CN103185594A - Vehicle-mounted navigation method and vehicle-mounted navigation apparatus - Google Patents
Vehicle-mounted navigation method and vehicle-mounted navigation apparatus Download PDFInfo
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- CN103185594A CN103185594A CN 201110457620 CN201110457620A CN103185594A CN 103185594 A CN103185594 A CN 103185594A CN 201110457620 CN201110457620 CN 201110457620 CN 201110457620 A CN201110457620 A CN 201110457620A CN 103185594 A CN103185594 A CN 103185594A
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Abstract
The invention relates to a vehicle-mounted navigation method and a vehicle-mounted navigation apparatus. The vehicle-mounted navigation method comprises the steps of acquiring position information corresponding to a current position of a vehicle; acquiring a vehicle speed and a steering wheel signal of the vehicle, wherein the steering wheel signal carries angular information of rotation of the steering wheel; and predetermining a vehicle route of the vehicle based on the position information, the vehicle speed and the steering wheel signal. The technical solution provided by the invention can provide route planning for a low-end vehicle under a condition lacking satellite signals.
Description
Technical field
The present invention relates to the vehicle mounted guidance technical field, especially a kind of vehicle mounted guidance method and on-vehicle navigation apparatus.
Background technology
Automobile has had the history in more than 120 year as people's the daily vehicles, and during this period along with development of science and technology, automobile has also experienced the different variation of crescent.Be accompanied by continuous development and the progress of automotive engineering, onboard system is come into people's life gradually as the subsidiary products of automobile.
The navigation feature of vehicle-mounted map provides great convenience for user vehicle at searching road and destination in the onboard system.Onboard system mostly relies on global position system to vehicle location, and then carries out the effect that route planning reaches navigation.Vehicle in the process of moving, through regular meeting in the tunnel, satellite-signals such as the road surface below overhead very weak or even the disappearance environment in travel.Because the disappearance of satellite-signal causes onboard system to be difficult to use global position system to carry out route planning, this brings greatly inconvenience for travelling of vehicle.
Though equipment such as gyroscope are installed in the vehicle at present, under the situation of satellite-signal disappearance, can calculate traffic route according to gyroscope.But because equipment such as gyroscope is expensive, some are not installed gyrostatic low end vehicle and are difficult to carry out route planning under the situation of satellite-signal disappearance.
Therefore how under the situation of satellite-signal disappearance, carry out route planning for low end vehicle and become one of present problem demanding prompt solution.
Summary of the invention
The problem that the present invention solves be in the prior art under the situation of satellite-signal disappearance, low end vehicle is difficult to carry out the problem of route planning.
For addressing the above problem, technical scheme of the present invention provides a kind of vehicle mounted guidance method, comprising:
Obtain the positional information corresponding with the current location of vehicle;
Obtain the speed of a motor vehicle and the bearing circle signal of described vehicle, described bearing circle signal carries the information of the angle of described bearing circle rotation;
Traffic route based on described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation.
For addressing the above problem, technical scheme of the present invention also provides a kind of on-vehicle navigation apparatus, comprising:
First acquiring unit is in order to obtain the positional information corresponding with the current location of vehicle;
Second acquisition unit, in order to the speed of a motor vehicle and the bearing circle signal that obtains described vehicle, described bearing circle signal carries the information of the angle of described bearing circle rotation;
Predicting unit is in order to the traffic route based on described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation.
Compared with prior art, the present invention has the following advantages:
Under the situation of satellite-signal disappearance, the signal that takes full advantage of vehicle self carries out route planning, the traffic route of prediction vehicle.This not only can plan the traffic route of vehicle, and saves the production cost of vehicle.
Traffic route and the predetermined guidance path of vehicle of prediction compared, if the traffic route of the vehicle of predicting departs from predetermined guidance path, then send information, and when obtaining satellite-signal, recomputate predetermined guidance path.This can prevent that not only vehicle from departing from predetermined guidance path, but also can plan guidance path again according to the current traffic route of vehicle.
