CN104316069A - Vehicle-mounted navigation device and navigation method for recognizing main road and auxiliary road - Google Patents
Vehicle-mounted navigation device and navigation method for recognizing main road and auxiliary road Download PDFInfo
- Publication number
- CN104316069A CN104316069A CN201410664510.9A CN201410664510A CN104316069A CN 104316069 A CN104316069 A CN 104316069A CN 201410664510 A CN201410664510 A CN 201410664510A CN 104316069 A CN104316069 A CN 104316069A
- Authority
- CN
- China
- Prior art keywords
- road
- vehicle
- main
- car
- side road
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- 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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Abstract
The invention discloses a vehicle-mounted navigation device and a navigation method for recognizing a main road and an auxiliary road, and belongs to the technical field of vehicle-mounted navigation. The navigation method comprises the following steps that a GPS receiver receives the current position detected through GPS position signals, map matching is carried out according to the received current position information, and when the main road and the auxiliary road exist in matched candidate roads and an entrance of the main road and the auxiliary road exist at the place ahead, vehicle steering recognition is carried out through a vehicle backing rear-view camera, in other words, the vehicle steering recognition function is started, and whether a vehicle needs to get in and get out of the main road or the auxiliary road can be judged from the time when vehicle leaves the current main road entrance and the current auxiliary road entrance till the time when recognition is stopped through a preset threshold. According to the vehicle-mounted navigation device, whether the vehicle needs to get in or get out of the main road or the auxiliary road can be judged according to the current position of the vehicle and the image extracted through the back rear-view camera, and therefore whether the vehicle is on the main road or the auxiliary road can be accurately recognized, a guarantee is provided for accuracy of navigation prompt, and the safety of vehicle driving is improved.
Description
The application is divisional application, the application number of original application: 201210214008.9, the applying date: 2012-06-26, denomination of invention: a kind of on-vehicle navigation apparatus and air navigation aid identifying main and side road.
Technical field
The present invention relates to the vehicle mounted guidance technical field of intelligent transportation, particularly relate to a kind of on-vehicle navigation apparatus and the air navigation aid that identify main and side road.
Background technology
The development in city be unable to do without the development of road, and the traffic of convenient and efficient facilitates urban economy development, and urban population, vehicle increase day by day, is proposed higher requirement to urban transportation and the vehicle running on urban road.From the eighties, city expressway is built one after another in such as Beijing, a lot of large size city, and these roads are often divided into main road and bypass.As shown in Figure 1, the difference of city main road and bypass is: one, main road can only motor-driven vehicle going, and bypass is motor vehicle and bicycle and the mixed row of pedestrian; Two, require different major-minor with the travel speed of bypass to vehicle, the speed of a motor vehicle of such as bypass is forbidden more than 60 kilometers, and the speed of a motor vehicle of main road can more than 80 kilometers; Three, bypass is connected to a lot of crossing, vehicle can be made to leave through street, and main road only turns to the crossing of bypass.
But because expressway exit spacing is less, be easy to that peak traffic flow is caused in main and side road import and export block up, if and do not locate the import and export of main and side road accurately, vehicle is then easy to be mixed in the wagon flow of main road and misses outlet, in addition, main road and bypass are in appearance and not very big difference, and the load of main and side road vehicle requires not identical with the speed of a motor vehicle, human pilot is easy to because momentum driving causes traffic hazard, therefore, need the comparatively accurate automobile navigation technology of one, make driving vehicle can the current residing position of real time discriminating, whether enter or leave main road or bypass.
But in prior art, the location of on-vehicle navigation apparatus to vehicle focuses on how determining the road corresponding to vehicle traveling, but do not give enough attention for the Position location accuracy of vehicle location point, and the just simple determination completing match point with vertical matching process, namely the intersection point of coupling road is made by tracing point, using intersection point as the match point of vehicle location, this situation causes and effectively cannot correct vehicle mounted guidance in the error along road direction, even also 10m will be reached in an optimal situation with error, this inaccuracy causes the vehicle travelled at main road or bypass cannot carry out the correct guiding of road driving accurately.
