CN109084783A - Map constructing method, system, car-mounted terminal and the storage medium of band signal intensity - Google Patents
Map constructing method, system, car-mounted terminal and the storage medium of band signal intensity Download PDFInfo
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- CN109084783A CN109084783A CN201710444179.3A CN201710444179A CN109084783A CN 109084783 A CN109084783 A CN 109084783A CN 201710444179 A CN201710444179 A CN 201710444179A CN 109084783 A CN109084783 A CN 109084783A
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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
- G01C21/32—Structuring or formatting of map data
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Abstract
The present invention provides map constructing method, system, car-mounted terminal and the storage medium of a kind of band signal intensity, the described method includes: obtaining vehicle location information in the process of moving when any vehicle is map structuring mode construction map and acquiring the signal strength for the wireless network signal that the vehicle receives in the process of moving；Determine the corresponding relationship of the location information and the signal strength；The signal strength is stored and shown in the grating map of building based on the corresponding relationship, forms the map with network signal intensity；When any vehicle is digital map navigation mode, according to the signal strength determination on the map with network signal intensity or navigation routine is changed；When any vehicle is that Orientation on map mode positions vehicle, the signal strength is updated.The present invention can form the map with network signal intensity, provide effective supplementary means for autonomous parking.
Description
Technical field
The present invention relates to parking navigation fields, more particularly to map constructing method, system, the vehicle of a kind of band signal intensity
Mounted terminal and storage medium.
Copyright notice
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner does not oppose the patent document in the presence of anyone replicates the proce's-verbal of Patent&Trademark Office and archives or should
Patent discloses.
Background technique
The increase of car ownership promotes the development of large parking lot, and since marching toward 21st century, ours is big
Type parking lot is more and more, and being growing for parking lot scale, brings a series of the problem of parking with picking up the car, has become
The social concern that each large- and-medium size cities generally face in world wide.
Increasing in city vehicle, under traffic congestion more serious situation, the parking difficulty in city increases significantly
Add.Many drivers feel to be difficult to control the technology of parking.Secondly, car owner on the one hand be faced with when parking due to finding parking stall by
On the other hand gradually increased distance of cruising also increases the walking distance that car owner walks out parking lot, increase car owner physical strength, when
Between and energy cost；Meanwhile the parking stall of large parking lot is numerous and instruction is not clear enough, boundless and indistinct parking stall causes greatly to seeking vehicle
Puzzlement.
In today that vehicle development is more and more flourishing, the intelligence of vehicle is a main trend of vehicle future development, in reality
During existing vehicle autonomous parking, generally requires and be connected to the network with background server or third-party platform foundation, but due to
The limitation of parking lot space, some places network signal is weaker, is unfavorable for autonomous parking.
Summary of the invention
In order to solve above-mentioned and other potential technical problems, the embodiment provides a kind of band signal is strong
The map constructing method of degree, it is map structuring mode structure that the map constructing method of the band signal intensity, which includes: in any vehicle,
When building map, obtain vehicle location information in the process of moving and acquire the vehicle receive in the process of moving it is wireless
The signal strength of network signal；Determine the corresponding relationship of the location information and the signal strength；Based on the corresponding relationship
The signal strength is stored and shown in the grating map of building, forms the map with network signal intensity.
In one embodiment of the invention, the map constructing method of the band signal intensity further include: be in any vehicle
When digital map navigation mode, according to the signal strength determination on the map with network signal intensity or navigation routine is changed.
In one embodiment of the invention, the map constructing method of the band signal intensity further include: be in any vehicle
When Orientation on map mode positions vehicle, obtains vehicle location information in the process of moving and acquire the vehicle and be expert at
The signal strength of the wireless network signal received during sailing；Determine that the location information and the corresponding of the signal strength close
System；The signal strength is updated in the grating map of building based on the corresponding relationship.
It is described that the letter is updated in the grating map of building based on the corresponding relationship in one embodiment of the invention
In number intensity, the signal strength is updated according to the statistical analysis to the signal strength acquired in preset time period.