Description of drawings
Fig. 1 is the process flow diagram of the vehicle mounted guidance method that provides of the embodiment of the invention;
Fig. 2 is the synoptic diagram of the described vehicle mounted guidance method prediction of the use that provides of embodiment of the invention traffic route;
Fig. 3 is the traffic route synoptic diagram of the prediction that provides of the embodiment of the invention;
Fig. 4 is the traffic route of the prediction that provides of the embodiment of the invention and the comparison synoptic diagram of predetermined guidance path;
Fig. 5 is the structural drawing of the on-vehicle navigation apparatus that provides of the embodiment of the invention.
Embodiment
For above-mentioned purpose of the present invention, feature and advantage can more be become apparent, below in conjunction with accompanying drawing the specific embodiment of the present invention is described in detail.
Set forth detail in the following description so that fully understand the present invention.But the present invention can be different from alternate manner described here and implements with multiple, and those skilled in the art can do similar popularization under the situation of intension of the present invention.Therefore the present invention is not subjected to the restriction of following public embodiment.
Fig. 1 is the process flow diagram of the vehicle mounted guidance method that provides of the embodiment of the invention, describes in detail below in conjunction with Fig. 1.
Step S1 obtains the positional information corresponding with the current location of vehicle;
Step S2 obtains the speed of a motor vehicle and the bearing circle signal of described vehicle, and described bearing circle signal carries the information of the angle that described bearing circle rotates;
Step S3 is based on the traffic route of described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation.
Among the described step S1, the positional information of described vehicle can be position coordinates, for example latitude and longitude coordinates.The positional information of vehicle changes along with travelling of vehicle, according to the speed of a motor vehicle, direction of traffic and the running time of vehicle, can calculate vehicle in the position of each time point.In disappearance during satellite positioning signal, the start position information of described traffic route can be the last time positional information of the described vehicle that obtains of positioning system via satellite.
Among the described step S2, the angle that described bearing circle rotates is corresponding with the deflection angle of described vehicle.During concrete enforcement, the speed of a motor vehicle and the bearing circle signal that can obtain described vehicle from can bus or the rigid line of described vehicle with preset frequency.
Among the described step S3, describedly comprise based on described positional information, the speed of a motor vehicle and the traffic route of second schedule time of bearing circle signal estimation: travelling for first schedule time based on described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation, (span is 200～300ms) corresponding prediction highway sections, and the prediction highway section in second schedule time of line obtains described traffic route.That is to say, the position of travelling and arriving after first schedule time based on described positional information (can regard the current location of vehicle as), the speed of a motor vehicle and the described vehicle of bearing circle calculated signals is with this position of straight line line and the current location of the vehicle corresponding prediction highway section of first schedule time that obtains travelling.With this prediction highway section of predicting for second schedule time in (comprising a plurality of first schedule times), the prediction highway section in second schedule time of line obtains described traffic route.
The traffic route that prediction obtains may be displayed in the display screen of vehicle.
Described vehicle mounted guidance method also comprises: when described traffic route departs from predetermined guidance path, then recomputate predetermined guidance path and/or send information.Described traffic route depart from future position that predetermined guidance path comprises described traffic route to the vertical range of the benchmark route of predetermined guidance path greater than preset distance.Described benchmark route is represented the direction of guidance path, and concrete can be the starting point of guidance path and the straight line line of terminal point.
Fig. 2 is the synoptic diagram of the described vehicle mounted guidance method prediction of the use that provides of embodiment of the invention traffic route, Fig. 3 is the traffic route synoptic diagram of the prediction that provides of the embodiment of the invention, Fig. 4 is the traffic route of the prediction that provides of the embodiment of the invention and the comparison synoptic diagram of predetermined guidance path, describes in detail below in conjunction with Fig. 2 to Fig. 4.
In the present embodiment, vehicle is expert at and is sailed into after the tunnel or during the road traveling below overhead, the disappearance satellite-signal is by technical scheme prediction traffic route of the present invention.
As shown in Figure 2, the t0 point is for before vehicle enters the tunnel, via satellite the positional information of the described vehicle that obtains for the last time of positioning system.With the starting point of t0 point as the traffic route of the prediction of described vehicle, in the present embodiment, the coordinate of ordering for convenience of calculation t0 is set to that (x0, y0), the coordinate that t0 is ordered in specific embodiment can be as the criterion with actual coordinate.
