CN104848870A - Navigation path planning method and equipment for yaw - Google Patents
Navigation path planning method and equipment for yaw Download PDFInfo
- Publication number
- CN104848870A CN104848870A CN201510307044.3A CN201510307044A CN104848870A CN 104848870 A CN104848870 A CN 104848870A CN 201510307044 A CN201510307044 A CN 201510307044A CN 104848870 A CN104848870 A CN 104848870A
- Authority
- CN
- China
- Prior art keywords
- path
- planning
- going home
- advance
- path planning
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention discloses a navigation path planning method and navigation path planning equipment for yaw. The method comprises the following steps: planning a homing path according to which a navigated object returns to a preset planned path in a forwarding process along the preset planned path if the navigated object deviates from the preset planned path, wherein the current position is taken as a start point and the entrance point on the preset planned path is taken as a target destination; outputting and displaying the homing path. According to the navigation path planning method, under the condition that a user deviates the navigation path, the user can conveniently return to the former planned navigation path according to the planned homing path, so that the individualized demand of the user is met, and the experience of the user using navigation equipment is enhanced.
Description
Technical field
The present invention relates to path navigation technical field, particularly relate to the navigation path planning method after a kind of driftage and equipment.
Background technology
Position service function and correlation function thereof is generally included in the navigator of current widespread use, the principle of work of navigator is determine the position coordinates of ad-hoc location, it is mated with the position coordinates recorded in the electronic chart self stored, determines with this accurate location of navigation object in electronic chart carrying this navigator.
Corresponding navigator can be the equipment such as car-mounted terminal, portable navigation device, mobile phone terminal.Navigation object can be vehicle, pedestrian etc.Use in the process of navigator, after user sets departure place and destination, navigator can cook up guidance path according to departure place and destination, and is navigation object navigation according to the guidance path of planning.
In the process that navigation object moves ahead according to guidance path, often can because miss a crossing or misunderstand the situation that the guidance path planned appears departing from the situations such as main and side road.At present, for when there is departing from the situation of guidance path (namely going off course), the processing mode usually adopted is in conjunction with original destination, current location after going off course is for again planning to navigate in a bar navigation path in starting point.Again the guidance path planning acquisition may front lay pulls with it guidance path be diverse two paths, but the guidance path that the preplanning of user's possibility basis is good has done the plan in some ways, now, then need to return on the guidance path originally planned and move ahead.But for this user's request, the path planning mode after current driftage cannot meet, the experience of navigator user is reduced.
Summary of the invention
The object of this invention is to provide the navigation path planning method after a kind of driftage and equipment, thus facilitate navigation object can turn back in time on former guidance path after departing from guidance path, meet the demand of the personalization of user.
The object of the invention is to be achieved through the following technical solutions:
A navigation path planning method after driftage, comprising:
On edge, path planning moves ahead in process in advance, if navigation object departs from path planning in advance, then with current position for starting point, using the inlet point on described path planning in advance as objective, the path of going home of path planning in advance described in planning navigation object returns;
To go home described in output display path.
Described objective comprises:
Described path planning is in advance found the one or more inlet points nearest apart from described current location as described objective.
Described method, if described objective is multiple, then described planning return described in the process in the path of going home of path planning in advance comprise:
Cook up many paths of going home based on multiple described objective, and select the shortest guidance path of path as path planning in advance described in returning of going home wherein;
Or,
Cook up many paths showing of going home based on multiple described objective, then select the guidance path of path as path planning in advance described in returning of going home according to the selection instruction of user;
Or,
Cook up many paths of going home based on multiple described objective, select to arrive the shortest guidance path of path as path planning in advance described in returning of going home of the destination distance of path planning in advance by current location.
Described method, also comprised before path of going home described in planning:
Obtain user the need of the instruction in path of going home described in planning, if desired, then notify Execution plan the process in path of going home.
A kind of navigator, comprising:
To go home path planning unit, for moving ahead in process along path planning in advance, if navigation object departs from path planning in advance, then with current position for starting point, using the inlet point on described path planning in advance as objective, the path of going home of path planning in advance described in planning navigation object returns;
Output unit, for going home described in output display, path planning unit plans the path of going home determined.
Described objective comprises:
Described path planning is in advance found the one or more inlet points nearest apart from described current location as described objective.
