CN101634559A - Navigation method and device capable of flexibly regulating path planning - Google Patents
Navigation method and device capable of flexibly regulating path planning Download PDFInfo
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- CN101634559A CN101634559A CN200810029669A CN200810029669A CN101634559A CN 101634559 A CN101634559 A CN 101634559A CN 200810029669 A CN200810029669 A CN 200810029669A CN 200810029669 A CN200810029669 A CN 200810029669A CN 101634559 A CN101634559 A CN 101634559A
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Abstract
The invention discloses a navigation method and a navigation device capable of flexibly regulating path planning, which are used for judging whether a vehicle is necessary to turn at a crossing or not so as to timely regulate the path planning. The method comprises the following steps: a, acquiring the running speed of the vehicle and acquiring a safe distance according to the running speed; b, acquiring the current position information of the vehicle and computing a turning distance between the vehicle and the crossing according to the current position information; and c, judging whether the turning distance is shorter than the safe distance or not, and if so, re-planning the path. The navigation device comprises a geographic information system database used for storing a plurality of sets of electronic map data, a satellite positioning module, a path planning module and a processing module. The safe distance is computed and compared with the turning distance to determine whether to turn at the crossing or not, so the danger caused when the turning distance is too short for a driver to make a response is avoided, and the flexible regulation of the path planning is achieved.
Description
[technical field]
The invention relates to a kind of air navigation aid, but be meant a kind of air navigation aid of flexibly regulating path planning especially.
[background technology]
The navigation electronic goods of using Global Positioning System (GPS) (GPS) at present has been widely used on the market, and function from strength to strength, for example Taiwan I269051 patent has promptly disclosed a kind of navigational system of adjusting path planning according to time response, it provides and has allowed the user set specific road section, the function of special time, for example the user knows the four sections traffic congestions greatly in 8 o'clock to 9 o'clock in the morning in loyalty and filial piety East Road, or there are road construction three periods 4 o'clock to 5 o'clock afternoons on the good faith road, then the user can be with these specific road section, in the special time input navigational system, navigational system will be kept away the specific road section of these special times when helping the user to do path planning afterwards.
Yet, path planning still can some problems occur because of some external factors sometimes, for instance, when navigational system has been planned a paths, and the indication user will turn right in this right-hand rotation, but the user may continue directly to walk because thinking thing (or other reason) to forget to turn, the result causes navigational system to need path planning again, but after may having planned again, system but wants the user to turn left at next crossing at once, and the crossing is with regard to general several meters forwardly, yet want the user to turn left in so short distance at once is quite dangerous thing, be enough to lead to great traffic accident, suitable mechanism adjusts but navigational system does not have setting, causes in time place indication user turning improperly.
[summary of the invention]
Therefore, purpose of the present invention, but promptly providing a kind of air navigation aid that judges whether the flexibly regulating path planning that this is turned at a crossing.
So, but the air navigation aid of the present invention's flexibly regulating path planning is in order to judge whether vehicles should turn at a crossing, and with in good time adjustment path planning, this method comprises following step:
(a) obtain one of these vehicles speed of travelling, and obtain a safe distance by this travel speed;
(b) obtain the positional information instantly of these vehicles, and calculate a turning distance at this this crossing of vehicle distance whereby; And
(c) whether judge this turning distance less than this safe distance, if, path planning again then.
Another object of the present invention, but promptly providing a kind of guider that judges whether the flexibly regulating path planning that this is turned at a crossing.
So, but the guider of the present invention's flexibly regulating path planning is arranged at vehicles, and in order to judge whether these vehicles should turn at a crossing, and with in good time adjustment path planning, this guider comprises:
One gis database is in order to store some groups of electronic map datas.
One satellite positioning module, in order to receiving the positioning signal that some satellites transmit, and conversion Calculation and obtain a positional information instantly of these vehicles in addition.
One path planning module is in order to plan an optimal path according to an input information and these electronic map datas.
One processing module, in order to obtain one of these vehicles speed of travelling, and obtain a safe distance by this travel speed, and a turning distance according to this this crossing of vehicle distance of positional information calculation instantly of these vehicles, and judge that whether this turning distance is less than this safe distance, if then notify this path planning module path planning again.
Compared to prior art, the present invention is by the computationally secure distance mode to compare with the distance of turning, determine whether that this turns at a crossing, so can avoid the driver because the too short situation that has little time to react and cause danger of the distance of turning takes place, so can reach purpose of the present invention really.
