CN101634559B - 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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- CN101634559B CN101634559B CN200810029669.8A CN200810029669A CN101634559B CN 101634559 B CN101634559 B CN 101634559B CN 200810029669 A CN200810029669 A CN 200810029669A CN 101634559 B CN101634559 B CN 101634559B
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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 calculating a braking distance and a reaction distance to acquire 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, refer to especially a kind of can the air navigation aid of flexibly regulating path planning.
[background technology]
The navigation through electronic commodity of current application Global Positioning System (GPS) (GPS) have been widely used on the market, and function from strength to strength, namely such as Taiwan I269051 patent discloses a kind of navigational system according to time response adjustment path planning, which provide and allow user set specific road section, the function of special time, such as user knows that four sections, loyalty and filial piety East Road in the morning can traffic congestion greatly at 8 o'clock to 9 o'clock, or there was road construction on good faith road to 5 o'clock three periods of at 4 o'clock in afternoons, then user can by these specific road section, in special time input navigational system, navigational system is when helping user to do path planning afterwards, the specific road section of these special times will be circumvented.
But, path planning sometimes or meeting occur some problems because of some external factors, for example, when navigational system has planned a paths, and indicate user to turn right when this right-hand rotation, but user may because thinking that thing (or other reason) has been forgotten turn and continue directly to walk, result causes navigational system to need path planning again, but after may again having planned, system but wants user to turn left at next crossing at once, and just in front general several meters, crossing, but in so short distance, want user's left-hand rotation to be at once the thing of quite dangerous, be enough to lead to great traffic accident, but the navigational system mechanism that setting is not applicable to adjusts, cause in time place instruction user turning improperly.
[summary of the invention]
Therefore, object of the present invention, namely provide a kind of judge whether that this turns at a crossing can the air navigation aid of flexibly regulating path planning.
So, the present invention can the air navigation aid of flexibly regulating path planning in order to judge that whether vehicles should turn at a crossing, to adjust path planning in good time, the method comprises following step:
A () obtains a travel speed of these vehicles, and calculate a braking distance and a reaction distance to obtain a safe distance by this travel speed;
B () obtains the positional information instantly of these vehicles, and calculate a turning distance at this this crossing of vehicle distance whereby; And
C () judges whether this turning distance is less than this safe distance, if so, then path planning again.
Another object of the present invention, namely provide a kind of judge whether that this turns at a crossing can the guider of flexibly regulating path planning.
So the present invention the guider of flexibly regulating path planning can be arranged at vehicles, and in order to judge whether these vehicles should turn at a crossing, and to adjust path planning in good time, this guider comprises:
One gis database, in order to store some groups of electronic map datas.
One satellite positioning module, in order to receive the positioning signal that some satellites transmit, and is changed and calculates and obtain a positional information instantly of these vehicles.
One path planning module, in order to plan an optimal path according to an input information and these electronic map datas.
One processing module, in order to obtain a travel speed of these vehicles, and calculate a braking distance and a reaction distance to obtain a safe distance by this travel speed, and a turning distance at this this crossing of vehicle distance of positional information calculation instantly according to these vehicles, and judge whether this turning distance is less than this safe distance, if so, this path planning module path planning again is then notified.
Compared to prior art, the present invention by computationally secure distance in the mode compared with turning distance, determine whether that this is turned at a crossing, so can avoid driver because distance of turning is too short has little time to react and the situation of causing danger occurs, therefore really can reach object of the present invention.
For having further understanding to object of the present invention, structural attitude and function thereof, accompanying drawing is hereby coordinated to be described in detail as follows:
[accompanying drawing explanation]
Fig. 1 is a schematic diagram, illustrates that the present invention can the framework of preferred embodiment of guider of flexibly regulating path planning.
Fig. 2 is a process flow diagram, illustrates that the present invention can the flow process of air navigation aid of flexibly regulating path planning.
[embodiment]
Consult Fig. 1, the present invention the preferred embodiment of guider of flexibly regulating path planning can be arranged at vehicles (such as automobile), and in order to judge whether these vehicles should turn at a crossing, to adjust path planning in good time, this guider 1 comprises gis database 11, load module 12, satellite positioning module 13, path planning module 14, processing module 15, database 16 and a display module 17.