In one embodiment of the invention, the wireless network signal for acquiring the vehicle and receiving in the process of moving
Signal strength specifically include: establish the TCP network linking of vehicle and background server and timing handshake connect；Record is each time
It shakes hands the network delay of connection；The signal strength of corresponding wireless network signal is obtained according to the network delay.
The embodiment of the present invention also provides a kind of map structuring system of band signal intensity, the map of the band signal intensity
Building system includes: acquisition processing module, for obtaining vehicle and being expert at when any vehicle is map structuring mode construction map
Location information during sailing and the signal strength for acquiring the wireless network signal that the vehicle receives in the process of moving, and
Determine the corresponding relationship of the location information and the signal strength；Map Fusion Module, for based on the corresponding relationship in
The signal strength is stored and shown in the grating map of building, forms the map with network signal intensity.
In one embodiment of the invention, the map structuring system of the band signal intensity further include: path planning module,
For being determined according to the signal strength on the map with network signal intensity when any vehicle is digital map navigation mode
Or change navigation routine.
In one embodiment of the invention, the map structuring system of the band signal intensity further include: update module is used for
When any vehicle is that Orientation on map mode positions vehicle, vehicle location information in the process of moving and acquisition are obtained
The signal strength for the wireless network signal that the vehicle receives in the process of moving determines the location information and the signal
The corresponding relationship of intensity simultaneously updates the signal strength based on the corresponding relationship in the grating map of building.
In one embodiment of the invention, the update module is according to the signal strength acquired in preset time period
Statistical analysis update the signal strength.
In one embodiment of the invention, the acquisition processing module acquires the vehicle according to following manner and is running over
The signal strength of the wireless network signal received in journey: establishing the TCP network linking of vehicle and background server and timing is held
Hand connection records the network delay for connection of shaking hands each time and obtains corresponding wireless network signal according to the network delay
Signal strength.
The embodiments of the present invention also provide a kind of car-mounted terminal, including processor and memory, the memory storage
There is program instruction, the processor operation program instruction realizes the step in method as described above.
The embodiments of the present invention also provide a kind of computer readable storage mediums, are stored thereon with computer program, should
The step in method as described above is realized when program is executed by processor.
As described above, map constructing method, system, car-mounted terminal and the storage medium of band signal intensity of the invention have
Below the utility model has the advantages that
The embodiment of the present invention acquires the wireless network signal that vehicle receives in the process of moving when constructing map
Signal strength, and by signal strength store and be shown in the grating map of building, formed have network signal intensity ground
Figure, vehicle can be determining according to the map with network signal intensity or change navigation routine, provide effectively for autonomous parking
Supplementary means, while the embodiment of the present invention can constantly update the signal strength in map in vehicle location, improving has net
The signal strength display precision of the map of network signal strength, present invention useful application value with higher and market prospects.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is shown as the flow diagram of the map constructing method of band signal intensity of the invention.
Fig. 2 is shown as obtaining the flow diagram of signal strength in the map constructing method of band signal intensity of the invention.
Fig. 3 is shown as a kind of preferred flow diagram in the map constructing method of band signal intensity of the invention.
Fig. 4 is shown as updating the flow diagram of signal strength in the map constructing method of band signal intensity of the invention.
Fig. 5 is shown as the functional block diagram of the map structuring system of band signal intensity of the invention.
Fig. 6 is shown as a kind of preferred functional block diagram of the map structuring system of band signal intensity of the invention.
Component label instructions
100 map structuring systems
101 acquisition processing modules
102 map Fusion Modules
103 path planning modules
104 update modules
S101~S104 step
S110~S130 step
S201~S203 step
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
Fig. 1 is please referred to Fig. 6.It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to
Cooperate the revealed content of specification, so that those skilled in the art understands and reads, being not intended to limit the invention can be real
The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influencing the effect of present invention can be generated and the purpose that can reach, it should all still fall in disclosed skill
Art content obtains in the range of capable of covering.Meanwhile in this specification it is cited as "upper", "lower", "left", "right", " centre " and
The term of " one " etc. is merely convenient to being illustrated for narration, rather than to limit the scope of the invention, relativeness
It is altered or modified, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the present invention.