Described equipment, if described objective is multiple, then path planning unit of going home described in comprises:
First goes home path planning subelement, for cooking up many paths of going home based on multiple described objective, and selects the shortest guidance path of path as path planning in advance described in returning of going home wherein;
Or,
Second goes home path planning subelement, for cooking up many paths showing of going home based on multiple described objective, then selects the guidance path of path as path planning in advance described in returning of going home according to the selection instruction of user;
Or,
3rd goes home path planning subelement, for cooking up many paths of going home based on multiple described objective, selects to arrive the shortest guidance path of path as path planning in advance described in returning of going home of the destination distance of path planning in advance by current location.
This equipment also comprises:
User instruction acquiring unit, for going home before path described in planning, obtains the instruction of user the need of path of going home described in planning, if desired, then path planning unit Execution plan of going home described in notice the process in path of going home.
As seen from the above technical solution provided by the invention, the path of going home returning former guidance path can be cooked up for the navigation object departing from guidance path in navigation path planning method after a kind of driftage that the embodiment of the present invention provides and equipment, thus make to need the navigation object moved ahead along former guidance path can successfully return former guidance path after driftage, meeting the navigation needs of the personalization of user when using navigator to obtain navigation Service, promoting the experience that user uses navigator.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
The processing flow chart of the method that Fig. 1 provides for the embodiment of the present invention;
The path schematic diagram of going home that Fig. 2 provides for the embodiment of the present invention;
The structural representation one of the equipment that Fig. 3 provides for the embodiment of the present invention;
The structural representation two of the equipment that Fig. 4 provides for the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on embodiments of the invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to protection scope of the present invention.
Below in conjunction with accompanying drawing, the embodiment of the present invention is described in further detail.
Embodiments provide the navigation path planning method after a kind of driftage, its specific implementation as shown in Figure 1, can comprise following treatment step:
Step 11, on edge, path planning moves ahead in process in advance, determines that navigation object departs from path planning in advance;
Step 12, with the current position of navigation object after going off course for starting point, using the inlet point on described path planning in advance as objective, the path of going home of path planning in advance described in planning navigation object returns;
Step 13, path of going home described in output display.
Further, in above-mentioned steps 12, described objective can comprise:
Described path planning is in advance found the one or more inlet points nearest apart from described current location as described objective, corresponding inlet point is the entrance of path planning in advance, path planning in advance can be entered by this entrance, such as, when navigation object is vehicle, corresponding entrance is the position of path planning in advance described in can sailing into.
Particularly, if described objective is multiple, then will cook up many paths of going home, and now need to go out a best path of going home by certain rules selection, now, corresponding planning return described in the process in the path of going home of path planning in advance can comprise any one mode following:
Mode one, cooks up many paths of going home based on multiple described objective, and selects the shortest guidance path of path as path planning in advance described in returning of going home wherein;
Mode two, cooks up many paths showing of going home based on multiple described objective, then selects the guidance path of path as path planning in advance described in returning of going home according to the selection instruction of user; Now, user can need selection the best to go home path as final path of going home according to the trip of oneself;
Mode three, many paths of going home are cooked up based on multiple described objective, select to arrive the shortest guidance path of path as path planning in advance described in returning of going home of the destination distance of path planning in advance by current location, in this way, navigation object can ensure, under the prerequisite of going home, to arrive the destination of path planning in advance with the shortest distance.
Alternatively, because the demand of going home after driftage is personalized user's request, therefore following treatment step can also be comprised before path of going home described in planning:
Obtain user the need of the instruction in path of going home described in planning, if desired, then notify the process in Execution plan institute path of going home, like this, can ensure only when navigation object needs to go home just for it plans path of going home.The instruction that user needs to go home if do not receive or receive the instruction that user do not need to go home can be then navigation object path planning after driftage according to other modes, to meet the various demands of user better.
Adopt the navigation path planning method after above-mentioned driftage, in the process that navigation object moves ahead along the guidance path planned in advance, the situation of guidance path is departed from if occur, on the guidance path of the preplanning that can return easily along the path of going home cooked up, thus meet the demand of the personalization of user in navigation procedure, promote user and use navigator to carry out the experience of navigation Service.The realization of the embodiment of the present invention efficiently solves the problem that cannot return former guidance path after the navigation object existed in prior art departs from former guidance path, makes the navigation object in stroke can select to return former guidance path according to actual needs flexibly and moves ahead or select other paths to move ahead.
For ease of understanding the present invention, below in conjunction with accompanying drawing and concrete Application Example, the embody rule process to the embodiment of the present invention is described in detail.
