the indicator signal input part 17, and input is attached to the signal etc. of the touch panel 16 on the monitor, also input identification user's various signals such as sound.
In addition, in data input and output portion 19, be taken into the map datum that needs, facility data etc. from the cartographic information data carrier 18 of DVD-ROM or hard disk, storage card etc., and then as hard disk, can easily carry out under the situation about writing of data at this data carrier, can also with the data that are taken into from the outside, and the data handled by other function portions to this data carrier input, in order to can read utilization afterwards.
In image efferent 21, to the various images of monitor 20 output, show map centered by current location, from the cross-point amplifying pattern of path of navigation guidance part 25 outputs described later etc.In audio output unit 23, the sound guiding of the guiding of turning round about the point of crossing from loudspeaker 22 output from path of navigation guidance part 25 outputs described later etc., and also carry out the voice output of various alarms etc. as required.
In addition, in path of navigation operational part 24, select your destination by the whole bag of tricks, computing is from currently to the path of navigation of destination, suitable path of navigation is stored in the path of navigation storage part 25, in path of navigation guidance part 25, along the guiding of this path of navigation so that can be safely, do not travel mistakenly.At this moment, about the point of crossing etc. of turning round locate, guide separately by cross-point amplifying pattern etc.
And then, in map display part 31, showing the map at the center that is set to this parking stall, put in the display part 32 this parking stall therein, shows the position of this car according to the data of vehicle location test section 13.This this parking stall is put display part and is possessed map match portion 33, makes the data of gps receiver 11 and the current location that obtained by road distance orientation detection portion 12 matches on the road of map.
This map match portion 33 possesses the tunnel location data in the present invention and is taken into portion 34, wherein detects entrances 37 and outlet 38 at this car road 35 and adjacent road 36 of travelling.In addition, map match portion 33 possesses indeterminate apart from configuration part 39, the existence of this car put to(for) this parking stall road 35 that travels particularly, crossover distance configuration part 40 and the delay distance configuration parts 41 set as indeterminate distance of in which road, travelling at entrance 37 and the outlet 38 in tunnel.This distance can be used as identical distance and sets as 1km.About this indefinite distance, do not move to adjacent road by defined terms is feasible.Thus, the present invention can solve the problem of example in the past shown in Figure 3.
Tunnel information shown in the aforesaid functional block diagram utilizes the guider can be by moving successively to implement by motion flow shown in Figure 2.That is whether, move in gateway, tunnel adjacent road shown in Figure 2 and to forbid handling, at first to differentiate be that tunnel portal moves (step S1) in the prohibited area with adjacent road in advance.Here, be adjacent road when moving in the prohibited area, whether be the Ordinary Rd (step S6) that be not tunnel road, when adjacent road is Ordinary Rd, carries out adjacent road and move and forbid handling (step S10) if differentiating adjacent road.
That is, shown in Fig. 3 (a), current when in road A, travelling, P1 place, place at the front of tunnel portal S V, map match becomes the Q1 position because entering in advance the entrance S in tunnel, by map match sometimes mistakenly map match to the R1 of adjacent Ordinary Rd B.This state continuance is the entrance in the tunnel of P2 up to current location, here, by answering map match to arrive the Q2 position in advance, but sometimes map match to adjacent road R2.
Enter into the tunnel if crossed this section, then owing to not receiving GPS, so the map match to Ordinary Rd does not take place.Therefore, interval V is that adjacent road moves prohibited area.Carry out following action about this processing: whether what carry out step S1 is that tunnel portal moves differentiation in the prohibited area with adjacent road in advance, and then differentiate in step S6 whether adjacent road is Ordinary Rd, carry out adjacent road when being Ordinary Rd and move and forbid handling.In addition, if adjacent road is the tunnel, the problems referred to above do not take place then.
Thereby, in step S6, differentiate when being not Ordinary Rd for adjacent road, with in step S1, differentiate for be not tunnel portal when moving prohibited area with adjacent road in advance the same all discriminating step S2 whether be that tunnel portal lags behind and moves in the prohibited area with adjacent road.
Here, when differentiation is moved in the prohibited area for being in the tunnel portal hysteresis with adjacent road, advance to step S7, whether differentiate adjacent road is the Ordinary Rd that is not the tunnel, differentiating when being not the Ordinary Rd in tunnel, advance to step S10, carry out adjacent road and move and forbid handling.
This action initial enters the tunnel but because of the hysteresis map match during to the position of place Q3 at P3 in the road of A as Fig. 3 (b) shown in, owing to putting P3 and be in the tunnel in this parking stall, so understand map match in the tunnel road of adjacent road.This state continuance enters into the tunnel to the place Q3 that lags behind, and moves prohibited area so this interval is made as adjacent road.
Differentiation is when being not the Ordinary Rd in tunnel for adjacent road in step S7, do not have the mistake of such map match, so with in step S2, differentiate for not being the tunnel portal the same step S3 that all advances to when moving in the prohibited area with adjacent road that lags behind, whether differentiation is that tunnel exit moves prohibited area with adjacent road in advance.