The purpose of the present embodiment is that providing a kind of map constructing method of band signal intensity, system, car-mounted terminal and depositing
Storage media is difficult to obtain the technology of the network signal intensity of corresponding position from map in the prior art in parking for solving
Problem.The map constructing method of band signal intensity of the invention described in detail below, system, car-mounted terminal and storage medium
Principle and embodiment makes those skilled in the art not need the ground that creative work is appreciated that band signal intensity of the invention
Figure construction method, system, car-mounted terminal and storage medium.
The map constructing method of band signal intensity, system, car-mounted terminal and storage medium application provided by the present embodiment
In indoor and outdoor single-layer or multi-layer parking lot.
Specifically, as shown in Figure 1, the embodiment provides a kind of map constructing method of band signal intensity, institute
State the map constructing method of band signal intensity the following steps are included:
Step S101 obtains the position of vehicle in the process of moving when any vehicle is map structuring mode construction map
Confidence ceases and acquires the signal strength for the wireless network signal that the vehicle receives in the process of moving.
Wherein, the location information of vehicle in the process of moving is obtained by GPS, or according to terrestrial reference map or grating map
Obtain vehicle location information in the process of moving, the wireless network signal include but is not limited to 2G, 3G, 4G or wifi without
Line network signal.
Simple observation signal intensity sometimes can not the true communication quality of reaction network, specifically, in an embodiment,
As shown in Fig. 2, the signal strength for the wireless network signal that the acquisition vehicle receives in the process of moving specifically includes:
Step S110, establishes the TCP network linking of vehicle and background server and timing handshake connects, wherein timing when
Between such as, but not limited to 1s.The vehicle in the process of moving, establishes the TCP network linking of vehicle and background server, and 1s
Shaking hands, it is primary to connect.
Step S120 records the network delay for connection of shaking hands each time.
Step S130 obtains the signal strength of corresponding wireless network signal according to the network delay.Network delay can
Current network conditions are represented, can establish or obtain from Internet service provider the signal strength of network delay and wireless network signal
Corresponding relationship, believed according to corresponding with the acquisition of the corresponding relationship of the signal strength of the wireless network signal wireless network of network delay
Number signal strength.
Step S102 determines the corresponding relationship of the location information and the signal strength.
Since when getting signal strength, vehicle may move certain distance, the signal strength that will acquire
It is corresponding with the vehicle location that sending is shaken hands when connecting, form the signal strength of the wireless network signal of the location point.
Step S103 is stored in the grating map of building based on the corresponding relationship and is shown the signal strength, shape
At the map with network signal intensity.
Wherein it is possible to all collected signal strength indications are accumulated into a set, the map datum with grating map
The signal strength that a network signal intensity dimension shows wireless network signal is stored and increased in grating map together.
In an embodiment, as shown in figure 3, the map constructing method of the band signal intensity further include: step S104,
When any vehicle is digital map navigation mode, according to the signal strength determination or change on the map with network signal intensity
Navigation routine.
In this present embodiment, when having the region area that signal strength is weak in map to be passed through in the navigation programming route of vehicle
When, change navigation routine.
Wherein, specifically, the guidance path institute of planning is obtained after planning guidance path when vehicle is digital map navigation mode
Corresponding network signal intensity, and the weaker region of network signal intensity is judged whether there is, if so, change navigation routine,
Again it plans guidance path, avoids the weaker region of network signal, if it is not, then explanation is when network letter in the guidance path of preplanning
Number preferably, without changing current navigation path.
In an embodiment, as shown in figure 4, the map constructing method of the band signal intensity further include:
Step 201, when any vehicle is that Orientation on map mode positions vehicle, vehicle is obtained in the process of moving
Location information and acquire the signal strength of the wireless network signal that the vehicle receives in the process of moving.
Wherein, the location information of vehicle in the process of moving is obtained by GPS, or according to terrestrial reference map or grating map
Obtain vehicle location information in the process of moving, the wireless network signal include but is not limited to 2G, 3G, 4G or wifi without
Line network signal.
