CN104061927A - Method and device for walking navigation - Google Patents
Method and device for walking navigation Download PDFInfo
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- CN104061927A CN104061927A CN201410312957.XA CN201410312957A CN104061927A CN 104061927 A CN104061927 A CN 104061927A CN 201410312957 A CN201410312957 A CN 201410312957A CN 104061927 A CN104061927 A CN 104061927A
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- 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
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Abstract
The invention provides a method and device for walking navigation. The method comprises the steps that a walking navigation route is determined according to the starting point and the terminal point; the walking navigation route is divided into one or more segmented routes; each segmented route comprises a continuous road section and a decision point; the route identification information within the preset range of the decision point is obtained; when walking navigation is carried out within the preset range of the decision point, and the route identification information is provided for assisting navigation.
Description
Technical field
The present invention relates to navigation Service field, more specifically, relate to a kind of method and apparatus for walking navigation.
Background technology
At present, the mobile terminal apparatus that has positioning function and a navigation feature has been widely used in daily life.For example, people can determine with the mobile phone terminal with GPS positioning function the position at the current place of oneself, and the position based on current place provides corresponding service, that is, and and so-called location-based service (LBS).Again for example, if navigation software is installed on mobile phone, can navigate by the navigation feature of navigation software.Navigation conventionally can be for two kinds of situations, and a kind of is navigation for vehicle, and a kind of is navigation for the pedestrian of walking.The navigation request instantaneity of vehicle, responsive for important geographical location information such as crossings, and the distance interval of navigation is adapted to the travel speed of vehicle.And the navigation difference of the navigation of walking and vehicle is, it is much slow that the speed of walking is wanted with respect to the travel speed of vehicle, and pedestrian is higher for the degree of accuracy requirement of navigation.
At present, existing walking navigation product is still immature.Common product form has 2 kinds: 1, for walking leading demand, only provide route service, real-time phonetic induced service is not provided; 2,, for walking leading demand, provide route service and real-time phonetic induced service.But it is basically identical with the induction of vehicle voice that mechanism is reported in induction, strictly depends on real-time positioning result, by the accurate location at judgement active user place, reports corresponding voice messaging.
The shortcoming of prior art is: it is associated that 1, map shows pattern makes the more difficult foundation of the atural object by map shows information and real world of user, and the guiding that has reduced route itself is worth; 2, the real-time phonetic induction mode of similar vehicles navigation, it reports accuracy and user experiences the accuracy that strictly depends on location, and under walking sight, because velocity of displacement is lower, the positioning precision of smart mobile phone or similar portable equipment is generally on the low side, this easily causes the misjudgment to user's real time position, and then causes report opportunity or content false, finally to user, is caused misleading.
Summary of the invention
An aspect of of the present present invention provides a kind of method for walking navigation, comprising: according to starting point and evaluation of end point walking navigation route; Described walking navigation route is divided into one or more segmentation route, and described segmentation route comprises continuous section and decision point; The route identification information of acquisition in decision point preset range; When walking navigation proceeds in the described preset range of decision point, provide described route identification information for assisting navigation.
According to an aspect of the present invention, described method also comprises: obtain the first route identification information corresponding to continuous section in segmentation route; When walking navigation proceeds to the described first continuous section, provide the described first route identification information corresponding to continuous section.
According to an aspect of the present invention, described method also comprises: receive the locating information that navigation client sends, described locating information is the locating information being obtained from user by the locating information of navigation client self acquisition or navigation client; According to the information of described locating information and segmentation route, determine the segmentation route that walking navigation proceeds to.
According to an aspect of the present invention, decision point comprises: the bifurcation that leads to two or more road.
According to an aspect of the present invention, the size of the described preset range of decision point depends on the type of decision point.
According to a further aspect in the invention, also provide a kind of device for walking navigation, having comprised: route planning unit, according to starting point and evaluation of end point walking navigation route; Section division unit, is divided into one or more segmentation route by described walking navigation route, and described segmentation route comprises continuous section and decision point; Route identification information acquiring unit, obtains the route identification information in decision point preset range; Navigation guide unit, when walking navigation proceeds in the described preset range of decision point, provides described route identification information for assisting navigation.