For purpose of the present invention, structural attitude and function thereof are had further understanding, conjunction with figs. is described in detail as follows now:
[description of drawings]
Fig. 1 is a synoptic diagram, but the framework of preferred embodiment of the guider of the present invention's flexibly regulating path planning is described.
Fig. 2 is a process flow diagram, but the flow process of the air navigation aid of the present invention's flexibly regulating path planning is described.
[embodiment]
Consult Fig. 1, but the preferred embodiment of the guider of the present invention's flexibly regulating path planning is arranged at vehicles (for example automobile), and whether should turn at a crossing in order to judge these vehicles, with in good time adjustment path planning, this guider 1 comprises a gis database 11, a load module 12, a satellite positioning module 13, a path planning module 14, a processing module 15, a database 16 and a display module 17.
Geographic Information System (GIS, Geographic Information System) database 11, in order to storing some groups of electronic map datas, map datum includes the road name, road attribute (as national highway, provincial highway, one-way road) in an area, corresponding data such as latitude and longitude coordinates.
At first, shown in step 91, processing module 15 locating module 13 via satellite obtains the travel speed of these vehicles and obtains a safe distance according to this travel speed by building the database of putting 16 in advance.There is the travel speed and the safe distance table of comparisons shown in the following page table of setting up in advance 1 in the database, show that wherein a travel speed can correspond to a safe distance, for example suppose that travel speed is 52 kilometers/hour, then since travel speed near 50 kilometers/hour, then can obtain safe distance is 18.17523 meters (friction factor is 1 o'clock).
Then, shown in step 92, processing module 15 is calculated a turning distance at this this crossing of vehicle distance according to the positional information instantly (locating module 13 is obtained via satellite) of these vehicles.
At last, shown in step 93, processing module 15 judges that whether this turning distance is less than this safety
Distance, if, notification path planning module 14 path planning (step 94) again then.
Table 1
Therefore, if the turning at this crossing of vehicle distance distance too in short-term, guider 1 is path planning again, changes to a crossing far away and turns, in order to avoid the driver has little time reaction and causes danger because the distance of turning is too short.
And the judgement of turning distance is according to safe distance, safe distance account form be that a brake distance adds a reaction distance.The brake distance is meant the distance that the driver stops fully from the car that applies the brakes, account form be with travel speed square divided by the acceleration of gravity of twice again divided by a friction factor, since acceleration of gravity be 9.8 meters/(second * second), therefore when calculating the unit of travel speed want earlier from " kilometer/hour " be converted into " meter/second "; Friction factor normally is 1 between 0.6 and 1, then can be 0.6 in the descending highway section, and the time channel cunning of raining can be 0.8.Reaction distance is 0.6 times of travel speed, (0.6 second) be meant between driver's eyes are seen and pin applies the brakes the reaction time that must exhaust, certainly, 0.6 be common people's reaction time second, the reaction time of considering the elderly is longer, therefore also can with 0.7 or bigger numeral with the increase security.
What deserves to be mentioned is that processing module 15 obtains the travel speed of these vehicles except locating module 13 via satellite, if these vehicles itself are provided with a speed measuring module, then processing module 15 can obtain travel speed by speed measuring module; Moreover, the safe distance of present embodiment account form only be one for example, do not exceed with this account form.
In addition, but the air navigation aid of flexibly regulating path planning shown in Figure 2 uses during except predetermined turning that can be after path planning is finished, also can be with regard to adopting said method when beginning to make path planning.For instance, suppose to select when path planning module begins path planning and will turn at next crossing, can judge with the method whether next crossing suits to turn earlier this moment, if unaccommodated words, can end originally to do the action of path planning, and next crossing got rid of in the selection of path planning path planning again.
In sum, the present invention is by the computationally secure distance mode to compare with the distance of turning, determine whether that this turns at a crossing, so can avoid the driver because the too short situation that has little time to react and cause danger of the distance of turning takes place, so can reach purpose of the present invention really.
Claims (13)
1. but whether the air navigation aid of a flexibly regulating path planning should turn at a crossing in order to judge vehicles,, it is characterized in that this method comprises following step with in good time adjustment path planning:
(a) obtain one of these vehicles speed of travelling, and obtain a safe distance by this travel speed;
(b) obtain the positional information instantly of these vehicles, and calculate a turning distance at this this crossing of vehicle distance whereby; And
(c) whether judge this turning distance less than this safe distance, if, path planning again then.
But the air navigation aid of 2 flexibly regulating path plannings as claimed in claim 1 is characterized in that, in step (a), and square the acceleration of gravity of this this travel speed of safe distance divided by twice.
