CN101726300A - Method and device for target navigation - Google Patents
Method and device for target navigation Download PDFInfo
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- CN101726300A CN101726300A CN 200810167909 CN200810167909A CN101726300A CN 101726300 A CN101726300 A CN 101726300A CN 200810167909 CN200810167909 CN 200810167909 CN 200810167909 A CN200810167909 A CN 200810167909A CN 101726300 A CN101726300 A CN 101726300A
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Abstract
The invention discloses a method and a device for target navigation, which comprise a navigation device arranged on a vehicle. The navigation device is provided with a navigation system. The navigation system comprises a plurality of secondary targets. The method for target navigation comprises the following steps: setting a main target to plan a main target route from the vehicle to the main target; in the main target route, determining a predetermined range according to the current position and traveling direction of the vehicle; comparing the plurality of secondary targets to screen at least a secondary target positioned in the predetermined range; selecting an optimized secondary target according to the shortest route distance from the vehicle to the at least a secondary target; and planning an optimized secondary target route to navigate to the optimized secondary target. The method and the device for target navigation not only can screen the plurality of secondary targets in the predetermined range and integrate the optimized secondary target position on a final destination route, but also have the function of receiving remote real-time information.
Description
Technical field
The present invention relates to a kind of method and device of target navigation, relate in particular to and a kind ofly can initiatively search several targets, and filter out the air navigation aid and the device of an optimal suggestion target by parameter.
Background technology
See also TaiWan, China patent application case number No. 094122921 " devices for searching landscape and method thereof " patent, be arranged in the navigational system, be to provide guidance path by navigational system, and provide the user to select scene types, include: the limited field module is in order to produce the preset range corresponding to guidance path, and then search module is searched at least one sight spot that meets scene types in preset range; Then, analysis module is set weight according to user's current position and each sight spot, and forms sight spot weight forms; At last, display module is shown sight spot weight forms, to allow clear and definite the obtaining from the nearest position, sight spot of current position of user.
Though aforementioned prior art has the function that path planning was searched and done at the sight spot, yet the effect of its not tool consideration, integration main target, for example user's final purpose is to go to first ground, and existing satellite navigation whether the sight spot of being guided can't be told be sight spot by the way, the shortest path sight spot that existing satellite navigation may demonstrate but may be in the other direction with the final destination, so only can judge the shortest path of next purpose, but increased the route distance at last on the contrary, quite inconvenient; And the convenience that aforementioned prior art is integrated is also not enough to some extent, it can't receiving remote information do the selection of demand (as the room of stopping, staying for the user, information such as ticket price), the prior art does not have and can carry out initiatively judging navigation function according to the sight spot, path of being advised again, and can't be according to present time parameter, distance parameter and the function at automatic switchover demand class sight spot.
Summary of the invention
Technical problem underlying to be solved by this invention is, overcome the shortcoming in the path, best sight spot that can't summarize the primary and secondary purpose simultaneously of prior art existence, and provide a kind of method and device of target navigation, it can filter out several by-ends in the setting range, and parameter by setting, carry out optimal target screening, integrate out the best by-end position on the final purpose distance.
The method of target navigation of the present invention is:
A kind of method of target navigation is characterized in that, comprises a goal programming flow process, and this goal programming flow process may further comprise the steps; Main target path planning step: set a main target to cook up the main target path of vehicle to this main target; Decision preset range step: in this main target path,, determine a preset range according to this vehicle current position and direct of travel; Produce the by-end step: compare several by-ends to filter out at least one by-end that is positioned at this preset range; Produce best by-end step: according to this vehicle to the shortest path of this at least one by-end apart from and select a best by-end; Whereby, can provide a best by-end according to this preset range during in the main target path in vehicle ', and for navigating.
The method of aforesaid target navigation, comprising a driving flow of navigation, this traffic navigation flow process is the execution that continues after finishing the goal programming flow process, this traffic navigation flow process may further comprise the steps; Produce a turnover prompting point step: when this best by-end path and this main target path are inequality, the first turnover position of setting this main target path and this best by-end path is a turnover prompting point, if when this best by-end path is identical with this main target path, then setting this by-end position is a turnover prompting point.