According to a further aspect in the invention, route identification information acquiring unit also obtains the first route identification information corresponding to continuous section in segmentation route, when walking navigation proceeds to the described first continuous section, navigation guide unit provides the described first route identification information corresponding to continuous section.
According to a further aspect in the invention, navigation guide unit receives the locating information that navigation client sends, described locating information is the locating information that the locating information being obtained by navigation client self or the client of navigating obtain from user, and the segmentation route that walking navigation proceeds to is determined according to the information of described locating information and segmentation route in navigation guide unit.
According to a further aspect in the invention, decision point comprises: the bifurcation that leads to two or more road.
According to a further aspect in the invention, the size of the described preset range of decision point depends on the type of decision point.
Accompanying drawing explanation
By the description of carrying out below in conjunction with accompanying drawing, above and other object of the present invention and feature will become apparent, wherein:
Fig. 1 is the process flow diagram illustrating according to the method for walking navigation of the embodiment of the present invention;
Fig. 2 be illustrate according to the segmentation route of the division of the embodiment of the present invention and with the schematic diagram in the segmentation route corresponding region of preset range around;
Fig. 3 illustrates according to the event occurring when carrying out walking navigation guiding of the embodiment of the present invention and the schematic diagram of corresponding navigation guide strategy thereof;
Fig. 4 is the diagram illustrating according to the different navigation guide strategy using in the region of dissimilar segmentation route of the embodiment of the present invention;
Fig. 5 is the block diagram illustrating according to the device for walking navigation of the embodiment of the present invention.
Embodiment
Provide the description carried out with reference to accompanying drawing to contribute to complete understanding as claim and exemplary embodiment of the present invention that equivalent was limited thereof below.In described description, unless clearly indicate, identical variable has identical definition.Described description comprises that various detailed details are to contribute to understanding, and these descriptions will be considered to only for exemplary.Therefore, those of ordinary skill in the art will recognize and can make without departing from the scope and spirit of the present invention various change described here and modification.In addition, for clear and succinct, can omit the description to known function and structure.
The method and apparatus for walking navigation according to the embodiment of the present invention is described below with reference to accompanying drawings.Wherein, can in the mobile terminal device such as smart mobile phone, navigating instrument etc., realize according to the method and apparatus of the walking navigation of the embodiment of the present invention.Below, the smart mobile phone of usining describes as the example of mobile terminal device.Smart mobile phone has positioning function, and has the content that the way of outputs such as display screen, microphone, earphone is exported navigation guide.Meanwhile, thus user also can input corresponding instruction by smart mobile phone carries out interaction.
Fig. 1 is the process flow diagram illustrating according to the method for walking navigation of the embodiment of the present invention.First, at step S101, according to the route of starting point and terminal planning walking navigation.Here, can obtain by positioning function the user's of smart mobile phone current location, and using current location as starting point.In addition, can manually input starting point and terminal.Here, can calculate the route that distance is the shortest or the time is minimum such as two-way A*, the pedestrian-way network data of Dijkstra scheduling algorithm based on reasonable tax power.Should be understood that and can carry out programme path according to any known algorithm, and can carry out programme path according to different requirements.For example, can require route need to pass through a certain locality etc.After calculating route, can get the route identification information relevant to route.The route identification information relevant to route for example can comprise the terrestrial object information of route information and route periphery.The section that route information comprises route whole process is divided, geological information and the road attribute information in each section, and the bifurcated information of route junction etc.Terrestrial object information refers to buildings or the natural landscape information of road periphery, in some system, is also referred to as: point of interest POI (Point of Interest).Terrestrial object information such as can comprise social economy's attribute such as position, title, text description, business, education of atural object, highly, the information such as buildings figure and features attribute such as width, the number of plies.
Next, at step S103, the walking navigation route obtaining in step S101 planning is divided into described walking navigation route is divided into one or more segmentation route.The segmentation route here comprises continuous section and decision point.Section is the section before bifurcated appears in road continuously, and normally straight line (route of not getting rid of arc or other shape), that is to say, is only require user to walk always and do not need to make the section about the decision-making of direct of travel and road.Decision point refers to the position of making the decision-making about advancing the middle user of needs that advances along route.According to the present invention, the road that normally keep straight in section continuously, and the decision point place that normally bifurcation occurs, for example, various crossings, overpass etc.That is to say, to take the route information of route planning output be input to segmentation route according to an embodiment of the invention, according to the important bifurcation in route, route is divided into the segmentation route that continuous section and decision point form.Conventionally, the bifurcation on road is during user goes on a journey, to need the decision point that makes a policy, and whether for example, determining needs to turn, to which direction, turn, whether will go up overline bridge, whether will enter underpass etc.Certainly, decision point can be also the place of other type on road, for example, important means of transportation or landscape site etc., user may need to make corresponding stop or other action nearby.Preferably, section and decision point should replace appearance in navigation way continuously.
