CN108225338B - Navigation method and device for high-speed area accurate matching - Google Patents
Navigation method and device for high-speed area accurate matching Download PDFInfo
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- CN108225338B CN108225338B CN201611154114.7A CN201611154114A CN108225338B CN 108225338 B CN108225338 B CN 108225338B CN 201611154114 A CN201611154114 A CN 201611154114A CN 108225338 B CN108225338 B CN 108225338B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—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 navigation method and a navigation device for accurate matching of a high-speed area, which are used for determining the current position of a terminal; extracting high-speed area data in a preset area range of the current position, matching the current position of the terminal with the high-speed area data, and determining a position relation; acquiring state information of the terminal according to the position relation; judging a road where the current position of the terminal is located; and displaying the mark of the terminal on the determined road. By adopting the method, the specific position of the current text of the terminal in a high-speed area, such as a high-speed main road or a branch road entering a service area, can be accurately judged, the current position can be more accurately displayed on a map, the matching precision is improved, the moving trend of the terminal can be determined, the guidance can be better provided for a user, and the driving safety is improved.
Description
Technical Field
The invention relates to the field of navigation systems, in particular to a navigation method and a navigation device for accurate matching of a high-speed area.
Background
In the existing navigation matching technology, the vehicle logo matching of a micro-forked road is quite annoying, and the following conditions are generally available: 1. in the case of a guiding route, if the vehicle actually travels along the guiding route, the general navigation can be matched on the correct road; however, if the vehicle actually does not run according to the guiding route, the general navigation is matched according to the guiding route, and the route cannot be re-planned, namely the phenomenon of wrong matching occurs in the navigation; 2. under the condition of no guide route, the general navigation can match the optimal candidate road in the navigation algorithm, the optimal candidate road is screened by mainly referring to the vertical distance between a vehicle position point provided by hardware and the candidate road and the included angle between the road direction and the vehicle direction provided by the hardware, and as the road data has certain error, the vehicle position information provided by the hardware has certain error, the optimal post-compensation in the navigation algorithm is probably not the actual driving road of the vehicle, namely the navigation matching is wrong.
When the vehicle is traveling at high speed, mismatching of navigation can not only trigger some bad user experience, such as: when the vehicle runs near the service area, when the vehicle drives into the ramp from the main road of the expressway or the expressway to enter the service area or the parking area, the navigation is matched along the main road of the expressway or the expressway; the navigation vehicle stops in a service area or a parking area, and the navigation vehicle logo stops on a main road of a highway or an expressway, so that the actual position of the vehicle cannot be really expressed; but also brings wrong guidance to users and increases the risk of driving, for example, when the vehicle leaves a service area or a parking area and enters a main road of an expressway or an express way from a ramp, the driver of the actual vehicle should pay attention to the vehicle converging on the right side, and the driver of the actual vehicle should pay attention to the traffic flow on the main road during converging.
Disclosure of Invention
In view of the technical drawbacks and disadvantages of the prior art, embodiments of the present invention provide a navigation method and apparatus for high speed region exact matching, which overcome or at least partially solve the above problems.
As an aspect of an embodiment of the present invention, there is provided a navigation method of an exact match of a high speed region, the method including,
determining the current position of the terminal;
extracting high-speed area data in the preset area range of the current position, and matching the position relation between the current position of the terminal and the high-speed area data;
acquiring state information of the terminal according to the position relation;
judging a road where the current position of the terminal is located; and displaying the mark of the terminal on the determined road.
In one embodiment, the extracting the high speed zone data within the predetermined area range of the current position includes:
determining a driving direction of the terminal;
reading map data of a preset area range of the current position in a driving direction;
and extracting topological roads in the map data, wherein the topological roads comprise main roads and branch roads of the expressway.
In one embodiment, the matching the position relationship between the current position of the terminal and the high speed area data includes:
matching the current position of the terminal with a topological road in the high-speed area data;
and determining the current position of the terminal at the position of the branch road junction of the topological road.
In one embodiment, the obtaining the state information of the terminal according to the position relationship includes:
when the current position of the terminal is positioned at a branch intersection of a topological road, acquiring the accumulated change angle and the running speed of the terminal;
and when the current position of the terminal passes through the fork, acquiring the running speed and/or gear information of the terminal.
