CN109459049A - A kind of vehicle location and air navigation aid, system - Google Patents
A kind of vehicle location and air navigation aid, system Download PDFInfo
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- CN109459049A CN109459049A CN201811535546.1A CN201811535546A CN109459049A CN 109459049 A CN109459049 A CN 109459049A CN 201811535546 A CN201811535546 A CN 201811535546A CN 109459049 A CN109459049 A CN 109459049A
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- navigation
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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
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
Abstract
The present invention relates to the technical field of navigator fix, disclose a kind of vehicle location and air navigation aid: mobile terminal reads the location data of the navigation equipment of vehicle, to obtain the location information of vehicle instantly；In the display interface of mobile terminal, target location is set；According to the positional information and target location generates first path planning information, and the head-up display module of vehicle shows the first navigation routine on high-precision map accordingly.Correspondingly, vehicle location and navigation system, including mobile terminal and navigation equipment are also disclosed.Some navigation equipment data having the technical effect that using mobile terminal load vehicle of the invention, to carry out navigation programming so that in driving procedure, facilitate except driver other people the navigation routine that head-up display module is shown is adjusted immediately；Mobile terminal may not need the movement for carrying out load map self by external network and being positioned simultaneously, improves operating efficiency and saves resource.
Description
Technical field
The present invention relates to the technical field of navigator fix, in particular to a kind of vehicle location and air navigation aid, system.
Background technique
HUD (head up display, it can be understood as " head-up display ") is from flight auxiliary is used primarily for nowadays making
Surface carrier, technology and function are applied in continuous extension and promotion to drive auxiliary machine.
In existing product, some HUD can connect the navigator of vehicle and show the navigation screen of road grade in the glass that keeps out the wind
On glass, some HUD then show navigation screen on included liquid crystal display；There are also some HUD built-in positioning and navigation features
Module, provide the navigation of road grade for driver.
HUD in the technology that is combined of navigation, have a large amount of newest research directions by patent document be it is known known to,
Such as:
A kind of patent text of Publication No. " CN108657188A " entitled " driver's driving technology online evaluation system "
Offer the content for disclosing and showing driver's operation level using HUD；
Publication No. " CN108459415A " entitled " a kind of head-up display, head-up display method and vehicle " it is special
Sharp document, which is disclosed, shows posture by monitoring vehicle attitude so as to adjust HUD, to improve the content of navigation experience degree；
A kind of patent document of Publication No. " CN207676046U " entitled " vehicle-mounted head-up-display system " discloses logical
It crosses the improvement to HUD optical module and reduces manufacture difficulty and improve the content of image quality；
Publication No. " CN108195387A " entitled " AR-HUD navigation system and its GPS data verify modification method "
Patent document, which is disclosed, carries out verification amendment in time so that the display animation to navigate in AR-HUD product becomes more to GPS data
Accurately, smooth content.
However, majority HUD is controlled in the product in conjunction with navigation equipment or operation is the operation by console at present
Interface or HUD included operation interface is completed, and flexibility ratio still has improved space.
Summary of the invention
To solve aforementioned technical problem, the invention proposes a kind of vehicle location and air navigation aids, and technical solution is such as
Under:
A kind of vehicle location and air navigation aid: mobile terminal reads the location data of the navigation equipment of vehicle, to obtain
Obtain the location information of vehicle instantly；In the display interface of mobile terminal, target location is set；According to the positional information and mesh
It marks place and generates first path planning information, the head-up display module of vehicle shows the first navigation on high-precision map accordingly
Route.
Preferably, the satellite earth antenna of navigation equipment is obtained to the relative distance on vehicle body boundary；
Vehicle body mould is shown according to vehicle location information instantly and relative distance, head-up display module with actual proportions
Real time position of the type on high-precision map.
Preferably, when first path planning information is two or more, therefrom selected by mobile terminal one article as the
One navigation routine；When vehicle driving deviates Present navigation route, the second route planning information is automatically generated；When the second path is advised
When to draw information be two or more, one is automatically selected as the second navigation routine according to setting condition be immediately shown in head-up and is aobvious
Show in module, the display interface of mobile terminal keeps showing the second all route planning informations in the active state, for making
Navigation routine needed for user switches.
