CN101231174A - Method for guiding residual distance/estimate run time of mobile object in guidance system - Google Patents
Method for guiding residual distance/estimate run time of mobile object in guidance system Download PDFInfo
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- CN101231174A CN101231174A CNA2007100198934A CN200710019893A CN101231174A CN 101231174 A CN101231174 A CN 101231174A CN A2007100198934 A CNA2007100198934 A CN A2007100198934A CN 200710019893 A CN200710019893 A CN 200710019893A CN 101231174 A CN101231174 A CN 101231174A
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Abstract
The invention can calculate the distance from the current position of a moving object to each navigation reference place and destination as well as anticipated running time while retrieving a running route of the moving object, and can guide the rest running distance and the anticipated running time of the moving object in the running of the moving object. In the invention, a control part utilizes stored map data to retrieve the running route of the moving object from a departure place to a destination, and each position on the running route is chosen successively in order. Meanwhile, the distance of the running route is calculated, and then the current position of the moving object is tested, compared and displayed on the map data. Next, the distance of the running route is used for calculating and guiding the distance of the moving object from the current position to the destination. Thus, even in a navigation system of which control part has poor performance, the rest distance and the anticipated running time of the moving object from the current position to the destination can be easily and correctly calculated and guided.
Description
Technical field
The present invention relates to the travel route of regulation mobile objects such as vehicle is retrieved and served as according to the navigational system to the channeling conduct of travelling of mobile object with the travel route that retrieval is come out.Relate in particular to and be positioned at mobile object and travel the regulation navigation in the place ahead with reference to the Distance Remaining of place and destination and estimate that running time carries out simple computation, give the bootstrap technique of the Distance Remaining/expectation running time of mobile object in the navigational system that the user of mobile object provides guiding then arriving from the current location of mobile object.
Background technology
The detection signal of the mobile object transport condition that navigational system arrives with navigation information that satellite sent out and a plurality of sensor such as being installed in gyroscope (gyroscope) on the mobile object and speed pickup by a plurality of GPS in the GPS (GPS:Global Positioning System), current location to mobile object detects, then with the current location of the mobile object that detects and map datum contrasts and show by display part, simultaneously by map datum to from the departure place of mobile object or the current location of the mobile object travel route that arrives the regulation destination retrieve, and serve as according to providing the route guidance function to travelling of mobile object with the travel route that retrieval is come out.
And, when the travel route that comes out along above-mentioned retrieval when mobile object travels, to being positioned at the travel intersection that comprises in the place ahead of mobile object, underground track, viaduct or slip-road road etc. navigate with reference to retrieving in the place in interior regulation, and above-mentioned mobile object enter into the above-mentioned retrieval of the distance navigation of coming out with reference to the predetermined distance in place within the time, by voice signal to the navigation with reference to the mobile object travel route channeling conduct in the place, also whether mobile object having been broken away from travel route simultaneously drives towards other roads and judges, if judged result is for having broken away from route, has just broken away from route and guided mobile object to travel along correct travel route to the user prompt mobile object.
In this class navigational system, the navigation that has a regulation when the place ahead of travelling of mobile object is during with reference to the place, just arrive navigation with reference to the needed expectation running time in place with reference to the Distance Remaining and the mobile object in place from current location to arrive correlation navigation from the current location of mobile object, and arrive the Distance Remaining of destination and mobile object from the current location of mobile object and arrive the needed expectation running time in destination etc. from current location and calculate, then with the Distance Remaining that calculates with estimate that running time etc. shows by display part and also use the voice signal channeling conduct in case of necessity so that allow the user confirm.
For this reason, past is when the travel route of the travel route of mobile object being retrieved and mobile object comes out along retrieval travels, all be in real time the navigation that arrives regulation from the current location of the mobile object Distance Remaining with reference to place or destination to be calculated, utilize the Distance Remaining that calculates to calculate simultaneously and estimate the running time channeling conduct.
Though the calculating of above-mentioned Distance Remaining and expectation running time needs the multiplication or the division arithmetic of macrooperation amount, but its computation process is also uncomplicated, so when separately it being calculated, just can and estimate that in the relatively short time running time calculates Distance Remaining.
But, past is after the travel route of mobile object is retrieved, show by display part at the driving process of mobile object and with the travel route of mobile object again and utilize in the middle of the process of voice signal channeling conduct that the navigation that the current location from mobile object is arrived regulation is with reference to the Distance Remaining of place or destination and estimate that running time calculates and guides.
Therefore, the control part of navigational system is in the travel route channeling conduct to mobile object, the navigation that arrives regulation from the current location of the mobile object Distance Remaining with reference to place or destination is calculated, and show or utilize the voice signal channeling conduct by display part, this slower embedded (embedded) system of processing speed that has caused taking a large number of users interface resources or control part bears the phenomenon of a large amount of loads, thereby to the Distance Remaining and estimate that running time has caused limitation of travelling of correct calculation and guiding mobile object.
Summary of the invention
Therefore, the purpose of this invention be to provide a kind of can be when the travel route of mobile object be retrieved, precompute arrive regulation from the departure place of mobile object navigation with reference to the distance between place and the destination and estimate running time; And in the process that mobile object travels, utilize the distance that aforementioned calculation comes out and estimate running time, the navigation that the current location from mobile object is arrived regulation is with reference to the Distance Remaining of place and destination and estimate the bootstrap technique of the Distance Remaining/expectation running time of mobile object the navigational system of running time channeling conduct.
