CN101169331A - Vehicular navigation device using tri-dimensional picture - Google Patents
Vehicular navigation device using tri-dimensional picture Download PDFInfo
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- CN101169331A CN101169331A CNA200710151572XA CN200710151572A CN101169331A CN 101169331 A CN101169331 A CN 101169331A CN A200710151572X A CNA200710151572X A CN A200710151572XA CN 200710151572 A CN200710151572 A CN 200710151572A CN 101169331 A CN101169331 A CN 101169331A
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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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3635—Guidance using 3D or perspective road maps
- G01C21/3638—Guidance using 3D or perspective road maps including 3D objects and buildings
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Abstract
The invention discloses a vehicle carried navigation device utilizing 3-D pictures, and the vehicle carried navigation device comprises a road modeling module used for establishing a corresponding network model of the road in an electronic map according to a factual road condition, a 3-D picture collocating module used for collocating corresponding 3-D pictures at the complicated crossings according to a network model established by the road modeling module, a path layout module used for determining the driving path of the vehicle, a GPS positioning module used for determining a current position of the vehicle, and a 3-D picture display module used for displaying the 3-D pictures of the complicated crossings collocated by the 3-D picture collocating module at certain distances before the complicated crossings according to the results of the path layout module and the GPS positioning module. By adopting the 3-D picture collocating module and the 3-D picture display module, the invention can provide clear and correct navigation to users.
Description
Technical field
The present invention relates to the vehicle mounted guidance field, refer to a kind of on-vehicle navigation apparatus that utilizes tri-dimensional picture especially.
Background technology
Continuous development along with the onboard navigation system technology, use voice auxiliary electron digital map navigation to become ingredient very important in the onboard navigation system, at general crossing, promoted to a great extent the development of onboard navigation system technology to make onboard navigation system convenient and practical with voice suggestions such as similar " left-hand rotation ", " right-hand rotation ", " turning around ".
Be traditional onboard navigation system a application example below at the bootstrap technique at place, crossing.
As shown in Figure 1, be a simple right-angled intersection,
The expression arrow, when vehicle when this arrow indicated direction is travelled, navigational system provides " the 300 meters right-hand rotations in the place ahead ", " right-hand rotation of the current crossing " voice suggestion of etc.ing after can judging current vehicle position, the past correct path planning of guiding driver travels.
For common crossing, use the voice suggestion auxiliary electron can reach good navigation effect, but for the crossing of more complicated, according to being the voice suggestion that feature has certain fuzziness with distance and direction, the driver is difficult in complicated crossing and selects which crossing turning to make right judgement.As shown in Figure 2, it is a complex crossing synoptic diagram, wherein: road b and road c are that the initial point in the road of two close proximity and these two road is the same point on the road a, road b is one high gradually upward trend with respect to road a, road c etc., the direction (from road a drive towards road b) of vehicle path planning shown in Fig. 2 arrow, when vehicle drives towards b by a, the voice messaging that traditional onboard navigation system can be pointed out similar " junction ahead right-hand rotation ", for the driver, face two road on the right-hand rotation direction with at a loss as to what to do.Though application number method that energy is pointed out at the crossing of complicated road that has been 01138262.7 patent disclosure, which can at crossing of a certain direction turn the crossing of many roads prompting driver, path planning direction shown in arrow among Fig. 2, when vehicle drives towards b by a, the information that onboard navigation system will be pointed out similar " turning to the right second road in the place ahead ".Be the Voice Navigation of feature and do not meet the cognitive state of most of people that general people does not have an accurate notion to this to road with distance and direction but adopt.So only according to the voice suggestion of onboard navigation system and not by the tri-dimensional picture assisting navigation prompting of simulating reality road conditions, the driver is difficult in complicated crossing and selects on a certain direction a certain road to turn to make accurately to judge.Described tri-dimensional picture refers to be used for the 3D model picture of the virtual reality situation of visual pattern.
Summary of the invention
The problem to be solved in the present invention provides a kind of on-vehicle navigation apparatus that utilizes tri-dimensional picture of clear accurate navigation.
