CN111060120A - Navigation method, navigation device and vehicle - Google Patents
Navigation method, navigation device and vehicle Download PDFInfo
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- CN111060120A CN111060120A CN201811206271.7A CN201811206271A CN111060120A CN 111060120 A CN111060120 A CN 111060120A CN 201811206271 A CN201811206271 A CN 201811206271A CN 111060120 A CN111060120 A CN 111060120A
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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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
Abstract
The application relates to a navigation method, a navigation device and a vehicle, wherein the navigation method comprises the following steps: receiving a navigation route planning instruction; generating at least one navigation route according to the information of the departure place and the destination, wherein the at least one navigation route comprises a congestion avoiding route; when the congestion-avoiding route is used for navigation, calculating the suggested speed or the suggested speed range of the vehicle running to the next intersection according to the position of the vehicle, the signal light information of the congestion-avoiding route and the speed limit information; and displaying the suggested speed or the suggested speed range according to a preset mode. By the method, when the user uses the route avoiding congestion to navigate, the suggested speed or the suggested speed range of the vehicle running to the next intersection can be provided for the user, so that the user can fast pass through each intersection while avoiding congestion, and the user experience is good.
Description
Technical Field
The application relates to the technical field of navigation, in particular to a navigation method, a navigation device and a vehicle.
Background
With the rapid development of automobile industry and the improvement of living standard of people in China, the quantity of automobiles owned by families of residents is rapidly increased, and the automobiles gradually become one of indispensable transportation means in the life of people. However, many times, the user cannot know the destination to be reached, or the real-time road conditions, the road opening and closing conditions and the like in time, so that the navigation related products can be produced at the right moment. Among them, navigation devices based on GPS (global positioning system) technology are well known and widely used as in-vehicle navigation systems. In general, a GPS-based navigation device relates to a computing device that is capable of determining its global position in a functional connection with an external (or internal) GPS receiver. Further, the computing device is capable of determining a route between a start address and a destination address, which may be input by a user of the computing device. Typically, the computing device is enabled by software for computing an optimal route between the start address location and the destination address location based on data such as a map database, traffic information, etc., including a variety of routes that are shortest, shortest in time, congestion avoided, etc.
According to user preferences, some users prefer to select a route avoiding congestion for driving, however, green wave band cooperative control is less adopted for the road avoiding congestion, and users cannot know the optimal driving speed of the current road to quickly pass through the next intersection in the driving process, so that even if the users select the route avoiding congestion for driving, the travel time can be increased due to long waiting time of traffic lights, and the user experience is poor.
Disclosure of Invention
An object of the present application is to provide a navigation method, a navigation apparatus, and a vehicle, which can solve the above technical problems, and provide a suggested speed or a suggested speed range for a vehicle to travel to a next intersection for a user when the user uses an anti-congestion route to navigate, so that the user can quickly pass through each intersection while avoiding congestion, and the user experience is good.
In order to solve the above technical problem, the present application provides a navigation method, including:
receiving a navigation route planning instruction;
generating at least one navigation route according to the information of the departure place and the destination, wherein the at least one navigation route comprises an anti-congestion route;
when the congestion avoiding route is used for navigation, calculating the suggested speed or the suggested speed range of the vehicle running to the next intersection according to the position of the vehicle, the signal light information and the speed limit information of the congestion avoiding route;
and displaying the suggested speed or the suggested speed range according to a preset mode.
Wherein the displaying the suggested speed or the suggested speed range according to a preset manner includes:
when an instruction for displaying a suggested speed is received, displaying the suggested speed or the suggested speed range; alternatively, the first and second electrodes may be,
displaying the suggested speed or suggested speed range during navigation using the avoided congested route.
Wherein the method further comprises:
acquiring the real-time running speed of the vehicle;
and outputting corresponding vehicle speed adjustment reminding according to the numerical relation between the real-time running speed and the suggested speed or the suggested speed range.