When the traffic route of prediction vehicle, be starting point with the t0 point, the t0+t point is the more following of described vehicle running time t (first schedule time) back arrival.When the t0 point, the angle of obtaining the bearing circle rotation of this vehicle from the can bus of described vehicle is θ, and the speed of a motor vehicle is v.Wherein the angle θ of bearing circle rotation is corresponding with the angle of the headstock deflection of vehicle.The angle θ that described bearing circle rotates has direction, and bearing circle is turned left θ for just, and span is 0 °～180 °, and bearing circle is turned right θ for bearing, and span is-180 °～0 °.
As shown in Figure 2, according to geometric operation calculate coordinate that t0+t orders for (x0-v*t*tan| θ |, y0+v*t).In view of the span difference at θ angle, the coordinate that t0+t is ordered can also be expressed as (x0+v*t*tan| θ |, y0+v*t), (x0+v*t*tan| θ |, y0-v*t), (x0-v*t*tan| θ |, y0-v*t).In force, the t0+t coordinate of ordering calculates as the case may be.Connect t0 point and t0+t point with straight line, prediction obtains the prediction highway section of described vehicle running time t correspondence.
By said method can dope in time t0+10t (second schedule time) in time t, the prediction highway section of corresponding described vehicle.In concrete the enforcement, except the position coordinates that t0 is ordered, described vehicle can calculate in angle, the time interval (t) that position coordinates (can regard the positional information corresponding with the current location of vehicle as), the speed of a motor vehicle, the bearing circle of a last time point rotates based on vehicle at the position coordinates of other points.Begin to t0+10t point totally 11 sections prediction highway sections from the t0 point, the prediction highway section in line time t0+10t obtains described traffic route L1 (as shown in Figure 3).
Traffic route L1 as shown in Figure 4 can also compare with predetermined guidance path L2, if described traffic route L1 departs from predetermined guidance path L2, can send information.For example, traffic route L1 goes up coordinate (future position on the traffic route L1) that t0+5t order during greater than preset distance, can send the information of " departing from navigation way " to the vertical range l of the benchmark route L3 that is scheduled to guidance path L2.The benchmark route L3 of predetermined guidance path L2 is the starting point (A point) of predetermined guidance path L2 and the straight line line of terminal point (B point), preset distance is decided on actual conditions, for example can determine to the distance (length of guidance path or benchmark route) of terminal point according to starting point, starting point is to the distance of terminal point, then preset distance is longer, the starting point distance to destination is short, and then preset distance is shorter.
When vehicle can obtain satellite-signal, if described traffic route L1 departs from predetermined guidance path L2, can also obtain the positional information of vehicle, recomputate the guidance path of vehicle.
Fig. 5 is the structural drawing of the on-vehicle navigation apparatus that provides of the embodiment of the invention.
First acquiring unit 1 is in order to obtain the positional information corresponding with the current location of vehicle;
Predicting unit 3 is in order to the traffic route based on described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation; Predicting unit 3 links to each other with first acquiring unit 1, second acquisition unit 2;
The speed of a motor vehicle and bearing circle signal that second acquisition unit 2 obtains described vehicle with preset frequency from can bus or the rigid line of described vehicle.
Predicting unit 3 is based on the travel prediction highway section of first schedule time correspondence of described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation, and the prediction highway section in second schedule time of line obtains described traffic route.In disappearance during satellite positioning signal, described predicting unit 3 with described 1 the last time of first acquiring unit via satellite the positional information of the described vehicle that obtains of positioning system as the start position information of described traffic route.
Described on-vehicle navigation apparatus can also comprise:
The comparing unit (not shown) is in order to compare described traffic route and predetermined guidance path;
The operating unit (not shown) during described predetermined guidance path, recomputates predetermined guidance path and/or sends information for described traffic route departs from order to the result that compares described traffic route and predetermined guidance path at described comparing unit.
The future position that described comparing unit is compared described traffic route to the result of the vertical range of the benchmark route of predetermined guidance path and preset distance for described vertical range greater than described preset distance, then definite described traffic route departs from described predetermined guidance path.
The display unit (not shown) is in order to show described driving path.
Technical scheme of the present invention has following advantage at least:
Under the situation of satellite-signal disappearance, the signal that takes full advantage of vehicle self carries out route planning, the traffic route of prediction vehicle.This not only can plan the traffic route of vehicle, and saves the production cost of vehicle.