Summary of the invention
The object of the embodiment of the present invention is the feature for main and side road, and a kind of guider and the air navigation aid that identify main and side road are proposed, make to point out human pilot whether to enter main and side road from car in the process of moving, and make human pilot can carry out correct driving according to prompting, improve the security of vehicle drive.
In order to reach foregoing invention object, a kind of on-vehicle navigation apparatus identifying main and side road that the embodiment of the present invention proposes, described device comprises: map datum storage unit, routine data storage unit, map denotation unit, gps receiver, instantaneous speech power, voice data storage unit, CPU element, wherein, described map datum storage unit, routine data storage unit, map denotation unit, gps receiver, instantaneous speech power, voice data storage unit is bi-directionally connected with CPU element respectively, described device also comprises vehicle backing rearview camera, be bi-directionally connected with CPU element, wherein,
Map datum cell stores has data in navigation electronic map, and wherein, described data in navigation electronic map comprises the form properties of road, annexation and direction, and described road attribute comprises major-minor or bypass;
Routine data storage unit is for storing navigation program, comprise main Navigator section, map display program section and path calculation program section, voice guide program segment and destination search program section, also comprise GPS location matcher section, described GPS location matcher section comprises common matcher section and main and side road matcher section;
Wherein, the current location information that described main and side road location matches program segment receives according to gps receiver carries out map match, when there is main and side road in the candidate road of mating, when reaching predetermined threshold value from main and side road crossing, spacing front, start described vehicle backing rearview camera and be obtained from car travel direction line and lane line, start turn inside diameter recognition function to carry out turning round identification until leave current main and side road crossing to predetermined threshold value from car, and judge whether vehicle turns round according to what extract in the image obtained from the angle of car travel direction line and lane line formation, determine whether enter main road or bypass from car according to the current residing site of road of vehicle again when vehicle turning.
Preferably, the on-vehicle navigation apparatus of described identification main and side road also comprises GPRS communication unit, the real-time road condition information be used on real-time loading main and side road, when main and side road matcher section correctly identifies main and side road, and the jam situation of display front road conditions.
In order to realize aforementioned invention object, the embodiment of the present invention additionally provides a kind of navigation method identifying main and side road, and described air navigation aid comprises the following steps:
The GPS location acquisition of signal current location that CPU element receives according to gps receiver, and read map datum corresponding with current location in map datum, the corresponding map of current location is shown in by map denotation unit, the current location information received according to gps receiver by location matches program segment carries out map match, and sees whether the candidate roads of coupling exists main and side road according to road attribute;
When carrying out judging whether the road ahead mated exists main and side road gateway according to the annexation of road, if exist, from when reaching predetermined threshold value from main and side road crossing, spacing front, vehicle backing rearview camera is utilized to carry out turn inside diameter identification, until leave current main and side road crossing from car to remove identification to predetermined threshold value, namely judge turnover main and side road.
Preferably, described turn inside diameter recognition function comprises the following steps: go out terrain vehicle diatom according to the vehicle backing backsight image zooming-out that vehicle backing backsight camera gets, and the angle calculating lane line and formed from car travel direction, the direction whether vehicle turns round and turn round is judged according to the change of angle, as parallel with the angle of lane line from car, then keep straight on from car; As the angle from car and lane line intersects, then turn from car.
Preferably, during described judgement turnover main and side road, if from car on main road, identify vehicle turns right, illustrate and enter bypass; If from car on bypass, identify vehicle and turn left, illustrate and enter main road.
Compared with prior art, the guider of the identifiable design main and side road of the embodiment of the present invention and method, according to the image extracted from the current position of car and vehicle backing backsight, can judge whether pass in and out main and side road from car, thus identify accurately from car on main road or bypass, solve the problem of " I where " in navigation, guarantee is provided to the correctness of the prompting of voice message, path computing and dynamic information, improves the security of vehicle drive.
