CN101231172A - Method for guiding run course of mobile object in guidance system - Google Patents
Method for guiding run course of mobile object in guidance system Download PDFInfo
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- CN101231172A CN101231172A CNA2007100198811A CN200710019881A CN101231172A CN 101231172 A CN101231172 A CN 101231172A CN A2007100198811 A CNA2007100198811 A CN A2007100198811A CN 200710019881 A CN200710019881 A CN 200710019881A CN 101231172 A CN101231172 A CN 101231172A
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Abstract
The invention relates to a running route guide method of a moving object in a navigation system, which can guide correctly the running direction of the moving object at an intersection and a crossing positioned at a running route of the moving object. The method first judges whether the intersection or the crossing exists in front of the moving object, and when the intersection exits, properties and angles of in and out links or other links of the moving object are used to decide whether the moving object runs directly or turns to run, meanwhile, the moving object is guided by audio information. When the crossing exists, the method can correctly judge whether the current running link of the moving object is on a freeway or on a common road and whether the properties of the in and out links belong to straight running roads of the crossroad, entrances of the freeway, spurroads of the freeway or spurroads at left and right sides of the crossroad, and the moving object is guided by the audio information.
Description
Technical field
This invention relates to navigational system, be particularly related in the middle of the navigational system of the travel route of regulation mobile objects such as vehicle being retrieved and guided mobile object to travel according to the travel route that retrieval is come out, at the intersection and the place, fork in the road that are being positioned on the travel route that retrieves, correctly guide the method for guiding run course of mobile object in the navigational system of travel route of mobile object.
Background technology
Along with continuing to increase of various mobile object quantity such as vehicle, the traffic disturbance phenomenon is serious day by day.Especially gathering way far away faster than the gathering way of highway or other transportation facilitieies of mobile object, this makes problem particularly serious.Show according to a nearest investigation, the main cities of U.S. area since traffic disturbance caused overall loss volume every year up to 47,500,000,000 dollars.In addition, because traffic disturbance causes mobile object to block, annual cause about 143.5 hundred million liters fuel oil loss and about 2,700,000,000 hours time waste again, and this fuel oil and waste of time also present the trend of annual speed increase with about 5%-10%.
In the middle of the countermeasure of transport solution confusion, it is exactly navigational system that a kind of method that gets most of the attention is arranged.Above-mentioned navigational system GPS (Global Positioning System) a kind ofly can receive the positional information that satellite sends, and the positional information that receives is judged as the current location of mobile object, the system that contrasts with the map datum of regulation then and the current location of map and mobile object is shown simultaneously by display.
Therefore, the user of mobile object can utilize above-mentioned navigational system to confirm to the current location of mobile object with from the minimal path of current location arrival destination, and can be under the guiding of navigational system, preplan the route that mobile object will travel and travel, thereby can effectively utilize network of highways more.
In the process that the travel route that mobile object comes out according to retrieval travels, when having intersection or fork in the road within the certain distance in vehicle ' the place ahead, mobile object in this intersection or the travel direction at fork in the road place just show by picture, and by the voice signal channeling conduct, thereby make the user correctly drive mobile object according to the travel route that retrieval is come out.
In the process of above-mentioned crossing intersection part to the travel direction channeling conduct of mobile object, be originally after mobile object passes through the link and intersection at its current location place utilize the angle between the turnover link to decide and guide mobile object whether to need directly to sail.
And, process at the place, fork in the road to the travel direction channeling conduct of mobile object, be originally that the link with the current place of mobile object is a benchmark, after mobile object passes through the fork in the road, merely whether the link that will enter is to be positioned at the link in left side or is not that the link that is positioned at the right side is judged, and merely select branch road, left side or the channeling conduct of branch road, right side.
So situation about taking place through regular meeting is, although rolling current place link away from, mobile object is actually the link that directly sail by the link that intersection or fork in the road will enter, be directed turning or select branch road, left side or branch road, right side; Although or mobile object in the intersection or the fork in the road need turn or select left side branch road or branch road, right side, be directed directly sailing.Therefore, caused a lot of confusions for aspect the travel route of guiding mobile object the user of mobile object, thereby the object that also frequently is moved break away from the situation of the travel route of retrieving out.
