CN104990558A - Vehicle navigation method and system - Google Patents
Vehicle navigation method and system Download PDFInfo
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- CN104990558A CN104990558A CN201510347350.XA CN201510347350A CN104990558A CN 104990558 A CN104990558 A CN 104990558A CN 201510347350 A CN201510347350 A CN 201510347350A CN 104990558 A CN104990558 A CN 104990558A
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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
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Abstract
The invention provides a vehicle navigation method and system. According to the method, the system monitors the speed change quantity in the vertical direction and acquires information of at least one image outside a vehicle in the vehicle driving direction when the speed change quantity is larger than a preset change threshold value; elevated road feature information in the image information is extracted according to preset feature information under an elevated road and/or feature information on the elevated road; if the ratio of the portion, meeting the feature information under the elevated road, in the elevated road feature information meets a first preset threshold value, a navigation path driving along the portion under the elevated road is set based on the current position; or if the ratio of the portion, meeting the feature information on the elevated road, in the elevated road feature information meets a second preset threshold value, a navigation path driving along the elevated road is set based on the current position. The position of the vehicle relative to the elevated road can be accurately recognized, so that accurate navigation is provided.
Description
Technical field
The present invention relates to computer software fields, particularly automobile navigation method and system.
Background technology
Automobile navigation technology provides a great convenience to the people driven, and driver can be helped to find the road of destination address, and provide the road navigation along road.But, along with the development of urban road construction, overpass and road surface road overlap and cause navigator None-identified vehicle to be positioned at overhead or road surface, therefore, given navigation way can not be inconsistent with actual traffic route, thus cause being positioned at overhead on driver at the end of one's rope, or the driver on road surface turns wrong direction.
The mode of existing identification viaduct and road of ground surface is mainly identified by the velocity variations detecting direction up and down.But this mode is inaccurate, because surface conditions varies (as hill path etc.), only rely on the velocity variations on vertical direction to judge whether to be positioned on overpass, cannot accurately judge, and then cause the situation misleading boat to occur.Therefore, need to improve existing airmanship.
Summary of the invention
The object of the present invention is to provide a kind of automobile navigation method and system, for solving owing to identifying that the mode of overpass is inaccurate in prior art, thus causing the problem that cannot precisely navigate.
For solving the problems of the technologies described above, embodiments of the present invention provide a kind of automobile navigation method, comprise: the velocity variable on monitoring vertical direction, and when described velocity variable exceeds default change threshold, obtain along at least one width image information outside the car of vehicle heading; According to the overpass characteristic information in the characteristic information under the overpass preset and/or each described image information of feature information extraction on overpass; If the ratio meeting the characteristic information under described overpass in each described overpass characteristic information meets the first predetermined threshold value, then set the navigation way travelled under overpass based on current location; Or, if the ratio meeting the characteristic information on described overpass in each described overpass characteristic information meets the second predetermined threshold value, then set along the navigation way that overpass travels based on current location.
Based on above-mentioned purpose, the present invention also provides a kind of Vehicular navigation system, comprises: monitoring respond module, for monitoring the velocity variable on vertical direction, and when described velocity variable exceeds default change threshold, obtain along at least one width image information outside the car of vehicle heading; Extraction module, for according to the characteristic information under the overpass preset and/or the overpass characteristic information in each described image information of feature information extraction on overpass; Navigation module, if meet the first predetermined threshold value for the ratio meeting the characteristic information under described overpass in each described overpass characteristic information, then sets the navigation way travelled under overpass based on current location; Or, if the ratio meeting the characteristic information on described overpass in each described overpass characteristic information meets the second predetermined threshold value, then set along the navigation way that overpass travels based on current location.
Embodiment of the present invention in terms of existing technologies, not only monitor the velocity variable of vertical direction, also absorbed image information is carried out to the extraction of overpass characteristic information, analyze Current vehicle whether to be positioned on overpass/overpass under, accurately can identify the position of the relative overpass of vehicle, to provide accurate navigation.