In order to address the above problem, the present invention utilizes the technical scheme of the on-vehicle navigation apparatus of tri-dimensional picture to be:
The road modeling module, being used for according to the real road situation is that the road of electronic chart is set up its corresponding network model;
The tri-dimensional picture configuration module is used for disposing corresponding tri-dimensional picture according to the network model that described road modeling module is set up at the complex crossing place;
Path planning module is used for determining the driving path of vehicle;
The GPS locating module is used for determining the current location of vehicle;
The tri-dimensional picture display module is used for the result according to described path planning module and described GPS locating module, and certain distance shows the tri-dimensional picture of the described complex crossing of described tri-dimensional picture configuration module configuration before complex crossing.
Further, the present invention utilizes the guider of tri-dimensional picture also to comprise:
Speech navigation databank is used to deposit voice messaging;
Speech analysis module, the driving path that network model of being set up according to described road modeling module and described path planning module are determined is determined the speech trigger point of branch point;
The navigation speech module, the speech trigger point that determined vehicle current location of described GPS locating module and described speech analysis module obtain takes out corresponding voice messaging and is play from described speech navigation databank.
Certain distance is 300 meters before the described complex crossing.
Described speech navigation databank comprises following field:
The voice attributes field is used for the unique identification voice messaging;
The voice messaging field is used to represent every kind of pairing navigation speech of described voice attributes.
Described voice messaging comprises following information:
The sidecar road that keeps left travels;
Travel along middle lane;
Lanes on the right side.
Compared with prior art, the present invention utilizes the beneficial effect of the on-vehicle navigation apparatus of tri-dimensional picture to be:
Owing to adopt tri-dimensional picture configuration module and tri-dimensional picture display module, can provide the clear and accurate navigation for the user.
Description of drawings
Fig. 1 is a simple crossing synoptic diagram;
Fig. 2 is the complex crossing synoptic diagram;
Fig. 3 is the synoptic diagram that the present invention utilizes the on-vehicle navigation apparatus of tri-dimensional picture;
Fig. 4 is the real road synoptic diagram with expressway branch point;
Fig. 5 is the network model synoptic diagram of Fig. 4;
Fig. 6 is the network model synoptic diagram of Fig. 2;
Fig. 7 is the three-dimensional navigation picture at second crossing of Fig. 6 network model right-hand rotation;
Fig. 8 is the turn right three-dimensional navigation picture at first crossing of Fig. 6 network model.
Embodiment
As shown in Figure 3, the voice guiding device of expressway of the present invention branch point comprises:
Road modeling module 1, being used for according to the real road situation is that the road of electronic chart is set up its corresponding network model and set up topological relation figure between the road;
Tri-dimensional picture configuration module 8 is used for disposing corresponding tri-dimensional picture according to the network model that described road modeling module 1 is set up at the complex crossing place;
Path planning module 3 is used for determining the driving path of vehicle;
GPS locating module 4 is used for determining the current location of vehicle;
Tri-dimensional picture display module 9 is used for the result according to described path planning module 3 and described GPS locating module 4, and certain distance shows the tri-dimensional picture of the described complex crossing of described tri-dimensional picture configuration module configuration before complex crossing.
From the above, road modeling module 1 is set up network model according to the road actual conditions, tri-dimensional picture configuration module 8 sails into to roll away from all directions at the complex crossing node place of network model corresponding tri-dimensional picture is set on the road, the current location of the vehicle that tri-dimensional picture display module 9 is determined according to the driving path and the GPS locating module of path planning module 3 planning shows tri-dimensional picture when the certain distance of vehicle ' before complex crossing.Provide accurately information true to nature to the user like this, so that the user correctly selects road.Described certain distance can be the distance that 300 meters grades meet particular requirement.
As shown in Figure 3, the present invention utilizes the guider of tri-dimensional picture also to comprise:
Speech navigation databank 6 is used to deposit voice messaging;
Speech analysis module 5, the driving paths that network model of being set up according to described road modeling module 1 and described path planning module 3 are determined are determined the speech trigger point of branch point;
Navigation speech module 7, the speech trigger point that obtains according to described GPS locating module 4 determined vehicle current locations and described speech analysis module 5 takes out corresponding voice messaging and is play from described speech navigation databank 6.
Described speech navigation databank 6 comprises following field:
The voice attributes field is used for the unique identification voice messaging;
The voice messaging field is used to represent every kind of pairing navigation speech of described voice attributes.
Described voice messaging comprises following information:
The sidecar road that keeps left travels;
Travel along middle lane;
Lanes on the right side.