Another purpose of this invention is to provide a kind of and can be in order each position between the position at the position at place, mobile object departure place and place, destination be chosen successively, departure place with mobile object is a benchmark simultaneously, calculate the distance of the navigation of arrival regulation with reference to place and destination, and after finishing distance calculation, in order each position between the position at the position at place, destination and place, mobile object departure place is chosen successively, calculate the expectation running time then, adjust the distance and estimate the computing velocity of running time and make the bootstrap technique of the Distance Remaining/expectation running time of mobile object in the navigational system of computational short cut thereby improve.
Bootstrap technique with Distance Remaining/expectation running time of mobile object in the navigational system of this invention of above-mentioned purpose, it is characterized in that: control part is according to the instruction that travel route is retrieved, utilize institute's map data stored in the map datum storage part, the departure place of mobile object and the travel route between the destination are retrieved, and in order each position on the travel route between above-mentioned departure place and the destination is chosen successively, calculate the distance of travel route simultaneously; And the current location to mobile object in the process that mobile object travels detects and contrasts on map datum and shows, utilizes the distance calculation of the travel route that aforementioned calculation comes out to arrive the distance and the channeling conduct of destination from the current location of above-mentioned detected mobile object simultaneously.
Above-mentioned mobile object departure place or mobile object current location are characterised in that: it is the current location of the mobile object that detects of the mixing guiding by the detection signal that utilizes the mobile object transport condition that navigation information that the GPS receiver receives and detecting means detect.
The distance of above-mentioned travel route calculated be characterised in that: in order all positions on the travel route that is retrieved out between position, mobile object departure place and the position, mobile object destination are chosen successively, if comprise the departure place in the above-mentioned position that chooses, just calculate the distance that arrives the end node of this position from the departure place of mobile object; Do not comprise the destination if promptly do not comprise the departure place in the middle of the above-mentioned position that chooses yet, just calculate the distance that arrives end node from the start node of this position, and arrive on the distance of end node at the start node that aforementioned calculation is come out from selected position, select before adding and calculate arrive the distance of relevant position end node from the departure place of mobile object, thereby calculate the distance that arrives the end node of selected position from the departure place of mobile object; If comprise the destination in the above-mentioned selecteed position, just calculate the distance that arrives the destination of mobile object from the start node of this position, and arriving from this position start node on the distance between destination of calculating, the departure place from mobile object of selecting before adding and calculating arrives the distance between the relevant position end node, calculates from the distance between the arrival destination, departure place of mobile object.
Above-mentioned departure place and the distance between the end node to the position, departure place calculated and is characterised in that: judge with reference to the place whether there being navigation between the end node of departure place and this position, if the result of above-mentioned judgement exists navigation with reference to the place, just the end node from the position begins to select successively in order navigation with reference to the place, when the above-mentioned navigation that chooses is first navigation during with reference to the place with reference to the place, just calculate from the distance of this selected navigation with reference to in-position, place end node; When the above-mentioned navigation that chooses is that second later navigation is during with reference to the place with reference to the place, just calculate from this selected navigation and arrive the distance of last selected navigation with reference to the place with reference to the place, and add on the distance of calculating calculated from once selected navigation arrive the distance of end node with reference to the place, thereby calculate from the distance of above-mentioned selected navigation with reference to in-position, place end node; If finished each navigation in the above-mentioned selected position with reference to the distance calculation between place and the end node, just calculate from the arrival of mobile object departure place and be positioned at the distance of first navigation of destination direction with reference to the place, and before adding on the distance of calculating, calculate along mobile object from origin to destination the navigation of first on the direction with reference to the distance between place and the end node, thereby calculate from the distance of in-position, the departure place end node of above-mentioned mobile object.
Do not carry out distance calculation and be characterised in that for promptly not comprising position that the departure place do not comprise the destination yet: judge between the end node of the start node of this position and this position whether exist navigation with reference to the place, if the result of above-mentioned judgement exists navigation with reference to the place, just the end node from this position begins successively navigation to be selected with reference to the place in order, when the above-mentioned navigation that is selected is first navigation during with reference to the place with reference to the place, just calculate the distance that arrives this position end node from this selected navigation with reference to the place; When the above-mentioned navigation that is selected is that second later navigation is during with reference to the place with reference to the place, just calculate from the navigation that is selected and arrive the distance of last selecteed navigation with reference to the place with reference to the place, and add on this distance of calculating calculated from once selecteed navigation arrive the distance of end node with reference to the place, thereby calculate the distance that arrives this position end node from above-mentioned selected navigation with reference to the place; When each in the middle of finishing above-mentioned selected position navigates with reference to the distance calculation between place and the end node, just calculate from the start node of this position and arrive first navigation on the direction of mobile object departure place to destination with reference to the distance in place, and on this distance of calculating, add calculated at above-mentioned position start node to the direction of end node and destination, arrive the distance of this position end node from first navigation with reference to the place, thereby calculate the distance that arrives end node from the start node of above-mentioned position.
Carrying out distance calculation for the position that comprises above-mentioned purpose ground is characterised in that: judge between the start node of this position and the destination whether exist navigation with reference to the place, if the result of above-mentioned judgement exists navigation with reference to the place, just begin to select navigation in order successively with reference to the place from the destination, when the above-mentioned navigation that chooses is first navigation during with reference to the place with reference to the place, just calculate the distance that arrives the destination from this selecteed navigation with reference to the place; When the above-mentioned navigation that chooses is that second later navigation is during with reference to the place with reference to the place, just calculate from this selecteed navigation and arrive the distance of last selecteed navigation with reference to the place with reference to the place, and before adding on the distance of calculating, calculate from once selecteed navigation arrive the distance of destination with reference to the place, thereby calculate the distance that arrives the destination from above-mentioned selecteed navigation with reference to the place.Finish each navigation to above-mentioned selected position during with reference to the distance calculation between place and the end node, first navigation on just calculating from this position start node arrival towards the destination direction is with reference to the distance in place, and the start node from above-mentioned position that calculated before adding on this distance of calculating leads on the direction of end node and destination, arrive the distance of this position end node from first navigation with reference to the place, thereby calculate the distance that arrives end node from the start node of above-mentioned position.