Summary of the invention
Therefore, the object of the present invention is to provide the method for guiding run course of mobile object in a kind of navigational system, utilize this method, when there is the intersection in the place ahead of travelling of mobile object, just can utilize the attribute and the angle of turnover link and other links, correctly guide directly sailing or turning driving of mobile object.
Another object of the present invention is to provide the method for guiding run course of mobile object in a kind of navigational system, utilize this method, when there is the fork in the road in the place ahead of travelling of mobile object, whether just utilize it is the judgement of highway or common road, and the attribute of turnover link, the place correctly guides travel direction in the fork in the road.
Method for guiding run course with mobile object in the navigational system of the present invention of above-mentioned purpose, it is characterized in that: when the instruction input part is transfused to the travel route search instruction of mobile object, the map datum that control part just utilizes the map datum reservoir storing, the departure place of mobile object and the travel route between the destination are retrieved, and after retrieving travel route, detect the current location of mobile object along with travelling of mobile object, when within mobile object travels the certain distance of the above-mentioned mobile object current location that detects of distance in the place ahead, having the intersection then, just the link of with the mobile object current driving is a benchmark, the link that crossing intersection part will enter is judged with the attribute of other links that link to each other with this intersection, if the link that will enter possesses the attribute that directly advances, just directly sail at crossing intersection part guiding mobile object; Directly do not advance attribute if the link that will enter does not possess, but other links possess and directly advance attribute, just guide mobile object to turn left or turn right and travel.
The feature of this invention also is: the departure place of above-mentioned mobile object is a current location of utilizing the detected mobile object that comes of the detection signal of guiding message that the GPS receiver receives and the detected mobile object transport condition of detecting means.
And the characteristic of this invention also is: when not having the link that possesses directly to advance attribute, the angle between the link that mobile object will enter the link and the crossing intersection part of current driving detects.When the angle that detects is under predefined angle, just guide mobile object directly to sail; And when the above-mentioned angle that detects be not when being under the predefined angle, just guide mobile object to carry out turning driving.
In addition, the characteristic of this invention also is: have the fork in the road within mobile object travels the certain distance of the above-mentioned mobile object current location that detects of distance in the place ahead, and when the link that mobile object is travelling was highway, just whether the link that will enter by above-mentioned fork in the road mobile object possessed directly to advance attribute and judge.If the result who judges possesses the attribute that directly advances by the link that the fork in the road will enter, just guide mobile object directly to sail at the place, fork in the road; If the link that will enter by the fork in the road does not possess the attribute that directly advances, whether be that the import and export of highway are judged just to it, when the result who judges is the import and export of highway, just carry out the guiding of slip-road, and when it is not the import and export of highway, just carry out the guiding in highway branch road.
And, if travelling, mobile object has the fork in the road within the certain distance of the above-mentioned mobile object current location that detects of the distance in the place ahead, and when the link of travelling when mobile object was common road, just whether the link that will enter by above-mentioned fork in the road mobile object possessed the attribute that directly advances and judges.If the result who judges possesses the attribute that directly advances by the link that the fork in the road will enter, just guide and directly sail at the place, fork in the road; If the result who judges does not possess the attribute that directly advances by the link that the fork in the road will enter, just the angle between link that mobile object is being travelled and the mobile object link that will enter by above-mentioned fork in the road is judged, when the angle of judging is under predefined angle, just directly sail in the guiding of place, fork in the road, and when the angle of above-mentioned judgement is not under predefined angle, just the place's guiding of above-mentioned fork in the road to the left or the branch road, right side travel.
In sum, when can there be the intersection in the present invention in the place ahead of travelling of mobile object, utilize the attribute and the angle of turnover link and other links, correctly guide directly sailing or turning driving of mobile object.In addition, when there is the fork in the road in the place ahead of travelling of mobile object, utilize whether it is the attribute of highway or common road and turnover link, the place correctly guides travel direction in the fork in the road.Therefore, the travel route that can impel the driver to come out along retrieval is correctly driven mobile object.