In addition, each characteristic information of the overpass upgraded or add in Present navigation route/current location can be guaranteed when extracting the overpass characteristic information in image, can for actual sights such as the planform of each place overpass, weather conditions at that time, extract overpass characteristic information accurately, to provide navigation way accurately.
In addition, for three layers of overpass, the present invention can also determine the number of plies of the overpass at vehicle place from the image information of shooting continuously, cannot confirm the particular location of vehicle at three layers of overpass to solve in prior art.
In addition, utilize the analysis to current location, can determine whether be overpass residing for Current vehicle in time, in order to avoid increase the unnecessary system burden of navigational system.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the automobile navigation method of first embodiment of the invention;
Fig. 2 is the process flow diagram of a preferred implementation in automobile navigation method of the present invention;
Fig. 3 is the structural representation of the Vehicular navigation system of the second embodiment of the present invention;
Fig. 4 is the structural drawing of a preferred implementation in Vehicular navigation system of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the embodiments of the present invention are explained in detail.But, persons of ordinary skill in the art may appreciate that in each embodiment of the present invention, proposing many ins and outs to make reader understand the application better.But, even without these ins and outs with based on the many variations of following embodiment and amendment, each claim of the application technical scheme required for protection also can be realized.
As shown in Figure 1, the first embodiment of the present invention relates to a kind of automobile navigation method.Described automobile navigation method performs primarily of Vehicular navigation system.Described Vehicular navigation system can be arranged on to be had in the mobile device of navigation feature, the service end that also can comprise the mobile device with navigation feature and be connected with described mobile device communication.Wherein, described mobile device includes but not limited to: in-vehicle navigation apparatus, have navigation feature mobile phone, there is the panel computer of navigation feature, there is the Tachographs etc. of navigation feature.
In step sl, the velocity variable on described navigational system monitoring vertical direction, and when described velocity variable exceeds default change threshold, obtain along at least one width image information outside the car of vehicle heading.
Particularly, described navigational system utilize the acceleration sensor of the vertical directions such as gyroscope in a mobile device monitor velocity variable on vertical direction.When the velocity variable monitored up or down exceed default change threshold time, utilize the filming apparatus in described mobile device to take at least one width image information.Usually, the image information captured by this filming apparatus resembles for vehicle front window institute what comes into a driver's, also can resemble for side window institute what comes into a driver's.In order to improve the accuracy identifying overpass, in the present embodiment, preferably obtain the multiple image information of shooting continuously.
In step s 2, described navigational system is according to the overpass characteristic information in the characteristic information under the overpass preset and/or each described image information of feature information extraction on overpass.
Wherein, the characteristic information under described overpass comprises following at least one: the position of profile information in image information, the described position of overpass post profile information in image information at the bottom of profile information, described overpass at the bottom of half-tone information, overpass at the bottom of overpass post profile information, overpass post half-tone information, overpass.
Wherein, the characteristic information on described overpass comprises following at least one: the area ratio etc. of the half-tone information of overpass facial contour information, overpass face half-tone information, sound panel profile information, sound panel, overpass facial contour information and/or the position of sound panel profile information in image information, overpass road surface and sky.
At this, described overpass comprises the main road of overpass and is connected to the viaduct of overpass main road and surface road.
At this, the characteristic information under described default overpass and/or the characteristic information on overpass can be the characteristic information on unified overpass and the characteristic information under unified overpass.Then described navigational system utilizes the overpass characteristic information in each described image information of image processing techniques extraction.