The method of aforesaid target navigation, wherein the traffic navigation flow process comprises that still one produces the information step, points out point to provide an information with a prompting turnover prompting path to best by-end by this turnover; This generation information step: judge when this vehicle and depart from this main target path and travel when entering this turnover prompting point, promptly produce a target and judge and in the schedule time, supply user's selection to navigate to this main target or should the best by-end according to this information; Selecting in the schedule time is to select to navigate according to the user, does not select if surpass schedule time user, then default this main target that navigates to.
The method of aforesaid target navigation, wherein the traffic navigation flow process comprises that still one produces the information step, points out point to provide an information with a prompting turnover prompting path to best by-end by this turnover; Produce the information step: judge when this vehicle and depart from this main target path and when advancing, promptly produce a target and judge in the schedule time for user's selection and navigate to this main target or should the best by-end according to this information; Selecting in the schedule time is to select to navigate according to the user, and if surpassing schedule time user does not select, then default this best by-end that navigates to.
The method of aforesaid target navigation, wherein the traffic navigation flow process comprises that still one produces new best by-end step, this produces new best by-end step is to judge in not departing from the main target path and pointing out the some back beginning to carry out by turnover; This produces new best by-end step: produce a new best by-end according to the goal programming flow process.
The method of aforesaid target navigation, wherein the traffic navigation flow process still comprises a path similarity comparison step, to be that the user is non-selected when surpassing the schedule time navigate this path similarity comparison step, and default navigation is carried out for to this best by-end the time beginning; Path similarity comparison step: set this turnover prompting point to this best by-end path separation from one first estimated rate for judging the interval, in this judgement interval, carry out the similarity comparison of vehicle actual travel path and best by-end path planning, when reaching interval and the two the average similarity of this judgement and reach one second estimated rate, promptly navigate to this best by-end; Then do not continue to carry out the similarity comparison if reach this judgement interval; If it is interval but when on average similarity does not reach this second estimated rate to reach this judgements, former this main target of then navigating back.
Aforesaid target navigation method, wherein goal programming flow process still comprise characteristic information screening step, and this reception characteristic information step is the execution that continues after finishing generation by-end step; Characteristic information screening step: give at least one by-end according to this characteristic information value of assigning weight, and filter out at least one by-end with weighted value.
The method of aforesaid target navigation, wherein this characteristic information in the characteristic information screening step is to come from the navigational system.
The method of aforesaid target navigation, this characteristic information that wherein receives in the characteristic information step is to come from a remote-control device.
The method of aforesaid target navigation, wherein goal programming flow process still comprise that one selects by-end classification step, and this selection by-end classification step is the execution that continues after finishing decision preset range step; Select by-end classification step: select once to want the target classification, and several by-ends that filter out this classification attribute.
The method of aforesaid target navigation, wherein the radius size of preset range is to make change according to the driving place automatically.
The method of aforesaid target navigation is characterized in that, described by-end classification is at least one and the automatically conversion according to time parameter or distance parameter.
Target navigation device of the present invention is:
A kind of target navigation device, it is characterized in that, be arranged at vehicle interior, in have several by-ends, it comprises a processing unit and a display unit, and this processing unit comprises a path planning module, a location module, once wants a target filtering module and a preset range setting module; This processing unit and this display unit are information and link; This locating module is to receive satellite signals and orient current vehicle position; This path planning module is for setting a main target to cook up the main target path of this vehicle to this main target; This preset range setting module is in this main target path, according to this current vehicle position and direct of travel, determines a preset range; This by-end filtering module be these several by-ends of comparison filtering out at least one by-end that is positioned at this preset range, and select a best by-end to the bee-line of this at least one by-end according to this vehicle; Whereby, can provide a best by-end according to this preset range during in this main target path in vehicle ', for navigating.
Aforesaid target navigation device, wherein processing unit is provided with a classification and selects module and the binding of described path planning module information; Described classification selects module that described several by-end dependencies are sorted disaggregatedly, it also is provided with the function of parameter setting screening, for set a time parameter or a distance parameter any one so that this classification selects module to automatically switch to a respective classes.