3. but the air navigation aid of flexibly regulating path planning as claimed in claim 1, it is characterized in that, in step (a), this safe distance is that a brake distance adds a reaction distance, this brake distance be this travel speed square divided by the acceleration of gravity of twice again divided by a friction factor; This reaction distance is 0.6 times of this travel speed.
4. but the air navigation aid of flexibly regulating path planning as claimed in claim 3 is characterized in that, this friction system is between 0.6 and 1.
5. but as the air navigation aid of one of them described flexibly regulating path planning of claim 1-4, it is characterized in that in step (a), this travel speed obtains from a speed measuring module of these vehicles.
But 6. as the air navigation aid of one of them described flexibly regulating path planning of claim 1-4, it is characterized in that, in step (a), according to some satellite positioning signals in addition conversion Calculation obtain this travel speed.
7. but the air navigation aid of flexibly regulating path planning as claimed in claim 6 is characterized in that, in step (b), according to some satellite positioning signals in addition conversion Calculation obtain the positional information instantly of these vehicles.
8. but the guider of a flexibly regulating path planning is arranged at vehicles, and in order to judge that whether these vehicles should turn at a crossing,, is characterized in that this guider comprises with in good time adjustment path planning:
One gis database is in order to store some groups of electronic map datas;
One satellite positioning module, in order to receiving the positioning signal that some satellites transmit, and conversion Calculation and obtain a positional information instantly of these vehicles in addition;
One path planning module is in order to plan an optimal path according to an input information and these electronic map datas; And
One processing module, in order to obtain one of these vehicles speed of travelling, and obtain a safe distance by this travel speed, and a turning distance according to this this crossing of vehicle distance of positional information calculation instantly of these vehicles, and judge that whether this turning distance is less than this safe distance, if then notify this path planning module path planning again.
9. but the guider of flexibly regulating path planning as claimed in claim 8, it is characterized in that, this device comprises that also one has the database of the speed of travelling and the safe distance table of comparisons, and this processing module is by obtaining in this table of comparisons this safe distance that should travel speed.
10. but the guider of flexibly regulating path planning as claimed in claim 9, it is characterized in that, wherein, this safe distance is that a brake distance adds a reaction distance, this brake distance be this travel speed square divided by the acceleration of gravity of twice again divided by a friction factor; This reaction distance is 0.6 times of this travel speed.
11. but the guider of flexibly regulating path planning as claimed in claim 10 is characterized in that wherein, this friction factor is between 0.6 and 1.
12. but the guider of flexibly regulating path planning as claimed in claim 8 is characterized in that wherein, this safe distance is for square acceleration of gravity divided by twice of this travel speed.
13. but as the guider of the described flexibly regulating path planning of claim 8-12, it is characterized in that this processing module obtains this travel speed from a speed measuring module of these vehicles.
14. but as the guider of the described flexibly regulating path planning of claim 8-12, it is characterized in that, this processing module obtains this travel speed from this satellite positioning module, and the positioning signal that this satellite positioning module transmits according to some satellites conversion Calculation in addition obtains this travel speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN200810029669.8A CN101634559B (en) | 2008-07-23 | 2008-07-23 | Navigation method and device capable of flexibly regulating path planning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200810029669.8A CN101634559B (en) | 2008-07-23 | 2008-07-23 | Navigation method and device capable of flexibly regulating path planning |
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| CN101634559A true CN101634559A (en) | 2010-01-27 |
| CN101634559B CN101634559B (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783537A (en) * | 2016-08-26 | 2018-03-09 | 夏普株式会社 | Control device, control system and the control method of autonomous driving vehicle |
| CN113008255A (en) * | 2021-01-28 | 2021-06-22 | 沈阳美行科技有限公司 | Navigation method and navigation device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4023029A (en) * | 1975-10-28 | 1977-05-10 | Fischer Kenneth J | Distance indicating mirror device |
| CN1274536C (en) * | 2003-07-15 | 2006-09-13 | 范子林 | Intelligent control system for motor vehicle safety running |
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2008
- 2008-07-23 CN CN200810029669.8A patent/CN101634559B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783537A (en) * | 2016-08-26 | 2018-03-09 | 夏普株式会社 | Control device, control system and the control method of autonomous driving vehicle |
| CN113008255A (en) * | 2021-01-28 | 2021-06-22 | 沈阳美行科技有限公司 | Navigation method and navigation device |
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| CN101634559B (en) | 2015-04-29 |
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