In one embodiment, the determining the road on which the current location of the terminal is located includes:
when the angle difference between the accumulated change angle and the included angle between the main road and the turnout is within the range of a set threshold value, the running is smaller than a first preset value and shows a continuously decreasing change trend, and then the fact that the vehicle enters a turnout leading to a service area or a parking area is judged;
when the running speed is less than a second preset value, the terminal is in a continuously decreasing change trend, or a reversing signal is received, and the terminal is judged to be driven into a turnout of a service area or a parking area;
and when the running speed is greater than a third preset value and is in a continuously increasing change trend, judging that the terminal is in a turnout of the parking area, and judging that the terminal is in a running state out of the service area.
As a further aspect of the embodiments of the present invention, there is provided a navigation device for exact matching of a high speed region, the device including,
the determining module is used for determining the current position of the terminal;
the extraction module is used for extracting high-speed area data in a preset area range of the current position;
the matching module is used for matching the position relation between the current position of the terminal and the high-speed area data;
the acquisition module is used for acquiring the state information of the terminal according to the position relation;
the judging module is used for judging the road where the current position of the terminal is located;
and the display module is used for displaying the mark of the terminal on the judged road.
In one embodiment, the extraction module comprises:
a first determining subunit: for determining a driving direction of the terminal;
reading the subunit: map data for reading a predetermined area range of the current position in a traveling direction;
an extraction subunit: the method is used for extracting topological roads in the map data, and the topological roads comprise main roads and branch roads of expressways.
In one embodiment, the matching module comprises:
a matching subunit: the system is used for matching the current position of the terminal with a topological road;
a second determination subunit: and the method is used for determining the position relation of the current position of the terminal at the branch road junction of the topological road.
In one embodiment, the obtaining module comprises:
a receiving subunit: the position relation sent by the second determining subunit is received;
a first acquisition unit: the terminal is used for acquiring the accumulated change angle of the terminal;
a second acquisition unit configured to acquire a travel speed of the terminal;
and the third acquisition unit is used for acquiring the gear information of the terminal.
In one embodiment, the decision module comprises:
a speed determination unit: a corresponding range for judging the driving speed;
a trend judgment unit: the driving speed control device is used for judging the variation trend of the driving speed;
a direction determination unit: the forward or reverse driving judgment module is used for judging forward or reverse driving of the terminal;
a position determination unit: and the data information receiving unit is used for receiving the data information of the speed judging unit, the trend judging unit and the direction judging unit and judging the position and the trend of the terminal in the high-speed area according to a preset rule.
The embodiment of the invention at least realizes the following technical effects:
the navigation method and the device for the precise matching of the high-speed area provided by the embodiment of the invention determine the current position of the terminal; extracting high-speed area data in a preset area range of the current position, matching the current position of the terminal with the high-speed area data, and determining a position relation; acquiring state information of the terminal according to the position relation; judging a road where the current position of the terminal is located; and displaying the mark of the terminal on the determined road. . By adopting the method, the specific position of the current text of the terminal in a high-speed area, such as a high-speed main road or a branch road entering a service area, can be accurately judged, the current position is more accurately displayed on a map, the matching precision is improved, the moving trend of the terminal can be determined, guidance is better provided for a user, and the driving safety is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a navigation method of the present invention;
FIG. 2 is a flow chart of the identification steps of the present invention;
FIG. 3 is a flow chart of the present invention for identifying conditions near a high speed service area;
FIG. 4 is a flow chart of the present invention for identifying a matching status of a high speed service area by an angle;
FIG. 5 is a flow chart of the present invention identifying a high speed service area match status by speed trend;
FIG. 6 is a flow chart of the present invention identifying a high speed service area match status by gear;
FIG. 7 is a flow chart of the present invention identifying the matching status of exiting the high speed service area by speed and trend;
FIG. 8 is a schematic structural diagram of a navigation device according to the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The navigation method and the device for the high-speed area accurate matching can be applied to any intelligent equipment and embedded into navigation software, such as vehicle-mounted navigation, mobile phones, rearview mirrors, tablet computers and the like.
Various specific embodiments of a navigation method and a navigation device for accurate matching of a high-speed region according to embodiments of the present invention are described in detail below.
The navigation method for precisely matching the high speed region, as shown in fig. 1, includes the following steps,
s101, determining the current position of a terminal;
s102, extracting high-speed area data in a preset area range of the current position;
s103, matching the current position of the terminal with the high-speed area data, and determining a position relation;
s104, acquiring the state information of the terminal according to the position relation;
s105, judging a road where the current position of the terminal is located;
s106, displaying the mark of the terminal on the determined road.