Navigation path planning method after the driftage that the embodiment of the present invention provides is with reference to shown in Fig. 2 in embody rule process, and it can be, but not limited to adopt following processing procedure:
(1) determine the starting point (starting point) of navigation object, destination, and plan a bar navigation path according to path planning principle based on described starting point and destination;
Corresponding path planning principle can comprise: recommendation paths, at a high speed preferential, few walk one or more at a high speed, in time of arrival the shortest or distance priority etc., with reference to shown in Fig. 2, S path is the original guidance path according to starting point and destination planning.
(2) in the process using initial planning guidance path, detect navigation object and whether depart from described guidance path, if so, then perform step (3), otherwise, continue to carry out navigation process based on described guidance path;
With reference to shown in Fig. 2, navigation object driftage point in fig. 2 starts to deviate from original guidance path, now, just can perform follow-up step (3) and process;
(3) when driftage situation appears in navigation object, the current location after driftage (driftage point) can be adopted to be starting point, plan that a path of detouring that extremely original guidance path is nearest is as the path of going home returning former described guidance path;
With reference to shown in Fig. 2, can with this driftage point for starting point (starting point), plan on the guidance path that a path of detouring (path of namely going home) a wraparound is original, namely navigation object can turn back on original guidance path from the regression point (can enter the inlet point of original guidance path) Fig. 2 after driftage;
In path of going home, (path of going home nearest to original guidance path a) can be lighted for driftage in path of namely detouring, or one that also can select according to other principles returns to a path of going home on original guidance path.
In fig. 2, corresponding regression point is as the inlet point on original guidance path, and its selection mode can comprise:
(31) based on the position of driftage point, one or more inlet points that chosen distance driftage point is nearest on S path, described inlet point (i.e. the entrance of road) can return to the position of original guidance path for navigation object, because road all can not sail into usually at an arbitrary position, so need to select the position can sailing original guidance path into as corresponding inlet point, so that navigation object can sail original guidance path into smoothly, realize going home;
(32) according to driftage point and described one or more inlet point, cook up according to predetermined path planning principle the path of going home that one or more returns to S path;
(33) path is gone home as the path of going home returning to S path using cook up one, a path (path of detouring) namely in Fig. 2;
If define in above-mentioned steps (32) many go home path time, path can be gone home according to predetermined rules selection one as corresponding a path; Rule predetermined accordingly can be, but not limited to comprise:
Select the shortest path of going home as a path; Or, select to arrive the path of going home of destination, S path as a path using bee-line via this path of going home; Or, select a path of going home as a path according to the instruction of user, etc.
By above-mentioned Application Example, the navigation object still needing to move ahead along former guidance path after driftage can be made can successfully to return on former guidance path, thus meet the navigation needs of the personalization of user when using navigator to obtain navigation Service, promote the experience that user uses navigator, cannot go home to the problem on original guidance path after solving the driftage existed in prior art.
The embodiment of the present invention additionally provides a kind of navigator, and it as shown in Figure 3, can comprise following processing unit in specific implementation process:
To go home path planning unit 31, for moving ahead in process along path planning in advance, if navigation object departs from path planning in advance, then with current position for starting point, using the inlet point on described path planning in advance as objective, the path of going home of path planning in advance described in planning navigation object returns;
Output unit 32, for going home described in output display, path planning unit 31 plans the path of going home determined.
Further, for ease of providing better path of going home for navigation object, described objective can comprise:
Described path planning is in advance found the one or more inlet points nearest apart from described current location as described objective.
Particularly, if described objective is multiple, then with reference to shown in Fig. 4, described in path planning unit 31 of going home comprise any one processing unit following, to be selected a best path of going home in many that cook up paths of going home by corresponding processing unit, corresponding each processing unit comprises:
First goes home path planning subelement 311, for cooking up many paths of going home based on multiple described objective, and selects the shortest guidance path of path as path planning in advance described in returning of going home wherein;
Or,
Second goes home path planning subelement 312, for cooking up many paths showing of going home based on multiple described objective, then selects the guidance path of path as path planning in advance described in returning of going home according to the selection instruction of user;
Or,
3rd goes home path planning subelement 313, for cooking up many paths of going home based on multiple described objective, select to arrive the shortest guidance path of path as path planning in advance described in returning of going home of the destination distance of path planning in advance by current location.