In step s3, if the ratio meeting the characteristic information under described overpass in each described overpass characteristic information of described navigational system meets the first predetermined threshold value, then the navigation way travelled under overpass is set based on current location; Or, if the ratio meeting the characteristic information on described overpass in each described overpass characteristic information meets the second predetermined threshold value, then set along the navigation way that overpass travels based on current location
Particularly, the summation meeting the characteristic information under described overpass in each described image information of described navigation system computes accounts for the ratio A1 of all overpass characteristic informations, and the summation of the characteristic information met on described overpass in each described image information accounts for the ratio A2 of all overpass characteristic informations.If ratio A1 meets default first threshold, ratio A2 does not meet the Second Threshold preset, then assert that described vehicle travels under overpass, then carry out setting navigation route according to the current location under overpass.
If described ratio A1 does not meet the first threshold preset, ratio A2 meets default Second Threshold, then assert that described vehicle travels on overpass, then carry out setting navigation route according to the current location on overpass.
If the equal correspondence of described ratio A1 and A2 meets described first predetermined threshold value and the second predetermined threshold value, then assert that described vehicle is positioned at the middle layer of three layers of overpass, and the middle layer Design Navigation route of current overpass according to described vehicle, and navigate.
Such as, preset that described first threshold can be set to 30%, Second Threshold is set to 40%.Be 35% when described navigational system obtains ratio A1 according to the overpass characteristic information in extracted multiple image information, ratio A2 is 42%, then determine that described vehicle is positioned on the most inside lane in the middle layer of three layers of overpass, then be positioned at the middle layer Design Navigation route of current overpass according to described vehicle, and navigate.
And for example, preset that described first threshold can be set to 30%, Second Threshold is set to 40%.The ratio A1 obtained when described navigational system is 1%, ratio A2 is 42%, be then positioned at Design Navigation route on current overpass according to described vehicle, and navigate.
For another example, preset that described first threshold can be set to 30%, Second Threshold is set to 40%.The ratio A1 obtained when described navigational system is 1%, ratio A2 is 2%, then determine that described vehicle is not positioned at overpass place, then navigate according to the navigation way of described vehicle according to current setting.
It should be noted that, if when described navigational system is performed jointly by described mobile device and service end, captured all image informations are sent to service end by described navigational system, step S2 and S3 is performed by described service end, again obtained navigation way is returned to described mobile device, to navigate.
As a kind of preferred version, fail to upgrade in time for electronic chart, each characteristic information version of the overpass up/down preserved is excessively old, or the situations such as the textural difference of the overpass in each city is excessive, described navigational system, in navigation procedure and before performing described step S2, first can also perform step S4 (not giving diagram).
In step s 4 which, described navigational system upgrades according to current set navigation way or the characteristic information that adds on corresponding described navigation way under all overpass and the characteristic information on overpass.
Particularly, described navigational system when user's setting navigation route, each characteristic information of all overpass from this bar navigation route that service end obtains the corresponding same day.Such as, the same day is overcast and rainy, then described service end provide to bar navigation route having overcast and rainy feature (profile e.g., at the bottom of overpass and the gray scale difference of sky less) by each characteristic information of each overpass.Then described navigational system according on the overpass after upgrading/adding, the overpass characteristic information of each image information that obtains of feature information extraction under overpass.So, the profile information more accurately at the bottom of overpass can be extracted.
It should be noted that, it should be appreciated by those skilled in the art that above-mentioned steps S4 and not necessarily performs after S1, also can perform before step S1.
As shown in Figure 2.With the embodiment of aforementioned two air navigation aids unlike, described navigational system, while acquisition image information, also obtains current location information.Corresponding, described air navigation aid also comprises: step S5.
In step s 5, described navigational system determines whether to be in overpass according to current location, if so, then performs step S2; If not, then step S2 will not be performed, and wait obtains image information again.
Such as, described navigational system, when monitoring velocity variable and exceeding default change threshold, first obtains current location, and judge currently whether be positioned at overpass according to electronic chart, if so, then obtain image information again, and perform step S2, otherwise, then will not obtain image information.
Preferably, the first threshold in described step S3 and Second Threshold can be fixed value, also can adjust in the track corresponding to the position of the feature of overpass and vehicle.
