CN101329181A - Navigation apparatus foe performing voice navigation to complicated road junction and working method thereof - Google Patents
Navigation apparatus foe performing voice navigation to complicated road junction and working method thereof Download PDFInfo
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- CN101329181A CN101329181A CNA2008100230421A CN200810023042A CN101329181A CN 101329181 A CN101329181 A CN 101329181A CN A2008100230421 A CNA2008100230421 A CN A2008100230421A CN 200810023042 A CN200810023042 A CN 200810023042A CN 101329181 A CN101329181 A CN 101329181A
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Abstract
The invention relates to a navigation device that can realize voice navigation to complex crossings, and a working method thereof. A map data base storage unit of the navigation device is used for storing models of each complex crossing, and a voice database storage unit is used for storing a voice database that contains a keyword database and a database of voice data address codes that consists of each address code; a group of keywords that are corresponding to each address code group represent speeches of all driving actions that are orderly implemented when driving through a corresponding complex crossing; the address code of each address code group is associated with a master serial number of the corresponding model of the complex crossing. When the navigation device implements real-time navigation according to a guidance path, a CPU unit reads the model number of the closest complex crossing in front, obtains a route for driving through the crossing according to the guidance path, and the master serial number of the passed crossing, thus displaying the crossing pattern by a display screen and simultaneously presenting indication voice by a voice output device.
Description
Technical field
The present invention relates to a kind of guider and the method for work thereof that can carry out Voice Navigation to complex crossing.
Background technology
Existing guider has the function of user option, so that when execution route is sought task, guider can be determined the path of navigation that meets user expectation of being reached home by starting point.User option can comprise " main roads are preferential ", " distance priority ", " non-toll is preferential " and " expressway is preferential " etc., and the user can therefrom select the path of navigation that meet user expectation of option to determine to reach home expected.
Voice Navigation is the essential function of guider.Speech guide system of the prior art has only simple sound prompt functions such as " turning left ", " turning right ", this function is not enough for complex crossing, for example at the crossing of last overpass, often have 4 to 5 roads, simple sound prompt function can not satisfy actual needs.
Chinese patent literature CN1350158A discloses the air navigation aid of a kind of satellite vehicle navigation system at viaduct, this method deposits all of viaduct in the navigation numerical map by turning information on the corresponding road of all outlet ports that enters the mouth and outlet title, pass through gps signal, determine that the place ahead need be through the porch and the exit of viaduct, use voice suggestion x crossing " left-hand rotation " or " right-hand rotation " on bridge, after entering the viaduct zone, use voice suggestion " please from xx direction under bridge "; The direction of bridge under the prompting is sailed out of viaduct up to vehicle repeatedly.
Chinese patent literature CN1350157A discloses the phonetic navigation method of a kind of satellite vehicle navigation system at complex crossing, this method adopts the phonetic prompt method of " front n rice please be walked right-hand x bar road " or " front n rice please be walked left x bar road " or " front craspedodrome " only pointing out " left side ", " right side " to can not determine the complex crossing that is meant which bar road.
Chinese patent literature CN1493851A discloses the phonetic navigation method of a kind of satellite vehicle navigation system at complex crossing, comprising: departure place and the destination-address of 1) accepting user's input; 2), select optimal path from origin to destination according to the navigation numerical map of making in advance; 3) by satellite vehicle navigation system receiving world locational system (GPS) signal, determine current position on numerical map; 4) according to selected path, when the distance apart from next complex crossing reached the threshold value of voice suggestion, then the direction that arrives of each track that is identified according to this complex crossing traffic sign of storage was in advance directly utilized voice suggestion " the preceding XX direction of requesting in person away ".
Above-mentioned the deficiencies in the prior art part is: can not make human pilot form the crossing notion of an integral body before entering complex crossing, the suggestion voice of reporting can not adapt to the different situations of multiple different complex crossing, thereby can not accomplish when helping human pilot through various complex crossing rapidly and accurate.
Summary of the invention
A kind of in use can be quickly and accurately providing through the navigation information of complex crossing and the method for work that human pilot can be accepted guider and this guider of this information easily to human pilot is provided technical matters to be solved by this invention.
The technical scheme that realizes the guider in the object of the invention is: this guider has CPU element, gps receiver, map data base storage unit, program data base storage unit, instantaneous speech power, speech database storage unit and display unit; The program data base cell stores has navigation program; Gps receiver is electrically connected with CPU element is two-way; CPU element respectively with map data base storage unit, program data base storage unit, the two-way electrical connection of speech database storage unit and display unit; The voice signal input end of the voice signal output termination instantaneous speech power of CPU element; Be characterized in:
The first, the navigation program stored of program data base storage unit comprises navigation master routine, path planning module, circuit bootstrap module, map display module and voice module; Circuit bootstrap module wherein comprises normal guidance program segment and crossing bootstrap routine segment.
The second, the map data base cell stores has electronic map database, complex crossing model bank and simple crossing model; The complex crossing model bank is made up of each complex crossing model; Simple crossing model and each complex crossing model all have a pattern number, comprise pairing crossing in the pattern number and belong to the simple crossing or the information of complex crossing; The corresponding arrow pattern data and the various additional numbers of the travel route that each bar when each complex crossing model also comprises corresponding crossing pattern data, expression by this complex crossing is different; The information that additional numbers comprises the road information that enters complex crossing and leaves the road of complex crossing; The quantity of the additional numbers of each complex crossing model is identical with the quantity of the travel route that passes through this crossing; In the same complex crossing model, the combination of its pattern number and any one additional numbers then constitutes the master serial number of an expression by a corresponding travel route of this complex crossing; The address code of pattern number that comprises the crossing model at each crossing in the electronic map database.
