CN101762279B - Navigation method and device - Google Patents
Navigation method and device Download PDFInfo
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- CN101762279B CN101762279B CN 201010110380 CN201010110380A CN101762279B CN 101762279 B CN101762279 B CN 101762279B CN 201010110380 CN201010110380 CN 201010110380 CN 201010110380 A CN201010110380 A CN 201010110380A CN 101762279 B CN101762279 B CN 101762279B
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Abstract
The invention discloses a navigation method and device. The navigation method comprises the following steps of: setting geographic information which comprises public traffic information; confirming the destination of a navigation object according to the received input information; performing path planning processing according to the geographic information, the origin and the destination to obtain a planning path, wherein the path planning processing comprises public traffic line planning and the planning path comprises at least one public traffic section; selecting a navigation path from the planning path, wherein the navigation path comprises at least one public traffic section; confirming the position of the navigation object according to the received global position system GPS satellite signals upon reception of the navigation instruction; and navigating the navigation object according to the position of the navigation object and the navigation path. The technical scheme can provide effective public traffic navigation service for the navigation object.
Description
Technical field
The invention belongs to field of navigation technology, relate in particular to a kind of air navigation aid based on walking and navigator.
Background technology
Present GPS (Global Position System, GPS) navigational system can receive the data message that at least 3 satellite transmissions in earth-circling 24 gps satellites come, the GPS navigation system can determine the position coordinates of navigation object according to this data message, and the GPS navigation system can determine the accurate location of navigation object in electronic chart according to electronic chart and this position coordinates of storage inside.
The structure of present navigational system as shown in Figure 1.
Navigational system in Fig. 1 comprises: loudspeaker 1, chuck assembly 2, input media 3, voice output 4, display device 5, control device 6 and GPS receiving trap 16.Above-mentioned control device 6 can comprise: user interface control module 7, map data management module 8 and navigation module 9; Navigation module 9 wherein can comprise: Navigation Control module 10, map display module 11, route guidance module 12, path searcher module 13, information point indexing unit 14 and from truck position detection module 15.
Chuck assembly 2 can be reduced into numerical data with the content that records in the recording medium of inserting wherein, and transfers to control device 6.Above-mentioned recording medium can comprise: safe digital card (Secure Digital Card, SD) or flash card (Trans Flash Card, TF) etc.The above-mentioned content that records can comprise: map datum or control program data etc.
Input media 3 is used for receiving user's input signal, and user's input signal is transferred to user interface control module 7.Input media 3 can comprise: button, rocking bar, knob or touch pad etc.
The voice data translation that voice output 4 can come control device 6 transmission is voice signal, and deliver to loudspeaker 1, convert voice signal to sound and output by loudspeaker 1, thereby loudspeaker 1 can send according to the control of control device 6 voice such as various operational notifications and Route guiding.
The input signal that user interface control module 7 in control device 6 is used for the user that 3 transmission come according to input media generates corresponding steering order, and one or more modules that navigation module 9 comprises are transmitted this steering order.In addition, user interface control module 7 also transfers to voice output 4 or display device 5 for the result of the steering order that navigation module 9 is returned.
Map data management module 8 in control device 6 is used for the requirement of response navigation module 9 and reads map datum by chuck assembly 2, and this map datum can comprise the data content for picture guiding use.
Other module that navigation module 9 comprises is controlled and called to Navigation Control module 10 in navigation module 9.
12 pairs of map datums that obtain from map data management module 8 of route guidance module in navigation module 9 carry out the path and induce processing, and will induce result to return to map data management module 8, read so that map data management module 8 is predicted.The data such as the interface when in addition, route guidance module 12 also is used for processing is induced in the path, navigation speech send user interface control module 7 to.
The geography information point that information point indexing unit 14 in navigation module 9 is used on retrieving map as the retrieval restaurant, can retrieve the geographical location information in all restaurants.
The data transmission such as expression current location that will obtain from the GPS receiving trap from truck position detection module 15 in navigation module 9 are to map data management module 8, map display module 11 and route guidance module 12.
The inventor finds in realizing process of the present invention, and present GPS navigation system mostly is automobile-used, and namely the GPS navigation system loading is in vehicle, and the GPS navigation system is the vehicle path planning according to the characteristics of Vehicle Driving Cycle, thereby navigates for vehicle.Because there are larger difference in the characteristics of travelling of vehicle and the characteristics of travelling of other trip mode, therefore, present GPS navigation system can not well be applicable to the navigation of other trip mode.
Summary of the invention
The air navigation aid that embodiment of the present invention provides and equipment can be navigation object effective public transport navigation Service are provided.
The air navigation aid that embodiment of the present invention provides comprises:
Determine the destination of navigation object according to the input message that receives;
Carry out path planning according to described geography information, departure place and described destination and process, obtain path planning, described path planning is processed and is comprised: public bus network planning, and described path planning comprises: at least one public transportation road section;
Select to determine guidance path from described path planning, described guidance path comprises: at least one public transportation road section;
After receiving navigation instruction, determine the position of navigation object according to the global position system GPS satellite-signal that receives, and be the navigation object navigation according to position and the described guidance path of navigation object.
The navigator that embodiment of the present invention provides comprises:
Memory module is used for the storage geography information, and this geography information comprises: Bus information;
Receiver module is used for receiving input message;
Determine the start-stop module, be used for determining according to described input message the destination of navigation object;
Path planning module is used for carrying out path planning according to described geography information, departure place and described destination and processes, and obtains path planning, and described path planning is processed and comprised: public bus network planning, and described path planning comprises: at least one public transportation road section;
The guidance path module is used for selecting to determine guidance path from described path planning that described guidance path comprises: at least one public transportation road section;
Navigation module is used for determining the position of navigation object according to the global position system GPS satellite-signal that receives after receiving navigation instruction, and is the navigation object navigation according to position and the described guidance path of navigation object.
Description by technique scheme as can be known, the present embodiment is by comprising Bus information in geography information, and utilize the geography information that includes Bus information to carry out path planning and process, can obtain to comprise the guidance path of public transportation road section, by utilizing this guidance path to navigate for navigation object, thereby can provide effective public transport navigation Service for navigation object.