Now the voice guiding device with a kind of expressway branch point of certain company exploitation describes technical scheme of the present invention in detail.
For road modeling module 1, implementation procedure is as follows:
According to road conditions picture track road on electronic chart of reality, and the property value of every road correspondence filled out in corresponding database, for example: the number of track-lines of every section road correspondence, category of roads, current direction, road name, whether charge or the like.Between each bar road and other roads that links to each other, set up node, with the annexation between expression road and the road.So repeatedly, up to all roads all are drawn on the map, and set up the relation that is connected, just formed road network.
Be a real road with expressway branch point as shown in Figure 4, wherein, M is a branch point, and road is ab and ac.In this example, behind real road shown in Figure 4, utilize the road of on electronic chart, drawing a part earlier, draw the road of b part and c part then, make node M at the connecting place of a, b, c part again, promptly obtain road network model figure as shown in Figure 5 after finishing.Distinguish the attribute data of typing a, b, these three sections roads of c then.And then a corresponding road data and corresponding attribute information be stored in the navigation electronic, and, set up topological incidence relation as shown in table 1 at road and node data:
| Node | Road |
| M | a，b，c |
Table 1
For being achieved as follows of tri-dimensional picture configuration module 8:
Tri-dimensional picture configuration module 8 is the request of response path planning module 3 at first, and accept the tri-dimensional picture numbering that path planning module 3 sends, numbering with the tri-dimensional picture that obtains sends to road modeling module 1 then, road modeling module 1 is searched corresponding tri-dimensional picture concordance list according to numbering, tri-dimensional picture configuration module 8 notified in tri-dimensional picture index after correctly searching that this tri-dimensional picture numbering is corresponding, and tri-dimensional picture configuration module 8 is submitted to tri-dimensional picture display module 9 with the tri-dimensional picture index that obtains.
For being achieved as follows of tri-dimensional picture display module 9:
The tri-dimensional picture index information that tri-dimensional picture display module 9 transmits according to tri-dimensional picture configuration module 8, call the function that Loads Image corresponding tri-dimensional picture is written into internal memory dynamically, when path planning module 8 is sent the order of demonstration tri-dimensional picture, call the picture explicit function and show that corresponding picture is to screen.
Be the code that dynamically Loads Image below:
BOOL LoadBmp(CString strBmpName，HBITMAP & hBmp)
{
hBmp＝LoadBitmap(theApp.m_hImageDll，strBmpName)；
return(hBmp ！＝NULL)；
}
Wherein hBmp is the handle of the BMP image to be shown that imports into.The resource file that theAPP.m_hImageDll is made up of picture.StrBmpName is the tri-dimensional picture index information that is imported into by tri-dimensional picture configuration module 8.
Be the code of tri-dimensional picture explicit function below:
void DrawPic(intx，int y，const HBITMAP hPic，CDC
*pDC)
{
if(hPic)
{
BITMAPbm；
GetObject(hPic，sizeof(bm)，&bm)；
CDC bmpDC；
bmpDC.CreateCompatibleDC(pDC)；
HBITMAP hBmpOld＝(HBITMAP)SelectObject(bmpDC.GetSafeHdc()，hPic)；
pDC->BitBlt(x，y，bm.bmWidth，bm.bmHeight，&bmpDC，0，0，SRCCOPY)；
SelectObject(bmpDC.GetSafeHdc()，hBmpOld)；
ReleaseDC(&bmpDC)；
}
}
Wherein x and y are the concrete coordinates that Shows Picture on screen.HPic is the handle of the picture that will show.PDC is the plotting equipment DC that will show.
For example for the complex crossing of Fig. 2, its corresponding network model of setting up as shown in Figure 6, wherein node A is the point of crossing of road a, b, c, sentence road a for sailing road at point of crossing A, road b and road c are for rolling road away from, difference arrangement plan 7 and tri-dimensional picture shown in Figure 8 on road b and c.The tri-dimensional picture of Fig. 7 is corresponding to the situation of driving towards road b from road a, and the tri-dimensional picture of Fig. 8 is corresponding to the situation of driving towards road c from road a.