Three, the speech database cell stores has speech database and speech data address code storehouse; Speech database comprises keyword database, and keyword database comprises each keyword data of placing by certain address, and what represent with the corresponding keyword of each keyword data is the word of a driver behavior under steam; Voice address code data storehouse is made of each address code character of placing by certain address, each address code character is made of corresponding one address code of showing preface of one group of keyword data address of living in of expression, and what represent with the corresponding one group of keyword of each address code character is the statement of all driver behaviors of carrying out successively during under steam by corresponding complex crossing; The address code of each address code character is associated with a master serial number of a corresponding complex crossing model.
The keyword data of above-mentioned keyword database comprises that also row disturbs keyword data; Corresponding address code character in the voice address code data storehouse comprises also that under the situation that has the interference road row disturbs the address code of keyword data; What disturb that the corresponding row of keyword data disturbs that keyword represents with each row is when being called other road that disturbs road in addition on vehicle leaves the same direction at crossing, and correct road is carried out the word that distinctiveness is described.
The voice module that the said procedure database storage unit is stored can be the voice guide module; Each keyword data of the keyword database that the speech database storage unit is stored then should be the recording data mutually.
The voice module that the said procedure database storage unit is stored also can be the voice match module; The speech database that the speech database storage unit is stored then also comprises Chinese individual character speech database; Chinese individual character in the Chinese individual character speech database comprises Chinese individual character commonly used; Each keyword data then is the one section code that comprises the address code of several the Chinese holophrastic speech sound datas in the Chinese individual character speech database.
The method of work of above-mentioned guider comprises the steps:
1. after starting guider, CPU element accesses the navigation master routine in the rerun procedure database storage unit, and makes CPU element be in continuous reception gps signal and calculate the state of current location and current gait of march; When the threshold value of the distance at the priority ranking of routing principle, immediate crossing being selected by artificial or system, by behind the artificial input destination, then cause CPU element and access the path planning module in the rerun procedure database storage unit and calculate path of navigation again; CPU element calculates behind this path of navigation then in operation navigation master routine, from the program data base storage unit, access the normal guidance program segment in the route guidance module of reruning, and the electronic map data that from the map data base storage unit, takes out by the path of navigation Dynamic matching and carry out real-time navigation: the one, access the map display module in the rerun procedure database storage unit, the 2nd, judge constantly whether the immediate distance of the prompting point at crossing that comprises in the place ahead on current location and the path of navigation reaches the threshold value that sets, the 3rd, judge whether vehicle has departed from above-mentioned path of navigation under steam;
If vehicle has departed from above-mentioned path of navigation under steam, then CPU element accesses the path planning module in the rerun procedure database storage unit again and calculates the path of navigation that makes new advances, access the normal guidance program segment of the route guidance module in the database storage unit of reruning then, carry out real-time navigation by the path of navigation that newly calculates.
2. step 1. in, in the process of CPU element operation map display module, from described map data base storage unit, read and the corresponding electronic map data of current location earlier, again with the data delivery of these electronic map datas, the residing position data of vehicle and path of navigation to display unit, display unit is the current position of demonstration vehicle, the electronic chart that comprises current location and corresponding path of navigation on display screen then, and along with advancing of vehicle shown electronic chart and path of navigation are done corresponding change.
3. step 1. in, in the process of the normal guidance program segment in CPU element running route bootstrap module, judging the distance at the immediate crossing in the place ahead on current location and the path of navigation when CPU element is setting threshold or during less than setting threshold, then CPU element reads the address code of the pattern number at this crossing from the electronic map data that is complementary with path of navigation, is read the pattern number at this crossing again from map data base storage unit 3 by this address code; After this pattern number discerned, and judge that this crossing is simple crossing or complex crossing; If complex crossing is then in the normal guidance program segment of running route bootstrap module, from the program data base storage unit, access the crossing bootstrap routine segment of the route guidance module of reruning: the travel route when passing through this complex crossing according to path of navigation, and obtain entering the crossing road numbering and leave the numbering of the road at crossing, then obtained additional numbers after these two numberings are made up, travelled by the master serial number of this complex crossing thereby also just obtained this.
4. step 3. in, at the crossing bootstrap routine segment of CPU element running route bootstrap module and judge that the place ahead is a complex crossing near the crossing, obtained then under the pattern number and the situation of expression of complex crossing by the master serial number of the travel route at crossing, CPU element continues the operation map display module and makes the display screen of display unit show the current position of vehicle and the electronic chart and the path of navigation that comprise current location on the one hand, continue the crossing bootstrap routine segment of running route bootstrap module simultaneously, and the crossing pattern data of road number is arranged according to pattern number accesses this complex crossing model in the complex crossing model bank mark, in the complex crossing model bank, access corresponding arrow pattern data according to master serial number, the data that these are accessed are transported to the display screen of display unit again, stack shows that mark has the crossing pattern of road number on display screen, and the arrow pattern of the demonstration expression travel route that superposes on this crossing pattern; CPU element continues the crossing bootstrap routine segment of running route bootstrap module on the other hand, and access the address code character in stored speech data address code storehouse at place, the address that is associated of speech database storage unit according to master serial number, the address code of showing preface by one of this address code character accesses corresponding keyword data successively and forms one group of keyword data from keyword database again, CPU element accesses the voice module in the rerun procedure database storage unit then: after this group keyword data that accesses is handled, be delivered to coupled instantaneous speech power; Send voice suggestion by instantaneous speech power again by described complex crossing.