Geographic Information System (GIS, Geographic Information System) database 11, in order to store some groups of electronic map datas, map datum includes the data such as road name, road attribute (as national highway, provincial highway, one-way road), corresponding latitude and longitude coordinates in an area.
Load module 12 is done to input data for user, can be keyboard or Touch Screen.
The positioning signal that satellite positioning module 13 transmits in order to receive some satellites, and changed and calculate and obtain positional information and a travel speed instantly of these vehicles.Because satellite positioning module 13 will receive the positioning signal that some satellites transmit, so it includes the antenna that can receive gps signal.
Path planning module 14 is in order to the positional information instantly of the input information (i.e. endpoint information) inputted by load module 12 according to user, the vehicles learnt by satellite positioning module 13, and these electronic map datas in gis database 11 plan an optimal path, this optimal path is generally that the mode finding shortest path is planned, such as, can plan with A* algorithm.Planning optimal path out is then shown by display module 17.
Processing module 15 can be CPU or other tool calculates and the integrated circuit (IC) of program function, major function perform shown in Fig. 2 can the air navigation aid of flexibly regulating path planning, this air navigation aid is mainly in order to judge whether the aforesaid vehicles should turn at a crossing.
First, as shown in step 91, processing module 15 obtains the travel speed of these vehicles by satellite positioning module 13 and obtains a safe distance according to this travel speed by the database 16 built in advance.The travel speed shown in following page table 1 and the safe distance table of comparisons set up in advance is had in database, wherein show a travel speed and can correspond to a safe distance, such as suppose that travel speed is 52 kilometers/hour, then because travel speed is close to 50 kilometers/hour, then can obtain safe distance is 18.17523 meters (when friction factor is 1).
Then, as indicated in step 92, processing module 15 calculates a turning distance at this this crossing of vehicle distance according to the positional information instantly (being obtained by satellite positioning module 13) of these vehicles.
Finally, as shown in step 93, processing module 15 judges whether this turning distance is less than this safe distance, if so, then notification path planning module 14 path planning (step 94) again.
Table 1
Therefore, if the turning distance at this crossing of vehicle distance too in short-term, guider 1 will path planning again, changes to a crossing far away and turns, in order to avoid driver has little time reaction because distance of turning is too short and causes danger.
And the judgement of distance of turning is according to safe distance, safe distance account form be that a braking distance adds a reaction distance.Braking distance refers to the distance that driver stops completely from the car that touches on the brake, account form be by travel speed square divided by the acceleration of gravity of twice again divided by a friction factor, due to acceleration of gravity be 9.8 meters/(second * second), therefore when calculating the unit of travel speed want first from " kilometer/hour " be converted into " meter/second "; Friction factor, between 0.6 and 1, is normally 1, then can be 0.6 in descending section, and the time channel that rains is sliding can be 0.8.Reaction distance is 0.6 times of travel speed, refer to for 0.6 (second) driver's eyes see and pin touch on the brake between the reaction time that must exhaust, certainly, it within 0.6 second, is the reaction time of common people, consider that the reaction time of the elderly is longer, therefore also can with 0.7 or larger numeral to increase security.
It is worth mentioning that, processing module 15 is except obtaining except the travel speed of these vehicles by satellite positioning module 13, 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 the present embodiment account form be only a citing, be not limited with this account form.
In addition, shown in Fig. 2 can the air navigation aid of flexibly regulating path planning except can when the predetermined turning after path planning completes except application, also can when starting to make path planning with regard to adopting said method.For example, select and will turn at next crossing when supposing that path planning module starts path planning, now first can judge that whether next crossing is suitable by the method to turn, if unaccommodated words, the action originally making path planning can be stopped, and next crossing is got rid of in the selection of path planning, path planning again.
In sum, the present invention by computationally secure distance in the mode compared with turning distance, determine whether that this is turned at a crossing, so can avoid driver because distance of turning is too short has little time to react and the situation of causing danger occurs, therefore really can reach object of the present invention.