Aforesaid target navigation device, wherein the target navigation device is provided with a Data Receiving unit, has several characteristic informations in this Data Receiving unit.
Aforesaid target navigation device, wherein the target navigation device is provided with a Data Receiving unit, and this Data Receiving unit is at least one characteristic information that receives a remote-control device.
Aforesaid target navigation device, wherein the by-end filtering module still carries out the weighted value distribution according to described characteristic information, further to filter out at least one by-end that meets weighted value.
Aforesaid target navigation device, wherein path planning module is after selecting best by-end, plan this best by-end path again, and judge when this best by-end path and main target path are inequality, the first turnover position of setting this main target path and described best by-end path is a turnover prompting point, when if best by-end path is identical with described main target path, setting described by-end position is a turnover prompting point.
Aforesaid target navigation device, the determination module that wherein navigates enters described turnover and points out when putting when judging described vehicle to depart from described main target path, judge the similarity comparison of carrying out vehicle actual travel path and best by-end path planning in the interval in one, when reaching described judgement interval and path similarity and be higher than an estimated rate, promptly navigate to this best by-end, if not, the former main target of then navigating back.
The present invention sets a turnover prompting point according to this best by-end, according to vehicle is to enter this turnover prompting point or do not depart from former main target path and by this turnover prompting point, being the foundation of desiring to go to former destination or desiring to go to this best by-end as the judgement car owner; In addition, the scene types of this by-end select be can be according to time parameter, distance parameter and automatically conversion select; Navigation that wherein should the best by-end judge can be earlier according to this turnover prompting point to this best by-end path separation from one first estimated rate serve as the judgement interval, and the similarity of carrying out vehicle actual travel path and best by-end path planning in this judgement interval is compared, when reaching interval and the two the average similarity of this judgement and reach one second estimated rate, promptly navigate to this best by-end; Then do not continue to carry out similarity comparison if reach this judgements interval, if it is interval interior but when on average similarity does not reach this second estimated rate to reach this judgements, the former main target of then navigating back.
The present invention's " method of target navigation and device ", it not only can filter out several by-ends in the setting range, do the best by-end position of integrating out on the final purpose distance, have more the function of receiving remote real-time information, it can set weighted value according to user's self-demand, and on guider, show its information state of by-end that meets weighted value that filters out in real time, whereby, can select best by-end.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the goal programming schematic flow sheet of target navigation method of the present invention.
Fig. 2 is another extension schematic flow sheet of goal programming of target navigation method of the present invention.
Fig. 3 is that the best by-end of target navigation method of the present invention produces synoptic diagram.
Fig. 4 is the traffic navigation schematic flow sheet of target navigation method of the present invention.
Fig. 5 is the structure block schematic diagram of target navigation device of the present invention.
The number in the figure explanation:
1 goal programming flow process, 11 main target path plannings
12 decision preset ranges 13 produce by-end
14 produce the best by-end of best by-end 15 planning path
16 select the screening of by-end classification 17 characteristic informations
2 traffic navigation flow processs 21 produce turnover prompting point
22 produce information 23 produces new best by-end
24 targets are judged 25 path similarity comparisons
3 target navigation devices, 31 processing units
311 path planning module, 312 locating modules
313 navigation determination modules, 314 by-end filtering modules
315 preset range setting modules, 316 classifications are selected module
32 Data Receiving unit, 33 display units
4 remote-control devices
Embodiment
The present invention's " method of target navigation and device ", it can filter out several by-ends in the setting range, and the parameter by setting, and carries out optimal target screening, integrates out the best by-end position on the final purpose distance; See also shown in Figure 1ly, its target navigation method is mainly used in the navigational system, comprises a goal programming flow process 1 and a driving flow of navigation 2, and this goal programming flow process 1 may further comprise the steps.