Description of drawings
Fig. 1 is a navigational system structure calcspar of having used method for guiding run course of the present invention;
What Fig. 2 a and Fig. 2 b showed is the signal flow graph of method for guiding run course of the present invention.
The symbol description of major part in the accompanying drawing
100: antenna 110:GPS receiver
120: detecting means 130: the map datum reservoir
140: control part 150: display part
160: instruction input part 170: guiding sound generating unit
180: loudspeaker
Embodiment
Method for guiding run course to mobile object in the navigational system of the present invention is described in detail with reference to the accompanying drawings.
What Fig. 1 showed is the navigational system structure calcspar of having used method for guiding run course of the present invention.As shown in the figure, this structure comprises following ingredient: the GPS receiver 110 that receives the guiding message that a plurality of gps satellites send out by antenna 100; Be equipped with and for example be used for detecting the travel gyroscope and being used for of angle of mobile object and detect a plurality of sensors such as speed pickup of mobile object travel speed and the detecting means 120 that the transport condition of mobile object is detected; Storing the map datum reservoir 130 of map datum; Utilize the detection signal of above-mentioned GPS receiver 110 and detecting means 120 to infer that by the boat position guiding method detects the current location of mobile object, and after the map datum that stores in mobile object current location that will detect and above-mentioned map datum reservoir 130 contrasts, carry out the travel route of mobile object is retrieved and the control part 140 of travel route channeling conduct action that retrieval is come out; Responsible operation according to the user generates action command and imports the instruction input part 150 of above-mentioned control part 140; Under the control of above-mentioned control part 140, the current location of map datum, mobile object and the travel route of mobile object etc. are presented at display part 160 on the picture; Under the control of above-mentioned control part 140, the guiding sound generating unit 170 that generates the guiding voice signal and export by loudspeaker 180.
Applied method for guiding run course of the present invention as shown in Figure 2 in the middle of having the navigational system of said structure, when the user operated and import the instruction of retrieval mobile object travel route to instruction input part 160 in the middle of the step 200, control part 140 was just imported the departure place and the destination of mobile object in the middle of step 202.
Here, the departure place of above-mentioned mobile object can be set to the transport condition detection signal that utilizes guiding message that GPS receiver 310 receives and the detecting means 220 detected mobile objects current location by the mobile object that mixes guidance mode and retrieve out.That is to say, GPS receiver 310 is responsible for receiving guiding message, and utilize the guiding message that receives to import DOP (Dilution of Precision, be quality coefficient) value, if the mobile object current location that the guiding message that utilization receives is calculated has confidence level, the value of this DOP is just low; If the value of this DOP is just high so not have confidence level.140 values with above-mentioned DOP of control part serve as according to the confidence level of judging guiding message, just utilize above-mentioned guiding message to detect the current location of mobile object if having confidence level; If there is not confidence level just to have on the current location of the mobile object that the guiding message detection of confidence level comes out in utilization, utilize the detection signal of detecting means 120 to come the current location of mobile object is detected, detect the current location of mobile object by the mode of this mixing guiding.
If imported above-mentioned departure place and destination, control part 140 is just in the middle of step 204, utilize the map datum that stores in the map datum reservoir 130, the departure place of mobile object and the travel route between the destination are retrieved, and the travel route that retrieval is come out is exported by display part 160, so that allow the user of mobile object confirm.
Then in the middle of step 206, whether 140 pairs of mobile objects of control part are judged in the middle of being in and travelling, in the middle of if mobile object is in and travels, just in the middle of step 208, utilize and mix the current location that mobile object is judged in guiding, and the mobile object current location that judges is exported by display part 150 with map datum and shown, whether exist the intersection to judge within the certain distance in the place ahead of in the middle of step 210, mobile object being travelled then.