Accompanying drawing explanation
By the description carried out its exemplary embodiment below in conjunction with accompanying drawing, the above-mentioned feature and advantage of the present invention will become apparent and easy understand.
Fig. 1 is the road sign schematic diagram relating to main and side road in the present invention;
Fig. 2 is the on-vehicle navigation apparatus composition schematic diagram of embodiment of the present invention identification main and side road;
Fig. 3 is that embodiment of the present invention turning identifies that vehicle enters the schematic diagram of main road;
Fig. 4 is that embodiment of the present invention turning identifies that vehicle enters the schematic diagram of bypass;
Fig. 5 is the process flow diagram of the navigation method of embodiment of the present invention identification main and side road;
Fig. 6 is the method flow diagram of embodiment of the present invention identification turn inside diameter;
Fig. 7,8,9 is respectively the schematic diagram judging that vehicle is kept straight on according to the angle changing of the angle of vehicle lane line and vehicle heading, turn left and turn right.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 2, embodiments provide a kind of on-vehicle navigation apparatus identifying main and side road, described device comprises: map datum storage unit, routine data storage unit, map denotation unit, gps receiver, instantaneous speech power, voice data storage unit, CPU element, wherein, described map datum storage unit, routine data storage unit, map denotation unit, gps receiver, instantaneous speech power, voice data storage unit are bi-directionally connected with CPU element respectively
In addition, described device also comprises vehicle backing rearview camera, is bi-directionally connected with CPU element, wherein,
Map datum cell stores has data in navigation electronic map, wherein, described data in navigation electronic map comprises the form properties of road, annexation and direction, whether described Road form attribute comprises this road is attribute that is major-minor or bypass, also comprises the road attribute indicating certain intersection data in electronic chart;
Routine data storage unit is for storing navigation program, comprise main Navigator section, map display program section and path calculation program section, voice guide program segment and destination search program section, also comprise GPS location matcher section, described GPS location matcher section comprises common matcher section and main and side road matcher section;
Wherein, described main and side road matcher section carries out the position matching of vehicle at electronic chart according to the current location information that gps receiver receives, see whether the candidate road of coupling exists main and side road, namely the positional information received according to gps receiver or trace information carry out mating the road determining Current vehicle place with the position based on map (path) in electronic map data, when determining travelled road, determine that this road is main road or bypass according to the attribute of this road again, and judge the position at main and side road crossing according to the annexation of road in electronic map simultaneously, and judge the current position from main and side road crossing of vehicle.
Gps receiver continues to receive current vehicle position information, and constantly carries out vehicle location, judges whether the distance at Current vehicle and front or crossing, rear reaches or be less than predetermined threshold value (such as 20 meters, front).
As shown in Figure 3, when reaching from main and side road crossing, spacing front or be less than predetermined threshold value, start to start vehicle backing backsight camera, carry out road to turn round identification: be namely obtained from car travel direction line and lane line, until the distance leaving current main and side road crossing from car is greater than predetermined threshold value, judge whether vehicle turns round according to the lane line extracted in the image obtained with from the angle that car travel direction is formed, when determining that vehicle turns round, determine whether enter main road or bypass from car according to the current residing road of vehicle and direction of turning round.
Under normal circumstances, when vehicle initial start-up travels, main and side road matcher section starts to carry out main and side road identification, because vehicle is when starting, first travel in ordinary road, because ordinary road can only turn to bypass, directly can not proceed to main road, so when ordinary road is turned, can judge that the road proceeded to is bypass according to the annexation of road, continue to travel at bypass, in the porch of main road, if vehicle turns left, namely main road is entered, whole process, main and side road matcher section can accurately identify turnover main and side road, provides correct coupling road.