Main target path planning 11 steps: set a main target to cook up the main target path of this vehicle to this main target;
Produce by-end 13 steps: compare these several by-ends to filter out at least one by-end that is positioned at this preset range;
Produce best by-end 14 steps: according to this vehicle to the shortest path of this at least one by-end apart from and select a best by-end;
Plan best by-end path 15 steps: at least one driving path of best by-end is done planning manifest.
Whereby, navigational system can vehicle ' during in the main target path according to this main target path and scope and a best by-end is provided, and navigate.
See also shown in Figure 2ly, it is the present invention's second implementation method, and it mainly is to set up to select by-end classification 16 steps and receive characteristic information 17 steps in first embodiment;
Select by-end classification 16 steps: be to be connected in after decision preset range 12 steps, in order to filter out such other several by-ends, by filter out at least one by-end classification according to the category attribute mode classification, and this target classification can be done the classification conversion automatically by time parameter or distance parameter, so that classification selection more easily to be provided to the user, wherein this classification may be the parking lot, the restaurant, dining room etc., and this classification conversion can be according to this time parameter, distance parameter and changing automatically, as the default time parameter of working as is near early, noon, during date for dinner, this classification that automaticallyes switch is the dining room, and default this distance parameter to be vehicle fill it up with the highest mileage numerical value that oil institute can travel so represents when satisfying condition that gasoline is about to exhaust and the automatic switchover classification is the refuelling station;
See also shown in Figure 3, be that the best by-end that the present invention cooks up according to the step of goal programming flow process 1 is implemented synoptic diagram, by round dot position on the icon is the present position of vehicle, can cook up the main target path through main target path planning 11 steps, cook up the scope that desire produces by-end by decision preset range 12 steps again, in scope, produce several by-ends by producing by-end 13 steps, produce a best by-end (as square position in the icon according to producing best by-end 14 steps again, triangle is the by-end of rejecting according to direction of traffic in addition, star is the by-end of rejecting according to running distance), again by the best by-end of planning path 15 steps, at least one driving path of best by-end is done planning manifest at last.
Table 1 is the characteristic information screening table of target navigation method of the present invention.
| The room number | Movable | Mark | |
| By- |
??0 | ??1 | ??0 |
| By-end 2 | ??1 | ??1 | ??2 |
| By-end 3 | ??1 | ??0 | ??1 |
| By-end 4 | ??0 | ??1 | ??0 |
| By-end 5 | ??0 | ??0 | ??0 |
| By-end 6 | ??1 | ??1 | ??2 |
| By-end 7 | ??0 | ??1 | ??0 |
| By-end 8 | ??1 | ??1 | ??2 |
| By-end 9 | ??0 | ??0 | ??0 |
| The room number | Movable | Mark | |
| By-end 10 | ??1 | ??0 | ??1 |
As shown in table 1, be that characteristic information of the present invention screens 17 steps, the message pick-up of being done, screening embodiment signal, as to select logic be to be set under the situation of " * (1+ activity) is counted in the room ", this characteristic information screens 17 steps, all by-end information in the scope can be done demonstration, and comply with the logic that sets and do fractional statistics, as having room number and movable by-end simultaneously, its mark was 2 fens, its mark of by-end of room number of only having was 1 fen, and any its mark of by-end of not having the room number only is 0 grading information, did selection for the user.
Seeing also shown in Figure 4ly, is that the present invention finishes the traffic navigation flow process 2 that goal programming flow process 1 back is carried out;
At first produce turnover prompting point 21 steps: when the best by-end path of driving and main target path are inequality, the first turnover position of setting this main target path and this best by-end path is a turnover prompting point, when if best by-end path is identical with this main target path, setting this by-end position is a turnover prompting point, by this opportunity of transferring and pointing out point to turn as the prompting user;
Produce new best by-end 23 steps: when judging that this car does not depart from the main target path, and during by this turnover prompting point, the navigational system of this vehicle is then carried out this step, and this produces new best by-end 23 steps, is to produce a best by-end again according to aforementioned goal programming flow process 1;
When judging that this car does not depart from the main target path, and when having entered this turnover prompting point, information promptly can produce target and judge 24, this target judges that 24 select to navigate to this main target or should the best by-end for the user in the schedule time, select in the schedule time is to select to navigate according to the user, do not select if surpass schedule time user, and systemic presupposition then navigates directly to this main target when navigating to this main target; But do not select if surpass schedule time user, and systemic presupposition then carries out following steps 25 when navigating to this best by-end again.