Such as, the current location that described navigational system obtains is positioned on most inside lane, according to the table of comparisons of the track of presetting and threshold value, described first threshold is set to 30%, Second Threshold is set to 40%.The ratio A1 obtained when described navigational system is 35%, ratio A2 is 42%, then determine that described vehicle is positioned on the most inside lane in the middle layer of three layers of overpass, be then positioned at the middle layer Design Navigation route of current overpass according to described vehicle, and navigate.
More preferably, described step S4 can also replace with: only before execution step S2, and described navigational system is according to the characteristic information under the overpass that described current location upgrades or interpolation is corresponding and the characteristic information on overpass.
Particularly, mobile device in described navigational system can also when getting current location, the off-line bag of the characteristic information under the overpass of corresponding described current location and the characteristic information on overpass is obtained to service end, if described service end judges that described present bit is equipped with corresponding off-line bag, then send to described mobile device, otherwise then feedback is without the information of off-line bag.Then corresponding described mobile device according to determine whether execution step S2 to the content of feedback.
When described mobile device gets described off-line bag, upgrade each characteristic information of the overpass corresponding to current location according to the version of off-line bag; Or, in electronic chart, do the off-line bag adding current version.
As shown in Figure 3, the 4th embodiment of the present invention relates to a kind of Vehicular navigation system.Described Vehicular navigation system 1 can be arranged on to be had in the mobile device of navigation feature, the service end that also can comprise the mobile device with navigation feature and be connected with described mobile device communication.Wherein, described mobile device includes but not limited to: in-vehicle navigation apparatus, have navigation feature mobile phone, there is the panel computer of navigation feature, there is the Tachographs etc. of navigation feature.
Described navigational system 1 comprises: monitoring respond module 11, extraction module 12 and navigation module 13.
Described monitoring respond module 11 for monitoring the velocity variable on vertical direction, and when described velocity variable exceeds default change threshold, obtains along at least one width image information outside the car of vehicle heading.
Particularly, described monitoring respond module 11 utilize the acceleration sensor of the vertical directions such as gyroscope in a mobile device monitor velocity variable on vertical direction.When the velocity variable monitored up or down exceed default change threshold time, utilize the filming apparatus in described mobile device to take at least one width image information.Usually, the image information captured by this filming apparatus resembles for vehicle front window institute what comes into a driver's, also can resemble for side window institute what comes into a driver's.In order to improve the accuracy identifying overpass, in the present embodiment, preferably obtain the multiple image information of shooting continuously.
Described extraction module 12 is for according to the characteristic information under the overpass preset and/or the overpass characteristic information in each described image information of feature information extraction on overpass.
Wherein, the characteristic information under described overpass comprises following at least one: the position of profile information in image information, the described position of overpass post profile information in image information at the bottom of profile information, described overpass at the bottom of half-tone information, overpass at the bottom of overpass post profile information, overpass post half-tone information, overpass.
Wherein, the characteristic information on described overpass comprises following at least one: the area ratio etc. of the half-tone information of overpass facial contour information, overpass face half-tone information, sound panel profile information, sound panel, overpass facial contour information and/or the position of sound panel profile information in image information, overpass road surface and sky.
At this, described overpass comprises the main road of overpass and is connected to the viaduct of overpass main road and surface road.
At this, the characteristic information under described default overpass and/or the characteristic information on overpass can be the characteristic information on unified overpass and the characteristic information under unified overpass.Then described navigational system 1 utilizes the overpass characteristic information in each described image information of image processing techniques extraction.
If described navigation module 13 meets the first predetermined threshold value for the ratio meeting the characteristic information under described overpass in each described overpass characteristic information, then set the navigation way travelled under overpass based on current location; Or, if the ratio meeting the characteristic information on described overpass in each described overpass characteristic information meets the second predetermined threshold value, then set along the navigation way that overpass travels based on current location
Particularly, the summation that described navigation module 13 calculates in each described image information the characteristic information met under described overpass accounts for the ratio A1 of all overpass characteristic informations, and the summation of the characteristic information met on described overpass in each described image information accounts for the ratio A2 of all overpass characteristic informations.If ratio A1 meets default first threshold, ratio A2 does not meet the Second Threshold preset, then assert that described vehicle travels under overpass, then carry out setting navigation route according to the current location under overpass.
