CN104422454A - Method for realizing walking navigation and mobile terminal - Google Patents
Method for realizing walking navigation and mobile terminal Download PDFInfo
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- CN104422454A CN104422454A CN201310371313.3A CN201310371313A CN104422454A CN 104422454 A CN104422454 A CN 104422454A CN 201310371313 A CN201310371313 A CN 201310371313A CN 104422454 A CN104422454 A CN 104422454A
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3423—Multimodal routing, i.e. combining two or more modes of transportation, where the modes can be any of, e.g. driving, walking, cycling, public transport
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Abstract
A provided method for realizing walking navigation comprises the following steps that a mobile terminal of a user using a vehicle receives a local simplified map from a center system, the local simplified map is generated by the center system by utilizing electronic map data according to a vehicle driving route and a destination received from vehicle-mounted navigation equipment, and the local simplified map shows map elements for walking navigation in a preset scope at the periphery of the destination, and the map elements for walking navigation comprise at least one parking lot for parking in the preset scope. When the vehicle enters the preset scope at the periphery of the destination, the mobile terminal determines a final parking position according to the travelling track of the vehicle, generates a walking navigation route from the final parking position to the destination, marks the walking navigation route in the local simplified map, and display the marked local simplified map to the user.
Description
Technical field
The present invention relates to communication navigation and smart mobile phone field, more specifically, relate to a kind of method for realizing walking navigation and mobile terminal, by carrying out exchanges data between mobile terminal and automatic navigator, centring system, work in coordination with and perform walking navigation application, and the quick switching between vehicle mounted guidance and walking navigation can be realized.
Background technology
In vehicle-mounted information and entertainment system (In-Vehicle Infotainment System), most important function is exactly communication navigation function, so in daily life, people usually by it referred to as onboard navigation system.Due to reasons such as parking lot are arranged, onboard navigation system is often by the ground near user's automobile navigation to final destination or underground parking place.In addition due to the difference of zones of different Parking Fee, driver also may initiatively by storing cycle in the parking lot had with a certain distance from final destination.Navigation from parking spot to final destination just can not rely on vehicle mounted guidance again, but will rely on walking.Before walking navigation is universal, the common way of people looks for people to ask the way.Along with the popularization of smart mobile phone, the application on smart mobile phone is more and more abundanter, comprises walking navigation application.After user drives to arrive strange area, the walking navigation function on smart mobile phone can be used after getting off to carry out walking and to arrive at final destination, realize the whole process navigation of door-to-door.Realize this process and just need the switching problem of solution one from vehicle mounted guidance to walking navigation.
Smart mobile phone is because be subject to the impact of own dimensions, its built-in GPS navigation hardware is all not so good as the hardware unit of vehicle mounted guidance on received signal strength and speed, particularly in built-up city, user may need to wait for that the long period just can make the walking navigation degree on smart mobile phone locate successfully.If user is positioned at underground parking, can not gps signal be received so especially, but will wait until that user comes on ground and just can carry out walking navigation.
Navigation based on mobile phone can have two kinds, a kind of unit off-line mode, i.e. mobile phone GPS locating device and map, and user mobile phone does not need to be connected with centring system and just can carry out walking navigation.Another kind is the online navigation mode based on centring system and mobile communication, i.e. mobile phone locating device, the positional information of user is returned to centring system by mobile phone in real time, calculates guidance path by centring system, and path and map are sent to mobile phone terminal in real time.The patent documentation JP-2003-214860 of prior art, JP-2001-298765-A, US7702457 person disclose a kind of navigational system relying on mobile phone terminal and information delivery server and carry out communicating.In these known prior aries, navigational system comprises the mobile phone terminal that is connected to mobile communications network, and a data service center is used for releasing news, the positional information that data communication services receive centre mobile phone terminal is uploaded, and respond the request of mobile phone, be responsible for path navigation and calculate.This kind of navigational system not only can provide driving navigation for vehicle, can also provide walking navigation for pedestrian.