Preferably, described impose a condition includes: in the second route planning information, with most short navigation distance or most short-range missile endurance
Between as the second navigation routine selection standard.
Preferably, when vehicle driving deviates Present navigation route, prompt whether to need to carry out planning navigation again first
Route；When with the first instruction feedback, the second route planning information is then automatically generated；When with the second instruction feedback, then generate by
Vehicle is guided to the third route planning information for deviateing preceding position, and shows third navigation road by head-up display module
Line.
Preferably, in vehicle travel process, if in set distance in a forward direction without disposable lane when, head-up
Display module carries out navigation screen to reduce display and increases transparency.
Preferably, during the navigation process, it when needing changing Lane according to the navigation routine set instantly, calculates to deviate and be somebody's turn to do
Cost is paid needed for navigation routine, and is prompted；Required cost of paying includes switching to other because deviateing the navigation routine
The distance additionally driven needed for navigation routine or time.
Preferably, mobile terminal is interacted with CORS positioning service self by network and is obtained about the high-precision fixed of itself
Position information；The location information of mobile terminal is compared with the location information of vehicle instantly, if deviation is greater than the set value,
It is prompted.
Preferably, position mark object with a scale is arranged to be marked near satellite earth antenna, and when needed according to position
The scale of note object measures offset of the satellite earth antenna compared to original installation when；According to offset, by mobile whole
Introduced Malaria number is held, the relative distance of the satellite earth antenna Yu vehicle body boundary is corrected.
Correspondingly, the invention also discloses the vehicle locations and navigation system of application preceding method, it includes described
Mobile terminal and navigation equipment.
Some navigation equipment data having the technical effect that using mobile terminal load vehicle of the invention, thus
Navigation programming is carried out, so that in driving procedure, other people navigation roads that head-up display module is shown for facilitating except driver
Line is adjusted immediately；Mobile terminal, which may not need, simultaneously carries out load map self by external network and is positioned
Movement, improves operating efficiency and saves resource.
It is embodied in hereafter about being described in detail for technical effect.
Detailed description of the invention
Technical solution for a better understanding of the invention, can refer to it is following, for being carried out to the prior art or embodiment
The attached drawing of aid illustration.These attached drawings will be in the prior art or section Example of the present invention, and the product or method being related to have
Selectively it is shown.The essential information of these attached drawings is as follows:
Fig. 1 is grade navigation display mode schematic diagram in lane of the present invention in one embodiment；
Fig. 2 is in one embodiment, and synchronization mobile terminal shows showing for content different from head-up display module
It is intended to.
In above-mentioned attached drawing, appended drawing reference and its corresponding technical characteristic are as follows:
1- mark line；2- Car body model；Main contents in 3- mobile terminal display interface；4- head-up display module is corresponding
Imaging interfaces in main contents.
Specific embodiment
Further expansion description will hereafter be made to technological means of the present invention or technical effect, it is clear that provided
Embodiment be only some embodiments of the invention, and it is and not all.Based on the embodiments of the present invention and picture and text it is bright
Showing or implies, those skilled in the art can be obtained every other embodiment without creative labor,
It all will be within the scope of protection of the invention.
In one embodiment, a kind of vehicle location and air navigation aid: the navigation equipment of mobile terminal reading vehicle
Location data (location data include at least location information), to obtain the location information of vehicle instantly；In the aobvious of mobile terminal
Show that target location is arranged in interface；According to the positional information and target location generates first path planning information, and vehicle is put down
The first navigation routine is shown on high-precision map accordingly depending on display module.
Compared to the prior art, using the navigation equipment data of mobile terminal load vehicle, to carry out navigation rule
Draw so that in driving procedure, facilitate except driver other people the navigation routine that head-up display module show is carried out immediately
Adjustment；In addition mobile terminal is not necessarily to carry out load map self by external network and be positioned in some embodiments
Movement, improves operating efficiency and saves resource.
In some embodiments, high-precision map can be stored in advance in mobile terminal, it at this time only need to be to navigation equipment
Obtain the location information about vehicle instantly；In some embodiments, the location data that mobile terminal can be read further includes high-precision
Spend map datum；In some embodiments, mobile terminal can preselect storage general map data, and reading vehicle, position is believed instantly
After breath, navigation programming (including setting target location) is carried out according to general map data, the number of mobile terminal can be reduced in this way
According to transmission or treating capacity.In short, mobile terminal display interface show map, it is not necessary to need with head-up display module it is corresponding at
As the map of showing interface is consistent precision.