Claims (10)
1. can the air navigation aid of flexibly regulating path planning, in order to judge whether vehicles should turn at a crossing, and to adjust path planning in good time, it is characterized in that, the method comprises following step:
A () obtains a travel speed of these vehicles, and calculate a braking distance and a reaction distance to obtain a safe distance by this travel speed, this safe distance is that this braking distance adds this reaction distance, this braking distance be this travel speed square divided by the acceleration of gravity of twice again divided by a friction factor, reaction distance is the product in travel speed and reaction time, wherein, the reaction time refer to driver's eyes see and pin touch on the brake between the reaction time that must exhaust;
B () obtains the positional information instantly of these vehicles, and calculate a turning distance at this this crossing of vehicle distance whereby; And
C () judges whether this turning distance is less than this safe distance, if so, then path planning again.
2. as claimed in claim 1 can the air navigation aid of flexibly regulating path planning, it is characterized in that, this friction factor is between 0.6 and 1.
3. as claim 1 to 2 as described in one of them can the air navigation aid of flexibly regulating path planning, it is characterized in that, in step (a), this travel speed obtains from a speed measuring module of these vehicles.
4. as claim 1 to 2 as described in one of them can the air navigation aid of flexibly regulating path planning, it is characterized in that, in step (a), changed according to some satellite positioning signals and calculate and obtain this travel speed.
5. as claimed in claim 1 can the air navigation aid of flexibly regulating path planning, it is characterized in that, in step (b), calculated the positional information instantly of these vehicles according to some satellite positioning signal change.
6. can the guider of flexibly regulating path planning, be arranged at vehicles, and in order to judge whether these vehicles should turn at a crossing, and to adjust path planning in good time, it is characterized in that, this guider comprises:
One gis database, in order to store some groups of electronic map datas;
One satellite positioning module, in order to receive the positioning signal that some satellites transmit, and is changed and calculates and obtain a positional information instantly of these vehicles;
One path planning module, 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 a travel speed of these vehicles, and calculate a braking distance and a reaction distance to obtain a safe distance by this travel speed, this braking distance be this travel speed square divided by the acceleration of gravity of twice again divided by a friction factor, this safe distance is that this braking distance adds this reaction distance, reaction distance is the product in travel speed and reaction time, wherein, the reaction time refer to driver's eyes see and pin touch on the brake between the reaction time that must exhaust; And a turning distance at this this crossing of vehicle distance of positional information calculation instantly according to these vehicles, and judge whether this turning distance is less than this safe distance, if so, then notifies this path planning module path planning again.
7. as claimed in claim 6 can the guider of flexibly regulating path planning, it is characterized in that, this device also comprises the database that has a travel speed and the safe distance table of comparisons, and this processing module is by obtaining should this safe distance of travel speed in this table of comparisons.
8. as claimed in claim 6 can the guider of flexibly regulating path planning, it is characterized in that, wherein, this friction factor is between 0.6 and 1.
9. as claim 6 to 8 as described in one of them can the guider of flexibly regulating path planning, it is characterized in that, this processing module obtains this travel speed from a speed measuring module of these vehicles.
10. as claim 6 to 8 as described in one of them can the guider of flexibly regulating path planning, it is characterized in that, this processing module obtains this travel speed from this satellite positioning module, and this satellite positioning module is changed calculating according to the positioning signal that some satellites transmit and obtains this travel speed.
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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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| 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 CN101634559A (en) | 2010-01-27 |
| CN101634559B true CN101634559B (en) | 2015-04-29 |
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| CN200810029669.8A Expired - Fee Related CN101634559B (en) | 2008-07-23 | 2008-07-23 | Navigation method and device capable of flexibly regulating path planning |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6776058B2 (en) * | 2016-08-26 | 2020-10-28 | シャープ株式会社 | Autonomous driving vehicle control device, autonomous driving vehicle control system and autonomous driving vehicle control method |
| CN113008255A (en) * | 2021-01-28 | 2021-06-22 | 沈阳美行科技有限公司 | Navigation method and navigation device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4023029A (en) * | 1975-10-28 | 1977-05-10 | Fischer Kenneth J | Distance indicating mirror device |
| CN1569524A (en) * | 2003-07-15 | 2005-01-26 | 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
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4023029A (en) * | 1975-10-28 | 1977-05-10 | Fischer Kenneth J | Distance indicating mirror device |
| CN1569524A (en) * | 2003-07-15 | 2005-01-26 | 范子林 | Intelligent control system for motor vehicle safety running |
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| CN101634559A (en) | 2010-01-27 |
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