Summary of the invention
Invent problem to be solved
It is no matter the online navigation mode based on centring system and mobile communication described in aforesaid known prior art, or the Mobile Telephone Gps system of unit off-line mode, the GPS locating device all relying on embedded in mobile phone obtains current location information, in general the speed of mobile phone location initial position is slow, and there is gps signal and cannot use in underground, in city easily by problems such as high building shieldings.Also due to these problems above, user cannot switch fast between vehicle mounted guidance and walking navigation.The regular hour must be spent after user gets off really could to use walking navigation on mobile phone.Need a kind ofly can not rely on gps signal and there is the walking navigation of fast switching capability to address these problems.
The present invention is proposed in order to solve above-mentioned defect of the prior art, therefore, the object of the invention is to propose a kind of method for realizing walking navigation and mobile terminal, by carrying out exchanges data between mobile terminal and automatic navigator, centring system, work in coordination with and perform walking navigation application, and the quick switching between vehicle mounted guidance and walking navigation can be realized.
To achieve these goals, according to the present invention, propose a kind of method for realizing walking navigation, comprise the following steps: use the mobile terminal of the user of vehicle to simplify map from centring system local, described partial simplified map utilizes electronic map data by described centring system, generate according to the travel route of the vehicle received from in-vehicle navigation apparatus and destination, and the map element for walking navigation in the preset range around the described destination of described partial simplified cartographic representation, the described map element for walking navigation comprise at least one in described preset range for the parking lot of parked vehicles, and when described vehicle enters in the described preset range around described destination, described mobile terminal judges final parking spot according to the driving trace of described vehicle and generates walking navigation route from described final parking spot to the destination of described vehicle, and the described partial simplified map after mark is presented to described user by described walking navigation routing indicator in described partial simplified map.
Preferably, described partial simplified map is basic VGP map or visual enhancement VGP map.
Preferably, described visual enhancement VGP map is the importance degree according to element in described basic VGP map, carries out to the different scaling in different regions divided in described basic VGP map the VGP map that convergent-divergent realizes visual enhancement.
Preferably, when judging that the connection of described mobile terminal and described in-vehicle navigation apparatus disconnects, the described partial simplified map after mark is presented to described user.
Preferably, when described vehicle enters in the described preset range around described destination, in described partial simplified map, by the driving trace of described vehicle with enter into the route of the inlet point in described preset range to each parking lot from described vehicle and carry out route and mate, thus judge the final parking spot of described vehicle; And in partial simplified map, perform the driving trace to described final parking spot of described vehicle and the union operation of the travel route to described destination, thus generate described walking navigation route.
Preferably, the described map element for walking navigation also comprises: the traffic route being positioned at described preset range that the intersection in the described preset range around described destination, described destination, the building name near described intersection, the road connecting described intersection and title thereof and vehicle mounted guidance are uploaded.
Preferably, when described vehicle enters in the described preset range around described destination, described mobile terminal determines the driving trace of described vehicle according to the vehicle real-time position information received from described centring system, and described vehicle real-time position information reports from described in-vehicle navigation apparatus to described centring system.
Preferably, described mobile terminal is intelligent mobile phone terminal.
In addition, according to the present invention, also proposed a kind of mobile terminal for realizing walking navigation, comprise: receiving element, map is simplified from centring system local, described partial simplified map utilizes electronic map data by described centring system, generate according to the travel route of the vehicle received from in-vehicle navigation apparatus and destination, and the map element for walking navigation in the preset range around the described destination of described partial simplified cartographic representation, the described map element for walking navigation comprise at least one in described preset range for the parking lot of parked vehicles, and display unit, when described vehicle enters in the described preset range around described destination, judge final parking spot according to the driving trace of described vehicle and generate from the walking navigation route of the destination of the described vehicle of described final parking spot, the described partial simplified map after mark is presented to user by described walking navigation routing indicator in described partial simplified map.