Alternatively, for ease of the selective gist of user, this navigator can also comprise:
User instruction acquiring unit 33, for before path of going home described in planning, obtain user the need of the instruction in path of going home described in planning, if user needs to go home described in planning path, then path planning unit 31 Execution plan of going home described in notice the process in path of going home.
In the said equipment, the concrete processing mode of each processing unit in actual application is introduced in detail in the description of embodiment of the method before, does not repeat them here.
By above-mentioned navigator, user is in the process moved ahead along guidance path, the situation of original guidance path (namely going off course) is departed from if occur, on the guidance path of preplanning that then user can be returned easily by the path of going home cooked up, thus meet the demand of the personalization of user, promote the experience that user uses navigator.Certainly, user can select the guidance path of the new planning after according to driftage to continue to move ahead according to actual needs, has adapted to the navigation needs that user is various further, has promoted user's experience.
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (8)
1. the navigation path planning method after driftage, is characterized in that, comprising:
On edge, path planning moves ahead in process in advance, if navigation object departs from path planning in advance, then with current position for starting point, using the inlet point on described path planning in advance as objective, the path of going home of path planning in advance described in planning navigation object returns;
To go home described in output display path.
2. method according to claim 1, is characterized in that, described objective comprises:
Described path planning is in advance found the one or more inlet points nearest apart from described current location as described objective.
3. method according to claim 2, is characterized in that, if described objective is multiple, then described planning return described in the process in the path of going home of path planning in advance comprise:
Cook up many paths of going home based on multiple described objective, and select the shortest guidance path of path as path planning in advance described in returning of going home wherein;
Or,
Cook up many paths showing of going home based on multiple described objective, then select the guidance path of path as path planning in advance described in returning of going home according to the selection instruction of user;
Or,
Cook up many paths of going home based on multiple described objective, select to arrive the shortest guidance path of path as path planning in advance described in returning of going home of the destination distance of path planning in advance by current location.
4. the method according to claim 1,2 or 3, is characterized in that, also comprises before path of going home described in planning:
Obtain user the need of the instruction in path of going home described in planning, if desired, then notify Execution plan the process in path of going home.
5. a navigator, is characterized in that, comprising:
To go home path planning unit, for moving ahead in process along path planning in advance, if navigation object departs from path planning in advance, then with current position for starting point, using the inlet point on described path planning in advance as objective, the path of going home of path planning in advance described in planning navigation object returns;
Output unit, for going home described in output display, path planning unit plans the path of going home determined.
6. equipment according to claim 5, is characterized in that, described objective comprises:
Described path planning is in advance found the one or more inlet points nearest apart from described current location as described objective.
7. equipment according to claim 6, is characterized in that, if described objective is multiple, then path planning unit of going home described in comprises:
First goes home path planning subelement, for cooking up many paths of going home based on multiple described objective, and selects the shortest guidance path of path as path planning in advance described in returning of going home wherein;
Or,
Second goes home path planning subelement, for cooking up many paths showing of going home based on multiple described objective, then selects the guidance path of path as path planning in advance described in returning of going home according to the selection instruction of user;
Or,
3rd goes home path planning subelement, for cooking up many paths of going home based on multiple described objective, selects to arrive the shortest guidance path of path as path planning in advance described in returning of going home of the destination distance of path planning in advance by current location.