In the above-mentioned method of work, the keyword data of the keyword database in guider comprises that also row disturbs keyword data, corresponding address code character in the speech data address code storehouse comprises also that under the situation that has the interference road row disturbs the address code of keyword data, what disturb that the corresponding row of keyword data disturbs that keyword represents with each row is to carry out when being called other road that disturbs road in addition on vehicle leaves the same direction at crossing and to correct road under the situation of the word that distinctiveness describes, step 4. in, if existing, the place ahead complex crossing disturbs road, then when CPU element accesses an address code character in stored speech data address code storehouse according to master serial number at place, the address that is associated of speech database storage unit, comprise also in the pairing one group of keyword data of this address code character that row disturbs keyword data; Comprise also that in send by instantaneous speech power row disturbs keyword by the suggestion voice of described complex crossing.In the above-mentioned method of work, each keyword data that at the voice module that the program data base storage unit of guider is stored is voice guide module, the speech database storage unit keyword database of storing is under the recording data conditions, step 4. in, the voice guide module in the CPU element working procedure database storage unit and the one group of keyword data that is accessed handled be: successively with each bar recording data delivery to coupled instantaneous speech power.
In the above-mentioned method of work, the voice module of being stored in the program data base storage unit of guider is the voice match module, the speech database that the speech database storage unit is stored also comprises Chinese individual character speech database, Chinese individual character in the Chinese individual character speech database comprises Chinese individual character commonly used, each keyword data is to comprise under the situation of one section code of address code of several the Chinese holophrastic speech sound datas in the Chinese individual character speech database, step 4. in, voice match module in the CPU element working procedure database storage unit and the one group of keyword data that is accessed handled be: from Chinese holophrastic speech sound data storehouse, take out corresponding speech data in order according to the address code of described one group of each Chinese holophrastic speech sound data that keyword data comprised, carry out being delivered to coupled instantaneous speech power after the phonetic synthesis; Send by the Chinese speech of described complex crossing by instantaneous speech power again and point out.
The present invention has positive effect:
(1) in the guider of the present invention, is provided with special complex crossing model bank.Make when guider in use runs into complex crossing, the crossing pattern can be shown on display screen, and make human pilot can obtain the visual information clearly of junction ahead situation, how meanwhile can also to obtain voice suggestion by the crossing; Under the effect of dual information, can help ready in advance so that human pilot accurately understands how to pass through junction ahead rapidly.
(2) in the guider of the present invention, speech database comprises keyword database, and the pairing keyword of each keyword data in the keyword database is the word of the driver behavior of expression in travelling, the statement of all driver behaviors when the pairing one group of keyword of the address code of one group of keyword data that the address code character is comprised then is expression by corresponding complex crossing.Comprise that by setting the mode in the speech database of keyword database and speech data address code storehouse only can realize with tens to hundreds of keyword data, conclude dozens of to hundreds of complex crossing models, each complex crossing model is provided with more than ten each master serial number of representing various different travel routes to dozens of, cooperate corresponding program can realize all complex crossings are carried out special Voice Navigation and graphic presentation again, not only navigation is comprehensive but also prompting is timely, and resulting product is a kind of upgraded product of guider.
(3) speech database of guider of the present invention has two kinds of speech production patterns, and a kind of is the recording data, and another kind is the address code of Chinese holophrastic speech sound data; For the former, CPU element is delivered to instantaneous speech power successively with selected recording data when moving corresponding voice module and gets final product; For the latter, when CPU element is moved corresponding voice module, to each Chinese individual character be taken out from Chinese holophrastic speech sound data storehouse according to the address code of the represented numerous Chinese holophrastic speech sound data of one group of keyword data earlier, and then carry out machine talk and synthesize, be delivered to instantaneous speech power at last.Though it is complicated, more rising that the latter seems.
(4) method of the present invention is provided with the program segment to the selection of the threshold value of the distance at immediate crossing in Navigator, in corresponding program segment certain restrictive condition is being arranged for this threshold value.When CPU element calculate the path distance of the nearest complex crossing in the described the place ahead of current location distance during less than predetermined threshold value, CPU element reads the pattern number of the nearest complex crossing in the place ahead, draws direct of travel according to default path of navigation again; This method only reads in the pattern number of the nearest complex crossing in the place ahead on the default path of navigation, has got rid of other complex crossings on default path of navigation to implementing the influence of navigation; That is to say when running into distance between former and later two crossings less than setting threshold, the prompting at crossing that then is positioned at the place ahead with the distance at former and later two crossings as threshold value, only after vehicle passes through current crossing, just junction ahead is carried out navigation such as voice suggestion, thereby can avoid the chaotic voice of system.Simultaneously, CPU element only draws direct of travel according to default path of navigation, thereby draws corresponding direction voice numbering, makes the reliability of voice suggestion of guider of the present invention better.
(5) if there is the interference road on a certain the travel route of complex crossing, guider of the present invention in use can provide the arrow of expression travel route and get rid of the suggestion voice that disturbs road (producing ambiguity), has further facilitated use.For keyword database, row disturbs keyword data and can just be arranged on wherein when setting up keyword database; And for the various travel route of each complex crossing, the travel route that has exists and disturbs road, and then when the address code character of these travel routes was set, the address code of just row being disturbed keyword data joined in the code character of corresponding address; Certainly for the equal complex crossing of noiseless road of some all travel routes, do not comprise in its address code character that then row disturbs the address code of keyword data.
Description of drawings
Fig. 1 is the structural representation of guider of the present invention;
Fig. 2 is the synoptic diagram of the crossing pattern that is superimposed with the arrow pattern that shows direct of travel of the complex crossing model in the embodiment of the invention 2;
Fig. 3 is the synoptic diagram of the crossing pattern that is superimposed with the arrow pattern that shows direct of travel of the complex crossing model in the embodiment of the invention 3;
Fig. 4 is the synoptic diagram of the crossing pattern that is superimposed with the arrow pattern that shows direct of travel of the complex crossing model in the embodiment of the invention 4;
Flow chart when Fig. 5 is guider of the present invention work.