Travel and have the intersection within the certain distance in the place ahead if the judged result of above-mentioned steps 210 is mobile objects, control part 140 just utilizes the map datum that stores in the map datum reservoir 130 in the middle of step 212, with the current link of travelling of mobile object is benchmark, whether mobile object is possessed the attribute that directly advances by the link that will enter after the intersection judge.If the result who judges is the attribute that possesses directly to advance, control part 140 is just judged mobile object and should directly be sailed at crossing intersection part, control guides sound generating unit 170 to generate the guiding sound that directly advances in the middle of step 214 then, and exports by the sound that directly advances to guide of 180 pairs of generations of loudspeaker.
Link does not possess the attribute that directly advances if the judged result of above-mentioned steps 212 is turnover, control part 140 just forecloses above-mentioned turnover link in the middle of step 216, and with the current link of travelling of mobile object is benchmark, whether other links that are connected with above-mentioned intersection are possessed the attribute that directly advances is judged, if being other links, the result who judges possesses the attribute that directly advances, control part 140 just judges that mobile object should turn left or right-hand bend at crossing intersection part, and control guiding sound generating unit 170 generates the sound that the guiding mobile object turns left or turns right in the middle of step 218, and the guiding sound of left-hand bend that will generate or right-hand bend is simultaneously exported by loudspeaker 180.
And, if the judged result of above-mentioned steps 212,214 is turnover links and contiguous link does not possess the attribute that directly advances, control part 140 just judges that angle between the link that current link of travelling of mobile object and mobile object will enter by the intersection is whether at pre-set predetermined angular for example within 15 ° in that step 220 is central.
If the judged result of above-mentioned steps 220 is under the angle of regulation, control part 140 just judges that mobile object should directly sail at crossing intersection part, and control guiding sound generating unit 170 generates the sound that the guiding mobile object is directly sailed in the middle of step 222, and the guiding sound of directly sailing that will generate is simultaneously exported by loudspeaker 180.If the judged result of above-mentioned steps 220 is not under the angle of regulation, control part 140 just judges that mobile object should turn at crossing intersection part, and control guiding sound generating unit 170 generates the sound of guiding mobile object turning driving in the middle of step 222, and the turning that will generate simultaneously guiding sound is exported by loudspeaker 180.
And, if in the middle of above-mentioned steps 210, within travelling the certain distance in the place ahead, mobile object do not have the intersection, and judge to have the fork in the road in the middle of step 226, whether the link that control part 140 is just travelling to current mobile object in the middle of step 228 is that highway or common road are judged.
If the judged result of above-mentioned steps 228 is that the link that current mobile object is travelling is a highway, control part 140 is just in the middle of step 230, the link of travelling with current mobile object is a benchmark, whether the link that will enter by above-mentioned fork in the road mobile object possesses the attribute that directly advances is judged, when the link that will enter possess directly advance attribute the time, control part 140 just judges that mobile object should directly sail at crossing intersection part, and control guiding sound generating unit 170 generates and directly advances to guide sound in the middle of step 232, and the sound that directly advances to guide that will generate is simultaneously exported by loudspeaker 180.
And, if being the links that will enter, the judged result of above-mentioned steps 230 do not possess the attribute that directly advances, whether be that the import and export of highway are judged in the middle of the step 234 just to above-mentioned fork in the road, when it is the import and export of highway, control part 140 just in the middle of the step 236 control guiding sound generating unit 170 generate the guiding sound of slip-roads, and the guiding sound of the slip-road that generates is exported by loudspeaker 180; If judge that in the middle of above-mentioned steps 234 it is not the import and export of highway, control part 140 just judges that it is the branch road of highway, and control guiding sound generating unit 170 generates the guiding sound in highway branch roads in the middle of the step 238, and the guiding sound in the highway branch road that generates is exported by loudspeaker 180.
In addition, if the judged result of above-mentioned steps 228 is that the link that current mobile object is travelling is a common road, control part 140 is just central in step 240 to be benchmark with the current link of travelling of mobile object, whether mobile object is possessed the attribute that directly advances by the link that will enter after the fork in the road is judged, when the result who judges is the attribute that possesses directly to advance, control part 140 just judges that mobile object should directly sail at fork in the road place, and the guiding sound that 170 generations of control guiding sound generating unit are directly advanced in the middle of step 242, the sound that directly advances to guide that will generate is simultaneously exported by loudspeaker 180.