8. the equipment according to claim 5,6 or 7, is characterized in that, this equipment also comprises:
User instruction acquiring unit, for going home before path described in planning, obtains the instruction of user the need of path of going home described in planning, if desired, then path planning unit Execution plan of going home described in notice the process in path of going home.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510307044.3A CN104848870A (en) | 2015-06-05 | 2015-06-05 | Navigation path planning method and equipment for yaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510307044.3A CN104848870A (en) | 2015-06-05 | 2015-06-05 | Navigation path planning method and equipment for yaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104848870A true CN104848870A (en) | 2015-08-19 |
Family
ID=53848695
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510307044.3A Pending CN104848870A (en) | 2015-06-05 | 2015-06-05 | Navigation path planning method and equipment for yaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104848870A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105115537A (en) * | 2015-08-20 | 2015-12-02 | 广州杰赛科技股份有限公司 | Environment detector, control method and system thereof, control terminal and detection system |
| CN105222800A (en) * | 2015-10-22 | 2016-01-06 | 广东欧珀移动通信有限公司 | Air navigation aid and navigational system |
| CN106595683A (en) * | 2015-10-19 | 2017-04-26 | 高德软件有限公司 | Navigation method and device |
| CN106767857A (en) * | 2015-11-20 | 2017-05-31 | 上海汽车集团股份有限公司 | Vehicle mounted guidance driftage path recalculation method and device |
| CN107861504A (en) * | 2017-09-25 | 2018-03-30 | 深圳市赛亿科技开发有限公司 | A kind of intelligent navigation method and system |
| CN108994838A (en) * | 2018-08-21 | 2018-12-14 | 智久(厦门)机器人科技有限公司上海分公司 | The relationship calculation method and system of robot location and planning path |
| CN109990782A (en) * | 2017-12-29 | 2019-07-09 | 北京欣奕华科技有限公司 | A kind of method and apparatus of avoiding obstacles |
| CN110888452A (en) * | 2018-09-11 | 2020-03-17 | 杨扬 | Obstacle avoidance method for autonomous flight of unmanned aerial vehicle power inspection |
| CN111693038A (en) * | 2020-05-28 | 2020-09-22 | 维沃移动通信有限公司 | Route navigation method and device |
| CN112504276A (en) * | 2020-11-20 | 2021-03-16 | 广州极飞科技有限公司 | Path planning method and device, unmanned equipment and storage medium |
| CN112799384A (en) * | 2019-10-24 | 2021-05-14 | 比亚迪股份有限公司 | Vehicle and driving track planning method and planning device thereof |
| CN113110448A (en) * | 2021-04-13 | 2021-07-13 | 上海新纪元机器人有限公司 | Target detection method, system, robot and storage medium based on least square |
| CN115691231A (en) * | 2023-01-03 | 2023-02-03 | 中国电子科技集团公司第二十八研究所 | Method and system for simulation deduction and conflict resolution by using air plan |
| CN116067390A (en) * | 2023-02-01 | 2023-05-05 | 重庆骑行家科技有限公司 | Method for realizing multi-user navigation and sharing interaction |
| CN116429146A (en) * | 2023-06-13 | 2023-07-14 | 跨越速运集团有限公司 | Vehicle navigation method, device, equipment and computer readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1318733A (en) * | 2000-03-29 | 2001-10-24 | 本田技研工业株式会社 | Navigational instrument for moving body |
| CN101408428A (en) * | 2007-10-11 | 2009-04-15 | 北京灵图软件技术有限公司 | Method for calculating optimum navigation path and communication navigation apparatus |
| CN101598570A (en) * | 2009-07-23 | 2009-12-09 | 深圳市凯立德计算机系统技术有限公司 | Air navigation aid of making a return voyage in the navigational system and device |
| EP2437132A1 (en) * | 2010-09-30 | 2012-04-04 | Honda Motor Co., Ltd. | Control apparatus for autonomous operating vehicle |
| CN103900599A (en) * | 2012-12-25 | 2014-07-02 | 中国电信股份有限公司 | Method and system for recalculating path after yawing in online navigation |
-
2015
- 2015-06-05 CN CN201510307044.3A patent/CN104848870A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1318733A (en) * | 2000-03-29 | 2001-10-24 | 本田技研工业株式会社 | Navigational instrument for moving body |
| CN101408428A (en) * | 2007-10-11 | 2009-04-15 | 北京灵图软件技术有限公司 | Method for calculating optimum navigation path and communication navigation apparatus |
| CN101598570A (en) * | 2009-07-23 | 2009-12-09 | 深圳市凯立德计算机系统技术有限公司 | Air navigation aid of making a return voyage in the navigational system and device |
| EP2437132A1 (en) * | 2010-09-30 | 2012-04-04 | Honda Motor Co., Ltd. | Control apparatus for autonomous operating vehicle |
| CN103900599A (en) * | 2012-12-25 | 2014-07-02 | 中国电信股份有限公司 | Method and system for recalculating path after yawing in online navigation |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105115537A (en) * | 2015-08-20 | 2015-12-02 | 广州杰赛科技股份有限公司 | Environment detector, control method and system thereof, control terminal and detection system |