The current location of mobile object and the distance between the destination calculated be characterised in that: calculate to arrive and be positioned at mobile object and travel the regulation navigation in the place ahead with reference to the distance in place from the current location of mobile object, and arrive on the distance of regulation navigation with reference to the place in the current location that this calculates, add that navigating from this regulation of having calculated arrives the distance of destination with reference to the place from mobile object.
In addition, the feature of this invention also is: in order each position on the travel route between above-mentioned purpose ground and the departure place is selected successively, calculate the expectation running time simultaneously, and utilize that aforementioned calculation comes out arrive the end node of each position or destination with reference to the departure place of place, start node and mobile object from each navigation each estimate running time, calculate the expectation running time and the channeling conduct that arrive the destination from the above-mentioned mobile object current location that detects.And be earlier in order in the position that comprises the destination and comprise and select each position successively between the position of departure place to the calculating of above-mentioned expectation running time, and the distance calculation of utilizing above-mentioned each position that chooses goes out the expectation running time of mobile object, on the expectation running time of each position that aforementioned calculation is come out, directly add the expectation running time that arrives the destination from the position that is selected then, thereby calculate the expectation running time that arrives the destination from the current position that is selected.To the calculating of the current location of above-mentioned mobile object and the expectation running time between the destination is to calculate the current location of mobile object earlier and in travel distance between the node in the place ahead of mobile object, thereby and, adding the above-mentioned node that calculated and the expectation running time between the destination on the expectation running time that aforementioned calculation is come out then divided by calculating the expectation running time apart from the average overall travel speed on the relevant position with above-mentioned.
In sum, this invention can be when retrieving the travel route of mobile object, precomputes from the navigation that is positioned on the travel route to arrive the distance of destination and estimate running time with reference to place and each node, and it is stored.When mobile object is in the driving process, the distance of just utilizing aforementioned calculation and being drawn and estimate running time calculates mobile object simply and arrives the Distance Remaining of destination and estimate running time and channeling conduct from current location.Utilize this bootstrap technique,, also can simply, correctly calculate mobile object and arrive the Distance Remaining of destination and estimate running time from current location even in the middle of the lower navigational system of control part performance.
Description of drawings
What Fig. 1 showed is to have used the navigational system block diagram of Distance Remaining/expectation running time bootstrap technique in this invention.
What Fig. 2 showed is the signal flow graph of Distance Remaining in this invention/expectation running time bootstrap technique.
What Fig. 3 showed is the signal flow graph that calculates the process of Distance Remaining in Distance Remaining in this invention/expectation running time bootstrap technique.
What Fig. 4 showed is the signal flow graph that calculates the process of estimating running time in Distance Remaining in this invention/expectation running time bootstrap technique.
What Fig. 5 showed is the action specification synoptic diagram that calculates Distance Remaining in Distance Remaining in this invention/expectation running time bootstrap technique and estimate running time.
The symbol description of major part in the accompanying drawing
100: antenna 110:GPS receiver
120: detecting means 130: the map datum storage part
140: control part 150: display part
160: instruction input part 170: prompt tone generating unit
180: loudspeaker
Embodiment
Bootstrap technique to the Distance Remaining/expectation running time of mobile object in the navigational system of this invention is elaborated with reference to the accompanying drawings.
Fig. 1 shows is the block diagram of the navigational system of Distance Remaining/expectation running time bootstrap technique of having used this invention.As shown in FIG., installed in this structure GPS receiver 110 that the navigation information that sends out by 100 pairs of a plurality of gps satellites of antenna receives, be used for detecting mobile object travel angle gyroscope and be used for detecting a plurality of sensors such as speed pickup of mobile object travel speed.This structure comprises following ingredient: the detecting means 120 of being responsible for the transport condition of detection mobile object; Store the map datum storage part 130 of map datum; The mixing guidance mode of the detection signal by utilizing above-mentioned GPS receiver 110 and detecting means 120 detects the mobile object current location, and the current location of the mobile object that detects and 130 map data stored of above-mentioned map datum storage part are contrasted, carry out then the travel route of mobile object is retrieved and the action of travel route channeling conduct that retrieval is come out, calculate the navigation that arrives regulation simultaneously with reference to the Distance Remaining of place or destination and estimate the control part 140 of running time and channeling conduct; Rely on user's operation to generate action command, and instruction is input to the instruction input part 150 of above-mentioned control part 140; Under the control of above-mentioned control part 140, the display part 160 that the current location of map datum, mobile object and the travel route of mobile object etc. are shown by picture; Under the control of above-mentioned control part 140, generate and to be used for the voice signal of channeling conduct and the prompt tone generating unit 170 by loudspeaker 180 outputs.
In having the navigational system of said structure, when the user sends the instruction that the travel route of departure place between the destination of regulation of mobile object retrieved, control part 140 is retrieved the travel route of mobile object with regard to utilizing in the map datum storage part 130 institute's map data stored, and the travel route that retrieval is come out is presented on the display part 150 so that allow the user confirm.Simultaneously, when the travel route of mobile object is retrieved, control part 140 is just according to the bootstrap technique of Distance Remaining of the present invention/expectation running time, departure place with mobile object is that benchmark calculates the distance of each navigation of arrival with reference to place and destination, and when finishing distance calculation, to being that the expectation running time that each position of standard arrives the destination calculates and stores with the destination.