The high-speed area in the invention refers to data including a highway or a highway and a fork, and because the terminal has extremely high moving speed, very small errors can bring irretrievable loss, and especially when the intersection is not seen clearly at night, accurate guidance is provided, so that the safety of a user can be provided to a great extent.
The method improves the matching accuracy of navigation in a service area or a parking area of an expressway or an expressway by utilizing map data of a navigation system and GNSS data, gyroscope data, vehicle speed information and a backing information number provided by hardware; in addition, the invention not only can correct the incorrect matching of the terminal and display the icon of the terminal on the accurate road, but also can judge the moving direction of the terminal by judging the moving state of the terminal, thereby prompting the user for guiding the road.
In the step S102, further comprising,
determining a driving direction of the terminal;
reading map data of a preset area range of the current position in a driving direction;
and extracting topological roads in the map data, wherein the topological roads comprise main roads and branch roads of expressways.
In the step S103, further comprising,
matching the current position of the terminal with a topological road;
and determining the current position of the terminal at the position of the topological road fork.
In the step S104, further comprising,
when the current position of the terminal is at a branch intersection (close to or not passing through) of the topological road, acquiring the accumulated change angle and the running speed of the terminal;
and when the current position of the terminal passes through the branch road, acquiring the running speed or gear information of the terminal.
In the step S105, further comprising,
when the accumulated angle difference between the change angle and the included angle between the main road and the turnout is within the range of a set threshold value, the running is smaller than a first preset value and shows a continuously decreasing change trend, and then the fact that the vehicle enters a turnout leading to a service area or a parking area is judged;
when the running speed is less than a second preset value and shows a continuously decreasing change trend or receives a reversing signal, judging that the terminal drives into a turnout of a service area or a parking area;
and when the reading is larger than a third preset value and shows a continuously increasing change trend, judging that the terminal is positioned at a turnout of the exit service area or the parking area.
In one embodiment, the present invention can also be divided into 3 steps, as shown in fig. 2, specifically as follows:
s201: recognizing the status near the high-speed service area, as shown in FIG. 3, steps S301 to S307,
the method comprises the following steps: when the vehicle runs on an expressway or an expressway, and a service area or a parking area exists in the range of 1 kilometer in the vehicle running direction, the accumulated change angle and the vehicle speed of the vehicle are collected, namely the state of the vehicle in the service area or the vicinity of the parking area is judged.
S202: identifying a high speed service area matching state, the step comprising the following three conditions:
in the first case, as shown in fig. 4, in steps S401 to S407, when the vehicle travels to a branch point of a ramp in a service area or a parking area, if the angle difference between the accumulated change angle of the vehicle and the included angle between the main road and the ramp is within a threshold range and the vehicle speed is less than 80km/h, there is a continuously decreasing change trend, and it can be determined that the vehicle has entered the service area or the parking area.
In the second case, as shown in fig. 5, in steps S501 to S505, when the vehicle has driven into the service area or parking area from the main road of the expressway or express way, and the navigation is still matched with the main road of the expressway or express way, the vehicle speed information is continuously collected, and if the vehicle speed is below 40km/h, a continuously decreasing trend exists, that is, it can be determined that the vehicle has driven into the service area or parking area.
In the third situation, as shown in fig. 6, in steps S601 to S605, when the vehicle is already parked in the service area or parking area, the navigation is still matched with the main road of the expressway or express way, the reverse signal of the vehicle may be continuously monitored, and if the navigation receives the reverse signal, it may be determined that the vehicle has already entered the service area or parking area.
S203: the exit high speed service area status is identified, as shown in FIG. 7, in steps S701 to S704,
and when the vehicle speed exceeds 60km/h and has a continuously increasing trend, the high-speed service area state is exited.
The exit from the high-speed service area state means that the terminal has a branch road to drive to the main road, the terminal is matched with the branch road at the moment, the terminal icon is displayed on the branch road, and a corresponding guidance prompt can be provided.
The speed value provided above is only a reference value, and the specific speed value can be adjusted according to the specific situation and attribute of the road.
And when the running speed continuously exceeds 80km/h for a period of time, judging that the terminal is positioned on an expressway or an expressway, and displaying the icon corresponding to the terminal on the expressway or the expressway in a matching way.