Acquire the specific method process of the signal strength for the wireless network signal that the vehicle receives in the process of moving
It is strong with the signal that acquires the wireless network signal that the vehicle receives in the process of moving when map structuring mode construction map
The method process of degree is identical, please refers to step step S110~step S130, details are not described herein.
Step 202, the corresponding relationship of the location information and the signal strength is determined.
Since when getting signal strength, vehicle may move certain distance, the signal strength that will acquire
It is corresponding with the vehicle location that sending is shaken hands when connecting, form the signal strength of the wireless network signal of the location point.
Step 202, the signal strength is updated in the grating map of building based on the corresponding relationship.
Since the signal strength of each wireless network signal corresponds to a location point, the new nothing of the location point is got
The signal strength of the corresponding wireless network signal of original position point is replaced with new wireless network by the signal strength of line network signal
The signal strength of signal.
Wherein, in this present embodiment, described that the signal is updated in the grating map of building based on the corresponding relationship
In intensity, the signal strength is updated according to the statistical analysis to the signal strength acquired in preset time period.
For example, same position point repeatedly gets the signal strength of wireless network signal in one month, it can take and repeatedly obtain
Signal strength of the mean value of the signal strength for the wireless network signal got as the wireless network signal for updating the location point.
The embodiment provides a kind of car-mounted terminal, including processor and memory, the memory is stored with
Program instruction, the processor operation program instruction realize the step in method as described above.In step in the method
It states and detailed description has been carried out, details are not described herein.
The embodiment provides a kind of computer readable storage mediums, are stored thereon with computer program, the journey
The step in method as described above is realized when sequence is executed by processor.Step in the method is above-mentioned to be had been carried out in detail
Illustrate, details are not described herein.
For the map constructing method for realizing above-mentioned band signal intensity, the present embodiment also correspondence provides a kind of band signal intensity
Map structuring system 100, as shown in figure 5, the map structuring system 100 of the band signal intensity includes: acquisition processing module
101 and map Fusion Module 102.
In this present embodiment, specifically, the acquisition processing module 101 is used in any vehicle be map structuring mode structure
When building map, obtain vehicle location information in the process of moving and acquire the vehicle receive in the process of moving it is wireless
The signal strength of network signal, and determine the corresponding relationship of the location information and the signal strength.
Wherein, the location information of vehicle in the process of moving is obtained by GPS, or according to terrestrial reference map or grating map
Obtain vehicle location information in the process of moving, the wireless network signal include but is not limited to 2G, 3G, 4G or wifi without
Line network signal.
Simple observation signal intensity sometimes can not the true communication quality of reaction network, it is described to adopt in an embodiment
The signal that collection processing module 101 acquires the wireless network signal that the vehicle receives in the process of moving according to following manner is strong
Degree: establishing the TCP network linking of vehicle and background server and timing handshake connects, such as the vehicle is in the process of moving,
The TCP network linking of vehicle and background server is established, and 1s shakes hands and connects once, the network for recording connection of shaking hands each time prolongs
When and obtain according to the network delay signal strength of corresponding wireless network signal.
Network delay can represent current network conditions, can establish or obtain from Internet service provider network delay and wireless
The corresponding relationship of the signal strength of network signal is obtained according to the corresponding relationship of the signal strength of network delay and wireless network signal
Take the signal strength of corresponding wireless network signal.
Since when getting signal strength, vehicle may move certain distance, the signal strength that will acquire
It is corresponding with the vehicle location that sending is shaken hands when connecting, form the signal strength of the wireless network signal of the location point.
In this present embodiment, specifically, the map Fusion Module 102 is used for based on the corresponding relationship in the grid of building
The signal strength is stored and shown in lattice map, forms the map with network signal intensity.
Wherein, all collected signal strength indications can be accumulated a set by the map Fusion Module 102, with
The map datum of grating map, which stores together and increases a network signal intensity dimension in grating map, shows wireless network
The signal strength of signal.
