CN101852621A - Navigation device and track search method thereof - Google Patents
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Abstract
The invention provides a navigation device capable of effectively keeping away from congestion road sections or prohibition road sections according to traffic information provided by a server to improve running efficiency. The navigation device comprises a display device, an information acquiring device and a control device, wherein the display device is used for displaying road maps around a car position; the information acquiring device is used for acquiring the traffic information comprising a forecasted destination, the positions of congested places or running-prohibited places and shunting points for bypassing the congested places or the running-prohibited places; and the control device is used for searching a new running track when the positions of the congested places or the running-prohibited places are on the set running tracks and the position of the forecasted destination accords with the traffic information of the destination direction from the current position so that the new running track passes through the shunting points.
Description
Invention field
The present invention relates to the path searching method therefor of a kind of guider and guider, particularly can carry out correctly making a circulation and exploring the guider of the walking path that can arrive the destination and the path searching method therefor of guider the block up place and the restriction place of travelling.
Background technology
In recent years, along with the progress of digital technology, the various technology that improve the convenience of automobile have been developed.For example, according to carrying out the current position and the travel direction of each vehicle of radio communication with server, server is predicted the destination of going to of each vehicle, send different driving recommendations information (for example shunting advisory information) to each vehicle towards identical prediction destination direction, make these vehicles not concentrate on the road, can reach the purpose that relaxes traffic jam thus.
In current CNS " traffic and traveler information ", China has formulated ITS (Intelligent Transport System is called for short ITS) the real-time traffic service standard of suitable China with reference to the TMC standard in Europe.A Real-time Traffic Information by this standard decision is made of following components.This transport information is provided to the information receiver that carries on vehicle by above-mentioned server.
Article one, Real-time Traffic Information comprises following project:
| Total heading | The event message head | Event content | Optional message | Amplifying message |
Event content part wherein comprises following content again:
| Incident | Home position | Direction | Scope | Duration | The shunting suggestion |
The home position information of describing in event content is come mark with position encoded.Wherein each has position encodedly represented a unique position.
By these fields, can determine a basic information content described in the transport information.For example:
The meaning of this information is: be encoded to 1234 place, along road positive dirction generation traffic jam, blocking length is along two place coding sites of positive dirction continuity.
Optional message part wherein comprises following content again:
| |
Content | ?····· | Label code n | Content |
Label code 10 wherein, the implication of the pairing content in label code 11 back is the shunting advisory information.Specifically, the information that label code 11 representatives send thereafter is the prediction destination, the content that sends immediately following label code 11 backs is the position encoded information of this prediction destination, the information that label code 10 representatives send thereafter is at the pairing split point in above-mentioned prediction destination, and the information content of closelying follow label code 10 back is the position encoded information of each split point.
In a shunting advisory information, specify a prediction destination with " label code 11+ content " earlier.
After this prediction destination, provide split point information with " label code 10+ content " continuously, the content form of presentation in the content behind label code 10, the label code 11 and the home position of event content is the same, all is to encode by the place to carry out mark.
For example, in optional message, provide successively:
1123
Label code 10
1345
Label code 10
1346
Label code 10
1347
Combine with the event content of front, then the implication of this information representative is as follows:
Be encoded to 1234 place, along road positive dirction generation traffic jam, it is position encoded along two of positive dirction continuities blocking length.If go to 1123 directions, please, by 1346, pass through by 1347 then then earlier by 1345 by this highway section.
This shows that any component stream advisory information all sends as optional message, before the optional message one group of elementary event must be arranged, the shunting that sends in optional message suggestion must be the elementary event at the front.
Therefore, block at road, during situation such as construction, accident, server end is by after judging, the prediction that provides also must be the destination information relevant with the road of situation occurred.
Concrete example:
Then the implication of this information description is:
Traffic hazard takes place in place, Dongdan, East Chang'an Street, and influence is 50 meters highway sections eastwards
Go to Tian An-men direction if having, please walk Beijing Station by East Chang'an Street Dong Danchu, Chongweimenxi Dajie, pass through in the Qianmendong Dajie.
Prediction destination that the server end of judging in this device sends and the relation between the Ben Che actual purpose ground promptly refer to the relation between Tian An-men and the current destination of Ben Che.