Embodiment
(embodiment 1, guider)
As Fig. 1, guider of the present invention in use, be installed on the vehicle, this guider comprises: CPU element 1, gps receiver 2, map data base storage unit 3, program data base storage unit 4, instantaneous speech power 5, speech database storage unit 6 and display unit 7.The display screen of display unit 7 is a touch display screen.Gps receiver 2 and CPU element 1 two-way the electrical connection; CPU element 1 respectively with map data base storage unit 3, program data base storage unit 4, speech database storage unit 6 and display unit 7 two-way electrical connections; The voice signal input end of the voice signal output termination instantaneous speech power 5 of CPU element 1.
Map data base storage unit 3 stores electronic map database, complex crossing model bank and simple crossing model.The complex crossing model bank is made up of each complex crossing model; Simple crossing model and each complex crossing model all have a pattern number, comprise pairing crossing in the pattern number and belong to the simple crossing or the information of complex crossing.
Each complex crossing model also comprises the corresponding arrow pattern data and the various additional numbers of the travel route that corresponding crossing pattern data, expression each bar when this complex crossing are different except that pattern number.The information that additional numbers comprises the road information that enters complex crossing and leaves the road of complex crossing.The quantity of the additional numbers of each complex crossing model is identical with the quantity of the travel route that passes through this crossing; In the same complex crossing model, the combination of its pattern number and any one additional numbers then constitutes the master serial number of an expression by a corresponding travel route of this complex crossing.That is to say, after having drawn a master serial number of some complex crossings that will pass through when CPU element 1, promptly obtained to carry out the possibility of following operation: access the crossing pattern that shows according to the custom direction accordingly, on this crossing pattern, identify the arrow pattern of travel direction etc. again.The address code of pattern number that comprises the crossing model at each crossing in the electronic map database.
So-called simple crossing, be meant turning crossing in the same plane, the junction of three roads and four forks in the road, complex crossing then is other crossing except simple crossing, comprise: the crossing of various upper and lower overhead viaducts, the crossing that a plurality of overhead viaducts intersect, the different kinds of roads number is more than 4 crossing and rotating disk crossing etc.
Each complex crossing is taken on the spot and gathered, sort out gathering the photo that comes, abstract crossing pattern of summarizing different types of complex crossing, wherein, the crossing pattern of complex crossing that belongs to same kind is identical, when the crossing pattern is transformed into the crossing pattern data, also each bar road that the crossing connected is identified with certain symbol.The crossing pattern data of all different types of complex crossings is numbered by certain rule then obtains pattern number.
Every kind of complex crossing is connected with many roads, and for each bar road, the flow direction of every road has 2, and one is the flow direction that enters the crossing, and another leaves the flow direction at crossing; During all road flows to, have plenty of and allow the flow direction of travelling, have plenty of and do not allow the flow direction of travelling.In the flow direction of leaving the crossing that allows to travel, also has plenty of the additional flow direction that certain condition is arranged.The travelling of crossing of leaving that travelling of crossing flow to qualified various permissions that enter of various permissions flowed to make up in twos and then obtain various travel routes by the crossing, and each travel route is represented with additional numbers and arrow pattern.
Belong to a kind of complex crossing with a complex crossing model representation.The pattern number of complex crossing model can be described as complex crossing ID number or directly is called ID number.Can form by 7 figure place sign indicating numbers for complex crossing ID number, the type at available the 1st figure place representation crossing wherein, 1 expression crossing is a complex crossing, 0 expression crossing is simple crossing.The complexity at available the 2nd and the 3rd figure place representation crossing, the just number of crossing institute linking-up road.Available this complex crossing model of the 4th to the 7th figure place representation position number in the complex crossing model bank.
The method of various travel routes of determining the complex crossing of same kind is: (1) connects different roads with complex crossing and as inlet and simultaneously all the other roads of being connected is obtained all road flow directions as outlet (also can be with same road both as inlet also as exporting) successively successively; (2) remove the forbidden road flow direction in these all roads flow directions and obtain all possible travel route.
The method that these travel routes are represented is: (1) connects different roads according to the same symbol when forming the crossing pattern data to complex crossing and identifies, present embodiment identifies with lowercase a-z, just each bar road is identified (thereby the symbol that in the crossing pattern data of present embodiment each bar road that the crossing connected is identified also is single letter) with a letter.(2) for each bar travel route with two letter representations, first letter representation wherein is as the numbering of the road of porch, second letter is represented the numbering of the road in exit; These two letters are put together, then represent the numbering of corresponding travel route, this is numbered then as an additional numbers in all additional numbers of complex crossing model; For example the represented travel route of additional numbers aa is that former road is returned, and the travel route that ab represents leaves crossing etc. from road b again for to enter the crossing from road a.
For simple crossing, setting up of its model is fairly simple, and all simple crossings all are generalized into a model, and simple crossing model includes only an information---pattern number.The figure place of the pattern number at simple crossing is identical with the figure place of the pattern number of complex crossing model, and wherein the 1st is 0, and everybody can select numeral arbitrarily for all the other, for example all elects 0 as; This pattern number is placed on a specific address in the map data base storage unit 3, and the address code of the pattern number of simple crossing model also places electronic map database as data.
Program data base storage unit 4 stores navigation master routine, path planning module, circuit bootstrap module, map display module and voice match module.
The circuit bootstrap module comprises normal guidance program segment and crossing bootstrap routine segment.
Speech database storage unit 6 stores speech database and speech data address code storehouse.Speech database comprises keyword database; Keyword database comprises by certain address piles up each keyword data of putting.What represent with the corresponding keyword of each keyword data is the word of a driver behavior under steam.The keyword data of keyword database comprises that also row disturbs keyword data.What disturb that the corresponding row of keyword data disturbs that keyword represents with each row is when being called other road that disturbs road in addition on vehicle leaves the same direction at crossing, and correct road is carried out the word that distinctiveness is described.