Whether when differentiation is moved prohibited area with adjacent road in advance for tunnel exit in step S3, advance to step S8, differentiating adjacent road is the tunnel.When adjacent road is the tunnel, advance to step S10, carry out adjacent road and move and forbid handling.
This action is as Fig. 3 (c) shown in, and when the P5 place by road A, map match is because of the place Q5 of leading map match after come out from the tunnel, but the meeting map match arrives the R5 in the tunnel of adjacent road B.This state continuance comes out from the tunnel to current location, moves between the exclusion area so this interval is made as adjacent road.
When to differentiate for adjacent road in step S8 be not tunnel but Ordinary Rd, with in step S3, differentiate for not being tunnel exit the same step S4 that all advances to when moving in the prohibited area with adjacent road in advance, whether differentiate is that the tunnel exit hysteresis is moved in the prohibited area with adjacent road.
Here, when differentiating for being that tunnel exit lags behind when moving prohibited area with adjacent road, advance to step S9, whether the differentiation adjacent road is Ordinary Rd.Here, differentiating when being Ordinary Rd for adjacent road, advance to step S10, carry out adjacent road and move and forbid handling.
This action as Fig. 3 (d) shown in, from the tunnel exit T of the road A extremely local Q5 that comes out from the tunnel by hysteresis of current ground P6 of back that comes out, easily by map match in adjacent Ordinary Rd, move between the exclusion area so be made as adjacent road.
When differentiation is not Ordinary Rd for adjacent road in step S9, lag behind with the same map matching treatment of all using usually of time in the adjacent road prohibited area for tunnel exit with differentiation in step S4.Thereby, in step S1, differentiate for be not tunnel portal during in advance with the adjacent road prohibited area, in step S2, differentiate for be not tunnel portal lag behind when moving in the prohibited area with adjacent road, in step S3 differentiation for be not tunnel exit differentiation is not for being tunnel exit hysteresis when moving in the prohibited area with adjacent road when moving in the prohibited area with adjacent road in advance and in step S4, all former state is carried out common map match.After, and in step S10, carry out adjacent road and move and forbid handling the same step S1 that all gets back in back and repeat above-mentioned action.
Then, other forms that explanation is undertaken by same method based on Fig. 4.According to this form, under the tracking mode of GPS, if if carry out to follow the tracks of then can not follow the tracks of for the tunnel is outer then be judgement in the tunnel.In addition, in the variation of the tracking mode that detects GPS or the variation of tunnel attribute " during certain ", the possibility that can not judge soundly is higher, so be made as " indeterminate interval ", will be made as " clear and definite interval " beyond it.
Above-mentioned " certain during " is the time that surpasses the time till beginning GPS follows the tracks of when coming out from the tunnel, or this parking stall be equipped with may lag behind, leading distance.In addition, be made as if " clear and definite interval " and be judged as in the tunnel then selects the road of tunnel attribute easily.And then, be made as if " clear and definite interval " and be judged as in the tunnel then selects the road of tunnel attribute easily.In addition, be made as if " clear and definite interval " and be judged as outside the tunnel, then select the road beyond the tunnel attribute easily.In addition, be made as if " indeterminate interval " then do not carry out selecting based on the road of tunnel attribute.Thus, carry out processing as shown in Figure 4, can play same effect.
Claims (10)
1. guider is put and map datum carries out map match based on this parking stall, it is characterized in that possessing:
This car roads and tunnels gateway detecting unit that travels detects the travel gateway, tunnel of road of this car;
Adjacent road moves the prohibited area setup unit, will be made as adjacent road with interior zone from predetermined distance before and after the gateway, the detected tunnel of detecting unit, gateway, above-mentioned tunnel and move prohibited area; And
The adjacent road detecting unit, detecting the road adjacent with the detected gateway of detecting unit, gateway, above-mentioned tunnel is tunnel road or Ordinary Rd;
Put in this parking stall when being present in above-mentioned adjacent road and moving in the prohibited area, above-mentioned adjacent road detecting unit basis is tunnel road or Ordinary Rd, carry out adjacent road and move and forbid handling, this adjacent road moves forbids handling the movement of forbidding to the map match of adjacent road.
2. guider as claimed in claim 1 is characterized in that,
Put the adjacent road that is present in tunnel portal in this parking stall and move in the prohibited area and by carrying out in advance under the situation of map match, when adjacent road is Ordinary Rd, carries out adjacent road and move and forbid handling.
3. guider as claimed in claim 1 is characterized in that,
Put the adjacent road that is present in tunnel portal in this parking stall and move in the prohibited area and undertaken by hysteresis under the situation of map match, when adjacent road is the tunnel, carries out adjacent road and move and forbid handling.
4. guider as claimed in claim 1 is characterized in that,
Put the adjacent road that is present in tunnel exit in this parking stall and move in the prohibited area and by carrying out in advance under the situation of map match, when adjacent road is the tunnel, carries out adjacent road and move and forbid handling.
5. guider as claimed in claim 1 is characterized in that,
Put the adjacent road that is present in tunnel exit in this parking stall and move in the prohibited area and undertaken by hysteresis under the situation of map match, when adjacent road is Ordinary Rd, carries out adjacent road and move and forbid handling.