And, if being the links that will enter, the judged result of above-mentioned steps 240 do not possess the attribute that directly advances, control part 140 just judge mobile object should be to the left or the branch road, right side travel, and control guiding sound generating unit 170 generates the guiding mobile objects to the left or the guiding sound that travels of branch road, right side in the middle of the step 244, simultaneously the branch road guiding sound that generates is exported by loudspeaker 180.
As a same reason, travel after the guiding of the intersection in the place ahead or fork in the road to being positioned at mobile object executing, whether control part 140 has just been finished mobile object in the middle of step 246 arrives travelling of destination and judges.
Also do not finish and travel if the judged result of above-mentioned steps 246 is mobile objects, control part 140 just returns above-mentioned steps 206, and detect the current location of mobile object by mixing guidance mode according to the travel conditions of mobile object, when the place ahead of travelling of mobile object exists intersection or fork in the road, just repeat guiding action to relevant intersection or fork in the road.If the judged result of step 246 is mobile objects have been finished and travel, just finish the guiding action that mobile object is travelled.
Though above with reference to the diagram desirable embodiment of the present invention is illustrated; but the practitioner who possesses this area knowledge fully can be in the scope of claim of the present invention; under the prerequisite that does not break away from aim of the present invention or field; the present invention is carried out multiple transformation and variation, and these transformations and variation are also within the scope of claim protection of the present invention.
Claims (5)
1. the method for guiding run course of mobile object in the navigational system is characterized in that comprising following process:
If in the travel route search instruction of instruction input part input vehicle, the map datum that control part then utilizes the map datum reservoir to store, the process that the travel route of mobile object between from origin to destination retrieved;
After above-mentioned travel route is retrieved, be in the process of travelling the process that the current location to mobile object detects at mobile object;
If the place ahead of travelling at mobile object, there is the intersection within the distance certain distance of the above-mentioned mobile object current location that detects, be benchmark then with the current link of travelling of mobile object, the process that the attribute of the link that will enter at crossing intersection part mobile object and other links that link to each other with this intersection is judged;
If being the link that will enter, the result of above-mentioned judgement possesses the attribute that directly advances, the then process of directly sailing at crossing intersection part guiding mobile object;
If being other links outside the link that will enter, the result of above-mentioned judgement possesses the attribute that directly advances, the process that then guides mobile object to turn left or turn right and travel.
2. the method for guiding run course of vehicle in the navigational system as claimed in claim 1 is characterized in that:
The departure place of above-mentioned mobile object is a current location of utilizing the mobile object that the transport condition detection signal of guiding message that the GPS receiver receives and the detected mobile object of detecting means detects.
3. the method for guiding run course of mobile object in the navigational system as claimed in claim 1, it is characterized in that when above-mentioned judged result be when not having the link that possesses directly to advance attribute, also to comprise following process:
The process that angle between the link that will enter the current link of travelling of mobile object and crossing intersection part detects;
If the angle of above-mentioned detection under pre-set angle, the process that then guides mobile object directly to sail;
If the angle of above-mentioned detection not under pre-set angle, then guides mobile object to carry out the process of turning driving.
4. as the method for guiding run course of mobile object in claim 1 or the 3 described navigational system, it is characterized in that also comprising following process:
If within mobile object travels the certain distance of the above-mentioned mobile object current location that detects of distance in the place ahead, have the fork in the road, and when the link of travelling when mobile object was highway, then whether the link that will enter after by above-mentioned fork in the road mobile object possessed the process that the attribute that directly advances is judged;
If the result of above-mentioned judgement possesses the attribute that directly advances by the link that the fork in the road will enter, the process of directly sailing then in the guiding of place, fork in the road;
If the result of above-mentioned judgement does not possess the attribute that directly advances by the link that the fork in the road will enter, whether be the process that the import and export of highway are judged then to it;
If the result of above-mentioned judgement is the import and export of highway, then carry out the process of the guiding of slip-road;
If the result of above-mentioned judgement is not the import and export of highway, then carry out the process of the guiding in highway branch road.