Next, at step S105, obtain the route identification information in decision point preset range.Here, preset range refers on route to road expands respectively the planar region that certain distance obtains around, and the large I in region is according to the type of decision point and difference.For example, the decision point in the more region of high building, because user's visual range is limited, therefore, the large I of described preset range is relatively little.And on spacious region (near airport), user's visual range is larger, therefore the large I of described preset range is relatively large.
Preferably, according to embodiments of the invention, also starting point and terminal also can be included to generate near region corresponding starting point and near region terminal, this is because can carry out and general section and the differentiated navigation guide of navigation guide of decision point in the stage of setting out and arrival stage.To be described in more detail after a while.
With reference to accompanying drawing 2, shown in Fig. 2 is the schematic diagram illustrating according to the regional sequence of the segmentation route of the division of the embodiment of the present invention and preset range around thereof.First Region of this regional sequence is centered by starting point, and last Region is centered by terminal.Like this, for a route that comprises N turning, can process by " route segmentation " sequence in a region that comprises 2*N+3 Region of output.In the example of Fig. 2, turning number of times is 3, and therefore, final number of dividing the region obtaining is 9=2*3+3.
According to the operation of obtaining route identification information of the embodiment of the present invention, be that the terrestrial object information in the periphery certain limit of segmentation route is set up to associated process with corresponding segmentation route.Like this, in the process of follow-up navigation guide, can export according to the terrestrial object information associated with segmentation route the content of various navigation.By above operation, finally obtained the regional sequence of terrestrial object information associated.
Then, user start along planning route advance in, at step S107, in the time of in walking navigation proceeds to described decision point preset range, provide described route identification information for assisting navigation.Preferably, except decision point, also can obtain route identification information corresponding to continuous section in segmentation route, and when walking navigation proceeds to this continuous section, provide the route identification information corresponding with this continuous section.
When carrying out walking navigation, from navigation client (for example can receive, APP in mobile phone) locating information sending (described locating information is the locating information of client self or the locating information that client obtains according to user), and determine according to described locating information and segmentation route information the segmentation route that described walking navigation proceeds to.With reference to Fig. 3, describe the process that the locating information obtaining according to the different event type occurring is carried out different navigation guide operations in detail.Below, by voice broadcast, carry out navigation guide.However, it should be understood that also and can adopt other mode, such as, vision shows to carry out navigation guide, or adopts the combination in any of the modes such as voice, vision demonstration, sense of touch that the content of navigation guide is informed to user.
In addition, according to another embodiment, being displayed on the screen with each corresponding region of segmentation route of generation.Like this, when the region showing is selected by user, to user, provide and the corresponding navigation guide in the region showing.For example, if mobile terminal device is provided with touch-screen, user can pass through directly to touch any one region of clicking in the region showing as Fig. 2, thereby can directly carry out and the corresponding navigation guide in the region showing.
As shown in Figure 3, when user starts to advance according to the walking navigation route generating, can according to position more new events and user's manual selection event obtain locating information, thereby carry out carrying out in corresponding with it region the voice broadcast of navigation guide.
Position more new events can comprise more new events and manual confirmation position new events more of automated location.Manually selection event can comprise manual report event and manual browsing event.For example, automated location more new events can be to obtain up-to-date user GPS position every 1 second or 2 seconds, and GPS position and route information, the current region of living in of user are comprehensively analyzed, and judges whether the region at user place needs to upgrade.If region needs to upgrade, trigger " automated location renewal " event.After getting this event, navigation guide content corresponding to new region reported in the current residing region of renewable user simultaneously.
Manual confirmation position more new events refers to that user passes through direct control mobile terminal device, and current location is manually set to the region before or after current region.Now, trigger more new events of manual confirmation position.After getting this event, upgrade the current residing region of user, report the navigation guide content corresponding with new region simultaneously.