6. the map-matching method of a guider, above-mentioned guider puts based on this parking stall and map datum carries out map match, and this map-matching method is characterised in that, comprising:
Detect the travel step of gateway, tunnel of road of this car;
To from the step of gateway, above-mentioned detection tunnel, be made as the step that adjacent road moves prohibited area with interior zone by front and back, gateway, detected tunnel predetermined distance; And
The adjacent road in detected gateway is tunnel road or the step of Ordinary Rd in the step of detection and gateway, above-mentioned detection tunnel; And
Put in this parking stall when being present in above-mentioned adjacent road and moving in the prohibited area, be tunnel road or the step of Ordinary Rd based on detecting the road adjacent with above-mentioned gateway, according to being tunnel road or Ordinary Rd, carry out adjacent road and move and forbid the step handled, this adjacent road moves forbids handling the movement of forbidding to the map match of adjacent road.
7. the map-matching method of guider as claimed in claim 6 is characterized in that,
Put the adjacent road that is present in tunnel portal in this parking stall and move in the prohibited area and by carrying out in advance under the situation of map match, when adjacent road is Ordinary Rd, carries out adjacent road and move and forbid handling.
8. the map-matching method of guider as claimed in claim 6 is characterized in that,
Put the adjacent road that is present in tunnel portal in this parking stall and move in the prohibited area and undertaken by hysteresis under the situation of map match, when adjacent road is the tunnel, carries out adjacent road and move and forbid handling.
9. the map-matching method of guider as claimed in claim 6 is characterized in that,
Put the adjacent road that is present in tunnel exit in this parking stall and move in the prohibited area and by carrying out in advance under the situation of map match, when adjacent road is the tunnel, carries out adjacent road and move and forbid handling.
10. the map-matching method of guider as claimed in claim 6 is characterized in that,
Put the adjacent road that is present in tunnel exit in this parking stall and move in the prohibited area and undertaken by hysteresis under the situation of map match, when adjacent road is Ordinary Rd, carries out adjacent road and move and forbid handling.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012005724A JP5881426B2 (en) | 2012-01-16 | 2012-01-16 | Tunnel information use navigation device |
| JP005724/2012 | 2012-01-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103206959A true CN103206959A (en) | 2013-07-17 |
| CN103206959B CN103206959B (en) | 2017-06-30 |
Family
ID=48754257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210348024.7A Active CN103206959B (en) | 2012-01-16 | 2012-09-18 | Tunnel information utilizes guider |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5881426B2 (en) |
| CN (1) | CN103206959B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104677375A (en) * | 2015-03-18 | 2015-06-03 | 沈阳美行科技有限公司 | System for guiding tunnel road in advance |
| CN110411461A (en) * | 2019-07-05 | 2019-11-05 | 上海博泰悦臻网络技术服务有限公司 | A kind of auxiliary navigation method, vehicle device and vehicle |
| CN110426050A (en) * | 2019-08-07 | 2019-11-08 | 北京百度网讯科技有限公司 | Map match correcting method, device, equipment and storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102228392B1 (en) * | 2015-12-15 | 2021-03-16 | 현대자동차주식회사 | Vehicle and method for controlling tunnel mode thereof |
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| JPH11304512A (en) * | 1998-04-20 | 1999-11-05 | Sharp Corp | Navigation system |
| WO2006086298A3 (en) * | 2005-02-07 | 2007-04-19 | Siemens Vdo Automotive Corp | Navigation system |
| CN101324440A (en) * | 2008-07-29 | 2008-12-17 | 光庭导航数据（武汉）有限公司 | Map-matching method based on forecast ideology |
| CN101334283A (en) * | 2007-06-29 | 2008-12-31 | 爱信艾达株式会社 | Vehicle behavior learning apparatuses and programs |
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| JP3540106B2 (en) * | 1996-11-11 | 2004-07-07 | 三菱電機株式会社 | Navigation apparatus for mobile object, current position determination method thereof, and medium storing current position determination program |
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| JPH11304512A (en) * | 1998-04-20 | 1999-11-05 | Sharp Corp | Navigation system |
| WO2006086298A3 (en) * | 2005-02-07 | 2007-04-19 | Siemens Vdo Automotive Corp | Navigation system |
| CN101334283A (en) * | 2007-06-29 | 2008-12-31 | 爱信艾达株式会社 | Vehicle behavior learning apparatuses and programs |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104677375A (en) * | 2015-03-18 | 2015-06-03 | 沈阳美行科技有限公司 | System for guiding tunnel road in advance |
| CN104677375B (en) * | 2015-03-18 | 2017-07-28 | 沈阳美行科技有限公司 | A kind of tunnel road guides system in advance |
| CN110411461A (en) * | 2019-07-05 | 2019-11-05 | 上海博泰悦臻网络技术服务有限公司 | A kind of auxiliary navigation method, vehicle device and vehicle |
| CN110426050A (en) * | 2019-08-07 | 2019-11-08 | 北京百度网讯科技有限公司 | Map match correcting method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2013145182A (en) | 2013-07-25 |
| JP5881426B2 (en) | 2016-03-09 |
| CN103206959B (en) | 2017-06-30 |
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