5. the method for guiding run course of mobile object in the navigational system as claimed in claim 4 is characterized in that also comprising following process:
If within mobile object travels the certain distance of the above-mentioned mobile object current location that detects of distance in the place ahead, have the fork in the road, and when the link of travelling when mobile object was common road, then whether the link that will enter after by above-mentioned fork in the road mobile object possessed the process that the attribute that directly advances is judged;
If the result of above-mentioned judgement possesses the attribute that directly advances by the link that will enter behind the fork in the road, the process of directly sailing then in the guiding of place, fork in the road;
If the result of above-mentioned judgement does not possess the attribute that directly advances by the link that will enter behind the fork in the road, the process judged of the angle between link that mobile object is being travelled and the mobile object link that will enter after by above-mentioned fork in the road then;
If the angle of above-mentioned judgement under predefined angle, then guides the process of directly sailing at the place, fork in the road;
And if the angle of above-mentioned judgement is under predefined angle, then to the left or branch road, the right side process of travelling in the place's guiding of above-mentioned fork in the road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100198811A CN101231172A (en) | 2007-01-25 | 2007-01-25 | Method for guiding run course of mobile object in guidance system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100198811A CN101231172A (en) | 2007-01-25 | 2007-01-25 | Method for guiding run course of mobile object in guidance system |
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| CN101231172A true CN101231172A (en) | 2008-07-30 |
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| CNA2007100198811A Pending CN101231172A (en) | 2007-01-25 | 2007-01-25 | Method for guiding run course of mobile object in guidance system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101825472A (en) * | 2009-03-04 | 2010-09-08 | 阿尔派株式会社 | Navigation unit and navigation method |
| CN102322868A (en) * | 2011-09-15 | 2012-01-18 | 鸿富锦精密工业（深圳）有限公司 | Vehicle navigation apparatus and vehicle navigation method |
| CN102955783A (en) * | 2011-08-19 | 2013-03-06 | 上海博泰悦臻电子设备制造有限公司 | Device and method for map data road search and vehicular system |
| CN101988831B (en) * | 2009-08-03 | 2014-12-24 | 阿尔派株式会社 | Navigation device and road information prompting method |
| CN110108291A (en) * | 2019-05-06 | 2019-08-09 | 宝能汽车有限公司 | Turn-by-turn navigation modification method and device |
| CN112344954A (en) * | 2019-08-06 | 2021-02-09 | 上海博泰悦臻电子设备制造有限公司 | Virtual navigation method and system |
-
2007
- 2007-01-25 CN CNA2007100198811A patent/CN101231172A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101825472A (en) * | 2009-03-04 | 2010-09-08 | 阿尔派株式会社 | Navigation unit and navigation method |
| CN101988831B (en) * | 2009-08-03 | 2014-12-24 | 阿尔派株式会社 | Navigation device and road information prompting method |
| CN102955783A (en) * | 2011-08-19 | 2013-03-06 | 上海博泰悦臻电子设备制造有限公司 | Device and method for map data road search and vehicular system |
| CN102955783B (en) * | 2011-08-19 | 2017-03-08 | 上海博泰悦臻电子设备制造有限公司 | The method and device of map data retrieval road, onboard system |
| CN102322868A (en) * | 2011-09-15 | 2012-01-18 | 鸿富锦精密工业（深圳）有限公司 | Vehicle navigation apparatus and vehicle navigation method |
| CN110108291A (en) * | 2019-05-06 | 2019-08-09 | 宝能汽车有限公司 | Turn-by-turn navigation modification method and device |
| CN112344954A (en) * | 2019-08-06 | 2021-02-09 | 上海博泰悦臻电子设备制造有限公司 | Virtual navigation method and system |
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Open date: 20080730 |