Speech navigation databank 6 is as shown in table 2 in this example:
| The voice attributes field | The voice messaging field |
| 2 | The sidecar road that keeps left travels |
| 3 | Travel along middle lane |
| 4 | Lanes on the right side |
Table 2
Wherein, when voice attributes was " 2 ", corresponding voice were " the sidecar road that keeps left travels "; When voice attributes was " 3 ", corresponding voice were " travelling along middle lane "; When voice attributes was " 4 ", corresponding voice were " lanes on the right side ".
Path planning module 3 is implemented as follows:
(1) finds out the road at coordinate place, described destination;
(2) find out the road at described starting point coordinate place;
(3) find out other road that links to each other with the road at described starting point coordinate place, and one the shortest road of selected distance therefrom;
(4) judge whether the described road of choosing in the above-mentioned steps is the road at coordinate place, described destination, (5) are with the described road chosen in the above-mentioned steps road repeated execution of steps (3) as starting point coordinate place if not;
(6) successively the road of all selections is stringed together to obtain a bar navigation circuit.
GPS locating module 4 implementation procedures are as follows:
Receive instrument by GPS and receive the locating information that gps satellite is sent back, calculate the coordinate of the current loca of automobile, this coordinate is presented at the map that is the center with this point on the navigating instrument corresponding to the corresponding coordinate points on the electronic chart on the navigating instrument.
The implementation procedure of speech analysis module 5 is as follows:
(1) guidance path that obtains along path planning module 3, article one road from the starting point place, judge current road and next bar road annexation, whether turn, road conditions or the like information, the information that obtains according to judgement, the place that voice suggestion is pointed on road is set up the speech trigger point everywhere for about preceding 1000 meters, when described speech trigger point refers to travel to this, play the point of corresponding voice suggestion.For example shown in Fig. 5 b, can keep left at a M place or lanes on the right side,, set up a speech trigger point at preceding 1000 meters of a M.Enter next bar road then, so along path searching, until setting up the speech trigger point for all roads.
(2) judge the voice messaging that specifically calls at described speech trigger point place according to the concrete condition and the relations such as turning, speed limit of actual travel road.For example shown in Fig. 5 b, according to guidance path, track route is a → M → b, judges to the sidecar road that keeps left travels from the travel direction of a → M → b, i.e. voice attributes field " 2 " in the corresponding tables 2.
(3) according to the voice attributes field, the retrieval speech database finds corresponding voice document.
In speech database, there is corresponding relation as following table 3:
| The voice attributes field | The voice document name |
| 2 | 51000002.wav |
| 3 | 51000003.wav |
| 4 | 51000004.wav |
Table 3
In table 3, the voice document " 51000002.wav " by name that voice attributes field " 2 " is corresponding; The voice document " 51000003.wav " by name that voice attributes field " 3 " is corresponding; The voice document " 51000004.wav " by name that voice attributes field " 4 " is corresponding.
(4) be equipped with corresponding voice document name at the speech trigger point.The voice document name that retrieves in step (3) is stored in speech trigger point place.
For example shown in Fig. 5 b: the voice document name " 51000002.wav " of the speech trigger point place's typing correspondence before a M.
The implementation procedure of navigation speech module 7 is as follows:
Obtain the current traveling-position of vehicle according to GPS locating module 4, when this position is speech trigger point place, triggers and play speech events, promptly play the voice of this trigger point correspondence.For example shown in Fig. 5 b: during speech trigger point before driving to a M, according to the filename that is stored in the trigger point " 51000002.wav ", play this voice document, promptly the sound of Bo Chuing is " the sidecar road that keeps left travels ".
In sum, adopt technical scheme of the present invention, can make that navigation is more accurate.The present invention is not only applicable to complex crossing in addition, and all applicable for main and side road gateway, high speed gateway, viaduct etc., specific implementation is not given unnecessary details at this with identical herein.
Claims (5)
1. a guider that utilizes tri-dimensional picture is characterized in that, comprising:
The road modeling module, being used for according to the real road situation is that the road of electronic chart is set up its corresponding network model;
The tri-dimensional picture configuration module is used for disposing corresponding tri-dimensional picture according to the network model that described road modeling module is set up at the complex crossing place;
Path planning module is used for determining the driving path of vehicle;
The GPS locating module is used for determining the current location of vehicle;
The tri-dimensional picture display module is used for the result according to described path planning module and described GPS locating module, and certain distance shows the tri-dimensional picture of the described complex crossing of described tri-dimensional picture configuration module configuration before complex crossing.