Description of drawings
Fig. 1 is the structural representation of navigational system of the prior art;
Fig. 2 is the air navigation aid process flow diagram of the embodiment of the present invention one;
Fig. 3 is the navigator schematic diagram of the embodiment of the present invention two.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
Embodiment one, air navigation aid.The flow process of the method as shown in Figure 2.
In Fig. 2, S200, determine the destination of navigation object according to the input message that receives.Optionally, can also determine according to the input message that receives the departure place of navigation object.In addition, also can that is to say the departure place of navigation object according to determining for the location of navigation object current position, navigation object current position is defined as the departure place of navigation object.
In the present embodiment, can adopt one or more modes in the modes such as button, rocking bar, knob and touch pad to make up and carry out input information, the present embodiment does not limit the specific implementation of input message.
The path planning processing is carried out in S210, the geography information according to pre-stored, departure place and destination, obtains path planning.The path planning that obtains can be for one or more, and each path planning is the path that departure place to destination provides.
Above-mentioned geography information comprises: Bus information, and the path planning in S210 is processed and is comprised: public bus network planning, thereby S210 specifically comprises: carry out public bus network planning (being that public bus network calculates) according to pre-stored Bus information, departure place and destination, obtain to include the path planning of public transportation road section.A path planning can include one or more public transportation road section.The Bus information here specifically can comprise: platform name information, gate position information and public bus network information etc.The present embodiment does not limit the specific implementation process of public bus network planning and content that Bus information specifically comprises etc.
Geography information in the present embodiment can also comprise: map datum.This map datum is used for map and shows, the map of demonstration can help the user to input departure place information and destination information, and assists to determine departure place and destination; The map that shows can also make the user know easily its current position in map, and in addition, the map of demonstration can also graphically show path planning and guidance path etc.Above-mentioned map datum can comprise: road network information and interest point information etc.The present embodiment is the restrictedly concrete application scenarios of diagram data and content that map datum specifically comprises not.
Optionally, the geography information in the present embodiment can also comprise: information on foot.Information is used for layout of roads on foot on foot, to obtain highway section on foot.Information can comprise on foot: at least one in overpass information, zebra stripes information, tunnel information and underpass information etc.Overpass information can comprise the positional information of overpass.Zebra stripes information can comprise the positional information of zebra stripes.Tunnel information can comprise the positional information in tunnel and the gateway information in tunnel etc.Underpass information can comprise the positional information of underpass and the gateway information of underpass etc.The present embodiment does not limit the content that information on foot specifically comprises.The content that comprises of information is more detailed on foot, and the highway section on foot that obtains of layout of roads is more accurate on foot.
In the situation that geography information includes information on foot, S210 can specifically comprise: according to pre-stored Bus information and on foot information, departure place and destination carry out public bus network planning and layout of roads on foot, obtain path planning.A thus obtained path planning can comprise: at least one public transportation road section also can comprise: at least one public transportation road section and at least one be the highway section on foot.Path planning does not comprise that the situation in highway section on foot goes for departure place and destination and all do not need the application scenarios of walking between bus platform and Public Transport Transfer station, perhaps goes for departure place and destination and all is positioned at bus platform and does not need the application scenarioss such as Public Transport Transfer.Path planning not only comprised on foot the highway section but also comprised that the situation of public transportation road section needing between departure place and/or destination and bus platform to go for the application scenarios of walking, needing between the Public Transport Transfer station perhaps to go for the application scenarios of walking.That is to say, the highway section on foot in the present embodiment can comprise: at least one to the highway section on foot of destination of the highway section on foot between the transfer stop of the highway section on foot of departure place to the start site of first public transportation road section, two public transportation road section in Public Transport Transfer and the purpose website of last public transportation road section.In the situation that a path planning includes highway section and public transportation road section on foot, the highway section should be connected with order before and after public transportation road section on foot, and all public transportation road section that comprise in path planning and all can form from the departure place to a path of destination after order is connected before and after the highway section on foot.
S220, select to determine guidance path from the path planning of above-mentioned acquisition.This guidance path comprises: at least one public transportation road section.Optionally, this guidance path can also comprise: at least one is the highway section on foot.
The path planning of above-mentioned acquisition can show with the form of path planning list, like this, can select guidance path from the path planning list.Each path planning in the path planning list can be respectively to there being path description information, i.e. path planning list can demonstrate path planning and path description information.Path description information can comprise: at least one in website quantity etc. of the Public Transport Transfer number of times of the stroke distances of path planning, path planning and path planning.In addition, each path planning in the path planning list can also be to there being the stroke explanation, and the trip explanation can be the stroke explanation of text description.Check stroke explanation a kind of specific implementation can for: receive and check stroke explanation order, show current selected stroke explanation corresponding to path planning.Reception checks that an object lesson of stroke explanation order is: " checking the stroke explanation " button in the display interface of click path planning list, check stroke explanation order thereby receive.An object lesson of the stroke of path planning explanation content: " 300 meters of walkings eastwards are to bus station A from the departure place; Take No. 5 buses to bus station B from bus station A; Take No. 10 buses to bus station C from bus station B; From 150 meters of bus station C walkings northwards to the destination." the present embodiment do not limit the concrete display mode of path planning and path description information and stroke explanation, the yet particular content that comprises of constrained Path descriptor and stroke explanation etc. not.
In S220, can select to determine guidance path according to the selecting paths instruction of user's input, the user can pass through the mode input selection routing instructions such as button, rocking bar, knob and touch pad.The guidance path of determining can only comprise public transportation road section, also can also comprise other highway section when comprising public transportation road section, as comprises public transportation road section and highway section etc. on foot.The present embodiment does not limit the specific implementation of selecting guidance path.
S230, after receiving navigation instruction, determine the position of navigation object according to the gps satellite signal that receives, and be the navigation object navigation according to position and the above-mentioned guidance path of navigation object.