In this state, if mobile object is in the driving process, control part 140 just utilizes the transport condition detection signal of the mobile object that navigation information that GPS receiver 110 receives and detecting means 120 detect, current location to mobile object detects, and in the current location of the mobile object that detects and the map datum storage part 130 in advance map data stored contrast then and export by display part 160, and the current location of map with mobile object is presented on the picture.
And, there is the intersection in control part 140 within mobile object is advanced the predetermined distance in the place ahead, fork in the road and the navigation that converges regulation such as crossing are with reference to the place time, bootstrap technique according to the Distance Remaining/expectation running time of this invention, calculate from the current location of mobile object and arrive navigation with reference to the Distance Remaining in place with estimate running time and show by display part 150, also calculate in addition from the current location of mobile object and arrive the Distance Remaining of destination and estimate running time and show by display part 150, control part 140 is also controlled prompt tone generating unit 170 and is generated the sound guidance signal at correlation navigation with reference to place and destination where necessary, and the sound guidance signal that generates exported by loudspeaker 180, realize guiding that mobile object is travelled with this.
What on the other hand, Fig. 2 showed is the signal flow graph of the bootstrap technique of Distance Remaining of the present invention/expectation running time.Such just as shown in the figure, in navigational system, when the user operated instruction input part 160 and send the instruction that the travel route of mobile object is retrieved in the middle of step 200, control part 140 just began to import the departure place and the destination of mobile object from step 202.
Here, the mixing guidance mode of the detection signal that the departure place of mobile object also can be by utilizing the mobile object transport condition that navigation information that GPS receiver 110 receives and detecting means 120 detect is set the mobile object current location that is retrieved.
That is, GPS receiver 110 receives the navigation information that sends from a plurality of gps satellites more than at least four, and utilizes the navigation information that receives to calculate the value of DOP (Dilution of Precision).If the confidence level of the mobile object current location that the navigation information that utilization receives calculates is high more, the value of so above-mentioned DOP is just low more; On the contrary, if the confidence level of mobile object current location is low more, the value of so above-mentioned DOP is just high more.Control part 140 is responsible for value and the predefined critical value of the DOP of above-mentioned GPS receiver 110 outputs are compared, and judges the confidence level of navigation information then.If the result of above-mentioned judgement has confidence level, the current location of mobile object is detected with regard to utilizing above-mentioned navigation information; If do not have confidence level, the final position that just has the mobile object that the navigation information of confidence level detects from original utilization, the mixing guidance mode that detection signal by utilizing detecting means 120 detects the current location of mobile object detects the current location of mobile object.Thereby, also can in above-mentioned steps 202, the current location of the detected mobile object of above-mentioned utilization mixing guidance mode be set at the departure place of mobile object.
If imported the departure place and the destination of above-mentioned mobile object, control part 140 just utilizes map data stored in the map datum storage part 130, mobile object travel route between mobile object departure place and the destination is retrieved, and the mobile object travel route that retrieval is come out shows so that allow the user confirm by display part 150.
Equally, if retrieved the travel route of mobile object, control part 140 just in the middle of the step 206 departure place with mobile object be benchmark, calculate and arrive each and be positioned at navigation on the travel route that above-mentioned retrieval comes out with reference to the distance of place and destination.
The computation process of adjusting the distance in the above-mentioned steps 206 in the middle of step 300, begins successively each position to be selected in order till the position that comprises the mobile object destination from the position that comprises the mobile object departure place just as shown in Figure 3.
Then in the middle of step 302, to whether existing the departure place of mobile object to judge in the middle of the above-mentioned selecteed position, if there is the departure place, just whether exist the navigation of regulation to judge between the end node to the departure place of mobile object and its position in the middle of the step 304 with reference to the place.
If the judged result of above-mentioned steps 304 is to exist the navigation of regulation with reference to the place between the end node of the departure place of mobile object and its position, control part 140 is a benchmark in the central end node with the position of step 306 just, between the departure place of the end node of position and mobile object, successively navigation is selected with reference to the place in order, and in the middle of step 308, calculated the end node of this position and above-mentioned selecteed navigation with reference to the distance between the place.Here, the above-mentioned calculating carried out of adjusting the distance is to utilize Pythagorean theorem at the coordinate of this position end node and the correlation navigation calculating with reference to the simple air line distance that coordinate carried out in place.
Then in the middle of step 310, to whether existing next navigation to judge with reference to the place, if exist next navigation with reference to the place, just return above-mentioned steps 306 and next one navigation is selected with reference to the place, calculate the end node of this position and above-mentioned selecteed navigation simultaneously with reference to the distance between the place, carry out above-mentioned action so repeatedly.Here, to the end node of this position and the calculating of navigating and carrying out with reference to the distance between the place, be between current selected first navigation is with reference to the end node of place and this position, to exist under the situation of second navigation with reference to the place, calculating first navigation earlier navigates with reference to the distance between the place with reference to place and second, then with it and precompute second navigation that comes with reference between place and this position end node apart from addition, thereby first navigating of calculating with reference to the distance between place and this position end node.
Simultaneously, if the judged result of above-mentioned steps 304 is not exist the navigation of regulation with reference to the place between the end node of the departure place of mobile object and relevant position, perhaps do not exist next navigation with reference to the place in the middle of above-mentioned steps 310, control part 140 just calculates the distance between the end node of the departure place of mobile object and relevant position in the middle of step 312.