In above-mentioned national standard, though server, has provided the split point information that can carry out the traffic reference for guider according to the prediction destination, these split point information can be helpful to vehicle avoid blocking up highway section or forbidden highway section.But if if the prediction destination of the actual purpose of this car ground and server is inequality, particularly when both directions differed greatly, these split point information may not have help to vehicle drive.And though the transport information of existing standard has provided split point information, the path by these split points can have multiple, and the transport information of existing standard does not provide corresponding track search and best path suggestion.
Summary of the invention
Guider of the present invention can be according to the transport information that obtains from the outside, and exploration can be carried out rationally circuitous walking path to the block up place and the restriction place of travelling, thereby improves the running efficiency of vehicle.
The invention provides a kind of guider, have:
The current location pick-up unit;
The destination input media;
Route searching apparatus is explored the current location that detects from above-mentioned current location pick-up unit to the walking path by the destination of above-mentioned purpose ground input media input;
The driving path that described guider is explored according to described route searching apparatus arrives the route guidance of destination,
Described guider also has:
Display device, the road-map of demonstration current location periphery;
Information acquisition device is obtained transport information from the outside, and this transport information comprises the prediction destination, stop up the place or each positional information of the restriction place of travelling, split point that above-mentioned obstruction place or the restriction place of travelling are made a circulation;
Control device, when above-mentioned information acquisition device obtain above-mentioned obstruction place or travel the restriction place the position be positioned on the above-mentioned driving path, and the position of above-mentioned prediction destination from above-mentioned current location see be positioned at the above-mentioned purpose place to transport information the time, make above-mentioned route searching apparatus explore new driving path again, make new driving path arrive above-mentioned purpose ground via the above-mentioned split point that comprises in this transport information.
The present invention also provides a kind of path searching method therefor of guider, has:
Current location detects step;
The destination input step;
The track search step is explored from above-mentioned current location and is detected the walking path of the current location of step detection to the destination of being imported by above-mentioned purpose ground input step;
The route guidance step, the driving path of exploring according to described track search step arrives the route guidance of destination,
Also have:
Step display, the road-map of demonstration current location periphery;
Information obtains step, obtains transport information from the outside, and this transport information comprises the prediction destination, stop up the place or each positional information of the restriction place of travelling, split point that above-mentioned obstruction place or the restriction place of travelling are made a circulation;
Controlled step, step obtains above-mentioned obstruction place or the position in the restriction place of travelling is positioned on the above-mentioned driving path when above-mentioned information obtains, and the position of above-mentioned prediction destination from above-mentioned current location see be positioned at the above-mentioned purpose place to transport information the time, make above-mentioned track search step explore new driving path again, make new driving path arrive above-mentioned purpose ground via the above-mentioned split point that comprises in this transport information.
Guider of the present invention, comprise the prediction destination when obtaining from the outside, block up place and the restriction place of travelling, and during to each positional information of the block up place and the split point that makes a circulation of restriction place that travels, if the prediction destination that comprises in this transport information is when the direction of the destination of input in advance, then explore the new path that arrives the destination via at least more than one split point again.Each vehicle can carry out rationally circuitous and the arrival destination to the block up place and the restriction place of travelling thus, can alleviate whole road traffic net.
Description of drawings
Fig. 1 is the synoptic diagram that comprises the entire system structure of guider and server of the present invention.
Fig. 2 is the structured flowchart of guider of the present invention.
Fig. 3 is the functional block diagram of guider of the present invention.
Fig. 4 is the process flow diagram of the embodiment 1 of guider of the present invention.
Fig. 5 is that judgement of the present invention sees from current location whether the position of prediction destination is positioned at the synoptic diagram of the direction of destination.
Fig. 6 is that judgement of the present invention sees from current location whether the position of prediction destination is positioned at another synoptic diagram of the direction of destination.
Fig. 7 represents the synoptic diagram of the path of navigation of embodiments of the invention 1.
Fig. 8 represents the synoptic diagram of the path of navigation of embodiments of the invention 2.
Fig. 9 is the process flow diagram of the embodiment 2 of guider of the present invention.
Figure 10 represents the synoptic diagram of the path of navigation of embodiments of the invention 3.
Figure 11 is the process flow diagram of the embodiment 3 of guider of the present invention.