If described ratio A1 does not meet the first threshold preset, ratio A2 meets default Second Threshold, then assert that described vehicle travels on overpass, then carry out setting navigation route according to the current location on overpass.
If the equal correspondence of described ratio A1 and A2 meets described first predetermined threshold value and the second predetermined threshold value, then assert that described vehicle is positioned at the middle layer of three layers of overpass, and the middle layer Design Navigation route of current overpass according to described vehicle, and navigate.
Such as, preset that described first threshold can be set to 30%, Second Threshold is set to 40%.Be 35% when described navigation module 13 obtains ratio A1 according to the overpass characteristic information in extracted multiple image information, ratio A2 is 42%, then determine that described vehicle is positioned on the most inside lane in the middle layer of three layers of overpass, then be positioned at the middle layer Design Navigation route of current overpass according to described vehicle, and navigate.
And for example, preset that described first threshold can be set to 30%, Second Threshold is set to 40%.The ratio A1 obtained when described navigation module 13 is 1%, ratio A2 is 42%, be then positioned at Design Navigation route on current overpass according to described vehicle, and navigate.
For another example, preset that described first threshold can be set to 30%, Second Threshold is set to 40%.The ratio A1 obtained when described navigation module 13 is 1%, ratio A2 is 2%, then determine that described vehicle is not positioned at overpass place, then navigate according to the navigation way of described vehicle according to current setting.
It should be noted that, if when described navigation module 13 is performed jointly by described mobile device and service end, captured all image informations are sent to service end by described navigation module 13, extraction module 12 and navigation module 13 is performed by described service end, again obtained navigation way is returned to described mobile device, to navigate.
As a kind of preferred version, fail to upgrade in time for electronic chart, each characteristic information version of the overpass up/down preserved is excessively old, or the situation such as the textural difference of the overpass in each city is excessive, and described navigational system 1 also comprises: the first update module (not giving diagram).
In navigation procedure and before performing described extraction module 12, first can also perform described first update module.
Described first update module is for the characteristic information that upgrades according to current set navigation way or add on corresponding described navigation way under all overpass and the characteristic information on overpass.
Particularly, described first update module when user's setting navigation route, each characteristic information of all overpass from this bar navigation route that service end obtains the corresponding same day.Such as, the same day is overcast and rainy, then described service end provide to bar navigation route having overcast and rainy feature (profile e.g., at the bottom of overpass and the gray scale difference of sky less) by each characteristic information of each overpass.The overpass characteristic information of each image information that the feature information extraction on the overpass that then described extraction module 12 provides according to described first update module, under overpass obtains.So, the profile information more accurately at the bottom of overpass can be extracted.
It should be noted that, it should be appreciated by those skilled in the art that above-mentioned first update module and not necessarily performs after described monitoring respond module 11, also can perform before described monitoring respond module 11.
As shown in Figure 4.With the embodiment of aforementioned two navigational system unlike, described monitoring respond module 11, while acquisition image information, also obtains current location information.Corresponding, described navigational system 1 also comprises: judge module 14.
Described judge module 14, for determining whether to be in overpass according to current location, if so, then performs described extraction module 12; If not, then described monitoring respond module 11 is performed.
Such as, described monitoring respond module 11 is when monitoring velocity variable and exceeding default change threshold, first obtain current location, and judge currently whether be positioned at overpass by described judge module 14 according to electronic chart, if so, then under the instruction of described judge module 14, obtain image information again, and perform extraction module 12, otherwise, then image information will not be obtained.