Smart phone, tablet computer etc., which generally can be used, in the mobile terminal has included display, operation interface, channel radio
The equipment of communication function.Under some cases, mobile terminal is also possible to the remote controler specially designed for navigation equipment.It is mobile whole
End and the communication modes of navigation equipment have included at least wireless telecommunications.
Navigation equipment may include satellite positioning module, inertia measuring module, navigation mould in some embodiments
Block, communication module and head-up display module.
Satellite positioning module is can generally to use RTK technology for providing the key modules of high accuracy positioning.Satellite
Positioning is merged with inertia measurement data, and numerous prior arts or algorithm can be used, do not make to be unfolded herein.More specific one
In a embodiment, satellite positioning module includes satellite earth antenna and Differential positioning unit；RTD built in the Differential positioning unit
And/or RTK algorithm routine.Under complicated urban environment, the way of continuous precise positioning may is that processing module first from one
A serial ports obtains the raw position data (i.e. general location data) of Differential positioning unit, and position data is NMEA format.Processing
Module is wirelessly communicated with the data center of CORS server by communication module, and general location data are passed through
NTRIP agreement is sent to data center, and communication mode is based on ICP/IP protocol, and the data format of data protocol NTRIP, return are
RTCM, data-link obtain differential corrections data (i.e. CORS service data) from the CORS server of data center.Processing module from
Differential corrections data are input to Differential positioning unit by another serial ports, and Differential positioning unit can export revised height from serial ports
Precision position data.Differential positioning unit uses RTK or RTD algorithm, and the height of RTCM standard is calculated and outputted according to differential corrections value
Precision location data, positioning accuracy is in Centimeter Level.When satellite-signal blocks, before processing module is blocked according to satellite-signal
The data of position data and inertia measuring module, extrapolating satellite-signal has exact position when blocking, obtains high accuracy positioning
Data.In principle, when satellite blocks, processing module passes through fusion high accuracy positioning result and Inertial Measurement Unit
As a result, high-precision positioning is obtained, the driving experience for improving equipment positioning accuracy, improving user.
Communication module, for sending general location data for the satellite positioning module and receiving CORS service data
(including correction, for improving positional accuracy)；The communication module can be by several unit groups with communication function
At dispersiblely these communication units are coupled to the other functions module such as satellite positioning module, inertia measuring module.Certainly, lead to
News module can also be other concrete forms in the prior art.
Head-up display module, using the display technology of HUD.Existing HUD is a kind of projection device, its effect is handle
On image projecting to the windscreen or transparent projection screen of vehicle, driver does not need to bow it can be seen that navigating and vehicle row
Sail information, thus reduce because bow watch the instruments caused by traffic accident, increase the safety of driving procedure.Head-up display module
Effect is to show the information of navigator fix, makes driver that can see this with can be convenient while seeing vehicle front road
A little information.When directly adopt existing matured product (such as HUD) as " head-up display module " in use, at this time " head-up is aobvious
Show module " it is also possible to that there are other build-in functions, such as data processing, wireless telecommunications.In some embodiments, head-up display
Module can be only one piece of display screen being set on windshield；In some embodiments, head-up display module is also possible to
One can project navigator fix information the equipment to windshield.
Processing module, for by satellite positioning module and inertia measuring module generation different types of location data into
Row processing obtains high accuracy positioning information, and it is matched with the high-precision cartographic information that navigation module provides and is obtained
High-precision navigation information.High-precision cartographic information may include road attribute (such as number of track-lines, road construction shape in terms of content
State), lane model (such as lane line, lane line curvature, lane center, lane grouping), (such as the traffic of means of transportation model
Lamp, bridge, zebra stripes) etc..
In some embodiments, satellite positioning module, inertia measuring module, navigation module, communication module and head-up display
Module etc. can integrate within a shell；In some other embodiment, these modules are also possible to split type.