Accompanying drawing explanation
By reference to below in conjunction with accompanying drawing to adopted detailed description of the preferred embodiment, above-mentioned purpose of the present invention, advantage and feature will become more apparent, wherein:
Fig. 1 shows the schematic diagram of relation between vehicle mounted guidance, centring system, mobile phone terminal three and simple VGP sample.
Fig. 2 is the system hardware structure figure of the embodiment of the present invention.
Fig. 3 shows the treatment scheme realizing vehicle mounted guidance and switch fast to walking navigation.
Fig. 4 shows the example of partial simplified map (basic VGP).
It is the schematic diagram in multiple region that Fig. 5 shows map partitioning.
Fig. 6 shows the schematic diagram of the allocation example of the subregion zoom factor of partial simplified map (basic VGP).
Fig. 7 is the comparison diagram of basic VGP and visual enhancement VGP.
Fig. 8 illustrates in VGP " track of vehicle ", " route to parking lot " and " driving route of calculating ".
Fig. 9 shows two kinds of forms of expression of walking navigation route.
Figure 10 shows two kinds of special forms of the composition of walking navigation route.
Figure 11 is the figure for explaining Data Transmission Content between automatic navigator, center-side, smart mobile phone end and data transmission opportunity.
Embodiment
Below with reference to the accompanying drawings the preferred embodiments of the present invention are described.In the accompanying drawings, identical element is by by identical reference symbol or numeral.In addition, in following description of the present invention, the specific descriptions to known function and configuration will be omitted, to avoid making theme of the present invention unclear.
In order to can solve the aforementioned cellphone GPS signal framing time long, to be easily disturbed and the problem such as shielding, and solve the quick switching problem of vehicle mounted guidance to walking navigation, the present invention proposes a kind of walking navigation with fast switching capability.This system establishes a communications link between automatic navigator, centring system, smart mobile phone.At driving phase, be responsible for the navigation of vehicle by automatic navigator, and send the information such as departure place, destination, real time position, route of vehicle to centring system.After user is stopped, navigational system is switched to rapidly the walking navigation on mobile phone, waits for that mobile phone goes to receive gps signal without the need to user.Realize the hand-in-glove that this function needs centring system and mobile phone terminal.What most critical was generates visual guiding figure (VGP in advance by centring system, Visualized Guidanee Picture), and visual guiding figure is sent on mobile phone in time, then user can carry out walking navigation according to VGP, without the need to waiting for gps signal, no matter above and below ground can use, thus realizes the ability being switched to walking navigation from vehicle mounted guidance fast.Fig. 1 illustrates the relation between vehicle mounted guidance in system, centring system, mobile phone terminal three, and illustrates a simple VGP sample.
System of the present invention, by automatic navigator, centring system and mobile phone terminal collaborate, realizes the quick switching of vehicle mounted guidance to walking navigation.In simple terms, in the driving stage, destination and traffic route information can be sent to centring system by automatic navigator in advance.Centring system generates the partial simplified map A in a certain limit centered by destination, this partial simplified map A will comprise the information such as important terrestrial reference, crossing, parking lot near destination, these information should be easy visual identitys, and this partial simplified map A is sent to smart mobile phone end by centring system.When vehicle traveling enters this partial simplified map area, the real time position of vehicle is constantly transferred to smart mobile phone end by centring system, smart mobile phone end judges the parking site of vehicle, and generate from stop to the walking navigation route of final destination, and by a little routing indicator in partial simplified map A, form visual guiding figure (VGP) being used for walking leading.When smart mobile phone detection user is stopped and leaves vehicle, VGP is presented on the screen of smart mobile phone by smart mobile phone automatically.Because the mark in VGP is all the information easily identified, so the terrestrial reference in user can look on mobile phone VGP, the terrestrial reference contrasted in the actual environment around self comes identification direction, just look like hold map made of paper to look for road the same, only VGP map is more succinct, is easier to understand, easier identification direction, and route has been identified in VGP, user can identification direction along route walking easily.Utilize VGP to carry out walking navigation, user no longer relies on gps signal, so can overcome the problem that gps signal brings, and realizes switching fast.