Preferably, the first threshold in described navigation module 13 and Second Threshold can be fixed value, also can adjust in the track corresponding to the position of the feature of overpass and vehicle.
Such as, the current location that described navigation module 13 obtains is positioned on most inside lane, according to the table of comparisons of the track of presetting and threshold value, described first threshold is set to 30%, Second Threshold is set to 40%.The ratio A1 obtained when described navigation module 13 is 35%, ratio A2 is 42%, then determine that described vehicle is positioned on the most inside lane in the middle layer of three layers of overpass, be then positioned at the middle layer Design Navigation route of current overpass according to described vehicle, and navigate.
Preferably, described navigational system 1 also comprises the second update module 15.Described second update module 15, for before the described extraction module 12 of execution, upgrades according to described current location or the characteristic information that adds under corresponding overpass and the characteristic information on overpass.
Particularly, described second update module 15 is when determining to get current location, the off-line bag of the characteristic information under the overpass of corresponding described current location and the characteristic information on overpass is obtained to service end, if described service end judges that described present bit is equipped with corresponding off-line bag, then send to described second update module 15, otherwise then feedback is without the information of off-line bag.Then described second update module 15 according to give feedback content determine whether to start described extraction module 12.
When described second update module 15 gets described off-line bag, upgrade each characteristic information of the overpass corresponding to current location according to the version of off-line bag; Or, in electronic chart, do the off-line bag adding current version.
It is worth mentioning that, each module involved in present embodiment and unit are logic module and logical block, and in actual applications, a logical block can be a physical location, also can be a part for a physical location, can also realize with the combination of multiple physical location.In addition, in order to outstanding innovative part of the present invention, the unit not too close with solving technical matters relation proposed by the invention is not introduced in present embodiment, but this does not show the unit that there is not other in present embodiment.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above realize specific embodiments of the invention, and in actual applications, various change can be done to it in the form and details, and without departing from the spirit and scope of the present invention.
Claims (10)
1. an automobile navigation method, is characterized in that, comprises:
Velocity variable on monitoring vertical direction, and when described velocity variable exceeds default change threshold, obtain along at least one width image information outside the car of vehicle heading;
According to the overpass characteristic information in the characteristic information under the overpass preset and/or each described image information of feature information extraction on overpass;
If the ratio meeting the characteristic information under described overpass in each described overpass characteristic information meets the first predetermined threshold value, then set the navigation way travelled under overpass based on current location; Or, if the ratio meeting the characteristic information on described overpass in each described overpass characteristic information meets the second predetermined threshold value, then set along the navigation way that overpass travels based on current location.
2. automobile navigation method according to claim 1, is characterized in that, also comprises: upgrade according to current set navigation way or the step of the characteristic information that adds on corresponding described navigation way under all overpass and the characteristic information on overpass.
3. automobile navigation method according to claim 1, it is characterized in that, also comprise: if meet the equal correspondence of ratio meeting the characteristic information on described overpass in the ratio of the characteristic information under described overpass and each described overpass characteristic information in each described overpass characteristic information to meet described first predetermined threshold value and the second predetermined threshold value, then assert that described vehicle is positioned at the middle layer of three layers of overpass, and be positioned at the middle layer Design Navigation route of current overpass according to described vehicle.
4. automobile navigation method according to claim 1 and 2, is characterized in that, while acquisition image information, also obtains current location information;
Described automobile navigation method also comprises: determine whether to be in overpass according to current location, if so, then performs the step of the overpass characteristic information extracted in described image information; If not, then will not perform the step of the overpass characteristic information extracted in described image information, and wait obtains image information again.
5. automobile navigation method according to claim 4, is characterized in that, also comprises: upgrade according to described current location or the step of the characteristic information that adds under corresponding overpass and the characteristic information on overpass.