Existing navigation equipment product, the usually navigation of road grade, driver can only roughly know the current position of vehicle
In on which road, which lane being currently located on the road can not be accurately learnt, it is even more impossible to know vehicle in the tool in lane
Body position.Based on this defect, the present invention proposes that in one embodiment, the satellite earth antenna for obtaining navigation equipment arrives
The relative distance on vehicle body boundary；According to vehicle location information instantly and relative distance, head-up display module is with actual proportions
Show real time position of the Car body model on high-precision map.Fig. 1 shows a kind of scene under the embodiment: Car body model
2 are located at the inside of mark line 1.Under the scene, Car body model 2 is processed into a rectangle, and (under other embodiments, Car body model can
To be other shapes), data processing operation amount can be greatly reduced in this way.When recognizing satellite earth antenna relative to vehicle side
The relative distance on boundary (i.e. four sides of Car body model 2) can combined high precision map in conjunction with known vehicle itself length and width information
Obtain vehicle boundary and (such as lane line) distance of mark line 1 L1, L2, L3, L4.A kind of side that head-up display module is shown
Formula, can be as shown in Figure 1, naturally it is also possible to have other display modes.Mark line 3 is also possible to the reference line that stops, Huo Zheche
The graticule of position, is also not excluded for being other mark lines certainly.Anyway, such high-precision display mode, can make driver
It more easily determines in traveling, docking process with the presence or absence of crimping behavior.
In one embodiment, due to the possible more than one of the route of navigation starting point to target endpoint, when first path is advised
Draw information be two or more when, therefrom selected by mobile terminal one as the first navigation routine；When vehicle driving deviation is worked as
When preceding navigation routine, the second route planning information is automatically generated；When the second route planning information is two or more, according to setting
Condition automatically selects one and is immediately shown in head-up display module as the second navigation routine, the display interface of mobile terminal
It keeps showing the second all route planning informations in the active state, navigation routine needed for switching for user.Fig. 2 is brief
Ground shows a kind of specific situation, in the main contents 3 in mobile terminal display interface, there is 3 optional paths, i.e. the second tunnel
Diameter planning information (may be used also in other embodiments other than the mode of route available figure is shown by the second route planning information
To be shown in a manner of character express)；In main contents 4 in the corresponding imaging interfaces of head-up display module, only show
Wherein a paths, i.e. the second navigation routine.This embodiment offers deviate the one of navigation in driving procedure about vehicle
Kind processing mode: deviateing the judgement of navigation routine, can pass through the deviation of the position and setting navigation route that calculate vehicle instantly
Distance is solved, and when deviation exceeds certain distance, then can determine that deviate navigation.After deviateing navigation, need in time more
New navigation, i.e., show the second navigation routine on the corresponding imaging interfaces of head-up display module, to guide driver safety, ensure
Drive while target location can be reached；But should not occur a plurality of road on imaging interfaces, otherwise may influence driving experience or judgement,
Therefore only there is the second navigation routine；And all alternative second route planning informations are then shown on mobile terminal at this time,
So that driver or other passengers switch over navigation routine in needly, after switching navigation routine, imaging interfaces are again more
The display of new navigation routine.In view of vehicle may move always, the second route planning information has timeliness (not any
Moment is effective), after vehicle reaches next crossing/lane, route planning information can change (i.e. not in effective status
Under), therefore mobile terminal needs to regenerate route planning information to navigate.
In one embodiment, described impose a condition includes: in the second route planning information, with most short navigation distance or most
The standard that short-range missile ETS estimated time of sailing is selected as the second navigation routine.I.e. in two or more the second route planning informations, selection is pre-
Estimate stroke distances or to estimate journey time shortest, as the second navigation routine.
In one embodiment, when vehicle driving deviates Present navigation route, prompt whether to need to carry out again first
Plan navigation routine；When with the first instruction feedback, the second route planning information is then automatically generated；When with the second instruction feedback,
It then generates and guides the vehicle to the third route planning information for deviateing preceding position, and third is shown by head-up display module
Navigation routine.In the embodiment, the mode of prompt can be sound, picture, vibration etc..User (including driver) can lead to
The first instruction of mobile terminal feedback and the second instruction are crossed, can also be fed back by other operation interfaces.Obtain feedback
Mode includes obtaining touch action, obtaining voice etc..In some embodiments, when user does nothing, then default
It is fed back with the first instruction.In some embodiments, user issues the voice of specific content, then defaults it and refer to second
Order is fed back.In view of some users wish to drive along original navigation routine as far as possible, therefore generate third road
Driver is simultaneously navigated to some position before the navigation routine for deviateing and by diameter planning information, allows to continue according to original
Plan carry out drive be necessary.Existing technology has no such solution.