Below, the present invention by introducing some specific embodiments to be described, but will should be appreciated that, the present invention is not restricted to these embodiments.
Fig. 2 is the system hardware structure figure of the embodiment of the present invention, comprises intelligent mobile phone terminal, centring system and automatic navigator end 700.User input apparatus 130, information output apparatus 140, communication link 150, calculation element 200 and memory storage 300 is comprised at intelligent mobile phone terminal.Centring system comprises communicator 400, central computing complex 500 and information-storing device 600.
Smart mobile phone and automatic navigator are all very ripe products, and the hardware cells such as its input, output, calculating, communication, storage have mature technology, so all no longer do too much introduction for relevant apparatus 130,140,150,200,400,700.Introducing the application program of preserving in memory storage 300 and 600 and data is how collaborative works.Automatic navigator 700 obtains the data such as route, destination, position of associated vehicle, passes to centring system in real time, and this part is also very proven technique, no longer does too much introduction.How to carry out computing after introducing the information that centring system receives from automatic navigator.
Fig. 3 shows the treatment scheme realizing vehicle mounted guidance and switch fast to walking navigation.Step can be described as follows:
1) drive to set out the moment user, in automatic navigator, input destination information, automatic navigator calculates traffic route for user, and the display according to automatic navigator travels by user.Now the destination of user and route information also can be sent to centring system by automatic navigator.
2) after centring system receives destination route information, centered by destination, at a certain distance for radius delimit a regional area, utilize the electronic chart be stored in centring system memory storage, generate the simplification map (being called basic VGP) of local.Basic VGP comprises following element: destination, the intersection of destination periphery certain limit interior (as 500 meters), intersection nearby buildings title, connect road and the title thereof of intersection, the parking lot of destination periphery certain limit interior (as 500 meters), the traffic route (being only limited in the route in the periphery certain limit of destination) that vehicle mounted guidance is uploaded.Partial simplified map (basic VGP) enormously simplify the element on the map of local, and only retain the element useful to walking navigation, on the small-size screen of smart mobile phone, partial simplified map is more easily watched, and does not affect acquisition guidance information again simultaneously.
3) latitude and longitude coordinates of element in partial simplified map (basic VGP) is converted to planimetric coordinates by centring system.This coordinate transform comprises two steps, is first to carry out linear transformation to whole basic VGP, is then the importance according to element in basic VGP, carries out convergent-divergent, to realize visual enhancement to the different scaling in different regions.
4) the basic VGP after coordinate transform is sent to smart mobile phone end by centring system, what send also has map table simultaneously, map table have recorded the scaling in each region in basic VGP, carries out inverse transformation for smart mobile phone to basic VGP, recovers the latitude and longitude coordinates of element in basic VGP.
5) smart mobile phone starts the basic VGP of navigation application reception from center automatically, and the vehicle real-time position information that continuous reception centring system sends.
6) navigation application of smart mobile phone judges the final parking spot of user, and generates walking navigation route fast, by walking navigation routing indicator in VGP, generates final VGP.
When smart mobile phone judges that user has been stopped and left vehicle, VGP is pushed on the screen of user's smart mobile phone by smart mobile phone automatically, and user just can enter walking navigation pattern rapidly.With the connection of automatic navigator, smart mobile phone can judge whether user leaves vehicle by whether having disconnected, the connection of smart mobile phone and automatic navigator has been the technology of comparative maturity, and the present invention does not do too much description.VGP can be presented on screen by certain user in manual operation, because VGP all set, and does not rely on gps signal, even if so manual operation also can realize quick switching.
As can be seen from above treatment scheme, main function of system of the present invention is made up of the processing capacity of centring system and the processing capacity of smart mobile phone end.