Be that the navigation object navigation comprises according to position and the guidance path of navigation object: be that navigation object carries out the public transport navigation according to position and the public transportation road section in guidance path of navigation object.Optionally position and the guidance path according to navigation object is that the navigation object navigation can also comprise: be that navigation object navigates on foot according to position and the highway section on foot in guidance path of navigation object.
The below exemplifies the public transport that comprises from origin to destination and navigates and navigate in interior complete navigation process on foot, so that the public transport navigation is described with navigating on foot:
Navigation processes one, from the departure place to the navigation on foot of first public transportation road section.If the departure place is the start site of first public transportation road section, can comprise navigation in this navigation procedure and process one.First public transportation road section here i.e. the public transportation road section nearest apart from the departure place.Navigation processes one can comprise following content:
Process 1, determine that according to the current location of navigation object navigation object is arranged in from the departure place to the highway section on foot of first public transportation road section.
A concrete example: whether judge the distance of start site of the current location of navigation object and first public transportation road section less than or equal to preset distance X, this preset distance X can be arranged by user or production firm, and this preset distance X is as 50 meters or 60 meters etc.In the distance of the start site of the current location of judging navigation object and first public transportation road section during less than or equal to preset distance X, the prompting navigation object is near the start site of first public transportation road section, this prompting can also comprise the prompting of public bus network, as please taking A road bus at the B website.The prompting mode here can be for ejecting display window prompting or voice suggestion etc., and the present embodiment does not limit the specific implementation of prompting.
If the current location of processing 3 navigation objects and the bee-line of first public transportation road section point out navigation object whether to take the bus of first public transportation road section less than or equal to preset distance Y.
If determine that according to the input message that receives navigation object taken the bus of first public transportation road section, carry out following navigation and process two.
If determine that according to the input message that receives navigation object do not take the bus of first public transportation road section, and the distance between the originating station of the current location of determining navigation object after schedule time t and first public transportation road section continues less than or equal to preset distance Y the bus whether the prompting navigation object has taken first public transportation road section;
If determine that according to the input message that receives navigation object do not take the bus of described next public transportation road section, and determine distance between the originating station of the current location of navigation object in schedule time t and first public transportation road section greater than preset distance Y, carry out following son and process:
If the current location of son processing navigation object and the bee-line of first public transportation road section more than or equal to preset distance J and less than or equal to preset distance K, are that the current location of navigation object and the purpose website of first public transportation road section carry out the path planning processing according to pre-stored geography information; Otherwise the current location and the former destination that are navigation object according to pre-stored geography information re-start the path planning processing.Can select to determine guidance path after path planning is processed, and the navigation procedure of the guidance path employing the present embodiment record definite according to this selection is that navigation object navigates.If this guidance path of determining is the guidance path corresponding to purpose website of current location He first public transportation road section of navigation object, this guidance path of determining need to be replaced the current location of navigation object in S220 to the navigation highway section between the purpose website of first public transportation road section.If the current location that this guidance path of determining is navigation object is to guidance path corresponding to former destination, this guidance path of determining need to be replaced the current location of navigation object in S220 to the navigation highway section between former destination.
Need to prove, the present embodiment does not limit above-mentioned processing 2 and processes 3 priority execution sequence, and above-mentioned processing 2 and processing 3 can executed in parallel.
A concrete example of above-mentioned processing 3 is:
Whether judge the bee-line of the current location of navigation object and first public transportation road section less than or equal to preset distance Y, this preset distance Y can be arranged by user or production firm, and this preset distance Y is as 50 meters or 60 meters etc.If above-mentioned bee-line greater than preset distance Y, continues to determine according to the gps satellite signal that receives the current location of navigation object, and proceed walking navigation according to current location and the highway section on foot from the departure place to the start site of first public transportation road section; If above-mentioned bee-line less than or equal to preset distance Y, points out navigation object whether to take A road bus.
If taken A road bus according to the information judgement navigation object of user input, carried out following navigation and process two.
If do not take A road bus according to the information judgement navigation object of user input, whether the bee-line that regularly judges the current location of navigation object and the first public transportation road section according to schedule time t (t was as 2 minutes) still less than or equal to preset distance Y, if still less than or equal to preset distance Y continue above-mentioned prompting navigation object and whether taken the processing procedures such as A road bus.If the current location of judging navigation object in schedule time t, can be handled as follows greater than preset distance Y (this phenomenon may take bus due to navigation object, navigation object is walked out again beyond the Y distance or the many reasons such as bus change circuit causes) to the bee-line of first public transportation road section:
if the bee-line of judging the current location of navigation object and first public transportation road section more than or equal to preset distance J (as 80 meters, 100 meters) and less than or equal to preset distance K (as 180 meters, 200 meters), take the current location of navigation object as the departure place, purpose website take first public transportation road section carries out path planning as the destination, obtain path planning, select to determine guidance path from the path planning of this acquisition, and be the navigation that navigation object carries out the purpose website from current location to first public transportation road section according to this guidance path of selecting to determine.Afterwards, continue to navigate according to the next highway section after first public transportation road section in the guidance path of determining in S220.
If judge the bee-line of the current location of navigation object and first public transportation road section greater than preset distance K, take the current location of navigation object as the departure place, take former destination as the destination, re-start path planning, regain path planning, select to determine guidance path from path planning, and be that navigation object carries out the navigation from current location to former destination according to this guidance path.Thereby no longer continue to navigate according to the guidance path of determining in S220.
The public transport navigation of processing two, first public transportation road section.Navigation processes two can comprise following content:
Process 1), whether the current location that judges navigation object near the purpose website of first public transportation road section, if the purpose website near first public transportation road section, point out the purpose website of navigation object near first public transportation road section, otherwise, do not carry out this prompting.
Whether the above-mentioned current location that judges navigation object can have multiple near the mode of the purpose website of first public transportation road section, as whether the distance that judges the current location of navigation object and public transport purpose website is less than or equal to U, if less than or equal to U, determine the purpose website near first public transportation road section, otherwise, determine not the purpose website near first public transportation road section.For another example, judge that the distance of a upper website of purpose website of the current location of navigation object and first public transportation road section whether less than or equal to U, if less than or equal to U, determines the purpose website near first public transportation road section, otherwise, determine not the purpose website near first public transportation road section.