Wherein, the outputting of the corresponding vehicle speed adjustment prompt according to the numerical relationship between the real-time running speed and the suggested speed or the suggested speed range comprises:
if the real-time running speed is greater than the suggested speed or greater than the upper limit value of the suggested speed range, outputting a prompt for reducing the speed;
if the real-time running speed is smaller than the suggested speed or smaller than the lower limit value of the suggested speed range, outputting a prompt for increasing the speed;
and if the real-time running speed is equal to the suggested speed or within the suggested speed range, outputting a prompt for keeping the vehicle speed.
Wherein the method further comprises:
and displaying real-time signal lamp information of the next intersection, wherein the real-time signal lamp information comprises the color of the lamp and countdown.
Wherein the method further comprises:
judging whether a congestion avoiding route needs to be re-planned or not according to the real-time road information;
if the congestion avoidance route needs to be re-planned, displaying the re-planned congestion avoidance route, calculating a suggested speed or a suggested speed range of the vehicle to the next intersection according to the position of the vehicle, signal lamp information and speed limit information of the re-planned congestion avoidance route, and entering the step of displaying the suggested speed or the suggested speed range according to a preset mode.
The present application also provides a navigation device comprising a memory and a processor, the memory storing at least one program instruction, the processor implementing the following method by loading and executing the at least one program instruction:
receiving a navigation route planning instruction;
generating at least one navigation route according to the information of the departure place and the destination, wherein the at least one navigation route comprises an anti-congestion route;
when the congestion avoiding route is used for navigation, calculating the suggested speed or the suggested speed range of the vehicle running to the next intersection according to the position of the vehicle, the signal light information and the speed limit information of the congestion avoiding route;
and displaying the suggested speed or the suggested speed range according to a preset mode.
Wherein the processor shows the suggested speed or the suggested speed range according to a preset mode, including:
when an instruction for displaying a suggested speed is received, displaying the suggested speed or the suggested speed range; alternatively, the first and second electrodes may be,
displaying the suggested speed or suggested speed range during navigation using the avoided congested route.
Wherein the processor is further configured to:
acquiring the real-time running speed of the vehicle;
and outputting corresponding vehicle speed adjustment reminding according to the numerical relation between the real-time running speed and the suggested speed or the suggested speed range.
The present application also provides a vehicle comprising a navigation device as described above.
According to the navigation method, the navigation device and the vehicle, after a navigation route planning instruction is received, at least one navigation route is generated according to information of a departure place and a destination, the at least one navigation route comprises an anti-congestion route, when the anti-congestion route is used for navigation, the suggested speed or the suggested speed range of the vehicle to run to the next intersection is calculated according to the position of the vehicle, signal lamp information of the anti-congestion route and speed limit information, and the suggested speed or the suggested speed range is displayed according to a preset mode. By the method, when the user uses the route avoiding congestion to navigate, the suggested speed or the suggested speed range of the vehicle running to the next intersection can be provided for the user, so that the user can fast pass through each intersection while avoiding congestion, the travel time of the user is reduced, and the user experience is good.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical means of the present application more clearly understood, the present application may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present application more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a flow diagram illustrating a navigation method according to an exemplary embodiment.
Fig. 2 is a block diagram of a navigation device according to an exemplary embodiment.
Detailed Description
To further explain the technical means and effects of the present application for achieving the intended application, the following detailed description is provided with specific embodiments, methods, steps, structures, features and effects of the navigation method, device and vehicle according to the present application in combination with the accompanying drawings and preferred embodiments.
The foregoing and other technical matters, features and effects of the present application will be apparent from the following detailed description of preferred embodiments, which is to be read in connection with the accompanying drawings. While the present application is susceptible to embodiment and specific details, specific reference will now be made in detail to the present disclosure for the purpose of illustrating the general principles of the invention.
FIG. 1 is a flow diagram illustrating a navigation method according to an exemplary embodiment. Referring to fig. 1, the navigation method of the present embodiment includes, but is not limited to, the following steps:
When a user needs to use navigation to go to a destination, a navigation route planning instruction can be triggered by inputting the destination and clicking a start button on a navigation device, wherein the navigation device is a smart phone, a vehicle-mounted navigation and the like.
And 120, generating at least one navigation route according to the information of the departure place and the destination, wherein the at least one navigation route comprises an out-of-congestion route.