| CN106595683A (en) * | 2015-10-19 | 2017-04-26 | 高德软件有限公司 | Navigation method and device |
| CN105222800A (en) * | 2015-10-22 | 2016-01-06 | 广东欧珀移动通信有限公司 | Air navigation aid and navigational system |
| CN105222800B (en) * | 2015-10-22 | 2019-05-21 | Oppo广东移动通信有限公司 | Air navigation aid and navigation system |
| CN106767857A (en) * | 2015-11-20 | 2017-05-31 | 上海汽车集团股份有限公司 | Vehicle mounted guidance driftage path recalculation method and device |
| CN107861504A (en) * | 2017-09-25 | 2018-03-30 | 深圳市赛亿科技开发有限公司 | A kind of intelligent navigation method and system |
| CN109990782A (en) * | 2017-12-29 | 2019-07-09 | 北京欣奕华科技有限公司 | A kind of method and apparatus of avoiding obstacles |
| CN108994838A (en) * | 2018-08-21 | 2018-12-14 | 智久(厦门)机器人科技有限公司上海分公司 | The relationship calculation method and system of robot location and planning path |
| CN110888452B (en) * | 2018-09-11 | 2023-03-17 | 杨扬 | Obstacle avoidance method for autonomous flight of unmanned aerial vehicle power inspection |
| CN110888452A (en) * | 2018-09-11 | 2020-03-17 | 杨扬 | Obstacle avoidance method for autonomous flight of unmanned aerial vehicle power inspection |
| CN112799384A (en) * | 2019-10-24 | 2021-05-14 | 比亚迪股份有限公司 | Vehicle and driving track planning method and planning device thereof |
| CN111693038A (en) * | 2020-05-28 | 2020-09-22 | 维沃移动通信有限公司 | Route navigation method and device |
| CN112504276A (en) * | 2020-11-20 | 2021-03-16 | 广州极飞科技有限公司 | Path planning method and device, unmanned equipment and storage medium |
| CN112504276B (en) * | 2020-11-20 | 2023-07-18 | 广州极飞科技股份有限公司 | Path planning method, path planning device, unmanned equipment and storage medium |
| CN113110448A (en) * | 2021-04-13 | 2021-07-13 | 上海新纪元机器人有限公司 | Target detection method, system, robot and storage medium based on least square |
| CN113110448B (en) * | 2021-04-13 | 2023-01-17 | 上海新纪元机器人有限公司 | Target detection method, system, robot and storage medium based on least square |
| CN115691231A (en) * | 2023-01-03 | 2023-02-03 | 中国电子科技集团公司第二十八研究所 | Method and system for simulation deduction and conflict resolution by using air plan |
| CN116067390A (en) * | 2023-02-01 | 2023-05-05 | 重庆骑行家科技有限公司 | Method for realizing multi-user navigation and sharing interaction |
| CN116429146A (en) * | 2023-06-13 | 2023-07-14 | 跨越速运集团有限公司 | Vehicle navigation method, device, equipment and computer readable storage medium |
| CN116429146B (en) * | 2023-06-13 | 2023-08-29 | 跨越速运集团有限公司 | Vehicle navigation method, device, equipment and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104848870A (en) | Navigation path planning method and equipment for yaw | |
| CN105651296A (en) | Parking guidance method and device | |
| CN102506853B (en) | Path planning method, air navigation aid, location service equipment and server | |
| JP6089360B2 (en) | Navigation device, icon display method, and navigation program | |
| CN110262552B (en) | Flight control method, device and equipment of unmanned aerial vehicle and storage medium | |
| US9383211B2 (en) | Navigation system and method for displaying map on navigation system | |
| CN105136144A (en) | Mall navigation system and mall navigation method | |
| JP6866482B2 (en) | Map display methods, systems, terminals, and map servers | |
| CN106610295A (en) | Route navigation method, terminal, server and system | |
| CN104535068B (en) | Blind area route navigation method and system | |
| CN112113576B (en) | Travel route planning method, terminal and storage medium | |
| WO2016095352A1 (en) | Reverse navigation method and mobile terminal | |
| KR20180022922A (en) | Map-based navigation method, apparatus and storage medium | |
| CN105277203A (en) | Navigation action generation method, navigation method and device | |
| CN107741232B (en) | Method and device for planning route of survey vessel | |
| CN104197947A (en) | Route recommendation method and system | |
| JP2019120494A (en) | Navigation route generating device, navigation route generating method and navigation route generator program | |
| CN105180941A (en) | Navigation method and device | |
| JP2016057660A (en) | Moving body route planning method and moving body route planning device | |
| CN107798420B (en) | Information display method and device and electronic equipment | |
| CN104794198A (en) | Network map pan-regional search method | |
| CN103900596A (en) | Method and device for planning navigation path based on road sections | |
| JP2006317173A (en) | Navigation system | |
| CN105203118A (en) | Route planning result correction method and route planning device | |
| CN106323306B (en) | Navigation information processing method and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for 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: 20150819 |