Process 2), judge that regularly whether distance between the purpose website of the current location of navigation object and first public transportation road section is less than or equal to preset distance V, if less than or equal to preset distance V, point out navigation object whether to get off, if determine that according to the input message that receives navigation object gets off, navigate according to the current location of navigation object and the next highway section that is connected with first public transportation road section.Next highway section can be public transportation road section, also can be highway section on foot.If determine that according to the input message that receives navigation object do not get off, and judge distance between the purpose website of the current location of navigation object and first public transportation road section more than or equal to preset distance W and more than or equal to duration of preset distance W during more than or equal to schedule time P, the prompting navigation object has departed from the purpose website of the first public transportation road section, please gets off nearby.After the prompting navigation object departs from and determines that according to input message navigation object has been got off, the current location and the former destination that are navigation object according to pre-stored geography information re-start path planning, regain path planning, afterwards, select to determine guidance path from the path planning of this acquisition, and be that navigation object carries out the navigation from current location to former destination according to this guidance path of selecting to determine.
Process 2) a concrete example be: judge that distance between the purpose website of the current location of navigation object and first public transportation road section whether less than or equal to V, if less than or equal to V, points out navigation object whether to get off; Get off according to the information judgement navigation object of user's input, the navigation of first public transportation road section finishes, and enters the navigation procedure in the next highway section that is connected with first public transportation road section.If do not get off according to the information judgement navigation object of user's input, and the current location of navigation object arrives the distance of public transport purpose website less than preset distance W, perhaps more than or equal to duration of preset distance W less than schedule time P, after schedule time O, continue to carry out above-mentioned whether less than or equal to the operation such as whether got off of V and prompting navigation object.If do not get off according to the information judgement navigation object of user's input, and the current location of judging navigation object to the distance between public transport purpose website more than or equal to preset distance W (as 200 meters), and more than or equal to duration of local side distance W more than or equal to schedule time P, the purpose website of pointing out navigation object to depart from first public transportation road section is please got off nearby.
Processing 3), be positioned at first public transportation road section in the situation that determine navigation object according to the current location of navigation object, whether the current location that regularly judges navigation object according to schedule time M departs from first public transportation road section, determining when departing from first public transportation road section, whether the prompting navigation object has taken the bus of first public transportation road section; What determine that navigation object takes according to input message is not the bus of first public transportation road section, point out navigation object to get off nearby, and after determining navigation object and getting off nearby, the current location and the former destination that are navigation object according to pre-stored geography information re-start the path planning processing, regain path planning, afterwards, select to determine guidance path from the path planning of this acquisition, and be that navigation object carries out the navigation from current location to former destination according to this guidance path of selecting to determine.
Processing 3) a object lesson is:
The current location that judges navigation object to the bee-line of first public transportation road section whether more than or equal to preset distance Z and more than or equal to duration of preset distance Z whether more than or equal to schedule time N, if more than or equal to preset distance Z and more than or equal to schedule time N, determine and departed from first public transportation road section, otherwise, determine and do not depart from first public transportation road section.This departs from can be because navigation object such as is got off in advance or got on the wrong bus at the departing from that multiple situation causes.Do not depart from first public transportation road section if determine, after schedule time M, continue to carry out the above-mentioned decision operation that whether departs from.Departed from first public transportation road section if determine, whether point out bus that navigation object takes is A road bus, if judging according to the information of user input bus that navigation object takes is A road bus, after schedule time M, continue execution and judge whether navigation object has departed from the operation of first public transportation road section and above-mentioned prompting.If judging according to the information of user input bus that navigation object takes is not A road bus, point out navigation object to get off nearby.After the prompting navigation object is got off nearby, do not get off if judge navigation object according to the information of user's input, can continue to point out navigation object to get off nearby; After the prompting navigation object is got off nearby, if judging the user according to the information of user's input gets off, the current location and the former destination that are navigation object according to pre-stored geography information re-start the path planning processing, regain path planning, afterwards, select to determine guidance path from the path planning of this acquisition, and be that navigation object carries out the navigation from current location to former destination according to this guidance path of selecting to determine.
Need to prove, the present embodiment does not limit above-mentioned processing 1), process 2) and process 3) the priority execution sequence, above-mentioned processing 1), process 2) and processing 3) can executed in parallel.
Navigation processes three, the navigation in the highway section of navigating from first public transportation road section to the next one.If the purpose website of first public transportation road section is the destination, can comprise navigation in this navigation procedure and process three.If the next one of first public transportation road section navigation highway section is second public transportation road section, can adopt the description of above-mentioned navigation processing two to proceed navigation.If the next one of first public transportation road section navigation highway section is second highway section on foot, and second on foot the next one navigation highway section in highway section be second public transportation road section, can adopt above-mentioned navigation to process one description and proceed navigation.If the next one of first public transportation road section navigation highway section is second highway section on foot, and second on foot the terminal point in highway section be the destination, provide navigation Service for navigation object in the highway section on foot according to the current location of navigation object and this, this navigation Service can comprise that the prompting navigation object is near the destination etc.The present embodiment no longer describes in detail.
Embodiment two, navigator.The structure of this navigator as shown in Figure 3.
Navigator in Fig. 3 comprises: memory module 300, receiver module 310, determine start-stop module 320, path planning module 330, guidance path module 340 and navigation module 350.Optionally, navigator can also comprise and departs from module 360.
Memory module 300 is used for the storage geography information, and this geography information comprises: Bus information.
In memory module 300, the Bus information of storage specifically can comprise: platform name information, gate position information and public bus network information etc.In memory module 300, the geography information of storage can also comprise: map datum.Optionally, in memory module 300, the geography information of storage can also comprise: information on foot.This on foot information can comprise: at least one in overpass information, zebra stripes information, tunnel information and underpass information etc.Overpass information can comprise the positional information of overpass.Zebra stripes information can comprise the positional information of zebra stripes.Tunnel information can comprise the positional information in tunnel and the gateway information in tunnel etc.Underpass information can comprise the positional information of underpass and the gateway information of underpass etc.The present embodiment does not limit the content that information on foot specifically comprises.