Speech data address code storehouse is made of each address code character of placing by certain address, each address code character is made of corresponding one address code of showing preface of one group of keyword data address of living in of expression, and what represent with the corresponding one group of keyword of each address code character is the statement of all driver behaviors of carrying out successively during under steam by corresponding complex crossing.The address code of each address code character is associated with a master serial number of a corresponding complex crossing model.If when arbitrary complex crossing had interference road with the travel route equidirectional, then pairing address code character comprised that also row disturbs the address code of keyword data.
(embodiment 2, guider)
The guider of present embodiment is on the basis of embodiment 1 resulting guider, to obtaining after the relevant parts refinement.Each keyword data that also is speech database storage unit 6 keyword database of storing is the recording data.The voice module that program data base storage unit 4 is stored is the voice guide module, during CPU element 1 this voice guide module of operation, under the control of this module, successively each bar is recorded data delivery to coupled instantaneous speech power 5.
(embodiment 3, guider)
The guider of present embodiment is on the basis of embodiment 1 resulting guider, to obtaining after the relevant parts refinement.Concrete condition is as follows:
The speech database that speech database storage unit 6 is stored also comprises Chinese individual character speech database; Chinese individual character in the Chinese individual character speech database comprises Chinese individual character commonly used; Each keyword data is the one section code that comprises the address code of several the Chinese holophrastic speech sound datas in the Chinese individual character speech database.The voice module that program data base storage unit 4 is stored is the voice match module; During CPU element 1 this voice match module of operation, under the control of this module, address code according to one group of each the Chinese holophrastic speech sound data that keyword data comprised that is accessed is taken out corresponding speech data in order from Chinese holophrastic speech sound data storehouse, carry out being delivered to coupled instantaneous speech power 5 after the phonetic synthesis.At this moment, to send the voice suggestion by described complex crossing be the Chinese speech prompting to instantaneous speech power 5.
(method of work of embodiment 4, guider)
See Fig. 5, the guider in the method for work of the guider of present embodiment adopts embodiment 3 resulting guiders, comprises the steps: during this guider work
1. after starting guider, CPU element 1 accesses the navigation master routine in the rerun procedure database storage unit 4, and makes CPU element 1 be in continuous reception gps signal and calculate the state of current location and current gait of march; When the threshold value of the distance at the priority ranking of routing principle, immediate crossing being selected by artificial or system, by behind the artificial input destination, then cause CPU element 1 and access the path planning module in the rerun procedure database storage unit 4 and calculate path of navigation again; CPU element 1 calculates behind this path of navigation then in operation navigation master routine, from program data base storage unit 4, access the normal guidance program segment in the route guidance module of reruning, and carry out real-time navigation behind the electronic map data that from map data base storage unit 3, takes out by the path of navigation Dynamic matching: the one, access the map display module in the rerun procedure database storage unit 4, the 2nd, judge constantly whether the immediate distance of the prompting point at crossing that comprises in the place ahead on current location and the path of navigation reaches the threshold value that sets, the 3rd, judge whether vehicle has departed from above-mentioned path of navigation under steam;
If vehicle departs from above-mentioned path of navigation under steam, then CPU element 1 accesses the path planning module in the rerun procedure database storage unit 4 again and calculates the path of navigation that makes new advances, access the normal guidance program segment of the route guidance module in the rerun procedure database storage unit 4 then, carry out real-time navigation by the path of navigation that newly calculates.
2. step 1. in, in the process of CPU element 1 operation map display module, from map data base storage unit 3, read and the corresponding electronic map data of current location earlier, again with the data delivery of these electronic map datas, the residing position data of vehicle and path of navigation to display unit 7,7 current positions of demonstration vehicle on touch display screen of display unit, the electronic chart that comprises current location and corresponding path of navigation, and along with advancing of vehicle shown electronic chart and path of navigation are done corresponding change.
3. step 1. in, in the process of the normal guidance program segment in CPU element 1 running route bootstrap module, when CPU element 1 judge the distance at the immediate crossing, the place ahead on current location and the path of navigation be setting threshold or less than setting threshold (present embodiment is 200 meters, can be 100,150,300 or 400 meters etc. among other embodiment) time, then CPU element 1 reads the address code of the pattern number at this crossing from the electronic map data that is complementary with path of navigation, is read the pattern number at this crossing again from map data base storage unit 3 by this address code; After this pattern number discerned, and judge that this crossing is simple crossing or complex crossing; If complex crossing is then in the normal guidance program segment of running route bootstrap module, from program data base storage unit 4, access the crossing bootstrap routine segment of the route guidance module of reruning: the travel route when passing through this complex crossing according to path of navigation, and obtain entering the crossing road numbering and leave the numbering of the road at crossing, then obtained additional numbers after these two numberings are made up, travelled by the master serial number of this complex crossing thereby also just obtained this.Described setting threshold can adopt different values according to different road types, is 150 meters on common road for example, is 400 meters on highway; Also can be set by the user.When the distance between two crossings during less than setting threshold, because the program setting guider only compares with setting threshold the distance at immediate crossing, the place ahead, be equal to or less than setting threshold near the distance at crossing even if the place ahead is non-, CPU element 1 can not shown interest in this yet yet.But if vehicle is in case by current crossing, then exist forwardly this moment under the situation of distance less than the crossing of setting threshold, just at once to the crossing bootstrap routine segment of this crossing running route bootstrap module.