Manually report event is that user manually selects to report navigation guide content.After getting this event, navigation guide content corresponding to the current region of living in of user will be reported.Relative position difference according to user's Current GPS position in region, reports content and will have certain difference.
Manually browsing event is that user manually selects the region showing to check.After getting this event, can report the navigation guide content corresponding with the region of selecting.Fig. 4 is the diagram illustrating according to the different navigation guide strategy using in the region of dissimilar segmentation route of the embodiment of the present invention.
According to the type of segmentation route, the regional sequence of Fig. 2 can be divided into dissimilar navigation guide region.With reference to accompanying drawing 4, the region of dissimilar segmentation route can be corresponding to different report scenes.Report scene and can comprise the middle report of decision point and near the report of decision point two large classes, and near decision point, report is further divided into: near report near the report of common decision point, near the report of starting point and terminal.
As shown in Figure 4, for decision point in the middle of report corresponding region, that is to say, if during region corresponding to certain the continuous section in the middle of user is positioned at two decision points, this belongs to the middle report of decision point scene.Under this scene, report content and conventionally can comprise 3 parts:
(1) continuous section relevant information, comprising: road section length, road name, roadway characteristic (for example: user should walk on walkway or on non-motor-driven road), user should the walk left side of adjacent carriageway or right side etc.;
(2) next-door neighbour's next decision point information, comprising: decision point type (such as: crossroad, T-shaped road junction, overline bridge entrance, genuine entrance, through crossing etc.), turn direction (left-hand rotation, right-hand rotation etc.);
(3) continuous section important terrestrial object information on the way.Here, can, based on route working direction, atural object easy to be recognized by the user, the especially high-lager building of the left and right sides, section be described.Meanwhile, according to the relative position of user's current location and atural object, can carry out the report strategy of differentiation.For example, if atural object forwardly, can report: you will pass through XX atural object left forward side (or right side); If atural object and customer location are nearer, can report the XX atural object that you can see left side (or right side) now; If atural object in the wings, can report the XX atural object that you have passed through left side (or right side).
Continuation, with reference to Fig. 4, is reported the report of the common decision point of ordinary representation except the specific decision point with such as starting point and terminal near common decision point.The bifurcation of common decision point conventionally and on section is corresponding.
As shown in Figure 4, reporting content can comprise: decision point type (such as: crossroad, T-shaped road junction, overline bridge entrance, genuine entrance, through crossing etc.), turn direction (left-hands rotation, right-hand rotation etc.), decision point aid identification information, the section summary info after turning (such as: turn and will enter tunnel afterwards) etc.
Wherein, the particular content of decision point aid identification information difference according to the difference of decision point type and to some extent.In information is described, the direction of travel in previous continuous section of take is working direction, uses " front, rear, left and right " to describe the relative orientation of decision point periphery atural object.Common content comprises: the title of each road that crossing connects, near the relative characteristic of buildings crossing in regional, for example: XX mansion, left front, crossing is towering buildings, and XX mansion, right front is relatively short, and right back is a slice vacant lot.
For example, near the complete example of a report content common decision point is as follows: you have entered near turning point, and this is a crossroad, road ahead WeiXX road, road WeiXX road, left side, road WeiXX road, right side.You need to turn right and enter XX road.XX mansion, left front, crossing is towering buildings, and XX mansion, right front is relatively short, and right back is a slice vacant lot.Would you please careful identification.
Continuation is with reference to Fig. 4, reports near also comprising starting point according to the corresponding navigation guide strategy of the zones of different of the embodiment of the present invention.Compare with near report common decision point, near the special character of reporting starting point is:
(1) starting point may be near the decision points such as crossing, also may be in the middle of road.Need to distinguish and treat.
(2) do not enter the working direction of decision point, cannot use relative " front, rear, left and right " to describe periphery atural object.And the existence of atural object should first be described, according to atural object, to user, indicating working direction.
Therefore,, first according to the relative position relation in first section on start position and route, judgement starting point is positioned near crossing or in the middle of section.If starting point is positioned near crossing, the report strategy that can take is: first describe successively near the characters of ground object in each region, crossing, then, guide user to advance along some atural object.If starting point is positioned in the middle of section, reports strategy and be: first describe successively the atural object in the visible range of both sides, section, then, road one side of guiding user should press close to some atural object place, advances along or against wagon flow direction.