The navigation device generates at least one navigation route according to information of a departure place and a destination after receiving a navigation route planning instruction, the departure place can be obtained according to real-time positioning information of a vehicle or input by a user in advance, the navigation route generated by the navigation device at least comprises a congestion avoiding route, and can also comprise navigation routes such as a distance shortest route and a time shortest route, and calculation methods of the navigation routes such as the congestion avoiding route, the distance shortest route and the time shortest route are well known by the technical personnel in the field and are not described herein again. After the navigation routes are generated, the user can select one of the routes to start navigation according to needs.
And step 130, when the congestion-avoiding route is used for navigation, calculating the suggested speed or the suggested speed range of the vehicle to the next intersection according to the position of the vehicle, the signal light information of the congestion-avoiding route and the speed limit information.
When a user selects to use the congestion-avoiding route for navigation, the navigation device firstly acquires the real-time position of the vehicle, signal lamp information of each intersection along the congestion-avoiding route and speed limit information of each road section, wherein the signal lamp information comprises the current lamp color of the signal lamp, the countdown of the current lamp color and the total timing of each lamp color, the speed limit information comprises the highest speed limit, the lowest speed limit or the speed of a green wave band of each road section, and then the navigation device calculates the suggested speed or the suggested speed range of the vehicle running to the next intersection according to the acquired data, wherein the suggested speed or the suggested speed range is used for guiding the user to drive the vehicle at a proper running speed so as to drive the vehicle at a reasonable speed without waiting for a red light when passing the next intersection or needing to wait for the red light when passing the next intersection.
After the vehicle is interconnected with a smart city and a traffic system through an internet of vehicles network, the satellite can connect the traffic system with a vehicle terminal, and at the moment, the navigation device can acquire signal lamp information avoiding various intersections along a congested route in real time.
The first is eMBB (enhanced Mobile Broadband), which enables the user experience rate to be 0.1-1 gpbs, the peak rate to be 10 gpbs, and the traffic density to be 10Tbps/km2；
The second ultra-reliable low-delay communication can be realized by using the method, the main index is that the end-to-end time delay is in the ms (millisecond) level, and the reliability is close to 100%;
the third is mMTC (massive machine type communication), the main index which can be realized by the method is the connection number density, 100 ten thousand other terminals are connected per square kilometer, and the connection number density is 10^6/km2。
In actual implementation, the suggested speed or suggested speed range may be calculated by:
calculating the distance L between the vehicle and the next intersection according to the position of the vehicle;
acquiring the current light color and countdown time Ta of a signal lamp of the next intersection;
if the current light color of the signal lamp of the next intersection is green, the minimum recommended running speed is L/Ta, the maximum recommended running speed is the highest speed limit Vmax of the current road section, when the L/Ta is less than or equal to the highest speed limit Vmax of the current road section, the obtained recommended speed range is that the L/Ta is less than or equal to the V is less than or equal to the Vmax, and when the L/Ta is greater than the highest speed limit Vmax of the current road section, the current running speed or the highest speed limit Vmax of the current road section is taken as the recommended speed V;
if the current light color of the signal lamp at the next intersection is red, Tb when the total number of green lights is obtained, the maximum recommended driving speed is L/Ta, the minimum recommended driving speed is L/(Ta + Tb), and the corresponding recommended speed range L/(Ta + Tb) V-V or L/(Ta + Tb) V-Vmax is obtained according to the size relation between L/Ta and the highest speed limit Vmax of the current road section, or when the current driving speed is in the recommended speed range, a speed value in the recommended speed range or the current driving speed is taken as the recommended speed V.