The path similarity is compared 25 steps: performed according to circumstances after the aforementioned target that continues judges 24, do not select when surpassing schedule time user, and systemic presupposition is then carried out this step when navigating to this best by-end again, with this turnover prompting point to this best by-end path separation from one first estimated rate serve as judge interval, in this judgement interval, carry out the similarity comparison of vehicle actual travel path and best by-end path planning, when reaching interval and the two the average similarity of this judgement and reach one second estimated rate, promptly navigate to this best by-end; Then do not continue to carry out the similarity comparison if reach this judgement interval, if reach this judgements interval in but when on average similarity does not reach this second estimated rate, the former main target of then navigating back, the ratio of this first estimated rate for setting according to turnover prompting point to the path distance of best by-end; This second estimated rate is path similarity comparison success ratio, and preferable is set at 80%; For instance, as the prompting total path distance to this best by-end of supposing to transfer is 10KM, and first estimated rate is set at 20%, then should judge when the interval is 2KM, that is the similarity of carrying out actual travel path and this best by-end path in 2KM is compared, when reaching 2KM, the two average similarity degree in distance reaches more than 80%, judges that promptly vehicle desires to go to this best by-end and navigate; Anti-, if when reaching 2KM, the two similarity degree does not reach more than 80%, judges that then it might be the lost former main target of navigating back of car owner.
Whereby, by abovementioned steps, main target is cooked up in the path of will driving a vehicle and best by-end supplies steered reference, can have best by-end to select as another on the distance of going to main target in order to the user.
See also shown in Figure 5, it is target navigation device 3 of the present invention, be arranged at vehicle interior, in have several by-ends, it comprises a processing unit 31, an one Data Receiving unit 32 and a display unit 33, this processing unit 31 comprise a path planning module 311, a location module 312, a navigation determination module 313, once want a target filtering module 314 and a preset range setting module 315;
This processing unit 31 is to be information with this display unit 33 to link, wherein;
This locating module 312 is to receive satellite signals and orient current vehicle position;
This path planning module 311 is for setting a main target to cook up the main target path of this vehicle to this main target;
This preset range setting module 315 is in this main target path, according to this current vehicle position and direct of travel, determines a preset range; And
This by-end filtering module 314 these several by-ends of comparison to be filtering out at least one by-end that is positioned at this preset range, and select a best by-end according to this vehicle to the bee-line of this at least one by-end;
Whereby, can provide a best by-end according to this preset range during in this main target path in vehicle ', for navigating.
Wherein, this processing unit 31 still comprises classification selection module 316 and this path planning module 311 information binding;
It is that these several by-end dependencies are sorted disaggregatedly that this classification is selected module 316, it is provided with the function of parameter setting screening, for set a time parameter or a distance parameter any one so that this classification selects module 316 to automatically switch to a respective classes.
This target navigation device 3 is provided with a Data Receiving unit 32, have several characteristic informations in this Data Receiving unit, also can receive simultaneously at least one characteristic information that a remote-control device 4 transmits and so as to upgrading those several characteristic informations, and at least one characteristic information is sent to this by-end filtering module 314, this by-end filtering module carries out weighted value according to those characteristic informations and distributes, further to filter out at least one by-end that meets weighted value.
This path planning module 311 is after selecting best by-end, plan this best by-end path, and judge when this best by-end path and main target path are inequality, the first turnover position of setting this main target path and this best by-end path is a turnover prompting point, when if best by-end path is identical with this main target path, setting this by-end position is a turnover prompting point.
When this navigation determination module 313 enters this turnover prompting point when judging this vehicle to depart from this main target path, judge the similarity comparison of carrying out vehicle actual travel path and best by-end path planning in the interval in one, when reaching this judgement interval and path similarity and be higher than an estimated rate, promptly navigate to this best by-end, if not, the former main target of then navigating back.