As shown in Figure 4, after vehicle enters main road, gps receiver still constantly obtains current location information, main and side road matcher section continues to run, when reaching from main and side road crossing, spacing front or be less than predetermined threshold value, start to start vehicle backing backsight camera, carry out road to turn round identification, namely car travel direction line and lane line is obtained from, until the distance leaving current main and side road crossing from car is greater than predetermined threshold value, judge whether vehicle turns round according to the lane line extracted in the image obtained with from the angle that car travel direction is formed, if identify vehicle according to vehicle turning recognition function to turn right, illustrate that vehicle is just preparing to enter bypass.
Preferably, the on-vehicle navigation apparatus of described identification main and side road also comprises GPRS communication unit, the real-time road condition information be used on real-time loading main and side road, by described GPRS communication unit, can, in conjunction with the recognition result of main and side road matcher section, can give user correct road ahead jam situation information.
By above on-vehicle navigation apparatus, on the basis of the road that can travel at Primary Location vehicle, judge the site of road that Current vehicle travels comparatively accurately, overcome prior art and inaccurate problem is located to vehicle location, be conducive to improving follow-up vehicle mounted guidance to locate at road, degree of accuracy when retrieval and road guide.
In order to realize aforementioned invention object, as shown in Figure 5, the embodiment of the present invention additionally provides a kind of navigation method identifying main and side road, said method comprising the steps of:
The GPS location acquisition of signal current location that CPU element receives according to gps receiver, and read map datum corresponding with current location in electronic map data storage unit, and be shown in the corresponding map of current location by map denotation unit, carrying out map match according to the current location information that gps receiver receives, there is main and side road in the candidate roads of coupling;
Annexation according to road judges, see whether the road ahead of coupling exists main and side road gateway, when there is main and side road gateway, from when reaching predetermined threshold value (such as 20 meters, front) from main and side road crossing, spacing front, vehicle backing rearview camera is utilized to carry out turn inside diameter identification, namely turn inside diameter recognition function is started, until leave current main and side road crossing from car to remove identification to predetermined threshold value, namely turnover main and side road (such as left 20 meters, gateway from car, terminated turn inside diameter recognition function) is judged.
As shown in Figure 6, turn inside diameter recognition function comprises the steps: that the vehicle backing backsight image zooming-out got according to vehicle backing backsight camera goes out terrain vehicle diatom, and the angle calculating lane line and formed from car travel direction, the direction whether vehicle turns round and turn round is judged according to the change of angle, as parallel with the angle of lane line from car, then keep straight on from car; As the angle from car and lane line intersects, then turn from car.
If Fig. 7,8,9 is for showing the terrain vehicle diatom of vehicle rearview camera shooting, according to the angle changing of the angle of vehicle lane line and vehicle heading, the schematic diagram that vehicle is kept straight on, turned left or turn right can be identified.
When vehicle turning, again according to the road from the current place of car, the direction of turn inside diameter, and the annexation of Roads in Maps, determine whether enter main road or bypass from car;
When entering main road or bypass from car, the voice message content that voice module stores according to speech data, carries out voice message by speech output end.
When judging turnover main and side road, if from car on main road, identify vehicle turns right, illustrate and enter bypass; If from car on bypass, identify vehicle and turn left, illustrate and enter main road.
The object of the embodiment of the present invention is the feature for city expressway, and a kind of on-vehicle navigation apparatus and the method that identify main and side road are proposed, according to the image extracted from the current position of car and vehicle backing backsight, can judge whether pass in and out main and side road from car, thus identify accurately from car on main road or bypass, solve the problem of " I where " in navigation, guarantee is provided to the correctness of the prompting of voice message, path computing and dynamic information, improves the security of vehicle drive.
One of ordinary skill in the art of the present invention are appreciated that; the above embodiment of the present invention is only one of the preferred embodiments of the present invention; for length restriction; here can not all embodiments of particularize; any enforcement that can embody the claims in the present invention technical scheme, all in protection scope of the present invention.