When the current light color of the signal lamp at the next intersection is green, the vehicle can pass through the green light or can not pass through the green light by adjusting the vehicle speed according to the difference of the countdown time length and the road speed limit, for example, when the minimum recommended driving speed L/Ta is greater than the highest speed limit Vmax of the current road section, the vehicle can not pass through the green light by adjusting the vehicle speed, when the current light color of the signal lamp at the next intersection is red, the vehicle can still encounter the red light or just encounter the green light and pass through when reaching the intersection according to the difference of the countdown time length, for example, when the countdown time length of the red light is longer, the maximum recommended driving speed L/Ta can be lower than the normal driving speed (the lowest speed limit and the like) of the road, so when the maximum recommended driving speed L/Ta is less than the limit speed or the preset speed of the road section, the current running speed can be used as the suggested speed, and the vehicle needs to wait for the red light when arriving at the intersection. The calculation process is performed in real time during the vehicle driving process, but the actual calculation process is not limited thereto, for example, when the distance between the intersections is long, the calculation process may involve a plurality of signal lamp periods of the next intersection, and when the distance between the intersections is short, the calculation process may further perform calculation based on the signal lamp information of a plurality of intersections in succession to obtain an optimal suggested speed or a suggested speed range, for example, when the range of the suggested speed range is large, the suggested speed range may be optimized in combination with the signal lamp information of a plurality of intersections in succession to guide the vehicle to continuously pass through a plurality of road segments and to drive at a smoother speed.
And 140, displaying the suggested speed or the suggested speed range according to a preset mode.
In one embodiment, presenting the suggested speed or the suggested speed range according to a preset manner includes:
when an instruction for displaying the suggested speed is received, displaying the suggested speed or the suggested speed range; alternatively, the first and second electrodes may be,
the suggested speed or the suggested speed range is presented during navigation using the avoided congested route.
After the suggested speed or the suggested speed range is obtained through calculation, the calculated suggested speed or the calculated suggested speed range can be displayed on the navigation interface directly, or the calculated suggested speed range is displayed on the navigation interface when the user selects to display, and the user can adjust the driving speed of the vehicle according to the displayed suggested speed or the suggested speed range so as to drive the vehicle at a reasonable speed without waiting for a red light when passing through the next intersection or under the condition of waiting for the red light when passing through the next intersection.
In one embodiment, the method of the present application further comprises the steps of:
acquiring the real-time running speed of a vehicle;
and outputting corresponding vehicle speed adjustment reminding according to the numerical relation between the real-time driving speed and the suggested speed or the suggested speed range.
In one embodiment, outputting a corresponding vehicle speed adjustment prompt according to a numerical relationship between a real-time travel speed and a suggested speed or a suggested speed range includes:
if the real-time running speed is greater than the suggested speed or greater than the upper limit value of the suggested speed range, outputting a prompt for reducing the speed;
if the real-time running speed is less than the suggested speed or less than the lower limit value of the suggested speed range, outputting a prompt for increasing the speed;
and if the real-time running speed is equal to the suggested speed or within the suggested speed range, outputting a prompt for keeping the vehicle speed.
The real-time driving speed is the current driving speed of the vehicle, and the vehicle speed adjustment reminding can be performed through voice reminding, light reminding and the like, for example, when the light reminding is adopted, a user is reminded to keep the vehicle speed through a green light, the user is reminded to reduce the vehicle speed through a red light, the user is reminded to increase the vehicle speed through a yellow light, the real-time driving speed and the suggested speed or the suggested speed range are displayed on a navigation interface at the same time, and the user is assisted to make the driving adjustment clearly and definitely.
In one embodiment, the method of the present application further comprises:
and displaying the real-time signal lamp information of the next intersection, wherein the real-time signal lamp information comprises the color of the lamp and the countdown.
The navigation interface can also display the real-time signal lamp information of the next intersection at the same time, including the current lamp color of the signal lamp and the current countdown, so that a user has psychological reference when driving the vehicle and can drive the vehicle according to the suggested speed or the suggested speed range as much as possible.
In one embodiment, the method of the present application further comprises:
judging whether a congestion avoiding route needs to be re-planned or not according to the real-time road information;
if the congestion avoidance route needs to be re-planned, displaying the re-planned congestion avoidance route, calculating a suggested speed or a suggested speed range of the vehicle to the next intersection according to the position of the vehicle, signal lamp information and speed limit information of the re-planned congestion avoidance route, and performing a step of displaying the suggested speed or the suggested speed range according to a preset mode.