4. step 3. in, judge that at the crossing bootstrap routine segment of CPU element 1 running route bootstrap module the place ahead is complex crossing near the crossing, has obtained under the pattern number and the situation of expression by the master serial number of the travel route at crossing of complex crossing then,
5. step 3. in, obtain the pattern number of junction ahead in CPU element 1, again this pattern number is discerned the back and when judging that junction ahead is simple crossing, then continue the normal guidance program segment in the running route bootstrap module, determine in " the place ahead craspedodrome " judge the back by the angle of travelling at this simple crossing according to path of navigation by CPU element 1, " the place ahead left-hand rotation ", " the place ahead right-hand rotation ", " the place ahead enters the left side road ", select the address code of one of them keyword data in these six keywords of " the place ahead enters the right side road " and " turning around in the place ahead "; If junction ahead is the four common forks in the road or the junction of three roads that occurs a branch fork on a craspedodrome road, then adopt the keyword of " the place ahead craspedodrome ", " the place ahead left-hand rotation " or " the place ahead right-hand rotation ", when if junction ahead is Y shape crossing, then adopt the keyword of " the place ahead enters the left side road " or " the place ahead enters the right side road ".CPU element 1 accesses corresponding keyword data by this address code from the keyword database of speech database storage unit 6, CPU element 1 accesses the voice match module of reruning then: the speech data address code according to the Chinese character that is comprised in this keyword data is taken out corresponding Chinese character speech data from the Chinese character speech database, carries out being delivered to coupled instantaneous speech power 5 after the phonetic synthesis; Send by the Chinese speech at this simple crossing by instantaneous speech power 5 again and point out.
See Fig. 2, specifically, when the automobile that is loaded with guider of the present invention during in travels down, the CPU element 1 of guider obtains the state that gps signal calculates current location and current gait of march in constantly according to gps receiver 2 in the process of operation navigation master routine; Also the normal guidance program segment of while running route bootstrap module constantly calculates the distance at vehicle immediate crossing in the place ahead on present position on the path of navigation and path of navigation.
When if vehicle ' goes up in road a, there is a complex crossing in the place ahead, this complex crossing has one and constitutes the road junction f that crossroad and go up overhead viaduct d by road a, b, c and e, and path of navigation is overhead and turn right on the travel route of guided vehicle during by this complex crossing is.When the path distance of the complex crossing among vehicle distances Fig. 2 arrives the threshold value of 200m, CPU element 1 is 1050001 according to the address code information of the pattern number of this complex crossing in the electronic map data reads the complex crossing model shown in Fig. 2 from the complex crossing model bank pattern number, after this pattern number being carried out the identification of crossing type, be judged as complex crossing.
The crossing bootstrap routine segment of the route guidance module that brings into operation then, and according to described path of navigation the travel route during by this complex crossing obtain entering the crossing road be numbered a, leave the crossing road be numbered f, road f also is the entranceway that enters overpass, so formed the master serial number of 1050001af, af wherein is an additional numbers.
Then, CPU element 1 continues the map display module in the working procedure database storage unit 4 on the one hand and makes the display screen of display unit 7 show the current position of vehicle and the electronic chart and the path of navigation that comprise current location, continue the crossing bootstrap routine segment of running route bootstrap module simultaneously, and the crossing pattern data of road number is arranged according to pattern number 1050001 accesses this complex crossing model in the complex crossing model bank mark, in the complex crossing model bank, access corresponding arrow pattern data according to master serial number 1050001af, the data that these are accessed are transported to the display screen of display unit 7 again, stack shows the crossing pattern of this complex crossing model on the shown electronic chart of display screen, this crossing pattern all covers or part covers on the electronic chart, stack shows expression and enters the crossing from road a on the pattern of crossing, the road f of the supreme overpass of keeping straight in the crossing and leave the arrow pattern of the travel route at crossing.
(method of work of embodiment 5, guider)
See Fig. 3, all the other are identical with embodiment 4, difference is: when vehicle ' during to as shown in Figure 3 complex crossing, after CPU element 1 has obtained the numbering and additional numbers of complex crossing model, step 4. in, show the crossing pattern and the arrow pattern of figure shown in Figure 3 by the stack of the display screen of display unit 7; Suggestion voice by instantaneous speech power 5 outputs is: " the place ahead enters the crossing, turns at the 3rd road in left side then "." the 3rd " in the suggestion voice disturbs keyword for row.
(method of work of embodiment 6, guider)
See Fig. 3, all the other are identical with embodiment 4, difference is: when vehicle ' during to as shown in Figure 4 complex crossing, after CPU element 1 has obtained the numbering and additional numbers of complex crossing model, step 4. in, show the crossing pattern and the arrow pattern of figure shown in Figure 4 by the stack of the display screen of display unit 7; Suggestion voice by instantaneous speech power 5 outputs is: " the place ahead enters the crossing, turns at article one road in left side then "." article one " in the suggestion voice disturbed keyword for row.
(embodiment 7, guider and method of work thereof)
The remainder of the guider of present embodiment is identical with embodiment 1, difference is: pattern number can also comprise the information of the big class of complex crossing, for example: can be complex crossing according to whether having the overpass gateway to be divided into plane crossing and overhead crossing being arranged, whether for plane crossing is that the rotating disk crossing can be divided into common plane complex crossing and rotating disk crossing again, for being arranged, overhead crossing can divide complex crossing again with overhead inlet, leave the crossing of overpass, and overhead grade separation has the crossing of several intersections, for these complex crossings, can use the 1st figure place representation of pattern number, still represent common crossing with 0, represent the common plane crossing with 1, represent the rotating disk crossing with 2, with 3 complex crossings of representing to have overhead inlet, with 4 crossings of representing to leave overpass, represent that with 5 overhead grade separation has the crossing of 2 intersections, represent that with 6 overhead grade separation has the crossing of 3 intersections etc.
Corresponding with above-mentioned pattern number, the keyword data that also comprises the big class in crossing in the keyword database of speech database storage unit 6 also comprises the address code of the keyword data of the big class in crossing in each address code character in the speech data address code storehouse of speech database storage unit 6.