It should be noted that; above content is in conjunction with concrete embodiment further description made for the present invention; can not assert that the specific embodiment of the present invention is only limitted to this; under above-mentioned guidance of the present invention; those skilled in the art can carry out various improvement and distortion on the basis of above-described embodiment, and these improve or distortion drops in protection scope of the present invention.
Claims (5)
1. an on-vehicle navigation apparatus, described device comprises: map datum storage unit, routine data storage unit, map denotation unit, gps receiver, instantaneous speech power, voice data storage unit, CPU element, wherein, described map datum storage unit, routine data storage unit, map denotation unit, gps receiver, instantaneous speech power, voice data storage unit are bi-directionally connected with CPU element respectively, it is characterized in that, described device also comprises vehicle backing rearview camera, be bi-directionally connected with CPU element, wherein
Routine data storage unit, for storing navigation program, comprises main Navigator section;
Wherein, the current location information that described main and side road matcher section receives according to gps receiver carries out map match, when there is main and side road in the candidate road of mating, when reaching predetermined threshold value from main and side road crossing, spacing front, start described vehicle backing rearview camera and be obtained from car travel direction line and lane line, start turn inside diameter recognition function to carry out turning round identification until leave current main and side road crossing to predetermined threshold value from car, and judge whether vehicle turns round according to what extract in the image obtained from the angle of car travel direction line and lane line formation, determine whether enter main road or bypass from car according to the current residing site of road of vehicle again when vehicle turning.
2. on-vehicle navigation apparatus according to claim 1, it is characterized in that, the on-vehicle navigation apparatus of described identification main and side road also comprises GPRS communication unit, the real-time road condition information be used on real-time loading main and side road, when main and side road matcher section correctly identifies main and side road, the jam situation of display front road conditions.
3. identify an air navigation aid for main and side road, it is characterized in that, described air navigation aid comprises the following steps:
CPU element, according to GPS location acquisition of signal current location, carries out map match, and judges whether the candidate roads of mating exists main and side road according to road attribute;
Annexation according to road judges, whether the road ahead of coupling exists main and side road gateway, if existed, from when reaching predetermined threshold value from main and side road crossing, spacing front, vehicle backing rearview camera is utilized to carry out turn inside diameter identification, until leave current main and side road crossing from car to remove identification to predetermined threshold value, namely judge turnover main and side road.
4. air navigation aid according to claim 3, it is characterized in that, described turn inside diameter recognition function comprises the following steps: go out terrain vehicle diatom according to the vehicle backing backsight image zooming-out that vehicle backing backsight camera gets, and the angle calculating lane line and formed from car travel direction, the direction whether vehicle turns round and turn round is judged according to the change of angle, as parallel with the angle of lane line from car, then keep straight on from car; As the angle from car and lane line intersects, then start to turn from car.