This navigation determination module 313 is to judge usefulness as route or travel by vehicle, and it is this main target path of RX path planning module 311, and judges whether vehicle travels in this path.
Claims (19)
1. the method for a target navigation is characterized in that, comprises a goal programming flow process, and this goal programming flow process may further comprise the steps;
Main target path planning step: set a main target to cook up the main target path of vehicle to this main target;
Decision preset range step: in this main target path,, determine a preset range according to this vehicle current position and direct of travel;
Produce the by-end step: compare several by-ends to filter out at least one by-end that is positioned at this preset range;
Produce best by-end step: according to this vehicle to the shortest path of this at least one by-end apart from and select a best by-end;
Whereby, can provide a best by-end according to this preset range during in the main target path in vehicle ', and for navigating.
2. the method for target navigation according to claim 1 is characterized in that: comprise a driving flow of navigation, this traffic navigation flow process is the execution that continues after finishing the goal programming flow process, and this traffic navigation flow process may further comprise the steps;
Produce a turnover prompting point step: when this best by-end path and this main target path are inequality, the first turnover position of setting this main target path and this best by-end path is a turnover prompting point, if when this best by-end path is identical with this main target path, then setting this by-end position is a turnover prompting point.
3. the method for target navigation according to claim 2 is characterized in that: described traffic navigation flow process comprises that still one produces the information step, by this turnover prompting point to provide an information with the prompting turnover prompting point path of best by-end extremely;
This generation information step: judge when this vehicle and depart from this main target path and travel when entering this turnover prompting point, promptly produce a target and judge and in the schedule time, supply user's selection to navigate to this main target or should the best by-end according to this information;
Selecting in the schedule time is to select to navigate according to the user, does not select if surpass schedule time user, then default this main target that navigates to.
4. the method for target navigation according to claim 2 is characterized in that: described traffic navigation flow process comprises that still one produces the information step, by this turnover prompting point to provide an information with the prompting turnover prompting point path of best by-end extremely;
Produce the information step: judge when this vehicle and depart from this main target path and when advancing, promptly produce a target and judge in the schedule time for user's selection and navigate to this main target or should the best by-end according to this information;
Selecting in the schedule time is to select to navigate according to the user, and if surpassing schedule time user does not select, then default this best by-end that navigates to.
5. the method for target navigation according to claim 2, it is characterized in that: described traffic navigation flow process comprises that still one produces new best by-end step, and this produces new best by-end step is to judge in not departing from the main target path and pointing out the some back beginning to carry out by turnover;
This produces new best by-end step: produce a new best by-end according to the goal programming flow process.
6. the method for target navigation according to claim 4, it is characterized in that: described traffic navigation flow process still comprises a path similarity comparison step, to be that the user is non-selected when surpassing the schedule time navigate this path similarity comparison step, and default navigation is carried out for to this best by-end the time beginning;
Path similarity comparison step: set this turnover prompting point to this best by-end path separation from one first estimated rate for judging the interval, in this judgement interval, carry out the similarity comparison of vehicle actual travel path and best by-end path planning, when reaching interval and the two the average similarity of this judgement and reach one second estimated rate, promptly navigate to this best by-end;
Then do not continue to carry out the similarity comparison if reach this judgement interval;
If it is interval but when on average similarity does not reach this second estimated rate to reach this judgements, former this main target of then navigating back.
7. target navigation method according to claim 1 is characterized in that: described goal programming flow process still comprises characteristic information screening step, and this reception characteristic information step is the execution that continues after finishing generation by-end step;
Characteristic information screening step: give at least one by-end according to this characteristic information value of assigning weight, and filter out at least one by-end with weighted value.
8. the method for target navigation according to claim 7 is characterized in that: this characteristic information in the described characteristic information screening step is to come from the navigational system.
9. the method for target navigation according to claim 7, it is characterized in that: this characteristic information in the described reception characteristic information step is to come from a remote-control device.