The major function of centring system comprises: centered by customer objective ground, 1. generate partial simplified map (basic VGP).2. the latitude and longitude coordinates of element in partial simplified map (basic VGP) is converted to planimetric coordinates.3. the real-time latitude and longitude coordinates of vehicle is converted to planimetric coordinates.4. the route in all parking lots in vehicle to basic VGP is generated.5. the latitude and longitude coordinates of routes all in basic VGP (comprising vehicle to destination and vehicle to the route in parking lot) is converted to planimetric coordinates.6. send information to smart mobile phone, comprise basic VGP, vehicle real-time position information etc.
Conveniently user watches map on smart mobile phone screen, partial simplified map (basic VGP) enormously simplify the element on the map of local, only retain the element useful to walking navigation, mainly comprise following element: destination, the intersection of destination periphery certain limit interior (as 500 meters), intersection nearby buildings title, connect road and the title thereof of intersection, the parking lot of destination periphery certain limit interior (as 500 meters), the traffic route (being only limited in the route in the periphery certain limit of destination) that vehicle mounted guidance is uploaded.Fig. 4 is the example of partial simplified map (basic VGP).
Conveniently user better watches VGP on the smart mobile phone screen of finite size, and the element simplified on the map of local is the first step, and second step is exactly that part relevant to route in enlarged map reduces the part irrelevant with route simultaneously.The latitude and longitude coordinates of element in partial simplified map (basic VGP) is converted to planimetric coordinates with regard to needing by nonlinear transformation by this.In order to the latitude and longitude coordinates non-property line realizing simplifying element in map (basic VGP) is transformed to planimetric coordinates.The present embodiment have employed again two steps:
The first, first use classic method, the GPS latitude and longitude coordinates of element in map is converted to Gaussian parabolic line.Because what these related to is known method, introduce no longer in detail.Although this coordinate conversion is nonlinear in theory, but consider that the region that we will change is very little, the region of in general 500 meters × 500 meters of sizes, carry out the conversion of rectangular space coordinate in the region of size like this, can think that coordinate transform everywhere and map scaling are linear approx.Shown map in Fig. 4 is exactly the partial simplified map of an approximately linear conversion.
Second step, carries out non-linear zoom and cutting to the map (being defined as A level map) of gained in the aforementioned first step.Consider the feasibility in enforcement and complexity.First the A level map of gained in the aforementioned first step to be carried out subregion.During conversion, the scaling in each district is consistent.Be such as the region of 7 × 7 by the A level map partitioning in Fig. 4, as shown in Figure 5.Secondly, the central point distance to destination of each subregion in survey sheet 5, and the central point of each subregion is to the nearest short distance of " traffic route ".Then distribute scaling to each subregion according to following two principles:
1) if subregion is white space (not having map element) or only has road, so this subregion will distribute higher ratio of compression.
2) regional center (RC) point from destination and " traffic route " distance more away from, the ratio of compression assigned by this subregion is higher.
Concrete convergent-divergent formula can carry out self-defined according to these two principles above, is not limited to specific convergent-divergent formula.Last ratio of compression assigned by each subregion, carries out convergent-divergent and cutting to each subregion.To give one example below explanation, as shown in Figure 6, in map, the zoom factor of outermost 24 subregions is respectively (most upper left corner subregion is starting point, and clockwise direction is observed): 0.2,0.3,0.5,0.2,0.5,0.5,0.2,0.2,0.2,0.5,0.5,0.5,0.2,0.3,0.2,0.5,0.5,0.5,0.2,0.3,0.2,0.3,0.2,0.2.Consider that the screen of smart mobile phone is generally rectangle, conveniently watch, the map that mobile phone screen shows also will remain rectangle, thus in Fig. 6 aforementioned outermost 24 subregions carry out convergent-divergent time, need to use unified zoom factor, get the maximal value of 24 zoom factors.Maximal value is 0.5 in the present example, namely the size of aforementioned outermost 24 subregions all unification be reduced into original half size.The final zoom factor of aforementioned outermost 24 subregions is stored in the form shown in table 1.Table 1 is partial simplified map (basic VGP) subregion zoom factor table.