Figure 12 represents the synoptic diagram of the path of navigation of embodiments of the invention 4.
Figure 13 is the process flow diagram of the embodiment 4 of guider of the present invention.
Embodiment
Fig. 1 is the synoptic diagram that comprises the entire system structure of guider and server of the present invention.
In Fig. 1, symbol 1 is the guider that is loaded in Y on the vehicle, is mounted with on it to be used for the communicator that communicates with server described later etc.Symbol 2 is internet and networks such as telephone relation net or other wireless communication net.Symbol 3 is the servers that for example are arranged on the Traffic Information center, is mounted with communicator, can carry out radio communication with many cars by above-mentioned network 2.For example shown in Figure 1, server 3 is gone up the radio communication device that carries by network 2 with vehicle X, vehicle Y and is carried out wireless connections, thereby the radio communication device of vehicle X, vehicle Y can be provided by the channel traffic information that provided by above-mentioned server 3.Because server 3 sends traffic guiding information to each vehicle, travel on a road thereby can avoid most vehicles to concentrate, reach the mitigation traffic jam, realize macro-control to traffic.Embodiment of the present invention is identical with the situation of vehicle Y shown in Figure 1, be that guider 1 is housed on the vehicle, mounted communication device on the guider 1, thereby make guider 1 and server 3 receive by the transmission that network 2 can carry out information, server 3 is by sending traffic guiding information to the guider 1 that carries at vehicle, each vehicle is not concentrated travelled, have and relax the function that traffic congestion takes place at same road.And, when a certain highway section gets congestion, navigation device 1 sends prediction described later destination, block up place and/or the restriction place of travelling, and the positional information of split point that these block up place and/or the restriction places of travelling are made a circulation, guider 1 can be according to the information of accepting, again explore the path of navigation in circuitous above-mentioned the block up place and/or the restriction place of travelling, and to user's channeling conduct.
Fig. 2 is the structured flowchart of guider of the present invention.
In Fig. 2, represent guider with symbol 10, guider 10 mainly comprises: GPS receiving trap 11 receives electric wave and measures the present position of vehicle self, present orientation from gps satellite; Display 12 shows the map that generates with map datum; Output-controlling device 13 receives the control signal from microprocessor 20, to the display output image data; Sensor 14, the speed of detection vehicle; Memory storage 15 constitutes store map data by big capacity hard disk etc.; Input media 16 for example can be keyboard, mouse, operating rod, demonstration touch-screen, telepilot etc., is used to import user's information; Apparatus for processing audio 17 to handling from the voice signal of microprocessor 20, is exported to audio output devices such as loudspeaker; Communicator 18 communicates receiving traffic information with above-mentioned server 3.Communicator 18 for example can constitute by portable phone with radio communication devices such as bluetooth that portable phone carries out radio communication.In addition, communicator 18 if can and above-mentioned server 3 between carry out information communication device, then also can be the communicator of other communication modes such as the Internet.
Fig. 3 is the functional block diagram of guider of the present invention.
In Fig. 3, guider comprises: display device 31, memory storage 32, current location pick-up unit 33, destination input media 34, route searching apparatus 35, information acquisition device 36, path cost calculation element 37, control device 38.
33 pairs of current positions of vehicle of current location pick-up unit are detected, corresponding to the sensor among Fig. 2 14.
Path cost calculation element 37 calculates and comprises path costs such as path, path running time.The function of the path computing cost device 37 here is that the microprocessor 20 among Fig. 2 is realized by the corresponding program of carrying out in the memory storage 15.
When control device 38 is positioned on the driving path of above-mentioned setting when the position in the above-mentioned obstruction place or the restriction place of travelling, explore new driving path, make new driving path via above-mentioned split point.
The function of the control device 38 here is that the microprocessor 20 among Fig. 2 is realized by the corresponding program of carrying out in the memory storage 15.
Below in conjunction with accompanying drawing 4 process that guider of the present invention navigates is described.Fig. 4 is the process flow diagram of the embodiment 1 of guider of the present invention.
After starting guider, at first, current location pick-up unit 33 detects the current location (step 101) of vehicle.Enter step 102 then, the input destination.Specifically, the driver enters the destination setting menu on the display of guider, by destination input media 34 input destinations.The mode of input can be user's touch-screen, telepilot typewriting input, also can select input in the existing tabulation of display.Then, in step 103, route searching apparatus 35 calculates the path that arrives the destination according to map data stored in the destination of this input and the memory storage, obtains current path of navigation.And at step 104 beginning route guidance.