Based on the same inventive concept, the embodiment of the present invention further provides a navigation device for accurate matching of a high speed region, and as the principle of the problem solved by the navigation device is similar to that of the navigation method for accurate matching of a high speed region in the foregoing embodiment, reference may be made to the implementation of the method in the foregoing embodiment for the implementation of the navigation device, and repeated details are omitted.
The following provides a navigation apparatus for performing fast zone exact matching according to an embodiment of the present invention, which can be used in the embodiments of the navigation method for performing the fast zone exact matching.
Referring to fig. 8, the above apparatus includes,
the determination module (11) determines whether the data is correct,
a determining module 11, configured to determine a current location of the terminal;
an extracting module 12, configured to extract high-speed area data within a predetermined area range of the current location;
a matching module 13, configured to match a position relationship between the current position of the terminal and the high-speed region data;
an obtaining module 14, configured to obtain state information of the terminal according to the position relationship;
a determination module 15, configured to determine a road where the current location of the terminal is located;
and a display module 16 for displaying the mark of the terminal on the determined road.
In one embodiment, the extraction module 12 comprises:
a first determining subunit: for determining a driving direction of the terminal;
reading the subunit: map data for reading a predetermined area range of the current position in a traveling direction;
an extraction subunit: the method is used for extracting topological roads in the map data, and the topological roads comprise main roads and branch roads of expressways.
In one embodiment, the matching module 13 comprises:
a matching subunit: the system is used for matching the current position of the terminal with the topological road;
a second determination subunit: and the method is used for determining the position relation of the current position of the terminal at the branch road junction of the topological road.
In one embodiment, the obtaining module 14 includes:
a receiving subunit: the position relation sent by the second determining subunit is received;
a first acquisition unit: the terminal is used for acquiring the accumulated change angle of the terminal;
a second obtaining unit, configured to obtain a driving speed of the terminal;
and the third acquisition unit is used for acquiring the gear information of the terminal.
In one embodiment, the decision module 15 comprises:
a speed determination unit: a corresponding range for judging the driving speed;
a trend determination unit: the driving speed control device is used for judging the variation trend of the driving speed;
a direction determination unit: the forward or reverse driving judgment module is used for judging forward or reverse driving of the terminal;
a position determination unit: and the data information receiving unit is used for receiving the data information of the speed judging unit, the trend judging unit and the direction judging unit and judging the position and the trend of the terminal in the high-speed area according to a preset rule.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A navigation method for high-speed area precise matching is characterized in that,
determining the current position of the terminal;
extracting high-speed area data in the preset area range of the current position, matching the position relation between the current position of the terminal and the high-speed area data, determining that the current position of the terminal is at the branch intersection of the topological road, and determining that the current position of the terminal is at the branch intersection of the topological road or already passes the branch intersection;
when a vehicle runs on an expressway or an expressway, and a service area or a parking area exists in a preset distance range of the vehicle running direction, starting to collect the accumulated change angle and the running speed of the vehicle;
when the vehicle runs to a bifurcation intersection of a ramp of a service area or a parking area, the accumulated angle difference between the change angle and the included angle between the main road and the bifurcation is within a set threshold range, the running speed is less than a first preset value, and the change trend is continuously reduced, and the judgment result is determined that the vehicle enters the bifurcation leading to the service area or the parking area;
when the vehicle drives into the service area or the parking area from the main road of the expressway or the expressway, the navigation is matched with the main road of the expressway or the expressway, if the current driving speed is lower than a second preset value, the navigation is in a continuously decreasing change trend, or when the vehicle stops in the service area or the parking area, the navigation is matched with the main road of the expressway or the expressway, the reversing signal of the vehicle is monitored, and if the reversing signal is received, the judgment result is determined to be the turnout of the terminal driving into the service area or the parking area;
when the running speed is greater than a third preset value and is in a continuously increasing change trend, determining that the judgment result is that the terminal is in a turnout of the parking area, and the running state is that the terminal is out of the service area;
and displaying the mark of the terminal on the determined road according to the judgment result.
2. The method of claim 1, wherein said extracting the high speed zone data within the predetermined area of the current location comprises:
determining a driving direction of the terminal;
reading map data of a preset area range of the current position in a driving direction;
and extracting topological roads in the map data, wherein the topological roads comprise main roads and branch roads of the expressway.