Receiver module 310 is used for receiving input message.The input message here can comprise: destination information also can comprise: departure place information and destination information; Can also comprise that user in above-described embodiment one is according to the information of various promptings inputs etc.
Determine start-stop module 320, be used for determining the navigation object destination according to the input message that receiver module 310 receives.If input message comprises departure place information, determine that start-stop module 320 can also be used for determining according to the input message that receiver module 310 receives the departure place of navigation object.The map datum of storage can utilize memory module 300 in the process of determining departure place and destination in.In addition, if do not comprise departure place information in the input message that receiver module 310 receives, determine that start-stop module 320 can be according to determine the departure place of navigation object for the location of navigation object current position, that is to say, determine that start-stop module 320 is defined as navigation object current position the departure place of navigation object.
Path planning module 330 is used for carrying out path planning according to geography information, departure place and the destination of memory module 300 storages and processes, and obtains path planning.The path planning is here processed and is comprised: public bus network planning, and the path planning of acquisition can be for one or more, and each path planning is the path that departure place to destination provides.
Path planning module 330 can be carried out public bus network planning (being that public bus network calculates) according to Bus information, departure place and the destination of storage in memory module 300, obtains to include the path planning of public transportation road section.A path planning can include one or more public transportation road section.The present embodiment not constrained Path planning module 330 carries out the specific implementation process that public bus network is planned.
In the situation that the geography information of memory module 300 storages includes information on foot, path planning module 330 can according to pre-stored Bus information and on foot information, departure place and destination carry out public bus network planning and layout of roads on foot, obtain path planning.A thus obtained path planning can comprise: at least one public transportation road section also can comprise: at least one public transportation road section and at least one be the highway section on foot.All public transportation road section that comprise in the path planning that path planning module 330 obtains sequentially can form from the departure place to a path of destination after linking before and after the highway section on foot with all.
Path planning module 330 can be after path planning be finished dealing with, and notice guidance path module 340 is selected guidance path.
Guidance path module 340 is used for selecting to determine guidance path from the path planning that path planning module 330 obtains that this guidance path comprises: at least one public transportation road section; Optional this guidance path can also comprise: at least one is the highway section on foot.
The path planning that path planning module 330 obtains can be with the form demonstration of path planning list, and like this, the guidance path that guidance path module 340 is selected is that in the path planning list plans the path.Each path planning in the path planning list can be respectively to there being the explanation of path description information and stroke, and the content that path description information and stroke explanation specifically comprise and display mode etc. are not repeated.
Definite guidance path is selected in the selecting paths instruction that guidance path module 340 can be inputted according to the user that receiver module 310 receives, and the user can pass through the mode input selection routing instructions such as button, rocking bar, knob and touch pad.
Navigation module 350 is used for determining the position of navigation object according to the global position system GPS satellite-signal that receives after receiver module 310 receives navigation instruction, and is the navigation object navigation according to position and the guidance path of navigation object.
Navigation module 350 is that the navigation object navigation comprises according to position and the guidance path of navigation object: navigation module 350 is that navigation object carries out the public transport navigation according to position and the public transportation road section in guidance path of navigation object.Optionally, navigation module 350 is that the navigation object navigation can also comprise according to position and the guidance path of navigation object: navigation module 350 is that navigation object navigates on foot according to position and the highway section on foot in guidance path of navigation object.
The navigation module 350 here can comprise: any one in the first navigation submodule, the second navigation submodule, the 3rd navigation submodule and the 4th navigation submodule or a plurality of.In the situation that navigation module 350 includes the 4th navigation submodule, navigation module 350 can also comprise the 5th navigation submodule and the 6th navigation any one or two in submodule.
The first navigation submodule, be used for when determining the purpose website of the public transportation road section that current location that navigation object is positioned at public transportation road section and navigation object is positioned near navigation object according to the current location of navigation object the purpose website of the public transportation road section that the prompting navigation object is positioned near navigation object.
Whether the current location that the first navigation submodule judges navigation object can have multiple near the mode of the purpose website of first public transportation road section, judge that as the first navigation submodule whether the distance of the current location of navigation object and public transport purpose website is less than or equal to U, if less than or equal to U, the first navigation submodule is determined the purpose website near first public transportation road section, otherwise the first navigation submodule is determined not the purpose website near first public transportation road section.For another example, the first navigation submodule judges that whether the distance of a upper website of purpose website of the current location of navigation object and first public transportation road section is less than or equal to U, if less than or equal to U, the first navigation submodule is determined the purpose website near first public transportation road section, otherwise the first navigation submodule is determined not the purpose website near first public transportation road section.
The second navigation submodule, be used for determine according to the current location of navigation object navigation object the current location of public transportation road section and navigation object and navigation object the purpose website of public transportation road section between distance during less than or equal to preset distance V, whether the prompting navigation object gets off, the second input message of receiving according to receiver module 310 of navigation submodule determines that navigation object gets off, and navigates according to current location and the next highway section of navigation object; After if the input message that the second navigation submodule receives according to receiver module 310 determines that navigation object is not got off, the second navigation submodule judge again current location and navigation object the purpose website of public transportation road section between distance more than or equal to duration of preset distance W more than or equal to schedule time P, point out navigation object to get off nearby, the second navigation submodule is after determining navigation object and getting off nearby, and notification path planning module 330 is that the current location of navigation object and destination are carried out path planning and processed according to geography information.