Example is such as shown in Figure 5, suppose on the travel route between the destination 510 of the departure place 500 of mobile object and mobile object, retrieving needs through node N2, N3, and between the departure place 500 of mobile object and node N2, exist navigation with reference to place SH11, SH12, also exist navigation with reference to place SH21, SH22 between node N2, the N3 simultaneously, and also exist navigation with reference to place SH31 between node N3 and the destination 510.So, control part 140 is just selected the position between the position between the position between node N1 and the N2, node N2 and the N3 and node N3 and the N4 in order successively.
Simultaneously, if selected to include the node N1 of departure place 500 and the position between the N2, just at first select navigation with reference to place SH12, and utilize Pythagorean theorem calculating end node N2 and navigation with reference to the distance between the SH12 of place, and then select navigation with reference to place SH11, and calculate navigation with reference to the distance between place SH11 and the SH12 after, adding end node N2 and navigation on the numerical value that calculates with reference to the distance between the SH12 of place, thereby calculating navigation with reference to the distance between place SH11 and the end node N2.
The rest may be inferred, if finished between the departure place 500 of mobile object and the end node N2 each navigation with reference to the distance calculation between place SH11, SH12 and the end node N2, control part 140 just utilizes Pythagorean theorem, calculating after the departure place 500 of mobile object arrives the distance of first navigation with reference to place SH11, that calculates before adding arrives the distance of end node N2 from navigation with reference to place SH11, thereby calculates the distance that arrives the end node N2 of this position from the departure place 500 of mobile object.
Equally, if be through with to the distance calculation of the position that includes mobile object departure place 500, whether control part 140 just returns above-mentioned steps 300 and selects next position, and exist destination 510 to judge in the middle of to selected position in the middle of the step 314.
If the judged result of above-mentioned steps 314 is not have the destination in the middle of the above-mentioned position that chooses, control part 140 just in the middle of the step 316 to whether existing the navigation of regulation to judge between the start node of this position and the end node with reference to the place.
If the judged result of above-mentioned steps 316 is to exist the navigation of regulation with reference to the place between the start node of this position and the end node, control part 140 is a benchmark in the central end node with this position of step 318 just, in order the navigation between the departure place of the end node of this position and mobile object is selected successively with reference to the place, and in the middle of step 320, calculated the end node of this position and the above-mentioned navigation that is selected with reference to the distance between the place.
Then in the middle of step 322, to whether existing next navigation to judge with reference to the place, if exist next navigation with reference to the place, just return above-mentioned steps 316 and next one navigation is selected with reference to the place, the end node of this position of double counting and the above-mentioned navigation that chooses are with reference to the action of the distance between the place then.
And, if the judged result of above-mentioned steps 316 is not exist the navigation of regulation not exist next navigation with reference to the place with reference to the place or in the middle of above-mentioned steps 322 between the start node of this position and the end node, control part 140 just calculates the end node of this position and the distance between the start node in the middle of step 324, and calculates the distance between the departure place 500 of the end node of this position and mobile object in the middle of step 326.
For example shown in Figure 5, suppose that the departure place 500 of having selected neither to comprise mobile object in the travel route that retrieves does not comprise the node N2 of destination 510 of mobile object and the position between the N3 yet, just at first select navigation with reference to place SH22 and calculate end node N3 and navigate with reference to the distance between the SH22 of place.Select then navigation with reference to place SH21 and calculate navigation with reference to the distance between place SH21 and the SH22 after, adding above-mentioned end node N3 and navigation on the numerical value that calculates with reference to the distance between the SH22 of place, thereby calculating navigation with reference to the distance between place SH21 and the end node N3.And then select start node N2 and after calculating start node N2 and navigating with reference to the distance between the SH21 of place, add navigation with reference to the distance between place SH21 and the end node N3, thereby calculate the distance of the whole position between start node N2 and the end node N3.If finished calculating to the position distance between node N2 and the N3, just with between the distance between mobile object departure place 500 and the node N2 and node N2 and the N3 apart from addition, thereby calculate the distance that arrives node N3 from the departure place 500 of mobile object.
As a same reason, if finished to the distance calculation between the end node of the start node of mobile object and current selected position, just return above-mentioned steps 300 and select next position, repeat the action told about above simultaneously, repeat each navigation is arrived with reference to the distance of the distance between the place, whole position, from the departure place of mobile object the calculating action of the distance of selected position end node.
And, in the middle of above-mentioned steps 300, if having the destination in the middle of the selected position, control part 140 just in the middle of the step 328 to whether existing the navigation of regulation to judge between the start node of relevant position and the destination with reference to the place.
If the judged result of above-mentioned steps 328 is to exist the navigation of regulation with reference to the place between the start node of this position and the destination, control part 140 is just in the middle of step 330, with the destination be benchmark in order successively to selecting with reference to the place at the start node of this position and the navigation between the destination, and in the middle of step 332, calculate destination and above-mentioned selected navigation with reference to the distance between the place.
Then in the middle of step 334, to whether existing next navigation to judge with reference to the place, if exist next navigation with reference to the place, just return above-mentioned steps 330 and select next navigation with reference to the place, double counting destination and above-mentioned selected navigation are with reference to the action of the distance between the place.
And, if the judged result of above-mentioned steps 328 is not exist the navigation of regulation not exist next navigation with reference to the place with reference to the place or in the middle of above-mentioned steps 334 between the start node of this position and the destination, control part 140 just calculates the distance between the start node of destination and this position in the middle of step 336, and calculates the departure place of mobile object and the whole distance between the destination in the middle of step 338.