5. air navigation aid according to claim 3, is characterized in that, during described judgement turnover main and side road, if from car on main road, identifies vehicle turns right, illustrates and enter bypass; If from car on bypass, identify vehicle and turn left, illustrate and enter main road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410664510.9A CN104316069A (en) | 2012-06-26 | 2012-06-26 | Vehicle-mounted navigation device and navigation method for recognizing main road and auxiliary road |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410664510.9A CN104316069A (en) | 2012-06-26 | 2012-06-26 | Vehicle-mounted navigation device and navigation method for recognizing main road and auxiliary road |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012102140089A Division CN102735256A (en) | 2012-06-26 | 2012-06-26 | Vehicle navigation apparatus for recognizing main and auxiliary roads, and navigation method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104316069A true CN104316069A (en) | 2015-01-28 |
Family
ID=52371332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410664510.9A Pending CN104316069A (en) | 2012-06-26 | 2012-06-26 | Vehicle-mounted navigation device and navigation method for recognizing main road and auxiliary road |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104316069A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106564427A (en) * | 2015-10-12 | 2017-04-19 | 鸿富锦精密工业（深圳）有限公司 | Driving monitoring system |
| CN107192394A (en) * | 2016-03-14 | 2017-09-22 | 高德信息技术有限公司 | A kind of determination method and device of navigation way |
| CN107270920A (en) * | 2016-04-08 | 2017-10-20 | 上海大潮电子技术有限公司 | Vehicle positioning and navigation method and automatic navigator |
| CN109579867A (en) * | 2018-11-30 | 2019-04-05 | 惠州市德赛西威汽车电子股份有限公司 | A kind of air navigation aid and its system with marker prompt |
| CN109657641A (en) * | 2018-12-29 | 2019-04-19 | 北京经纬恒润科技有限公司 | A kind of vehicle main and side road judgment method and device |
| CN109883438A (en) * | 2019-03-21 | 2019-06-14 | 斑马网络技术有限公司 | Automobile navigation method, device, medium and electronic equipment |
| CN112233447A (en) * | 2020-09-30 | 2021-01-15 | 上海博泰悦臻电子设备制造有限公司 | Lane change reminding method and related equipment |
| CN114323005A (en) * | 2021-12-28 | 2022-04-12 | 上汽大众汽车有限公司 | Method for positioning micro divergent road |
| CN114353783A (en) * | 2022-03-17 | 2022-04-15 | 腾讯科技（深圳）有限公司 | Road information acquisition method and device, storage medium and electronic equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1961197A (en) * | 2004-06-02 | 2007-05-09 | 株式会社查纳位资讯情报 | On-vehicle navigation device and vehicle position correction method |
| JP2008096771A (en) * | 2006-10-13 | 2008-04-24 | Xanavi Informatics Corp | Map information distribution system |
| JP2008139104A (en) * | 2006-11-30 | 2008-06-19 | Toyota Motor Corp | Device for detecting vehicle exit |
| CN101221049A (en) * | 2006-12-04 | 2008-07-16 | 韩国电子通信研究院 | Vehicle position estimation device and its method |
| CN101246010A (en) * | 2007-02-13 | 2008-08-20 | 爱信艾达株式会社 | Lane determining device, method, and program |
| CN101424538A (en) * | 2007-10-30 | 2009-05-06 | 爱信艾达株式会社 | Vehicle navigation apparatus and vehicle navigation program |
| JP2011033572A (en) * | 2009-08-05 | 2011-02-17 | Nissan Motor Co Ltd | Device and method for determining entry into fork road |
| JP2011232841A (en) * | 2010-04-26 | 2011-11-17 | Nissan Motor Co Ltd | Curb approach control system |
-
2012
- 2012-06-26 CN CN201410664510.9A patent/CN104316069A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1961197A (en) * | 2004-06-02 | 2007-05-09 | 株式会社查纳位资讯情报 | On-vehicle navigation device and vehicle position correction method |
| JP2008096771A (en) * | 2006-10-13 | 2008-04-24 | Xanavi Informatics Corp | Map information distribution system |
| JP2008139104A (en) * | 2006-11-30 | 2008-06-19 | Toyota Motor Corp | Device for detecting vehicle exit |
| CN101221049A (en) * | 2006-12-04 | 2008-07-16 | 韩国电子通信研究院 | Vehicle position estimation device and its method |
| CN101246010A (en) * | 2007-02-13 | 2008-08-20 | 爱信艾达株式会社 | Lane determining device, method, and program |
| CN101424538A (en) * | 2007-10-30 | 2009-05-06 | 爱信艾达株式会社 | Vehicle navigation apparatus and vehicle navigation program |