In this present embodiment, when having the region area that signal strength is weak in map to be passed through in the navigation programming route of vehicle
When, change navigation routine.Wherein, specifically, as shown in fig. 6, in this embodiment, the map structuring of the band signal intensity
System 100 further include: path planning module 103, for there is network according to described when any vehicle is digital map navigation mode
Signal strength on the map of signal strength is determining or changes navigation routine.
When vehicle is digital map navigation mode after planning guidance path, the letter of network corresponding to the guidance path of planning is obtained
Number intensity, and the weaker region of network signal intensity is judged whether there is, if so, change navigation routine, again planning navigation
The weaker region of network signal is avoided in path, if it is not, then explanation when preplanning guidance path in network signal it is preferable, nothing
Current navigation path need to be changed.
In an embodiment, as shown in fig. 6, the map structuring system 100 of the band signal intensity further include: update module
104, for obtaining the position letter of vehicle in the process of moving when any vehicle is that Orientation on map mode positions vehicle
The signal strength for ceasing and acquiring the wireless network signal that the vehicle receives in the process of moving, determine the location information and
The corresponding relationship of the signal strength simultaneously updates the signal strength based on the corresponding relationship in the grating map of building.
Wherein, the location information of vehicle in the process of moving is obtained by GPS, or according to terrestrial reference map or grating map
Obtain vehicle location information in the process of moving, the wireless network signal include but is not limited to 2G, 3G, 4G or wifi without
Line network signal.
The update module 104 acquires the signal strength for the wireless network signal that the vehicle receives in the process of moving
Detailed process and the acquisition processing module 101 acquire wireless network signal that the vehicle receives in the process of moving
The process of signal strength is identical, and details are not described herein.
Since the signal strength of each wireless network signal corresponds to a location point, the new nothing of the location point is got
The signal strength of the corresponding wireless network signal of original position point is replaced with new wireless network by the signal strength of line network signal
The signal strength of signal.
Wherein, in an embodiment, the update module 104 is according to strong to the signal acquired in preset time period
The statistical analysis of degree updates the signal strength.
For example, same position point repeatedly gets the signal strength of wireless network signal in one month, it can take and repeatedly obtain
Signal strength of the mean value of the signal strength for the wireless network signal got as the wireless network signal for updating the location point.
In conclusion the embodiment of the present invention is when constructing map, while acquiring the nothing that vehicle receives in the process of moving
The signal strength of line network signal, and signal strength is stored and is shown in the grating map of building, being formed has network letter
The map of number intensity, vehicle can or change navigation routine determining according to the map with network signal intensity, be autonomous parking
Effective supplementary means is provided, while the embodiment of the present invention can constantly update the signal strength in map in vehicle location,
Improve the signal strength display precision with the map of network signal intensity, present invention useful application value with higher and city
Field prospect.So the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, includes that institute is complete without departing from the spirit and technical ideas disclosed in the present invention for usual skill in technical field such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (12)
1. a kind of map constructing method of band signal intensity, it is characterised in that: the map constructing method packet of the band signal intensity
It includes:
When any vehicle is map structuring mode construction map, obtains vehicle location information in the process of moving and acquire institute
State the signal strength for the wireless network signal that vehicle receives in the process of moving；
Determine the corresponding relationship of the location information and the signal strength；
The signal strength is stored and shown in the grating map of building based on the corresponding relationship, being formed has network signal
The map of intensity.
2. the map constructing method of band signal intensity described in claim 1, it is characterised in that: the map of the band signal intensity
Construction method further include:
When any vehicle is digital map navigation mode, determined according to the signal strength on the map with network signal intensity
Or change navigation routine.
3. the map constructing method of band signal intensity according to claim 1, it is characterised in that: the band signal intensity
Map constructing method further include:
When any vehicle is that Orientation on map mode positions vehicle, the location information of vehicle in the process of moving is obtained simultaneously
Acquire the signal strength for the wireless network signal that the vehicle receives in the process of moving；
Determine the corresponding relationship of the location information and the signal strength；
The signal strength is updated in the grating map of building based on the corresponding relationship.