For example shown in Figure 5, after the whole distance between departure place 500 that calculates mobile object and node N3, select to include the position of destination 510 at last, suppose that the navigation that exists regulation between destination and node N3 is with reference to place SH31, control part 140 just selects navigation with reference to place SH31, and calculates destination 510 and navigate with reference to the distance between the SH31 of place.Select then this position start node N3 and calculate start node N3 and the navigation with reference to the distance between the SH31 of place after, add navigation with reference to the distance between place SH31 and the destination 510, thereby calculate the overall distance between start node N3 and the destination 510.And then with between the departure place 500 of distance between start node N3 and the destination 510 and the mobile object that calculated and the node N3 apart from addition, thereby calculate the departure place 500 of mobile object and the overall distance between the destination 510.
As a same reason, if finished the action of computed range, the distance that control part 140 just utilizes aforementioned calculation to come out, destination with mobile object is a benchmark, calculates mobile object from the departure place and be positioned at each navigation on the travel route that above-mentioned retrieval comes out arrives the destination with reference to the place expectation running time.
Calculating to above-mentioned expectation running time, just as shown in Figure 4, in the middle of step 400, select to include the position of destination, and the start node and the distance between the destination of the selected position of calculating before inciting somebody to action in the middle of step 402 are divided by with the estimated average travel speed of relevant position, calculate mobile object and cross the needed expectation running time of relevant position.
Then in the middle of step 404, with the position that includes the destination is benchmark, in order each position is selected up to the position that includes the departure place, and in step 406, the start node and the distance between the end node of the above-mentioned selected position of calculating before are divided by with the estimated average travel speed of relevant position, calculate mobile object and cross the needed expectation running time of relevant position, then in step 410, with the end node of the expectation running time of current selected position and the current location calculated before and the expectation running time addition between the destination, calculate the expectation running time that arrives the destination from the start node of current location.
As a same reason, if calculated from the start node of current selected position and arrived the needed expectation running time in destination, control part 140 just returns step 404 and selects next position, simultaneously in step 406 to whether existing the departure place to judge in the middle of the selected position, if there is the departure place, just calculate the expectation running time of current selected position, and with the expectation running time of current selected position with calculate before arrive the expectation running time addition of destination from the end node of current location, double counting arrives the action of the expectation running time of destination from the start node of current location.
And, if the judged result of above-mentioned steps 406 is to have the departure place in the selected position, control part 140 just calculates mobile object arrives current selected position from the departure place the needed expectation running time of end node in step 412, and calculates mobile object from the whole needed expectation running time in arrival destination, departure place in step 414.
For example shown in Figure 5, after the calculating of finishing the travel route distance that retrieval is come out, just with destination 510 be benchmark in order from the departure place 500 beginnings select each position successively, if selected to include the position of destination, just the average overall travel speed of the distance between node N3 and the destination 510 with mobile object is divided by, thereby calculates the expectation running time.Do not comprise the node N2 of destination 510 and the position between the N3 if selected neither to comprise departure place 500 yet, just the distance of the position between node N2 and the N3 is divided by with average overall travel speed, thereby calculate the expectation running time of relevant position, and then add the expectation running time that arrives destination 510 from the end node N3 of relevant position, thereby calculate the expectation running time that arrives destination 510 from the start node N2 of relevant position.If selected to include the node N1 of departure place 500 and the position between the N2, just distance between departure place 500 and the node N2 and average overall travel speed are divided by and calculate the expectation running time, and then add the expectation running time that arrives destination 510 from the end node N2 of relevant position, thereby calculate from arrival destination, departure place 510 needed expectation running times.
As a same reason, if having finished mobile object arrives the distance of destination and estimates the calculating of running time and mobile object when beginning to travel from the departure place, control part 140 is just judged travelling of mobile object in step 210 shown in Figure 2, and the mixing guiding of the detection signal by utilizing the mobile object transport condition that navigation information that GPS receiver 110 receives and detecting means 120 detect in step 212 detects the current location of mobile object.
Then in step 214, institute's map data stored in the current location of the above-mentioned mobile object that detects and the map datum storage part 130 is contrasted, and it is exported and show by display part 150.
Then in step 216, calculate mobile object and arrive the Distance Remaining of destination and estimate running time and provide navigation Service to the user from the above-mentioned current location that detects.Here, each navigation that is positioned on the mobile object travel route in the middle of this invention is to calculate in advance with reference to the distance that place and node arrive the destination, and also be to calculate in advance from the expectation running time that the start node of each position arrives the destination, as long as arrive from current location and be positioned at mobile object and travel the regulation navigation in the place ahead with reference to the distance in place so calculate mobile object, and will this distance and the navigation of afore mentioned rules with reference to just calculating mobile object from the distance of current location arrival destination apart from addition between place and the destination.And, the calculating of above-mentioned expectation running time too, as long as calculating mobile object arrives the distance of defining node and utilizes the distance calculation of calculating to go out to estimate running time from current location, and then with the aforementioned calculation gained estimate running time with arrive the destination from interdependent node calculate good expectation running time addition in advance, just can calculate mobile object from the needed expectation running time in current location arrival destination.
Then, in the middle of step 218, whether the place ahead of travelling to mobile object exists the navigation of regulation to judge with reference to the place, if exist navigation with reference to the place, just in step 220, calculate mobile object current location and the navigation with reference to the Distance Remaining between the place, the arrival navigation that to calculate gained then is divided by with reference to Distance Remaining and the average overall travel speed in place, thereby calculates expectation running time and channeling conduct.