When the current planned route is used for navigation, the navigation device acquires road condition information of a road in real time to judge whether a congestion avoidance route needs to be re-planned or not, when the congestion avoidance route needs to be re-planned, a new congestion avoidance route is re-planned and generated and the re-planned congestion avoidance route is displayed, then, the suggested speed or the suggested speed range of the vehicle running to the next intersection is calculated according to the position of the vehicle, signal lamp information and speed limit information of the re-planned congestion avoidance route, and the suggested speed or the suggested speed range is displayed according to a preset mode.
According to the navigation method, after a navigation route planning instruction is received, at least one navigation route is generated according to information of a departure place and a destination, the at least one navigation route comprises an avoiding congestion route, when the avoiding congestion route is used for navigation, a suggested speed or a suggested speed range of a vehicle running to a next intersection is calculated according to the position of the vehicle, signal light information of the avoiding congestion route and speed limit information, and the suggested speed or the suggested speed range is displayed according to a preset mode. By the method, when the user uses the route avoiding congestion to navigate, the suggested speed or the suggested speed range of the vehicle running to the next intersection can be provided for the user, so that the user can fast pass through each intersection while avoiding congestion, the travel time of the user is reduced in a real sense, and the user experience is good.
Fig. 2 is a block diagram of a navigation device according to an exemplary embodiment. As shown in fig. 2, the navigation device of the present embodiment includes a memory 210 and a processor 220, the memory 210 stores at least one program instruction, and the processor 220 implements the following method by loading and executing the at least one program instruction:
receiving a navigation route planning instruction;
generating at least one navigation route according to the information of the departure place and the destination, wherein the at least one navigation route comprises a congestion avoiding route;
when the congestion-avoiding route is used for navigation, calculating the suggested speed or the suggested speed range of the vehicle running to the next intersection according to the position of the vehicle, the signal light information of the congestion-avoiding route and the speed limit information;
and displaying the suggested speed or the suggested speed range according to a preset mode.
In one embodiment, the processor 220 presents the suggested speed or the suggested speed range according to a preset manner, including:
when an instruction for displaying the suggested speed is received, displaying the suggested speed or the suggested speed range; alternatively, the first and second electrodes may be,
the suggested speed or the suggested speed range is presented during navigation using the avoided congested route.
In one embodiment, the processor 220 is further configured to:
acquiring the real-time running speed of a vehicle;
and outputting corresponding vehicle speed adjustment reminding according to the numerical relation between the real-time driving speed and the suggested speed or the suggested speed range.
In one embodiment, the processor 220 outputs a corresponding vehicle speed adjustment alert according to the numerical relationship between the real-time travel speed and the recommended speed or the recommended speed range, including:
if the real-time running speed is greater than the suggested speed or greater than the upper limit value of the suggested speed range, outputting a prompt for reducing the speed;
if the real-time running speed is less than the suggested speed or less than the lower limit value of the suggested speed range, outputting a prompt for increasing the speed;
and if the real-time running speed is equal to the suggested speed or within the suggested speed range, outputting a prompt for keeping the vehicle speed.
In one embodiment, the processor 220 is further configured to:
and displaying the real-time signal lamp information of the next intersection, wherein the real-time signal lamp information comprises the color of the lamp and the countdown.
In one embodiment, the processor 220 is further configured to:
judging whether a congestion avoiding route needs to be re-planned or not according to the real-time road information;
if the congestion avoidance route needs to be re-planned, displaying the re-planned congestion avoidance route, calculating a suggested speed or a suggested speed range of the vehicle to the next intersection according to the position of the vehicle, signal lamp information and speed limit information of the re-planned congestion avoidance route, and performing a step of displaying the suggested speed or the suggested speed range according to a preset mode.
For the detailed working process and steps of the navigation apparatus of this embodiment, please refer to the description of the embodiment shown in fig. 1, which is not repeated herein.
The present application also provides a vehicle comprising a navigation device as described above.
According to the navigation device and the vehicle, after a navigation route planning instruction is received, at least one navigation route is generated according to information of a departure place and a destination, the at least one navigation route comprises an out-of-congestion route, when the out-of-congestion route is used for navigation, the suggested speed or the suggested speed range of the vehicle running to the next intersection is calculated according to the position of the vehicle, signal lamp information of the out-of-congestion route and speed limit information, and the suggested speed or the suggested speed range is displayed according to a preset mode. By the method, when the user uses the route avoiding congestion to navigate, the suggested speed or the suggested speed range of the vehicle running to the next intersection can be provided for the user, so that the user can fast pass through each intersection while avoiding congestion, the travel time of the user is reduced, and the user experience is good.