2. the guider that utilizes tri-dimensional picture as claimed in claim 1 is characterized in that, also comprises:
Speech navigation databank is used to deposit voice messaging;
Speech analysis module, the driving path that network model of being set up according to described road modeling module and described path planning module are determined is determined the speech trigger point of branch point;
The navigation speech module, the speech trigger point that determined vehicle current location of described GPS locating module and described speech analysis module obtain takes out corresponding voice messaging and is play from described speech navigation databank.
3. the guider that utilizes tri-dimensional picture as claimed in claim 2 is characterized in that, certain distance is 300 meters before the described complex crossing.
4. the guider that utilizes tri-dimensional picture as claimed in claim 3 is characterized in that, described speech navigation databank comprises following field:
The voice attributes field is used for the unique identification voice messaging;
The voice messaging field is used to represent every kind of pairing navigation speech of described voice attributes.
5. the voice guiding device of high-speed ramification point as claimed in claim 4 is characterized in that, described voice messaging comprises following information:
The sidecar road that keeps left travels;
Travel along middle lane;
Lanes on the right side.
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| CN200710151572XA CN101169331B (en) | 2006-10-25 | 2007-09-28 | Vehicular navigation device using tri-dimensional picture |
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| CN101169331B CN101169331B (en) | 2011-04-13 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101709978B (en) * | 2009-09-24 | 2013-05-29 | 深圳市凯立德科技股份有限公司 | Path guiding method and path guiding equipment |
| CN101701827B (en) * | 2009-10-20 | 2013-05-29 | 深圳市凯立德科技股份有限公司 | Way guidance method and way guidance equipment |
| CN103323015A (en) * | 2012-03-23 | 2013-09-25 | 北京四维图新科技股份有限公司 | Navigation method and navigation device |
| CN104933924A (en) * | 2015-05-19 | 2015-09-23 | 同济大学 | Driving simulation experimental equipment and application thereof |
| CN111383446A (en) * | 2018-12-28 | 2020-07-07 | 西安四维图新信息技术有限公司 | Method and equipment for making electronic map road information |
| CN113370897A (en) * | 2021-06-28 | 2021-09-10 | 北京小鹏汽车有限公司 | Vehicle map display control method and device |
| CN113781814A (en) * | 2021-08-18 | 2021-12-10 | 江苏辰科慧芯电子科技有限公司 | Whole scene combined navigation positioning method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1350157A (en) * | 2001-12-10 | 2002-05-22 | 武汉长江卫星导航通信有限公司 | Phonetic navigation method for complex crossing of satellite vehicle navigation system |
-
2007
- 2007-09-28 CN CN200710151572XA patent/CN101169331B/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101709978B (en) * | 2009-09-24 | 2013-05-29 | 深圳市凯立德科技股份有限公司 | Path guiding method and path guiding equipment |
| CN101701827B (en) * | 2009-10-20 | 2013-05-29 | 深圳市凯立德科技股份有限公司 | Way guidance method and way guidance equipment |
| CN103323015A (en) * | 2012-03-23 | 2013-09-25 | 北京四维图新科技股份有限公司 | Navigation method and navigation device |
| CN104933924A (en) * | 2015-05-19 | 2015-09-23 | 同济大学 | Driving simulation experimental equipment and application thereof |
| CN111383446A (en) * | 2018-12-28 | 2020-07-07 | 西安四维图新信息技术有限公司 | Method and equipment for making electronic map road information |
| CN113370897A (en) * | 2021-06-28 | 2021-09-10 | 北京小鹏汽车有限公司 | Vehicle map display control method and device |
| CN113781814A (en) * | 2021-08-18 | 2021-12-10 | 江苏辰科慧芯电子科技有限公司 | Whole scene combined navigation positioning method |
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| Publication number | Publication date |
|---|---|
| CN101169331B (en) | 2011-04-13 |
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Effective date of registration: 20200512 Address after: 310052 room 508, floor 5, building 4, No. 699, Wangshang Road, Changhe street, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Alibaba (China) Co.,Ltd. Address before: 102200, No. 18, Changsheng Road, Changping District science and Technology Park, Beijing, B1 Patentee before: AUTONAVI SOFTWARE Co.,Ltd. |