London's black cab operators are being criticised over posters which poke fun at private-hire cab drivers.

The Licensed Taxi Drivers' Association has put up what it says are humorous adverts, containing helpful hints to minicab drivers on finding their way around the capital.

The association says three years of doing The Knowledge, remembering every street within six miles of Charing Cross, makes them better equipped to take passengers where they want to go.

But Transport for London (TfL) says different parts of the transport network should not be attacking each other and wants the posters taken down.

Black cab drivers say they know London better

Bob Oddy, of the Licensed Taxi Drivers' Association, told BBC London the posters reflected the feeling of his members.

He says minicab drivers are notorious for having to consult a map book.

"The professional has an A-Z in his head, not on his knee.

"It's pointing out to the public that if you want someone who knows where they are going, use a licensed taxi."

But Geoff Wright, of the Licensed Private Hire Car Association, said: "I don't think it's true they don't know their way around.

"Every cab driver who doesn't know can call his controller and get a grid reference on the A-Z and can find his way."