Although the present application has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the application, and all changes, substitutions and alterations that fall within the spirit and scope of the application are to be understood as being included within the following description of the preferred embodiment.
Claims (10)
1. A navigation method, comprising:
receiving a navigation route planning instruction;
generating at least one navigation route according to the information of the departure place and the destination, wherein the at least one navigation route comprises an anti-congestion route;
when the congestion avoiding route is used for navigation, calculating the suggested speed or the suggested speed range of the vehicle running to the next intersection according to the position of the vehicle, the signal light information and the speed limit information of the congestion avoiding route;
and displaying the suggested speed or the suggested speed range according to a preset mode.
2. The navigation method according to claim 1, wherein the presenting the suggested speed or the suggested speed range according to a preset manner comprises:
when an instruction for displaying a suggested speed is received, displaying the suggested speed or the suggested speed range; alternatively, the first and second electrodes may be,
displaying the suggested speed or suggested speed range during navigation using the avoided congested route.
3. The navigation method according to claim 1, further comprising:
acquiring the real-time running speed of the vehicle;
and outputting corresponding vehicle speed adjustment reminding according to the numerical relation between the real-time running speed and the suggested speed or the suggested speed range.
4. The navigation method according to claim 3, wherein outputting a corresponding vehicle speed adjustment prompt according to the numerical relationship between the real-time travel speed and the suggested speed or suggested speed range comprises:
if the real-time running speed is greater than the suggested speed or greater than the upper limit value of the suggested speed range, outputting a prompt for reducing the speed;
if the real-time running speed is smaller than the suggested speed or smaller than the lower limit value of the suggested speed range, outputting a prompt for increasing the speed;
and if the real-time running speed is equal to the suggested speed or within the suggested speed range, outputting a prompt for keeping the vehicle speed.
5. The navigation method according to claim 1, further comprising:
and displaying real-time signal lamp information of the next intersection, wherein the real-time signal lamp information comprises the color of the lamp and countdown.
6. The navigation method according to claim 1, further comprising:
judging whether a congestion avoiding route needs to be re-planned or not according to the real-time road information;
if the congestion avoidance route needs to be re-planned, displaying the re-planned congestion avoidance route, calculating a suggested speed or a suggested speed range of the vehicle to the next intersection according to the position of the vehicle, signal lamp information and speed limit information of the re-planned congestion avoidance route, and entering the step of displaying the suggested speed or the suggested speed range according to a preset mode.
7. A navigation device comprising a memory and a processor, the memory storing at least one program instruction, the processor loading and executing the at least one program instruction to implement a method comprising:
receiving a navigation route planning instruction;
generating at least one navigation route according to the information of the departure place and the destination, wherein the at least one navigation route comprises an anti-congestion route;
when the congestion avoiding route is used for navigation, calculating the suggested speed or the suggested speed range of the vehicle running to the next intersection according to the position of the vehicle, the signal light information and the speed limit information of the congestion avoiding route;
and displaying the suggested speed or the suggested speed range according to a preset mode.
8. The navigation device of claim 7, wherein the processor presents the suggested speed or suggested speed range according to a preset manner, comprising:
when an instruction for displaying a suggested speed is received, displaying the suggested speed or the suggested speed range; alternatively, the first and second electrodes may be,
displaying the suggested speed or suggested speed range during navigation using the avoided congested route.
9. The navigation device of claim 7, wherein the processor is further configured to:
acquiring the real-time running speed of the vehicle;
and outputting corresponding vehicle speed adjustment reminding according to the numerical relation between the real-time running speed and the suggested speed or the suggested speed range.
10. A vehicle characterized in that the vehicle comprises a navigation device according to any one of claims 7-9.
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| CN117268425A (en) * | 2023-11-23 | 2023-12-22 | 南通诺信汽车零部件有限公司 | Accurate navigation method and system of vehicle, medium, computing equipment and vehicle |
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