Then, in the middle of step 222, whether mobile object has been arrived the destination is judged, if the result who judges does not arrive the destination, just return above-mentioned steps 210 and the current location of mobile object is detected, while contrasts with map datum and shows by display part, and calculates mobile object arrives the destination from current location Distance Remaining and needed expectation running time and channeling conduct.If the navigation that there is regulation in the place ahead of travelling of mobile object just repeats navigation action at this navigation with reference to the place with reference to the place.
And in the middle of above-mentioned steps 222, if mobile object has arrived the destination, control part 140 just arrives the destination channeling conduct to mobile object in the middle of step 224, and finishes navigation action.
On the other hand, though above by the diagram in preferred embodiment describe the present invention, but those skilled in the art is the scope of right application item below not departing from fully at an easy rate, under the prerequisite of this invention aim, this invention is carried out multiple improvement and modification.
Claims (10)
1. the bootstrap technique of the Distance Remaining/expectation running time of mobile object in the navigational system.It is characterized in that,
May further comprise the steps:
Control part utilizes map data stored in the map datum storage part according to the search instruction of travel route, and mobile object is arrived the step that the travel route of destination is retrieved from the departure place;
Successively each position on the travel route between above-mentioned departure place and the destination is selected in order, calculated the step of the distance of travel route simultaneously;
When mobile object is in the driving process, the step that the current location of mobile object is detected and contrasts and show with map datum;
Utilize the distance of the travel route that aforementioned calculation comes out, the step that the above-mentioned mobile object current location that detects and the distance between the destination are calculated and guided.
2. the bootstrap technique of the Distance Remaining of mobile object/expectation running time is characterized in that in the navigational system as claimed in claim 1,
The departure place of above-mentioned mobile object or the current location of mobile object, be by utilizing the navigation information that the GPS receiver receives and the mixing bootstrap technique that detection signal carried out of the detected mobile object transport condition of detecting means, and the current location of the mobile object that detects.
3. the bootstrap technique of the Distance Remaining of mobile object/expectation running time is characterized in that in the navigational system as claimed in claim 1,
The distance calculation of above-mentioned travel route may further comprise the steps:
From the position that comprises the mobile object departure place to the position that comprises the mobile object destination, the step selected of each position on the travel route that successively retrieval is come out in order;
If comprise the departure place in the middle of the above-mentioned selecteed position, just calculate the step that arrives the distance of relevant position end node from the mobile object departure place;
Do not comprise the destination if neither comprise the departure place in the middle of the above-mentioned selecteed position yet, just calculate the step that arrives the distance of end node from the start node of relevant position;
The start node from selected position that comes out in aforementioned calculation arrives on the distance of end node, the distance of selecting before adding and calculating from mobile object departure place arrival relevant position end node, thus calculate the step that arrives the distance of selected position end node from the mobile object departure place;
If comprise the destination in the middle of the above-mentioned selected position, just calculate mobile object arrives the destination from the start node of relevant position distance, and arriving on the distance of destination of calculating from this position start node, the distance of selecting before adding and calculating from mobile object departure place arrival relevant position end node, thus calculate the step that arrives the distance of selected position end node from the mobile object departure place.
4. the bootstrap technique of the Distance Remaining of mobile object/expectation running time is characterized in that in the navigational system as claimed in claim 3,
In the middle of the above-mentioned position that comprises the departure place, the distance calculation from the departure place to the end node may further comprise the steps:
For the step that whether exists navigation to judge between the end node of departure place and this position with reference to the place;
If the result of above-mentioned judgement exists navigation with reference to the place, just the end node from this position begins the step to navigating and selecting with reference to the place successively;
If above-mentioned selecteed navigation is that first navigates with reference to the place with reference to the place, just calculate the step that arrives the distance of this position end node from this navigation with reference to the place;
If above-mentioned selecteed navigation is that second later navigation is with reference to the place with reference to the place, just calculate from this navigation and arrive the distance of last selected navigation with reference to the place with reference to the place, and before adding on the distance of calculating, calculate from selecteed navigation arrive the distance of end node with reference to the place, thereby calculate the step that arrives the distance of this position end node from above-mentioned selecteed navigation with reference to the place;
If finished the distance calculation that arrives end node from each navigation of above-mentioned selected position with reference to the place, just calculate from the departure place of mobile object and arrive in the distance of first navigation on the direction of destination with reference to the place, and before adding on the distance of calculating, calculate on above-mentioned mobile object direction from origin to destination in primary navigation with reference to the distance between place and the end node, thereby calculate the step that arrives the distance of this position end node from the departure place of above-mentioned mobile object.
5. the bootstrap technique of the Distance Remaining of mobile object/expectation running time is characterized in that in the navigational system as claimed in claim 3,
Above-mentionedly neither comprise the distance calculation that the departure place do not comprise the position of destination yet and may further comprise the steps:
To the step that whether exists navigation to judge between the start node of this position and the end node with reference to the place;
If the result of above-mentioned judgement exists navigation with reference to the place, just the end node from this position begins the step to navigating and selecting with reference to the place successively;
If above-mentioned selecteed navigation is that first navigates with reference to the place with reference to the place, just calculate the step that arrives the distance of this position end node from this navigation with reference to the place;
If above-mentioned selecteed navigation is that second later navigation is with reference to the place with reference to the place, just calculate from this navigation and arrive the distance of selecteed navigation before with reference to the place with reference to the place, and before adding on the distance of calculating, calculate from selected navigation arrive the distance of end node with reference to the place, thereby calculate the step that arrives the distance of this position end node from above-mentioned selected navigation with reference to the place;
If finished the distance calculation that arrives end node from each navigation of above-mentioned selected position with reference to the place, just calculate from this position start node arrive mobile object from origin to destination direction be positioned at the distance of primary navigation with reference to the place, and first navigation on from above-mentioned position start node to the direction of end node of calculating before adding on this distance arrives the distance of this position end node with reference to the place, thereby calculates the step that arrives the distance of end node from the start node of above-mentioned position.