As shown in Figure 4, report near also comprising terminal according to the corresponding navigation guide strategy of the zones of different of the embodiment of the present invention.Near the content of reporting terminal comprises: the auxiliary identification information of terminal and the relative orientation in terminal and last continuous section.Report content example as follows: near you have reached home, terminal XXX is at the XX on road right side intra-building.
The report strategy that should be understood that the above navigation guide corresponding with dissimilar region is that schematically those skilled in the art can adopt other the report strategy that is suitable for this region.
Below with reference to Fig. 5, the device 500 for walking navigation according to the embodiment of the present invention is described.Here, device 500 can be realized in the mobile terminal device such as smart mobile phone.This mobile terminal device can comprise such as GPS unit for obtaining the assembly of current location information.This mobile terminal device also can have outside output units such as display screen, loudspeaker as required, and has the input media such as touch-screen, keyboard, microphone etc.Should be understood that all unit in device 500 can be further divided into more unit, or merge into unit still less.
As shown in Figure 5, the device 500 for walking navigation comprises route planning unit 510, section division unit 520, route identification information acquiring unit 530 and navigation guide unit 540.
The route of route planning unit 510 based on starting point and endpoint calculation route definite walking navigation.Route planning unit 510 can obtain current location by the localization function module (not shown) of device 500, and using current location as starting point.In addition, route planning unit 510 can receive user manually starting point and the terminal of input.
The walking navigation route that section division unit 520 generates route planning unit 510 is divided into the one or more segmentation route that comprises continuous section and decision point.
The route identification information that route identification information acquiring unit unit 530 obtains in decision point preset range.Preferably, except decision point, route identification information acquiring unit 530 also can obtain route identification information corresponding to continuous section in segmentation route.
Navigation guide unit 540, when walking navigation proceeds in the preset range of decision point, provides described route identification information for assisting navigation.Here, navigation guide unit 540 can according to current location more new events or manually selection event obtain locating information, and carry out navigation guide in the region with segmentation route corresponding to locating information.The current location information that can send by localization function module obtains locating information, also can obtain locating information by the manual input selection of user.
As mentioned above, section division unit 520 can be divided into route continuous section and decision point.Here, decision point can be the bifurcation that comprises roads such as crossroad, T-shaped road junction, overline bridge entrance, genuine entrance, process crossing.Preferably, section division unit 520 can be divided into alternately appearance by continuous section and decision point, like this, route identification information acquiring unit 530 can generate region, continuous section and the decision point region alternately occurring according to continuous section and decision point in its preset range around.In addition, according to embodiments of the invention, decision point also can comprise starting point and terminal, like this, can different navigation guide strategies be set for starting point and terminal.
Navigation guide unit 540 controllable devices 500 are reported the content of navigation guide to user by voice.Here, device 500 can provide voice content to report navigation with the content of computer to user by loudspeaker or earphone.Certainly, if adopt alternate manner that navigation guide is provided, corresponding other module can be controlled in navigation guide unit 540.For example, if carry out show navigator introductory content by display screen, navigation guide unit 540 can be controlled display unit and shows corresponding navigation guide content.
According to the difference of the type of navigation area, different navigation guide strategies can be carried out in navigation guide unit 540.For example, when carrying out navigation guide in region, continuous section, navigation guide unit 540 can provide the information relevant to continuous section, the route identification information relevant with continuous section next-door neighbour's next segmentation route, and when carrying out navigation guide in decision point region, navigation guide unit 540 can provide with the corresponding information of decision point type, turn direction, turning point aid identification information with after turning section summary info.Especially, navigation guide unit 540, can be according to the navigation guide of the relative position relation execution differentiation of user's current location and atural object when important terrestrial object information is provided on the way as mentioned above on continuous section.