The guider of present embodiment method of work in use, all the other are identical with embodiment 4, difference is: when crossing, the place ahead is complex crossing, sending voice suggestion by this complex crossing by instantaneous speech power 5 also comprises and earlier the type of complex crossing being pointed out, for example, if the place ahead is the rotating disk crossing, then the voice suggestion of being sent is: " the place ahead is the rotating disk crossing; travel counterclockwise along rotating disk after entering the crossing; leave the crossing from X outlet " (" X " is meant that outlet on the driving path, for example " the 3rd outlet "); If when running into as shown in Figure 2 the crossing, then the voice suggestion that is sent out is: " the place ahead is the crossing that overhead inlet is arranged, and keeps straight on after entering the crossing, travels last overpass then on the right side "; If when running into as shown in Figure 3 the crossing, then the voice suggestion that is sent out is: " the place ahead is common crossing, enter the crossing then turn " at the 3rd road in left side; If when running into as shown in Figure 4 the crossing, then the voice suggestion that is sent out is: " the place ahead is common crossing, enter the crossing then turn " at article one road in left side.
In above-mentioned each keyword sets, be used in reference to conducting and cross and do not have row in all keywords of voice at rotating disk crossing and disturb keyword.
(method of work of embodiment 8, guider)
The guider that present embodiment adopts is obtained by embodiment 2, and the remainder of its method of work is substantially the same manner as Example 4.Difference is: step 4. in, CPU element 1 continues the crossing bootstrap routine segment of running route bootstrap module, and access the address code character in stored speech data address code storehouse at place, the address that is associated of speech database storage unit 6 according to master serial number, the address code of showing preface by one of this address code character accesses corresponding keyword data successively and forms one group of recording data from keyword database again, then, CPU element 1 accesses the voice guide module in the rerun procedure database storage unit 4, and described one group of recording data are delivered to coupled instantaneous speech power 5 successively; Send voice suggestion by instantaneous speech power 5 again by described complex crossing.
Claims (8)
1, a kind of guider that can carry out Voice Navigation to complex crossing has CPU element (1), gps receiver (2), map data base storage unit (3), program data base storage unit (4), instantaneous speech power (5), speech database storage unit (6) and display unit (7); Program data base storage unit (4) stores navigation program; Gps receiver (2) and two-way electrical connection of CPU element (1); CPU element (1) respectively with map data base storage unit (3), program data base storage unit (4), speech database storage unit (6) and the two-way electrical connection of display unit (7); The voice signal input end of the voice signal output termination instantaneous speech power (5) of CPU element (1); It is characterized in that:
The navigation program that program data base storage unit (4) is stored comprises navigation master routine, path planning module, circuit bootstrap module, map display module and voice module; Circuit bootstrap module wherein comprises normal guidance program segment and crossing bootstrap routine segment;
Map data base storage unit (3) stores electronic map database, complex crossing model bank and simple crossing model; The complex crossing model bank is made up of each complex crossing model; Simple crossing model and each complex crossing model all have a pattern number, comprise pairing crossing in the pattern number and belong to the simple crossing or the information of complex crossing; The corresponding arrow pattern data and the various additional numbers of the travel route that each bar when each complex crossing model also comprises corresponding crossing pattern data, expression by this complex crossing is different; The information that additional numbers comprises the road information that enters complex crossing and leaves the road of complex crossing; The quantity of the additional numbers of each complex crossing model is identical with the quantity of the travel route that passes through this crossing; In the same complex crossing model, the combination of its pattern number and any one additional numbers then constitutes the master serial number of an expression by a corresponding travel route of this complex crossing; The address code of pattern number that comprises the crossing model at each crossing in the electronic map database;
Speech database storage unit (6) stores speech database and speech data address code storehouse; Speech database comprises keyword database; Keyword database comprises each keyword data of placing by certain address.What represent with the corresponding keyword of each keyword data is the word of a driver behavior under steam; Voice address code data storehouse is made of each address code character of placing by certain address, each address code character is made of corresponding one address code of showing preface of one group of keyword data address of living in of expression, and what represent with the corresponding one group of keyword of each address code character is the statement of all driver behaviors of carrying out successively during under steam by corresponding complex crossing; The address code of each address code character is associated with a master serial number of a corresponding complex crossing model.
2, the guider that can carry out Voice Navigation to complex crossing according to claim 1 is characterized in that: the keyword data of described keyword database comprises that also row disturbs keyword data; Corresponding address code character in the voice address code data storehouse comprises also that under the situation that has the interference road row disturbs the address code of keyword data; What disturb that the corresponding row of keyword data disturbs that keyword represents with each row is when being called other road that disturbs road in addition on vehicle leaves the same direction at crossing, and correct road is carried out the word that distinctiveness is described.
3, the guider that can carry out Voice Navigation according to claim 1 and 2 to complex crossing, it is characterized in that: the voice module that program data base storage unit (4) is stored is the voice guide module; Each keyword data of the keyword database that speech database storage unit (6) is stored is the recording data.
4, the guider that can carry out Voice Navigation according to claim 1 and 2 to complex crossing, it is characterized in that: the voice module that program data base storage unit (4) is stored is the voice match module; The speech database that speech database storage unit (6) is stored also comprises Chinese individual character speech database; Chinese individual character in the Chinese individual character speech database comprises Chinese individual character commonly used; Each keyword data then is the one section code that comprises the address code of several the Chinese holophrastic speech sound datas in the Chinese individual character speech database.