6. a Vehicular navigation system, is characterized in that, comprises:
Monitoring respond module, for monitoring the velocity variable on vertical direction, and when described velocity variable exceeds default change threshold, obtains along at least one width image information outside the car of vehicle heading;
Extraction module, for according to the characteristic information under the overpass preset and/or the overpass characteristic information in each described image information of feature information extraction on overpass;
Navigation module, if meet the first predetermined threshold value for the ratio meeting the characteristic information under described overpass in each described overpass characteristic information, then sets the navigation way travelled under overpass based on current location; Or, if the ratio meeting the characteristic information on described overpass in each described overpass characteristic information meets the second predetermined threshold value, then set along the navigation way that overpass travels based on current location.
7. Vehicular navigation system according to claim 6, it is characterized in that, also comprise: the first update module, for the characteristic information that upgrades according to current set navigation way or add on corresponding described navigation way under all overpass and the characteristic information on overpass.
8. Vehicular navigation system according to claim 6, it is characterized in that, if described navigation module also meets the equal correspondence of ratio meeting the characteristic information on described overpass in the ratio of the characteristic information under described overpass and each described overpass characteristic information in each described overpass characteristic information meet described first predetermined threshold value and the second predetermined threshold value, then assert that described vehicle is positioned at the middle layer of three layers of overpass, and be positioned at the middle layer Design Navigation route of current overpass according to described vehicle.
9. the Vehicular navigation system according to claim 6 or 7, is characterized in that, described monitoring respond module also for while acquisition image information, also obtains current location information;
Described Vehicular navigation system also comprises: judge module, for determining whether to be in overpass according to current location, if so, then performs described extraction module; If not, then described monitoring respond module is returned.
10. Vehicular navigation system according to claim 9, is characterized in that, also comprises: the second update module, for the characteristic information that upgrades according to described current location or add under corresponding overpass and the characteristic information on overpass.
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| CN201510347350.XA CN104990558A (en) | 2015-06-19 | 2015-06-19 | Vehicle navigation method and system |
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| CN201510347350.XA CN104990558A (en) | 2015-06-19 | 2015-06-19 | Vehicle navigation method and system |
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| CN107121147A (en) * | 2016-02-24 | 2017-09-01 | 阿里巴巴集团控股有限公司 | A kind of air navigation aid and equipment |
| CN107677286A (en) * | 2017-09-05 | 2018-02-09 | 深圳支点电子智能科技有限公司 | A kind of automobile navigation method and device |
| WO2018232673A1 (en) * | 2017-06-21 | 2018-12-27 | 深圳支点电子智能科技有限公司 | Vehicle navigation method and apparatus |
| CN110726414A (en) * | 2019-10-25 | 2020-01-24 | 百度在线网络技术（北京）有限公司 | Method and apparatus for outputting information |
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| CN112197780A (en) * | 2020-09-15 | 2021-01-08 | 汉海信息技术(上海)有限公司 | Path planning method and device and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107121147A (en) * | 2016-02-24 | 2017-09-01 | 阿里巴巴集团控股有限公司 | A kind of air navigation aid and equipment |
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| WO2018232673A1 (en) * | 2017-06-21 | 2018-12-27 | 深圳支点电子智能科技有限公司 | Vehicle navigation method and apparatus |
| CN107677286A (en) * | 2017-09-05 | 2018-02-09 | 深圳支点电子智能科技有限公司 | A kind of automobile navigation method and device |
| CN110726414A (en) * | 2019-10-25 | 2020-01-24 | 百度在线网络技术（北京）有限公司 | Method and apparatus for outputting information |
| CN110726414B (en) * | 2019-10-25 | 2021-07-27 | 百度在线网络技术（北京）有限公司 | Method and apparatus for outputting information |
| CN111967301A (en) * | 2020-06-30 | 2020-11-20 | 北京百度网讯科技有限公司 | Positioning navigation method, device, electronic equipment and storage medium |
| CN112197780A (en) * | 2020-09-15 | 2021-01-08 | 汉海信息技术(上海)有限公司 | Path planning method and device and electronic equipment |
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