In one embodiment, in vehicle travel process, if set distance in a forward direction is interior without disposable vehicle
When road, head-up display module carries out navigation screen to reduce display and increases transparency.The imaging interfaces pair of head-up display module
There is the influence blocked in driving vision, when system prejudges in front set distance (such as 500 meters) all without carrying out lane change
When changing, then the content that imaging interfaces are shown can be carried out to diminution and transparence, reduce the influence blocked as far as possible.
In one embodiment, during the navigation process, when needing changing Lane according to the navigation routine set instantly, meter
It calculates and pays cost needed for deviateing the navigation routine, and prompted；Required cost of paying includes cutting because deviateing the navigation routine
Shift to the distance additionally driven needed for other navigation routines or time.More specifically, can be mentioned by way of voice
Show, or is shown on the imaging interfaces of vehicle.Changing Lane above-mentioned is included in same road up conversion lane, or
Person transforms to the lane on different roads, and in the embodiment, navigation equipment is used using the RTK positioning combination of centimetre class precision
Property navigator fix technology.
In one embodiment, mobile terminal interacted self by network with CORS positioning service and obtain about itself
High accuracy positioning information；The location information of mobile terminal is compared with the location information of vehicle instantly, if deviation is greater than
Setting value is then prompted.The technical solution is used to judge in the state of current environment or equipment, if larger positioning occurs and misses
The possibility of poor situation, more specifically, can onboard be arranged about the fixed part of satellite positioning antennas and putting for mobile terminal
Set portion (such as bracket or place platform), when implementing the program, mobile terminal be fixed on placement section, due to fixed part with put
Portion is set with relative constant position, is convenient for the setting of setting value and the calculating of deviation.
In one embodiment, position mark object with a scale is set near satellite earth antenna, and root when needed
Offset of the satellite earth antenna compared to original installation when is measured according to the scale of position mark object；According to offset, lead to
Mobile terminal Introduced Malaria number is crossed, the relative distance of the satellite earth antenna Yu vehicle body boundary is corrected.
The relative distance on satellite earth antenna and vehicle body boundary be for judge vehicle whether the important parameter of crimping, when defending
The relative position of star receiving antenna and vehicle body shifts when changing, and relative distance changes therewith, so that it is aobvious to affect head-up
Show that module shows accurate location of the Car body model on high-precision map.
Correspondingly, the invention also discloses the vehicle locations and navigation system of application preceding method, it includes described
Mobile terminal and navigation equipment.Mobile terminal and vehicle-mounted navigation equipment cooperate, and drive peace for improving
Whole step, driving experience degree etc. play the role of good.Each component of navigation equipment, which can be, discrete is also possible to one
Body formula, depend on the requirement of specific implementation occasion.
It should be noted that " being used for " described in above is interpreted as " being mainly used for " and but should not be understood as " being served only for ".
In the knowledge that meets those skilled in the art and
Within the scope of ability level, the various embodiments or technical characteristic being mentioned above in the absence of conflict, can be with
It is combined with each other as other alternative embodiment, these are not set out coming, special by the technology of limited quantity one by one
Sign combination formed limited quantity alternative embodiment, still fall within the invention discloses technical scope in, be also art technology
Personnel can be appreciated in conjunction with attached drawing and above or infer and obtain.
Finally it is stressed again that embodiment cited hereinabove is only used for for more typical, preferred embodiment of the invention
It is described in detail, explains technical side of the invention
Case, in order to reader's understanding, the protection scope being not intended to limit the invention or application.
Therefore, any modification, equivalent replacement, improvement and so on and the skill that obtains within the spirit and principles in the present invention
Art scheme should be all included within protection scope of the present invention.