5, a kind of by the described method of work that can carry out the guider of Voice Navigation to complex crossing of claim 1, comprise the steps:
1. after starting guider, CPU element (1) accesses the navigation master routine in the rerun procedure database storage unit (4), and makes CPU element (1) be in continuous reception gps signal and calculate the state of current location and current gait of march; When the threshold value of the distance at the priority ranking of routing principle, immediate crossing being selected by artificial or system, by behind the artificial input destination, then cause CPU element (1) and access the path planning module in the rerun procedure database storage unit (4) and calculate path of navigation again; CPU element (1) calculates behind this path of navigation then in operation navigation master routine, from program data base storage unit (4), access the normal guidance program segment in the route guidance module of reruning, and the electronic map data that from map data base storage unit (3), takes out by the path of navigation Dynamic matching and carry out real-time navigation: the one, access the map display module in the rerun procedure database storage unit (4), the 2nd, judge constantly whether the immediate distance of the prompting point at crossing that comprises in the place ahead on current location and the path of navigation reaches the threshold value that sets, the 3rd, judge whether vehicle has departed from above-mentioned path of navigation under steam;
If vehicle has departed from above-mentioned path of navigation under steam, then CPU element (1) accesses the path planning module in the rerun procedure database storage unit (4) again and calculates the path of navigation that makes new advances, access the normal guidance program segment of the route guidance module in the rerun procedure database storage unit (4) then, carry out real-time navigation by the path of navigation that newly calculates;
2. step 1. in, in the process of CPU element (1) operation map display module, from described map data base storage unit (3), read and the corresponding electronic map data of current location earlier, again with the data delivery of these electronic map datas, the residing position data of vehicle and path of navigation to display unit (7), display unit (7) is the current position of demonstration vehicle, the electronic chart that comprises current location and corresponding path of navigation on display screen then, and along with advancing of vehicle shown electronic chart and path of navigation are done corresponding change;
3. step 1. in, in the process of the normal guidance program segment in CPU element (1) running route bootstrap module, judging the distance at the immediate crossing in the place ahead on current location and the path of navigation when CPU element (1) is setting threshold or during less than setting threshold, then CPU element (1) reads the address code of the pattern number at this crossing from the electronic map data that is complementary with path of navigation, is read the pattern number at this crossing again from map data base storage unit 3 by this address code; After this pattern number discerned, and judge that this crossing is simple crossing or complex crossing; If complex crossing is then in the normal guidance program segment of running route bootstrap module, from program data base storage unit (4), access the crossing bootstrap routine segment of the route guidance module of reruning: the travel route when passing through this complex crossing according to path of navigation, and obtain entering the crossing road numbering and leave the numbering of the road at crossing, then obtained additional numbers after these two numberings are made up, travelled by the master serial number of this complex crossing thereby also just obtained this;
4. step 3. in, at the crossing bootstrap routine segment of CPU element (1) running route bootstrap module and judge that the place ahead is a complex crossing near the crossing, obtained then under the pattern number and the situation of expression of complex crossing by the master serial number of the travel route at crossing, CPU element (1) continues the operation map display module and makes the display screen of display unit (7) show the current position of vehicle and the electronic chart and the path of navigation that comprise current location on the one hand, continue the crossing bootstrap routine segment of running route bootstrap module simultaneously, and the crossing pattern data of road number is arranged according to pattern number accesses this complex crossing model in the complex crossing model bank mark, in the complex crossing model bank, access corresponding arrow pattern data according to master serial number, the data that these are accessed are transported to the display screen of display unit (7) again, stack shows that mark has the crossing pattern of road number on display screen, and the arrow pattern of the demonstration expression travel route that superposes on this crossing pattern; CPU element (1) continues the crossing bootstrap routine segment of running route bootstrap module on the other hand, and access the address code character in stored speech data address code storehouse at place, the address that is associated of speech database storage unit (6) according to master serial number, the address code of showing preface by one of this address code character accesses corresponding keyword data successively and forms one group of keyword data from keyword database again, CPU element (1) accesses the voice module in the rerun procedure database storage unit (4) then: after this group keyword data that accesses is handled, be delivered to coupled instantaneous speech power (5); Send voice suggestion by instantaneous speech power (5) again by described complex crossing.
6, the method for work that can carry out the guider of Voice Navigation to complex crossing according to claim 5 is characterized in that: in the described guider, the keyword data of keyword database comprises that also row disturbs keyword data; Corresponding address code character in the speech data address code storehouse comprises also that under the situation that has the interference road row disturbs the address code of keyword data; What disturb that the corresponding row of keyword data disturbs that keyword represents with each row is when being called other road that disturbs road in addition on vehicle leaves the same direction at crossing, and correct road is carried out the word that distinctiveness is described;
Thereby step 4. in, if existing, the place ahead complex crossing disturbs road, then when CPU element (1) accesses an address code character in stored speech data address code storehouse according to master serial number at place, the address that is associated of speech database storage unit (6), comprise also in the pairing one group of keyword data of this address code character that row disturbs keyword data; Comprise also that in sending by the suggestion voice of described complex crossing row disturbs keyword by instantaneous speech power (5).
7, according to claim 5 or the 6 described method of works that can carry out the guider of Voice Navigation to complex crossing, it is characterized in that:
In the described guider, the voice module that program data base storage unit (4) is stored is the voice guide module; Each keyword data of the keyword database that speech database storage unit (6) is stored is the recording data;
The step of described method of work 4. in, the voice guide module in CPU element (1) the working procedure database storage unit (4) and the one group of keyword data that is accessed handled be: successively with each bar recording data delivery to coupled instantaneous speech power (5).
8, according to claim 5 or the 6 described method of works that can carry out the guider of Voice Navigation to complex crossing, it is characterized in that:
In the described guider, the voice module that program data base storage unit (4) is stored is the voice match module; The speech database that speech database storage unit (6) is stored also comprises Chinese individual character speech database; Chinese individual character in the Chinese individual character speech database comprises Chinese individual character commonly used; Each keyword data is the one section code that comprises the address code of several the Chinese holophrastic speech sound datas in the Chinese individual character speech database;
The step of described method of work 4. in, voice match module in CPU element (1) the working procedure database storage unit (4) and the one group of keyword data that is accessed handled be: from Chinese holophrastic speech sound data storehouse, take out corresponding speech data in order according to the address code of described one group of each Chinese holophrastic speech sound data that keyword data comprised, carry out being delivered to coupled instantaneous speech power (5) after the phonetic synthesis; Send by the Chinese speech of described complex crossing by instantaneous speech power (5) again and point out.
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