A concrete example: whether the distance between the current location that the second navigation submodule judge navigation object and the purpose website of first public transportation road section less than or equal to V, if less than or equal to V, whether second submodule that navigates points out navigation object to get off; The second navigation submodule is got off according to receiving the input message judgement navigation object that module 310 receives, and navigator is carried out the navigation procedure in the next highway section that is connected with first public transportation road section.If the second navigation submodule is not got off according to the input message judgement navigation object that receiver module 310 receives, and the current location of navigation object arrives the distance of public transport purpose website less than preset distance W, perhaps more than or equal to duration of preset distance W less than schedule time P, after schedule time O, whether the second navigation submodule continues to carry out above-mentioned less than or equal to the operation such as whether got off of V and prompting navigation object.If the second navigation submodule is not got off according to the input message judgement navigation object that receiver module 310 receives, and the current location that the second navigation submodule is judged navigation object to the distance between public transport purpose website more than or equal to preset distance W (as 200 meters), and more than or equal to duration of local side distance W more than or equal to schedule time P, the second navigation submodule prompting navigation object has departed from the purpose website of first public transportation road section, please gets off nearby.
The 3rd navigation submodule, be used for navigation object the current location of highway section and navigation object on foot and navigation object the start site of next public transportation road section in highway section on foot between distance during less than or equal to preset distance X, point out the start site of navigation object near next public transportation road section.
A concrete example: the 3rd navigation submodule judges that whether the distance of start site of the current location of navigation object and first public transportation road section is less than or equal to preset distance X, this preset distance X can be arranged by user or production firm, and this preset distance X is as 50 meters or 60 meters etc.The 3rd navigation submodule is in the distance of the start site of the current location of judging navigation object and first public transportation road section during less than or equal to preset distance X, the prompting navigation object is near the start site of first public transportation road section, this prompting can also comprise the prompting of public bus network, as please taking A road bus at the B website.
the 4th navigation submodule, the bee-line of next public transportation road section that is used for being positioned at highway section on foot and the current location of navigation object and the highway section on foot that navigation object is positioned at navigation object is during less than or equal to preset distance Y, whether the prompting navigation object has taken the bus of described next public transportation road section, the 4th input message that receive according to receiver module 310 of navigation submodule determines that navigation object taken this bus, notifying the first navigation submodule and/or the second navigation submodule current location and the next public transportation road section according to navigation object is that navigation object carries out the public transport navigation.
A concrete example: the 4th navigation submodule judges that whether the bee-line of the current location of navigation object and first public transportation road section is less than or equal to preset distance Y, this preset distance Y can be arranged by user or production firm, and this preset distance Y is as 50 meters or 60 meters etc.If above-mentioned bee-line is greater than preset distance Y, the 4th navigation submodule continues to determine according to the gps satellite signal that receives the current location of navigation object, and proceeds walking navigation according to current location and the highway section on foot from the departure place to the start site of first public transportation road section; If above-mentioned bee-line is less than or equal to preset distance Y, whether the 4th navigation submodule prompting navigation object has taken A road bus.
If the input message judgement navigation object that the 4th navigation submodule receives according to receiver module 310 has been taken A road bus, notifying the first navigation submodule and the second navigation submodule is that navigation object carries out the public transport navigation.If the input message judgement navigation object that the 4th navigation submodule receives according to receiver module 310 is not taken A road bus, the 4th navigation submodule is notified the 5th navigation submodule and the 6th navigation submodule.
The 5th navigation submodule, be used in the situation that the input message that receives according to receiver module 310 determines that navigation object do not take the bus of above-mentioned next public transportation road section, if the distance of the 5th navigation submodule between the originating station of the current location of determining navigation object after schedule time t and above-mentioned next public transportation road section is less than or equal to preset distance Y, the 5th navigation submodule continues the bus whether the prompting navigation object has taken described next public transportation road section.
Concrete example: after the 5th navigation submodule receives the 4th navigation submodule notice, the 5th navigation submodule judges regularly that according to schedule time t (t was as 2 minutes) whether the bee-line of the current location of navigation object and the first public transportation road section is still less than or equal to preset distance Y, if still less than or equal to preset distance Y, the 5th navigation submodule continues above-mentioned prompting navigation object and whether has taken the processing procedures such as A road bus.
the 6th navigation submodule, be used in the situation that the input message that receives according to receiver module 310 determines that navigation object do not take the bus of above-mentioned next public transportation road section, if the 6th navigation submodule is determined distance between the originating station of the current location of navigation object in schedule time t and above-mentioned next public transportation road section greater than preset distance Y, continue to judge that whether the bee-line of the current location of navigation object and above-mentioned next public transportation road section is more than or equal to preset distance J and less than or equal to preset distance K, if more than or equal to preset distance J and less than or equal to preset distance K, the 6th navigation submodule notification path planning module 330 is that the current location of navigation object and the purpose website of above-mentioned next public transportation road section carry out the path planning processing according to geography information, otherwise, current location and described destination that notification path planning module 330 is navigation object according to geography information re-start the path planning processing.
depart from module 360, be used for being positioned at public transportation road section in the situation that determine navigation object according to the current location of navigation object, whether the current location that regularly judges navigation object according to schedule time M departs from the public transportation road section that navigation object is positioned at, determining when departing from, whether the prompting navigation object has taken the bus of the public transportation road section that navigation object is positioned at, the input message that receives according to receiver module 310 determines that navigation object takes is not the bus of the public transportation road section that is positioned at of navigation object, point out navigation object to get off, after determining navigation object and getting off, triggering path planning module 330 re-starts the path planning processing according to current location and the former destination of navigation object.