4. the map constructing method of band signal intensity according to claim 2, it is characterised in that: described to be based on the correspondence
Relationship is updated in the grating map of building in the signal strength, according to the signal strength acquired in preset time period
Statistical analysis update the signal strength.
5. the map constructing method of band signal intensity according to claim 1, it is characterised in that: the acquisition vehicle
The signal strength of the wireless network signal received in the process of moving specifically includes:
It establishes the TCP network linking of vehicle and background server and timing handshake connects；
Record the network delay for connection of shaking hands each time；
The signal strength of corresponding wireless network signal is obtained according to the network delay.
6. a kind of map structuring system of band signal intensity, it is characterised in that: the map structuring system packet of the band signal intensity
It includes:
Acquisition processing module, for obtaining vehicle in the process of moving when any vehicle is map structuring mode construction map
Location information and acquire the signal strength of the wireless network signal that the vehicle receives in the process of moving, and described in determining
The corresponding relationship of location information and the signal strength；
Map Fusion Module, for storing and showing that the signal is strong in the grating map of building based on the corresponding relationship
Degree forms the map with network signal intensity.
7. the map structuring system of band signal intensity according to claim 6, it is characterised in that: the band signal intensity
Map structuring system further include:
Path planning module is used for when any vehicle is digital map navigation mode, according to the ground with network signal intensity
Signal strength on figure is determining or changes navigation routine.
8. the map structuring system of band signal intensity according to claim 6, it is characterised in that: the band signal intensity
Map structuring system further include:
Update module, for obtaining vehicle in driving process when any vehicle is that Orientation on map mode positions vehicle
In location information and acquire the signal strength of the wireless network signal that the vehicle receives in the process of moving, determine described in
Location information and the corresponding relationship of the signal strength and described in being updated in the grating map of building based on the corresponding relationship
Signal strength.
9. the map structuring system of band signal intensity according to claim 8, it is characterised in that: the update module according to
The signal strength is updated to the statistical analysis of the signal strength acquired in preset time period.
10. the map structuring system of band signal intensity according to claim 6, it is characterised in that: the acquisition process mould
Under type acquires the signal strength of the wireless network signal that the vehicle receives in the process of moving to root tuber accordingly: establishing vehicle
It is connect with the TCP network linking of background server and timing handshake, records the network delay for connection of shaking hands each time and according to institute
State the signal strength that network delay obtains corresponding wireless network signal.
11. a kind of car-mounted terminal, including processor and memory, the memory are stored with program instruction, it is characterised in that: institute
It states processor operation program instruction and realizes step in method according to any one of claims 1 to 5.
12. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in method according to any one of claims 1 to 5 is realized when execution.
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| CN110296708A (en) * | 2019-07-01 | 2019-10-01 | 百度在线网络技术（北京）有限公司 | Lines of operation planing method, device and storage medium |
| CN111071263A (en) * | 2019-12-09 | 2020-04-28 | 苏州智加科技有限公司 | Control method, device, system and equipment for automatically driving vehicle |
| CN111664861A (en) * | 2020-06-02 | 2020-09-15 | 北京百度网讯科技有限公司 | Navigation prompting method, device, equipment and readable storage medium |
| CN111982109A (en) * | 2019-05-24 | 2020-11-24 | 北京百度网讯科技有限公司 | Method, apparatus, device and computer-readable storage medium for path planning |
| CN112312352A (en) * | 2019-07-29 | 2021-02-02 | 丰田自动车株式会社 | Remote operation system, computer-readable storage medium, and vehicle |
| CN113063433A (en) * | 2021-03-24 | 2021-07-02 | 维沃移动通信有限公司 | Navigation route display method and device |
| CN113253725A (en) * | 2021-05-11 | 2021-08-13 | 北京京东乾石科技有限公司 | Robot path planning method and device, storage medium and electronic equipment |
| CN113838359A (en) * | 2019-01-16 | 2021-12-24 | 北京百度网讯科技有限公司 | Map data acquisition method, device, equipment and storage medium |
| CN115509227A (en) * | 2022-09-16 | 2022-12-23 | 未岚大陆(北京)科技有限公司 | Control method of autonomous mobile device and related device |
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