Table 1
| Partition number | Zoom factor |
| 1 | 0.5 |
| 2 | 0.5 |
| 3 | 0.5 |
| 4 | 0.5 |
| … |
In this example, the aforesaid simplification map (basic VGP) through certain convergent-divergent and reduction is called as visual enhancement VGP (Enhanced VGP, EVGP), an example as shown in Figure 7.
EVGP compares the viewing being beneficial to terminal user, so the VGP that center-side is sent to smart mobile phone end is preferably visual enhancement VGP, i.e. and EVGP.But EVGP inconvenience directly carries out the calculating of walking navigation route, so center-side is when being sent to smart mobile phone end by EVGP, also basic VGP subregion zoom factor table as shown in table 1 is sent to smart mobile phone end simultaneously, utilize this subregion zoom factor table, EVGP just can be reduced to basic VGP by smart mobile phone, carries out the calculating of walking navigation route.Smart mobile phone end needs when carrying out walking navigation route calculation to know the reference position of the parking spot of vehicle as walking, so the longitude and latitude of real-time vehicle position that automatic navigator also will be uploaded by center-side is transformed to Gaussian parabolic line, then be sent to smart mobile phone end, such smart mobile phone just can know user position in EVGP.
Be described above the major function of center-side.The processing capacity of smart mobile phone end mainly comprises: when 1. vehicle enters in VGP body of a map or chart, receives and the vehicle real-time position information (Gauss plane coordinate) of records center end transmission.2., when vehicle enters VGP body of a map or chart, calculate the position in all parking lots in vehicle inlet point to VGP, calculate the driving route from vehicle inlet point to destination simultaneously.3. execution path matching operation in VGP body of a map or chart, mates " track of vehicle " with " route to parking lot ", judges the final parking spot of vehicle.4., in VGP body of a map or chart, perform the union operation of track of vehicle and driving route, generate final walking navigation route.5. on smart mobile phone screen, the final EVGP (walking navigation route also will carry out convergent-divergent according to the zoom factor of each subregion) comprising walking navigation route is shown to user.
EVGP is reduced to basic VGP, then progressively generates walking navigation route by following steps after receiving EVGP and subregion zoom factor table by smart mobile phone.And by routing indicator in EVGP.That finally show user is the EVGP being with walking navigation route.
Center-side, after receiving the vehicle position information that automatic navigator uploads, judges whether vehicle has entered in VGP map area, if also do not entered in VGP map area, center-side does not send the positional information of vehicle to smart mobile phone end.If vehicle has entered in VGP map area, first the positional information of vehicle has been converted to the Gauss plane coordinate VGP by center-side from longitude and latitude, starts the positional information sending vehicle to smart mobile phone end.
When vehicle enters in VGP body of a map or chart, smart mobile phone receives and the vehicle real-time position information (Gauss plane coordinate) of records center end transmission.A series of coordinate points just constitutes the actual travel track of vehicle, because usual now user starts to find parking area, so actual travel track is probably not exclusively overlapping with former precalculated driving locus.When vehicle enters VGP body of a map or chart, smart mobile phone end also will calculate the position in all parking lots in vehicle inlet point to VGP, calculates the driving route from vehicle inlet point to destination simultaneously.Conveniently understand, Fig. 8 illustrates in VGP " track of vehicle " (point), " route to parking lot " (dotted line), " driving route of calculating " (broken line of band arrow).
After obtaining " track of vehicle ", " route to parking lot ", smart mobile phone end is execution path matching operation in VGP body of a map or chart, " track of vehicle " is mated with " route to parking lot ", judge the final parking spot of vehicle, lower example provides the concrete grammar of matching judgment operation:
1) basic VGP is carried out subregion, the method for subregion is the same with the subregion of center-side.Such as still be divided into the region of 7X7.Unique number (Mesh ID) is carried out to each subregion.
2) add up in order " track of vehicle " the Mesh ID (partition id) of process, add up in order simultaneously " route to parking lot " the Mesh ID of process.Illustrate in following table 2 " track of vehicle " and " route to parking lot " the list of Mesh ID of process.