A concrete example: depart from current location that module 360 judges navigation object to the bee-line of first public transportation road section whether more than or equal to preset distance Z and more than or equal to duration of preset distance Z whether more than or equal to schedule time N, if more than or equal to preset distance Z and more than or equal to schedule time N, departing from module 360 determines and has departed from first public transportation road section, otherwise, depart from module 360 and determine and do not depart from first public transportation road section.This departs from can be because navigation object such as is got off in advance or got on the wrong bus at the departing from that multiple situation causes.Determine and do not depart from first public transportation road section if depart from module 360, depart from module 360 after schedule time M, continue to carry out the above-mentioned decision operation that whether departs from.If departing from module 360 determines and has departed from first public transportation road section, depart from bus that module 360 prompting navigation objects take and be whether A road bus, if departing from input message that module 360 receives according to receiver module 310, to judge bus that navigation object takes be A road bus, after schedule time M, depart from module 360 continuation execution and judge whether navigation object has departed from the operation of first public transportation road section and above-mentioned prompting.To judge according to the information of user input bus that navigation object takes be not A road bus if depart from module 360, departs from module 360 prompting navigation objects and get off nearby.After departing from module 360 prompting navigation objects and getting off nearby, judge navigation object and do not get off if depart from input message that module 360 receives according to receiver module 310, depart from module 360 and can continue to point out navigation object to get off nearby; After the prompting navigation object is got off nearby, judge the user and get off if depart from input message that module 360 receives according to receiver module 310, departing from module 360 notification path planning modules 330 is that the current location of navigation object and former destination re-start path planning and process according to pre-stored geography information.
Through the above description of the embodiments, those skilled in the art can be well understood to the present invention and can realize by the mode that software adds essential hardware platform, can certainly all implement by hardware, but in a lot of situation, the former is better embodiment.Based on such understanding, technical scheme of the present invention is to can embodying with the form of software product in whole or in part that background technology contributes, and described software product can be used for carrying out above-mentioned method flow.This computer software product can be stored in storage medium, as ROM/RAM, magnetic disc, CD etc., comprise that some instructions are with so that a computer equipment (can be personal computer, server, the perhaps network equipment etc.) carry out the described method of some part of each embodiment of the present invention or embodiment.
The above is only preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. an air navigation aid, is characterized in that, is provided with geography information, and this geography information comprises: Bus information, and described method comprises:
Determine the destination of navigation object according to the input message that receives;
Carry out path planning according to described geography information, departure place and described destination and process, obtain path planning, described path planning is processed and is comprised: public bus network planning, and described path planning comprises: at least one public transportation road section;
Select to determine guidance path from described path planning, described guidance path comprises: at least one public transportation road section;
After receiving navigation instruction, determine the position of navigation object according to the global position system GPS satellite-signal that receives, and be the navigation object navigation according to position and the described guidance path of navigation object;
Described geography information also comprises: information on foot, described path planning are processed and also comprised: layout of roads, and described path planning on foot and guidance path also comprise: at least one is the highway section on foot; Described highway section on foot comprises: the highway section on foot between the highway section on foot of departure place to the start site of first public transportation road section or the transfer stop of two public transportation road section in Public Transport Transfer or the purpose website of last public transportation road section are to the highway section on foot of destination;
Described method also comprises:
Be positioned at described public transportation road section in the situation that determine navigation object according to the current location of navigation object, whether the current location that regularly judges navigation object according to schedule time M departs from the public transportation road section that described navigation object is positioned at, determining when departing from, whether the prompting navigation object has taken the bus of the public transportation road section that navigation object is positioned at;
What determine that navigation object takes according to input message is not the bus of the public transportation road section that is positioned at of navigation object, point out navigation object to get off nearby, and after determining navigation object and getting off, re-start path planning according to the current location of navigation object and described destination and process.
2. the method for claim 1, is characterized in that, described position and described guidance path according to described navigation object is that the navigation object navigation comprises:
When determining that according to the current location of navigation object navigation object is arranged in the purpose website of the public transportation road section that described public transportation road section and described current location be positioned near navigation object, the purpose website of the public transportation road section that the prompting navigation object is positioned near navigation object; And/or
According to the current location of navigation object determine navigation object in described public transportation road section and described current location and navigation object the purpose website of public transportation road section between distance during less than or equal to preset distance V, whether the prompting navigation object gets off, if determine that according to the input message that receives navigation object gets off, navigate according to current location and the next highway section of navigation object; If after determining that according to the input message that receives navigation object is not got off, judge described current location and navigation object the purpose website of public transportation road section between distance more than or equal to duration of preset distance W more than or equal to schedule time P, point out navigation object to get off nearby, and after determining navigation object and getting off nearby, be that the current location of navigation object and described destination are carried out path planning and processed according to described geography information.
3. the method for claim 1, is characterized in that, described position and described guidance path according to described navigation object is that the navigation object navigation comprises:
According to the current location of navigation object determine navigation object in described highway section on foot and described current location and described navigation object the start site of next public transportation road section in highway section on foot between distance during less than or equal to preset distance X, the prompting navigation object is near the start site of described next public transportation road section;
And/or
When determining that according to the current location of navigation object the bee-line of next public transportation road section that navigation object is arranged in the highway section on foot that described highway section on foot and described current location and navigation object be positioned at is less than or equal to preset distance Y, whether the prompting navigation object has taken the bus of described next public transportation road section, determine that according to the input message that receives navigation object taken described bus, current location and the described next public transportation road section according to navigation object is that navigation object carries out the public transport navigation.
4. method as claimed in claim 3, is characterized in that, described position and described guidance path according to described navigation object is that the navigation object navigation also comprises:
Determine that according to the input message that receives navigation object do not take the bus of described next public transportation road section, if the distance between the originating station of the current location of determining navigation object after schedule time t and described next public transportation road section is less than or equal to preset distance Y, continue the bus whether the prompting navigation object has taken described next public transportation road section; And/or
determine that according to the input message that receives navigation object do not take the bus of described next public transportation road section, and determine in the situation that in the schedule time t distance between the originating station of the current location of navigation object and described next public transportation road section greater than preset distance Y, if the bee-line of the current location of navigation object and described next public transportation road section is more than or equal to preset distance J and less than or equal to preset distance K, be that the current location of navigation object and the purpose website of described next public transportation road section carry out the path planning processing according to described geography information, otherwise, the current location and the described destination that are navigation object according to described geography information re-start the path planning processing.