10. the method for target navigation according to claim 1 is characterized in that: described goal programming flow process comprises that still one selects by-end classification step, and this selections by-end classification step is in finishing the execution that continues after determining the preset range step;
Select by-end classification step: select once to want the target classification, and several by-ends that filter out this classification attribute.
11. the method for target navigation according to claim 1 is characterized in that: the radius size of described preset range is to make change according to the driving place automatically.
12. the method for target navigation according to claim 10 is characterized in that,
Described by-end classification is at least one and the automatically conversion according to time parameter or distance parameter.
13. target navigation device, it is characterized in that, be arranged at vehicle interior, in have several by-ends, it comprises a processing unit and a display unit, and this processing unit comprises a path planning module, a location module, once wants a target filtering module and a preset range setting module;
This processing unit and this display unit are information and link;
This locating module is to receive satellite signals and orient current vehicle position;
This path planning module is for setting a main target to cook up the main target path of this vehicle to this main target;
This preset range setting module is in this main target path, according to this current vehicle position and direct of travel, determines a preset range;
This by-end filtering module be these several by-ends of comparison filtering out at least one by-end that is positioned at this preset range, and select a best by-end to the bee-line of this at least one by-end according to this vehicle;
Whereby, can provide a best by-end according to this preset range during in this main target path in vehicle ', for navigating.
14. target navigation device according to claim 13 is characterized in that: described processing unit is provided with a classification and selects module and described path planning module information to link;
Described classification selects module that described several by-end dependencies are sorted disaggregatedly, it also is provided with the function of parameter setting screening, for set a time parameter or a distance parameter any one so that this classification selects module to automatically switch to a respective classes.
15. target navigation device according to claim 13 is characterized in that: described target navigation device is provided with a Data Receiving unit, has several characteristic informations in this Data Receiving unit.
16. target navigation device according to claim 13 is characterized in that: described target navigation device is provided with a Data Receiving unit, and this Data Receiving unit is at least one characteristic information that receives a remote-control device.
17. according to claim 15 or 16 described target navigation devices, it is characterized in that: described by-end filtering module still carries out weighted value according to described characteristic information and distributes, further to filter out at least one by-end that meets weighted value.
18. target navigation device according to claim 13, it is characterized in that: described path planning module is after selecting best by-end, plan this best by-end path again, and judge when this best by-end path and main target path are inequality, the first turnover position of setting this main target path and described best by-end path is a turnover prompting point, when if best by-end path is identical with described main target path, setting described by-end position is a turnover prompting point.
19. target navigation device according to claim 18, it is characterized in that: described navigation determination module enters described turnover and points out when putting when judging described vehicle to depart from described main target path, judge the similarity comparison of carrying out vehicle actual travel path and best by-end path planning in the interval in one, when reaching described judgement interval and path similarity and be higher than an estimated rate, promptly navigate to this best by-end, if not, the former main target of then navigating back.
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| CN 200810167909 CN101726300B (en) | 2008-10-17 | 2008-10-17 | Method and device for target navigation |
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| CN 200810167909 CN101726300B (en) | 2008-10-17 | 2008-10-17 | Method and device for target navigation |
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| CN101726300B CN101726300B (en) | 2013-03-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107218950A (en) * | 2017-05-31 | 2017-09-29 | 北京小米移动软件有限公司 | A kind of method and apparatus for carrying out navigation processing |
| CN107255827A (en) * | 2017-07-06 | 2017-10-17 | 杨顺伟 | The scenic spot navigation method and device of a kind of unmanned plane |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101000372B (en) * | 2006-12-30 | 2010-09-29 | 深圳市凯立德计算机系统技术有限公司 | Maprecording method and equipment for tracing navigation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107218950A (en) * | 2017-05-31 | 2017-09-29 | 北京小米移动软件有限公司 | A kind of method and apparatus for carrying out navigation processing |
| CN107255827A (en) * | 2017-07-06 | 2017-10-17 | 杨顺伟 | The scenic spot navigation method and device of a kind of unmanned plane |
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| CN101726300B (en) | 2013-03-06 |
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