| JP2011033572A (en) * | 2009-08-05 | 2011-02-17 | Nissan Motor Co Ltd | Device and method for determining entry into fork road |
| JP2011232841A (en) * | 2010-04-26 | 2011-11-17 | Nissan Motor Co Ltd | Curb approach control system |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106564427A (en) * | 2015-10-12 | 2017-04-19 | 鸿富锦精密工业（深圳）有限公司 | Driving monitoring system |
| CN107192394A (en) * | 2016-03-14 | 2017-09-22 | 高德信息技术有限公司 | A kind of determination method and device of navigation way |
| CN107192394B (en) * | 2016-03-14 | 2019-10-22 | 高德信息技术有限公司 | A kind of determination method and device of navigation routine |
| CN107270920A (en) * | 2016-04-08 | 2017-10-20 | 上海大潮电子技术有限公司 | Vehicle positioning and navigation method and automatic navigator |
| CN109579867A (en) * | 2018-11-30 | 2019-04-05 | 惠州市德赛西威汽车电子股份有限公司 | A kind of air navigation aid and its system with marker prompt |
| CN109657641A (en) * | 2018-12-29 | 2019-04-19 | 北京经纬恒润科技有限公司 | A kind of vehicle main and side road judgment method and device |
| CN109883438A (en) * | 2019-03-21 | 2019-06-14 | 斑马网络技术有限公司 | Automobile navigation method, device, medium and electronic equipment |
| CN112233447A (en) * | 2020-09-30 | 2021-01-15 | 上海博泰悦臻电子设备制造有限公司 | Lane change reminding method and related equipment |
| CN114323005A (en) * | 2021-12-28 | 2022-04-12 | 上汽大众汽车有限公司 | Method for positioning micro divergent road |
| CN114323005B (en) * | 2021-12-28 | 2023-08-11 | 上汽大众汽车有限公司 | Positioning method for micro bifurcation road |
| CN114353783A (en) * | 2022-03-17 | 2022-04-15 | 腾讯科技（深圳）有限公司 | Road information acquisition method and device, storage medium and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102735256A (en) | Vehicle navigation apparatus for recognizing main and auxiliary roads, and navigation method thereof | |
| CN104316069A (en) | Vehicle-mounted navigation device and navigation method for recognizing main road and auxiliary road | |
| CN101315283B (en) | Navigation devices | |
| US10300916B2 (en) | Autonomous driving assistance system, autonomous driving assistance method, and computer program | |
| CN105799512B (en) | Overspeed of vehicle based reminding method and system | |
| EP2012088B1 (en) | Road information generating apparatus, road information generating method and road information generating program | |
| JP4980118B2 (en) | Car navigation system | |
| CN102192746B (en) | Driving support device for vehicle | |
| CN102692227B (en) | Path matching method and apparatus | |
| US20180237019A1 (en) | Autonomous driving assistance system, autonomous driving assistance method, and computer program | |
| CN104422462A (en) | Vehicle navigation method and vehicle navigation device | |
| CN101964941A (en) | Intelligent navigation and position service system and method based on dynamic information | |
| US9151636B2 (en) | Travel guidance system, travel guidance apparatus, travel guidance method and computer program | |
| CN102768798B (en) | Real-time mobile communication type intelligent traffic | |
| CN114375467A (en) | Detection of emergency vehicles | |
| WO2020042642A1 (en) | Vehicle positioning method and device, and autonomous vehicle | |
| CN101958043A (en) | Highway section calculation element hourage and method thereof | |
| CN201268230Y (en) | Speed limit sign information vehicle auxiliary drive system based on computer vision | |
| CN109849924B (en) | Curve speed early warning method, system and computer readable storage medium | |
| KR20130015193A (en) | Method and server for providing safe driving | |
| CN108225338B (en) | Navigation method and device for high-speed area accurate matching | |
| CN107662558B (en) | Driving assisting method and device based on external environment data | |
| US20120130776A1 (en) | Toll fee information communication system, traffic information receiving-routing system using the toll fee information communication system and traffic information receiving method of the same | |
| CN114639263B (en) | Vehicle parking position identification method and device | |
| JP6435798B2 (en) | Vehicle information guidance system, vehicle information guidance method, and computer program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150128 |