Claims (10)
1. a kind of vehicle location and air navigation aid, it is characterised in that:
Mobile terminal reads the location data of the navigation equipment of vehicle, to obtain the location information of vehicle instantly；
In the display interface of mobile terminal, target location is set；
According to the positional information and target location generates first path planning information, and the head-up display module of vehicle exists accordingly
The first navigation routine is shown on high-precision map.
2. vehicle location according to claim 1 and air navigation aid, it is characterised in that:
The satellite earth antenna of navigation equipment is obtained to the relative distance on vehicle body boundary；
Show that Car body model exists according to vehicle location information instantly and relative distance, head-up display module with actual proportions
Real time position on high-precision map.
3. vehicle location according to claim 1 and air navigation aid, it is characterised in that:
When first path planning information be two or more when, therefrom selected by mobile terminal one as the first navigation routine；
When vehicle driving deviates Present navigation route, the second route planning information is automatically generated；
When the second route planning information is two or more, one is automatically selected according to setting condition and is used as the second navigation routine i.e.
When be shown in head-up display module, the display interface of mobile terminal keeps showing all the second path in the active state
Planning information, navigation routine needed for switching for user.
4. vehicle location according to claim 3 and air navigation aid, it is characterised in that:
The setting condition includes: in the second route planning information, using most short navigation distance or most short-range missile ETS estimated time of sailing as second
The standard of navigation routine selection.
5. vehicle location according to claim 3 and air navigation aid, it is characterised in that:
When vehicle driving deviates Present navigation route, prompt whether to need to be planned navigation routine again first；
When with the first instruction feedback, the second route planning information is then automatically generated；
When with the second instruction feedback, then generates and guide the vehicle to the third route planning information for deviateing preceding position, and lead to
It crosses head-up display module and shows third navigation routine.
6. vehicle location according to claim 1 and air navigation aid, it is characterised in that:
In vehicle travel process, if in set distance in a forward direction without disposable lane when, head-up display module will
Navigation screen carries out reducing display and increases transparency.
7. vehicle location according to claim 1 and air navigation aid, it is characterised in that:
During the navigation process, it when needing changing Lane according to the navigation routine set instantly, calculates and deviates the navigation routine institute
Cost need to be paid, and is prompted；
It is required pay cost include the distance additionally driven needed for switching to other navigation routines because deviateing the navigation routine or
Person's time.
8. vehicle location according to claim 1 and air navigation aid, it is characterised in that:
Mobile terminal interacts with CORS positioning service self by network and obtains the high accuracy positioning information about itself；
The location information of mobile terminal is compared with the location information of vehicle instantly, if deviation is greater than the set value, into
Row prompt.
9. vehicle location according to claim 2 and air navigation aid, it is characterised in that:
Position mark object with a scale is set near satellite earth antenna, and is surveyed when needed according to the scale of position mark object
Measure offset of the satellite earth antenna compared to original installation when；
According to offset, by mobile terminal Introduced Malaria number, correct the satellite earth antenna and vehicle body boundary it is opposite away from
From.
10. a kind of vehicle location and navigation system, it is characterised in that:
Including the described in any item mobile terminals of claim 1 to 9 and navigation equipment.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111854790A (en) * | 2020-07-22 | 2020-10-30 | 海尔优家智能科技（北京）有限公司 | Display method and device of positioning information, storage medium and electronic device |
| CN112902978A (en) * | 2019-11-19 | 2021-06-04 | 长城汽车股份有限公司 | Navigation route generation method and device and vehicle |
| CN112966059A (en) * | 2021-03-02 | 2021-06-15 | 北京百度网讯科技有限公司 | Data processing method and device for positioning data, electronic equipment and medium |
| CN113551684A (en) * | 2021-07-30 | 2021-10-26 | 中国第一汽车股份有限公司 | Multi-screen interaction navigation method and device, electronic equipment and storage medium |
| CN114312834A (en) * | 2020-03-26 | 2022-04-12 | 华为技术有限公司 | Driving control method and device |
| CN114579019A (en) * | 2020-11-18 | 2022-06-03 | 博泰车联网(南京)有限公司 | Control method of vehicle navigation, mobile device, vehicle terminal and navigation system |
| CN115638797A (en) * | 2022-10-19 | 2023-01-24 | 中国标准化研究院 | Navigation system containing convenient trip of new energy automobile |
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