6. the bootstrap technique of the Distance Remaining of mobile object/expectation running time is characterized in that in the navigational system as claimed in claim 3,
The distance calculation of position, above-mentioned purpose ground may further comprise the steps:
To the step that whether exists navigation to judge between the start node of this position and the destination with reference to the place;
If the result of above-mentioned judgement exists navigation with reference to the place, just begin the step of successively navigation being selected with reference to the place from the destination;
If above-mentioned selecteed navigation is that first navigates with reference to the place with reference to the place, just calculate the step that arrives the distance of destination from this selected navigation with reference to the place;
If above-mentioned selecteed navigation is that second later navigation is with reference to the place with reference to the place, just calculate from this navigation and arrive the distance of selecteed navigation before with reference to the place with reference to the place, and before adding on the distance of calculating, calculate from selecteed navigation arrive the distance of destination with reference to the place, thereby calculate the step that arrives the distance of destination from above-mentioned selecteed navigation with reference to the place;
If finished the distance calculation that arrives the destination from each navigation of above-mentioned selected position with reference to the place, just calculate to arrive and lead on the direction of destination first navigation with reference to the distance in place from the start node of this position, and first navigation of leading on the direction of destination from above-mentioned position start node of calculating before adding on the distance of calculating arrives the distance of destination with reference to the place, thereby calculates the step that arrives the distance of destination from the start node of above-mentioned position.
7. the bootstrap technique of the Distance Remaining of mobile object/expectation running time is characterized in that in the navigational system as claimed in claim 1,
The distance calculation that arrives the destination from the current location of mobile object may further comprise the steps:
Calculate to arrive and be positioned at mobile object and travel the regulation navigation in the place ahead with reference to the step of the distance in place from the current location of mobile object;
Arrive on the distance of regulation navigation with reference to the place in the current location that aforementioned calculation is come out, add that navigating from regulation of having calculated arrives the step of the distance of destination with reference to the place from mobile object.
8. the bootstrap technique of the Distance Remaining of mobile object/expectation running time is characterized in that in the navigational system as claimed in claim 1,
Further comprising the steps of:
In order each position on the travel route that arrives the departure place is selected successively from the beginning of above-mentioned purpose ground, calculated the step of estimating running time simultaneously;
Utilize that aforementioned calculation comes out arrive the end node of each position or destination with reference to the departure place of place, start node and mobile object from each navigation each estimate running time, the step that the expectation running time that arrives the destination from the above-mentioned mobile object current location that detects is calculated and guides.
9. the bootstrap technique of the Distance Remaining of mobile object/expectation running time in the navigational system as claimed in claim 8 is characterized in that the calculating of above-mentioned expectation running time may further comprise the steps:
Begin till the position, departure place from the position, destination, successively the step that each position is selected;
Utilize the distance calculation of each above-mentioned selected position to go out the step that mobile object is estimated running time;
On the expectation running time of each position that aforementioned calculation is come out, add from a last selected position to arrive the expectation running time of destination, thereby calculate the step that arrives the expectation running time of destination from current selected position.
10. the bootstrap technique of the Distance Remaining of mobile object/expectation running time is characterized in that in the navigational system as claimed in claim 8,
The expectation running time that arrives the destination from the current location of above-mentioned mobile object calculates and may further comprise the steps:
Calculate to arrive and be positioned at the travel step of distance of node in the place ahead of mobile object from the current location of mobile object;
The distance that aforementioned calculation is come out is divided by with the average overall travel speed of relevant position, calculates the step of estimating running time;
On the expectation running time that aforementioned calculation is come out, add calculated arrive the step of the expectation running time of destination from above-mentioned node.
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| CN102682591A (en) * | 2011-03-16 | 2012-09-19 | 高德软件有限公司 | Method and device for acquiring travel time |
| CN103134495A (en) * | 2012-12-25 | 2013-06-05 | 上海博泰悦臻电子设备制造有限公司 | Generating method of navigation information, navigation device and vehicle-mounted terminal |
| CN101832778B (en) * | 2009-03-09 | 2013-07-17 | 株式会社电装 | Navigation device and path searching method |
| CN104111075A (en) * | 2013-04-22 | 2014-10-22 | 神达电脑股份有限公司 | Mobile electronic device and operation method thereof |
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| CN102682591A (en) * | 2011-03-16 | 2012-09-19 | 高德软件有限公司 | Method and device for acquiring travel time |
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| CN108474663A (en) * | 2015-10-19 | 2018-08-31 | 尤萨戴尔有限公司 | Method for the position for being visibly displayed selected destination in map in a manner of through change |
| CN109416544A (en) * | 2016-06-29 | 2019-03-01 | 日本电产株式会社 | Moving body guides system, moving body, guide device and computer program |
| CN107917714A (en) * | 2016-10-09 | 2018-04-17 | 腾讯科技（深圳）有限公司 | Duration method of estimation and device in navigation procedure |
| CN108318050A (en) * | 2017-12-14 | 2018-07-24 | 富华科精密工业（深圳）有限公司 | Central controller and the system and method for utilizing the central controller mobile navigation |
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