Traffic route and the predetermined guidance path of vehicle of prediction compared, if the traffic route of the vehicle of predicting departs from predetermined guidance path, then send information, and when obtaining satellite-signal, recomputate predetermined guidance path.This can prevent that not only vehicle from departing from predetermined guidance path, but also can plan guidance path again according to the current traffic route of vehicle.
Though the present invention with preferred embodiment openly as above; but it is not to limit the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; can utilize method and the technology contents of above-mentioned announcement that technical solution of the present invention is made possible change and modification; therefore; every content that does not break away from technical solution of the present invention; to any simple modification, equivalent variations and modification that above embodiment does, all belong to the protection domain of technical solution of the present invention according to technical spirit of the present invention.
Claims (16)
1. a vehicle mounted guidance method is characterized in that, comprising:
Obtain the positional information corresponding with the current location of vehicle;
Obtain the speed of a motor vehicle and the bearing circle signal of described vehicle, described bearing circle signal carries the information of the angle of described bearing circle rotation;
Traffic route based on described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation.
2. vehicle mounted guidance method as claimed in claim 1 is characterized in that, obtains the speed of a motor vehicle and the bearing circle signal of described vehicle with preset frequency.
3. vehicle mounted guidance method as claimed in claim 1, it is characterized in that, described traffic route based on described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation comprises: based on the travel prediction highway section of first schedule time correspondence of described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation, the prediction highway section in second schedule time of line obtains described traffic route.
4. vehicle mounted guidance method as claimed in claim 1 is characterized in that, in disappearance during satellite positioning signal, and the positional information of the described vehicle that the start position information of described traffic route obtains for the last positioning system via satellite.
5. vehicle mounted guidance method as claimed in claim 1 is characterized in that, comprises that also working as described traffic route departs from predetermined guidance path, then recomputates predetermined guidance path and/or sends information.
6. vehicle mounted guidance method as claimed in claim 5 is characterized in that, described traffic route depart from future position that predetermined guidance path comprises described traffic route to the vertical range of the benchmark route of predetermined guidance path greater than preset distance.
7. vehicle mounted guidance method as claimed in claim 1 is characterized in that, also comprises showing described driving path.
8. vehicle mounted guidance method as claimed in claim 1 is characterized in that, the described speed of a motor vehicle and bearing circle signal obtain from can bus or the rigid line of described vehicle.
9. an on-vehicle navigation apparatus is characterized in that, comprising:
First acquiring unit is in order to obtain the positional information corresponding with the current location of vehicle;
Second acquisition unit, in order to the speed of a motor vehicle and the bearing circle signal that obtains described vehicle, described bearing circle signal carries the information of the angle of described bearing circle rotation;
Predicting unit is in order to the traffic route based on described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation.
10. on-vehicle navigation apparatus as claimed in claim 9 is characterized in that, second acquisition unit obtains the speed of a motor vehicle and the bearing circle signal of described vehicle with preset frequency.
11. on-vehicle navigation apparatus as claimed in claim 9, it is characterized in that, described predicting unit is based on the travel prediction highway section of first schedule time correspondence of described positional information, the speed of a motor vehicle and the described vehicle of bearing circle signal estimation, and the prediction highway section in second schedule time of line obtains described traffic route.
12. on-vehicle navigation apparatus as claimed in claim 9, it is characterized in that, in disappearance during satellite positioning signal, described predicting unit with described first acquiring unit the last time via satellite the positional information of the described vehicle that obtains of positioning system as the start position information of described traffic route.
13. on-vehicle navigation apparatus as claimed in claim 9 is characterized in that, also comprises:
Comparing unit is in order to compare described traffic route and predetermined guidance path;
Operating unit during described predetermined guidance path, recomputates predetermined guidance path and/or sends information for described traffic route departs from order to the result that compares described traffic route and predetermined guidance path at described comparing unit.
14. on-vehicle navigation apparatus as claimed in claim 13, it is characterized in that, the future position that described comparing unit is compared described traffic route to the result of the vertical range of the benchmark route of predetermined guidance path and preset distance for described vertical range greater than described preset distance, then definite described traffic route departs from described predetermined guidance path.
15. on-vehicle navigation apparatus as claimed in claim 9 is characterized in that, also comprises display unit, in order to show described driving path.