5. a navigator, is characterized in that, described navigator comprises:
Memory module is used for the storage geography information, and this geography information comprises: Bus information;
Receiver module is used for receiving input message;
Determine the start-stop module, be used for determining according to described input message the destination of navigation object;
Path planning module is used for carrying out path planning according to described geography information, departure place and described destination and processes, and obtains path planning, and described path planning is processed and comprised: public bus network planning, and described path planning comprises: at least one public transportation road section;
The guidance path module is used for selecting to determine guidance path from described path planning that described guidance path comprises: at least one public transportation road section;
Navigation module is used for determining the position of navigation object according to the global position system GPS satellite-signal that receives after receiving navigation instruction, and is the navigation object navigation according to position and the described guidance path of navigation object;
The geography information of described memory module storage also comprises: information on foot, and the path planning of described path planning module is processed and also comprised: layout of roads, and described path planning on foot and guidance path also comprise: at least one is the highway section on foot; Described highway section on foot comprises: at least one to the highway section on foot of destination of the highway section on foot between the transfer stop of the highway section on foot of departure place to the start site of first public transportation road section, two public transportation road section in Public Transport Transfer and the purpose website of last public transportation road section;
depart from module, be used for being positioned at described public transportation road section in the situation that determine navigation object according to the current location of navigation object, whether the current location that regularly judges navigation object according to schedule time M departs from the public transportation road section that described navigation object is positioned at, determining when departing from, whether the prompting navigation object has taken the bus of the public transportation road section that navigation object is positioned at, what determine that navigation object takes according to input message is not the bus of the public transportation road section that is positioned at of navigation object, point out navigation object to get off, after determining navigation object and getting off, triggering described path planning module re-starts path planning according to the current location of navigation object and described destination and processes.
6. equipment as claimed in claim 5, is characterized in that, described navigation module comprises:
The first navigation submodule, when being used for determining that according to the current location of navigation object navigation object is positioned at the purpose website of the public transportation road section that described public transportation road section and described current location be positioned near navigation object, the purpose website of the public transportation road section that the prompting navigation object is positioned near navigation object; And/or
The second navigation submodule, be used for according to the current location of navigation object determine navigation object described public transportation road section and described current location and navigation object the purpose website of public transportation road section between distance during less than or equal to preset distance V, whether the prompting navigation object gets off, determine that according to input message navigation object gets off, navigate according to current location and the next highway section of navigation object; If after determining that according to the input message that receives navigation object is not got off, judge current location and navigation object the purpose website of public transportation road section between distance more than or equal to duration of preset distance W more than or equal to schedule time P, point out navigation object to get off nearby, after determining navigation object and getting off nearby, the notification path planning module is that the current location of navigation object and destination are carried out path planning and processed according to geography information.
7. equipment as claimed in claim 5, is characterized in that, described navigation module comprises:
The 3rd navigation submodule, be used for navigation object described highway section on foot and described current location and described navigation object the start site of next public transportation road section in highway section on foot between distance during less than or equal to preset distance X, point out the start site of navigation object near described next public transportation road section; And/or
The 4th navigation submodule, the bee-line of next public transportation road section that is used for being positioned at navigation object the highway section on foot that described highway section on foot and described current location and navigation object be positioned at is during less than or equal to preset distance Y, whether the prompting navigation object has taken the bus of described next public transportation road section, determine that according to the input message that receives navigation object taken described bus, notifying the first navigation submodule and/or the second navigation submodule current location and the described next public transportation road section according to navigation object is that navigation object carries out the public transport navigation;
In the situation that described navigation module comprises the 4th navigation submodule, described navigation module also comprises
The 5th navigation submodule, be used in the situation that determine that according to the input message that receives navigation object do not take the bus of described next public transportation road section, if the distance between the originating station of the current location of determining navigation object after schedule time t and described next public transportation road section less than or equal to preset distance Y, continues the bus whether the prompting navigation object has taken described next public transportation road section; And/or
the 6th navigation submodule, do not take the bus of described next public transportation road section for determine navigation object according to the input message that receives, and determine in the situation that in the schedule time t distance between the originating station of the current location of navigation object and described next public transportation road section greater than preset distance Y, if the bee-line of the current location of navigation object and described next public transportation road section is more than or equal to preset distance J and less than or equal to preset distance K, the notification path planning module is that the current location of navigation object and the purpose website of described next public transportation road section carry out the path planning processing according to geography information, otherwise, current location and described destination that the notification path planning module is navigation object according to geography information re-start the path planning processing.
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| CN 201010110380 CN101762279B (en) | 2010-02-01 | 2010-02-01 | Navigation method and device |
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| CN102333371A (en) * | 2011-09-14 | 2012-01-25 | 惠州Tcl移动通信有限公司 | Base station server and navigation method of base station server as well as mobile terminal and navigation method of mobile terminal |
| CN103185597B (en) * | 2011-12-30 | 2017-08-01 | 上海博泰悦臻电子设备制造有限公司 | Air navigation aid and guider |
| JP2013174541A (en) * | 2012-02-27 | 2013-09-05 | Zenrin Datacom Co Ltd | Navigation device, navigation method, and program |
| CN104424191B (en) * | 2013-08-20 | 2017-11-10 | 百度在线网络技术（北京）有限公司 | A kind of bus station associates detection method and device |
| CN105989733A (en) * | 2015-02-27 | 2016-10-05 | 阿里巴巴集团控股有限公司 | bus real-time information synchronization method, device and system |
| CN105277205A (en) * | 2015-10-21 | 2016-01-27 | 百度在线网络技术（北京）有限公司 | Method and device for providing user with public traffic navigation service |
| CN106197443B (en) * | 2016-06-28 | 2020-02-21 | 联想(北京)有限公司 | Information processing method and electronic equipment |
| CN106530791A (en) * | 2016-11-03 | 2017-03-22 | 中兴软创科技股份有限公司 | Bus station arrival location matching method and system |
| CN107339999A (en) * | 2017-06-28 | 2017-11-10 | 维沃移动通信有限公司 | A kind of information prompting method and mobile terminal |
| CN107478237A (en) * | 2017-06-29 | 2017-12-15 | 百度在线网络技术（北京）有限公司 | Real scene navigation method, device, equipment and computer-readable recording medium |
| CN111256720B (en) * | 2020-02-18 | 2022-08-19 | 南京领行科技股份有限公司 | Navigation method and device |
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