3. The method of claim 2, wherein said matching the location relationship of the current location of the terminal to the high speed region data comprises:
matching the current position of the terminal with a topological road in the high-speed area data;
and determining the current position of the terminal at the position of the branch road junction of the topological road.
4. The method of claim 3, further comprising:
when the current position of the terminal is at a branch intersection of a topological road, acquiring the accumulated change angle and the running speed of the terminal;
and when the current position of the terminal passes through the fork, acquiring the running speed and/or gear information of the terminal.
5. A navigation device for high-speed zone exact matching, the device comprising:
the determining module is used for determining the current position of the terminal;
the extraction module is used for extracting high-speed area data in a preset area range of the current position;
the matching module is used for matching the position relationship between the current position of the terminal and the high-speed region data, determining the position of the current position of the terminal at the branch intersection of the topological road, and determining the position of the current position of the terminal at the branch intersection of the topological road or the branch intersection;
the acquisition module is used for starting to collect the accumulated change angle and the running speed of the vehicle when the vehicle runs on a highway or an expressway and a service area or a parking area exists in a preset distance range of the vehicle running direction;
the judging module is used for determining that the judging result is that the vehicle enters a turnout leading to the service area or the parking area when the vehicle drives to the bifurcation of a ramp of the service area or the parking area, the accumulated angle difference between the change angle and the included angle between the main road and the turnout is within the range of a set threshold value, the driving speed is smaller than a first preset value, and the change trend is continuously reduced;
when the vehicle drives into a service area or a parking area from a main road of an expressway or an expressway, the navigation is matched with the main road of the expressway or the expressway, if the current driving speed is lower than a second preset value, the navigation is in a continuously decreasing change trend, or when the vehicle stops in the service area or the parking area, the navigation is matched with the main road of the expressway or the expressway, a reversing signal of the vehicle is monitored, and if the reversing signal is received, the judgment result is determined to be a turnout of the terminal driving into the service area or the parking area;
when the running speed is greater than a third preset value and is in a continuously increasing change trend, determining that the judgment result is that the terminal is in a turnout of the parking area, and the running state is that the terminal is out of the service area;
and the display module is used for displaying the mark of the terminal on the determined road according to the judgment result.
6. The apparatus of claim 5, wherein the extraction module comprises:
a first determining subunit: for determining a driving direction of the terminal;
reading the subunit: map data for reading a predetermined area range of the current position in a traveling direction;
an extraction subunit: the map data extraction device is used for extracting topological roads in the map data, and the topological roads comprise main roads and branch roads of high-speed roads.
7. The apparatus of claim 6, wherein the matching module comprises:
a matching subunit: the system is used for matching the current position of the terminal with the topological road;
a second determination subunit: and the method is used for determining the position relation of the current position of the terminal at the branch road junction of the topological road.
8. The apparatus of claim 5, wherein the acquisition module comprises:
a receiving subunit: the position relation sent by the second determining subunit is received;
a first acquisition unit: the terminal is used for acquiring the accumulated change angle of the terminal;
a second obtaining unit, configured to obtain a driving speed of the terminal;
and the third acquisition unit is used for acquiring the gear information of the terminal.
9. The apparatus of any one of claims 5-8, wherein the determining module comprises:
a speed determination unit: a corresponding range for judging the driving speed;
a trend determination unit: the driving speed control device is used for judging the variation trend of the driving speed;
a direction determination unit: the forward or reverse driving judgment module is used for judging forward or reverse driving of the terminal;
a position determination unit: and the data information receiving unit is used for receiving the data information of the speed judging unit, the trend judging unit and the direction judging unit and judging the position and the trend of the terminal in the high-speed area according to a preset rule.
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| CN110633425B (en) * | 2018-09-30 | 2022-12-02 | 北京奇虎科技有限公司 | Method and device for searching moving target |
| CN109631925B (en) * | 2018-12-21 | 2020-11-10 | 斑马网络技术有限公司 | Main and auxiliary road determining method and device, storage medium and electronic equipment |
| CN111366164B (en) * | 2018-12-26 | 2023-12-29 | 华为技术有限公司 | Positioning method and electronic equipment |
| CN111414903B (en) * | 2019-01-04 | 2023-05-19 | 阿里巴巴集团控股有限公司 | Method, device and equipment for identifying content of indication board |
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