In addition, according to embodiments of the invention, when decision point comprises starting point and terminal, route identification information acquiring unit 530 also can obtain the route identification information near the region of starting point and near region terminal, like this, during near region being positioned at starting point, navigation guide unit 540 is near crossing according to current location or different navigation guide strategies is carried out in road centre, and when be positioned near terminal region time, navigation guide unit 540 be provided for identification terminal information and with the relative orientation in last continuous section.Here, if starting point is positioned near crossing, the report strategy that navigation guide unit 540 can be taked is: first describe successively near the characters of ground object in each region, crossing, then, guide user to advance along some atural object.If starting point is positioned in the middle of section, navigation guide unit 540 can be reported strategy and is: first describe successively the atural object in the visible range of both sides, section, then, road one side of guiding user should press close to some atural object place, advances along or against wagon flow direction.
The present invention can provide a kind of brand-new voice induced service towards the user who has walking navigation demand, has significant difference with the service of existing simple route service and similar vehicles navigation.Can be for " locating mutually inaccurate " in gait processes and the feature of " user's decision-making is relative with the reaction time abundant ", for user provides intuitively, is convenient to the voice induced service of understanding.By the remarkable walking navigation that improves, experience, can effectively increase the viscosity of existing walking trip user to navigation product (such as navigation software), meanwhile, increase the attractive force of relevant bus routes service to user.
The method according to this invention can be recorded in and comprise that execution is in the computer-readable medium of the programmed instruction of computer implemented various operations.Medium also can only include programmed instruction or comprise the data file that combines with programmed instruction, data structure etc.The example of computer-readable medium comprises magnetic medium (for example hard disk, floppy disk and tape); Optical medium (for example CD-ROM and DVD); Magnet-optical medium (for example, CD); And special preparation for example, for storing the also hardware unit (, ROM (read-only memory) (ROM), random access memory (RAM), flash memory etc.) of execution of program instructions.Medium can be also the transmission medium (such as optical line or metal wire, waveguide etc.) that comprises the carrier wave of the signal that transmits established procedure instruction, data structure etc.The example of programmed instruction comprises the machine code that for example produced by compiler and comprises the file that can use the high-level code that interpreter carried out by computing machine.
Although specifically shown with reference to exemplary embodiment of the present invention and described the present invention, but it should be appreciated by those skilled in the art, in the situation that do not depart from the spirit and scope of the present invention that are defined by the claims, can carry out the various changes in form and details to it.
Claims (10)
1. a method for walking navigation, is characterized in that, comprising:
According to starting point and evaluation of end point walking navigation route;
Described walking navigation route is divided into one or more segmentation route, and described segmentation route comprises continuous section and decision point;
The route identification information of acquisition in decision point preset range;
When walking navigation proceeds in the described preset range of decision point, provide described route identification information for assisting navigation.
2. method according to claim 1, also comprises:
Obtain the first route identification information corresponding to continuous section in segmentation route;
When walking navigation proceeds to the described first continuous section, provide the described first route identification information corresponding to continuous section.
3. method according to claim 1 and 2, also comprises:
Receive the locating information that navigation client sends, described locating information is the locating information being obtained from user by the locating information of navigation client self acquisition or navigation client;
According to the information of described locating information and segmentation route, determine the segmentation route that walking navigation proceeds to.
4. method according to claim 1 and 2, decision point comprises: the bifurcation that leads to two or more road.
5. method according to claim 4, the size of the described preset range of decision point depends on the type of decision point.
6. for a device for walking navigation, comprising:
Route planning unit, according to starting point and evaluation of end point walking navigation route;
Section division unit, is divided into one or more segmentation route by described walking navigation route, and described segmentation route comprises continuous section and decision point;
Route identification information acquiring unit, obtains the route identification information in decision point preset range;
Navigation guide unit, when walking navigation proceeds in the described preset range of decision point, provides described route identification information for assisting navigation.
7. device according to claim 6, wherein,
Route identification information acquiring unit also obtains the first route identification information corresponding to continuous section in segmentation route,
When walking navigation proceeds to the described first continuous section, navigation guide unit provides the described first route identification information corresponding to continuous section.
8. according to the device described in claim 6 or 7, wherein,
Navigation guide unit receives the locating information that navigation client sends, and described locating information is the locating information being obtained from user by the locating information of navigation client self acquisition or navigation client,
The segmentation route that walking navigation proceeds to is determined according to the information of described locating information and segmentation route in navigation guide unit.
9. according to the device described in claim 6 or 7, wherein, decision point comprises: the bifurcation that leads to two or more road.
10. device according to claim 9, the size of the described preset range of decision point depends on the type of decision point.
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