Table 2
3) the most close for the Mesh ID list with " track of vehicle " " to parking lot route " is picked out, judge that corresponding parking lot is exactly the final parking spot of user." route to parking lot 3 " mates with the Mesh ID list of " track of vehicle " most as can be seen from Table 2, so can judge that vehicle is finally parked in parking lot 3.
After smart mobile phone end detects the parking spot of user, walking navigation route after the calculating user that is about to begin gets off, because when smart mobile phone detects user's parking spot, also be often user will stop start walking time, so require to generate walking navigation route fast, to realize the quick switching from vehicle mounted guidance to walking navigation.Not adopt conventional path search algorithm to remove calculating walking navigation route to realize this point the present embodiment, but adopt and merge " track of vehicle " and generate final walking navigation route with the method for " driving route ".Lower example provides the concrete grammar of merging:
1) basic VGP is carried out subregion, the method for subregion is the same with the subregion of center-side.Such as still be divided into the region of 7X7.Unique number (Mesh ID) is carried out to each subregion.
2) add up in order " track of vehicle " the Mesh ID of process, add up in order simultaneously aforesaid " driving route of calculating " the Mesh ID of process.Illustrate in following table 3 " track of vehicle " and " driving route of calculating " the list of Mesh ID of process.
Table 3
3) " driving route of calculating " is deleted with identical part in the Mesh ID list of " track of vehicle ", merge remaining Mesh ID, obtain new Mesh ID list, i.e. the list of Mesh ID passed through of walking navigation route, specifically as shown in table 4.
Table 4
4) route in listed Mesh and the final walking navigation route of track of vehicle dot generation is merged in new Mesh ID list.As Fig. 9 shows two kinds of forms of expression of walking navigation route.
By the EVGP (walking navigation route also will carry out convergent-divergent according to the zoom factor of each subregion) comprising walking navigation route final for display on smart mobile phone screen.According to the difference in parking spot and final position, the form of walking navigation route may also have more form.Figure 10 shows two kinds of special situations.What Figure 10 (a) represented is crossed destination in vehicle travel process, then certain parking lot a long way off situation of stopping, and this situation often appears at user and first time goes to strange place, to surrounding environment be not be familiar with very much time.In this case, foot path is made up of the tracing point of vehicle.What Figure 10 (b) represented is that vehicle parking place is just in time positioned on drive route.In this case, walking navigation route is made up of driving route.
After user obtains the EVGP comprising walking navigation route on smart mobile phone, just can carry out walking navigation according to EVGP.Walking starting point first relatively around actual terrestrial reference and the terrestrial reference (can be compared by title, shape etc.) around starting point in EVGP, determine walking direction, then walk along route; When arrival first turning point, the terrestrial reference again in actual terrestrial reference relatively around and EVGP around first turning point, determines turn direction, walks after turning to along follow-up route; Next, often arrive a turning point and all repeat aforementioned activities, the terrestrial reference around actual terrestrial reference turning point corresponding to EVGP relatively around, determines turn direction, then turns to, until walking is to terminal.
Realize from vehicle mounted guidance to walking navigation, key will prepare Data Concurrent in advance to send data, and Figure 11 explains Data Transmission Content between automatic navigator, center-side, smart mobile phone end and data transmission opportunity.
Described system key issue to be solved of the present invention is the quick switching how realized between vehicle mounted guidance and walking navigation, and how to realize the simple and easy navigation not relying on GPS.The key addressed this problem provides visual guiding figure (VGP) by smart mobile phone to user.VGP generates based on partial simplified map, and walking navigation route and route periphery element (object such as buildings near crossing) easy to identify are also labeled in VGP.Seek for being different from ordinary electronic, VGP use planimetric coordinates locates element wherein, does not use latitude and longitude coordinates.Meanwhile, in order to strengthen the display effect on smart mobile phone screen, adopt nonlinear transformation from latitude and longitude coordinates to the conversion of planimetric coordinates, thus highlight in VGP element (turning point as on walking navigation route) important user.Use the VGP of this vision enhancement, user can correctly turn to along walking navigation route easily, arrives at final destination step by step.Because VGP dynamically generates and is sent on smart mobile phone before parking, so disclosed system can realize the quick switching of vehicle mounted guidance to walking navigation in centring system.Method and system of the present invention switches fast except realizing, and reduces outside the effect of stand-by period, and also has some other effect.Such as, do not need GPS positioning signal in the walking navigation stage, so can use in indoor yet; Do not need, on smart mobile phone, map is installed, save smart mobile phone storage space; Do not need, on smart mobile phone, navigation engine is installed, save the energy ezpenditure of smart mobile phone; EVGP can be the form of picture, so easily share between users.