16. on-vehicle navigation apparatus as claimed in claim 9 is characterized in that, described second acquisition unit obtains the described speed of a motor vehicle and bearing circle signal from can bus or the rigid line of described vehicle.
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| CN 201110457620 CN103185594A (en) | 2011-12-30 | 2011-12-30 | Vehicle-mounted navigation method and vehicle-mounted navigation apparatus |
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| CN 201110457620 CN103185594A (en) | 2011-12-30 | 2011-12-30 | Vehicle-mounted navigation method and vehicle-mounted navigation apparatus |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103616706A (en) * | 2013-12-05 | 2014-03-05 | 中国航空无线电电子研究所 | Target movement track prediction method in big-dipper-position-based monitoring application |
| CN103837152A (en) * | 2014-01-03 | 2014-06-04 | 观致汽车有限公司 | Intelligent turning prompting system and method for driving of vehicle |
| CN104422448A (en) * | 2013-08-23 | 2015-03-18 | 高德软件有限公司 | Vehicle positioning method and device |
| CN105526937A (en) * | 2016-01-06 | 2016-04-27 | 北京握奇智能科技有限公司 | Assisted positioning system and method based on CAN (Controller Area Network) bus |
| CN107796394A (en) * | 2016-09-05 | 2018-03-13 | 华为终端（东莞）有限公司 | A kind of vehicle indoor positioning method, apparatus, system and wearable smart machine |
| CN108120449A (en) * | 2017-12-21 | 2018-06-05 | 深圳市沃特沃德股份有限公司 | The method and device of car assisted positioning |
| CN109813323A (en) * | 2017-11-22 | 2019-05-28 | 上海博泰悦臻电子设备制造有限公司 | Adaptive Path air navigation aid/system, computer readable storage medium and terminal |
| CN111510867A (en) * | 2014-05-15 | 2020-08-07 | 三星电子株式会社 | System for providing personalized information and method of providing personalized information |
| CN112013855A (en) * | 2020-08-14 | 2020-12-01 | 上海擎感智能科技有限公司 | Positioning navigation method and system |
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| CN104422448A (en) * | 2013-08-23 | 2015-03-18 | 高德软件有限公司 | Vehicle positioning method and device |
| CN103616706A (en) * | 2013-12-05 | 2014-03-05 | 中国航空无线电电子研究所 | Target movement track prediction method in big-dipper-position-based monitoring application |
| CN103837152A (en) * | 2014-01-03 | 2014-06-04 | 观致汽车有限公司 | Intelligent turning prompting system and method for driving of vehicle |
| CN111510867A (en) * | 2014-05-15 | 2020-08-07 | 三星电子株式会社 | System for providing personalized information and method of providing personalized information |
| CN111510867B (en) * | 2014-05-15 | 2021-11-12 | 三星电子株式会社 | System for providing personalized information and method of providing personalized information |
| CN105526937A (en) * | 2016-01-06 | 2016-04-27 | 北京握奇智能科技有限公司 | Assisted positioning system and method based on CAN (Controller Area Network) bus |
| CN105526937B (en) * | 2016-01-06 | 2019-01-25 | 北京握奇智能科技有限公司 | A kind of CAN bus based aided positioning system and method |
| CN107796394B (en) * | 2016-09-05 | 2020-02-21 | 华为终端有限公司 | Vehicle indoor positioning method, device and system and wearable intelligent device |
| CN107796394A (en) * | 2016-09-05 | 2018-03-13 | 华为终端（东莞）有限公司 | A kind of vehicle indoor positioning method, apparatus, system and wearable smart machine |
| CN109813323A (en) * | 2017-11-22 | 2019-05-28 | 上海博泰悦臻电子设备制造有限公司 | Adaptive Path air navigation aid/system, computer readable storage medium and terminal |
| CN109813323B (en) * | 2017-11-22 | 2023-09-26 | 博泰车联网科技(上海)股份有限公司 | Adaptive path navigation method/system, computer readable storage medium and terminal |
| CN108120449A (en) * | 2017-12-21 | 2018-06-05 | 深圳市沃特沃德股份有限公司 | The method and device of car assisted positioning |
| CN112013855A (en) * | 2020-08-14 | 2020-12-01 | 上海擎感智能科技有限公司 | Positioning navigation method and system |
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Application publication date: 20130703 |