Although below show the present invention in conjunction with the preferred embodiments of the present invention, one skilled in the art will appreciate that without departing from the spirit and scope of the present invention, various amendment, replacement and change can be carried out to the present invention.Therefore, the present invention should not limited by above-described embodiment, and should be limited by claims and equivalent thereof.
Claims (9)
1., for realizing a method for walking navigation, comprise the following steps:
The mobile terminal of the user of vehicle is used to simplify map from centring system local, described partial simplified map is utilized electronic map data by described centring system, generated according to the travel route of the vehicle received from in-vehicle navigation apparatus and destination, and the map element for walking navigation in the preset range around the described destination of described partial simplified cartographic representation, the described map element for walking navigation comprise at least one in described preset range for the parking lot of parked vehicles; And
When described vehicle enters in the described preset range around described destination, described mobile terminal judges final parking spot according to the driving trace of described vehicle and generates walking navigation route from described final parking spot to the destination of described vehicle, and the described partial simplified map after mark is presented to described user by described walking navigation routing indicator in described partial simplified map.
2. method according to claim 1, wherein,
Described partial simplified map is basic VGP map or visual enhancement VGP map.
3. method according to claim 1, wherein,
Described visual enhancement VGP map is the importance degree according to element in described basic VGP map, carries out to the different scaling in different regions divided in described basic VGP map the VGP map that convergent-divergent realizes visual enhancement.
4. method according to claim 1, wherein,
When judging that the connection of described mobile terminal and described in-vehicle navigation apparatus disconnects, the described partial simplified map after mark is presented to described user.
5. method according to claim 1, wherein,
When described vehicle enters in the described preset range around described destination, in described partial simplified map, by the driving trace of described vehicle with enter into the route of the inlet point in described preset range to each parking lot from described vehicle and carry out route and mate, thus judge the final parking spot of described vehicle; And
In partial simplified map, perform the driving trace to described final parking spot of described vehicle and the union operation of the travel route to described destination, thus generate described walking navigation route.
6. method according to claim 1, wherein,
The described map element for walking navigation also comprises: the traffic route being positioned at described preset range that the intersection in the described preset range around described destination, described destination, the building name near described intersection, the road connecting described intersection and title thereof and vehicle mounted guidance are uploaded.
7. method according to claim 1, wherein,
When described vehicle enters in the described preset range around described destination, described mobile terminal determines the driving trace of described vehicle according to the vehicle real-time position information received from described centring system, and described vehicle real-time position information reports from described in-vehicle navigation apparatus to described centring system.
8. method according to claim 1, wherein,
Described mobile terminal is intelligent mobile phone terminal.
9., for realizing a mobile terminal for walking navigation, comprising:
Receiving element, map is simplified from centring system local, described partial simplified map is utilized electronic map data by described centring system, generated according to the travel route of the vehicle received from in-vehicle navigation apparatus and destination, and the map element for walking navigation in the preset range around the described destination of described partial simplified cartographic representation, the described map element for walking navigation comprise at least one in described preset range for the parking lot of parked vehicles; And
Display unit, when described vehicle enters in the described preset range around described destination, judge final parking spot according to the driving trace of described vehicle and generate walking navigation route from described final parking spot to the destination of described vehicle, the described partial simplified map after mark is presented to user by described walking navigation routing indicator in described partial simplified map.
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