Then, in step 105, information acquisition device 36 is obtained Real-time Traffic Information by network 2 from server 3.And judge whether comprise the shunting advisory information in this Real-time Traffic Information, promptly whether comprise the prediction destination, block up highway section or restricted driving highway section and each positional information of split point that this block up highway section or restricted driving highway section are made a circulation.Generally, when the forbidden control of traffic was carried out in when getting congestion in a certain highway section or this highway section, server may navigation device send prediction destination and corresponding shunting suggestion.
If in the judged result of step 105 is not comprise the prediction destination in the transport information, block up highway section or restricted driving highway section and each positional information of split point that this block up highway section or restricted driving highway section are made a circulation, then think less than diffluent information about block up highway section or forbidden highway section, before returning step 105, and carry out the processing of step 105 repeatedly.
If in the judged result of step 105 is to comprise the prediction destination in the transport information, block up highway section or restricted driving highway section and each positional information of split point that this block up highway section or restricted driving highway section are made a circulation, then enter step 106,
In step 106, judge whether block up highway section or restricted driving highway section are positioned on the current path of navigation, when judgement is, think that then this diffluent information is a Useful Information for avoid blocking up highway section or forbidden highway section.And enter step 107, judge from current location whether the position of prediction destination is positioned at the direction of destination.Whether being positioned at the method for the direction of destination about the position of judging the prediction destination will be in conjunction with the accompanying drawings 5, Fig. 6 narrates in the back.
When the judged result of step 107 is not positioned at the direction of destination for the position of seeing the prediction destination from current location, return step 105 before, and carry out the later process of step 105 repeatedly.
When the judged result of step 107 is positioned at the direction of destination for the position of seeing the prediction destination from current location, enter step 108, route searching apparatus 35 is explored new path of navigation once more, new path of navigation arrives the destination through split point, then guider along new path of navigation to user's channeling conduct.
Enter step 109 then, guider judges whether to have arrived the destination, if judge the no show destination, then return step 105 before, and carry out repeatedly from the process of step 105 beginning.If judge to have arrived the destination, then finish navigation procedure.
In above-mentioned steps 107, judge from current location and see that the method whether position of prediction destination is positioned at the direction of destination can have multiple.For example, can use as shown in Figure 5 and Figure 6 method.Fig. 5 judges from current location to see whether the position of prediction destination is positioned at the synoptic diagram of the direction of destination.In Fig. 5, A is the current location of vehicle, and D is the destination, and D1 is one of prediction destination, and D2 is two of prediction destination.In Fig. 5, adopt to judge that angle line and the line from this car current location to described actual purpose ground from this car current location to described prediction destination is whether less than the method for the angle of being scheduled to.If less than predetermined angle, then the direction on explanation prediction destination and actual purpose ground is positioned at same direction.That is: when the straight line that connects current location and prediction destination, with is connected current location to the angle between the straight line of destination when the angle of being scheduled to is following, judge that described prediction destination sees direction from above-mentioned current location with being positioned at above-mentioned purpose.Specifically, angle [alpha] among Fig. 5 is predefined angle, because the angle from this car current location to the line of predicting destination D1 and from this car current location to actual purpose the line of ground D less than predetermined angle [alpha], is positioned at the direction of destination D so judge prediction destination D1.And the angle ground D is not positioned at the direction of destination D greater than predetermined angle [alpha] so judge prediction destination D2 from this car current location to described prediction destination D2 and from this car current location to described actual purpose.
About predetermined angle, in the present embodiment, be preferably set to 30 degree, better be set at 15 degree.
Fig. 6 judges from current location to see whether the position of prediction destination is positioned at the synoptic diagram of other method of the direction of destination.
In Fig. 6, A is the current location of vehicle, and D is the destination, and D1 is one of prediction destination, and D2 is two of prediction destination.In the determination methods of Fig. 6, the straight line that connects current location A and destination D is made as DA, draw parallel in straight line DA both sides and apart from straight line DA distance virtual line for dotting among two figure of preset distance K with straight line DA, and judge that the prediction destination is whether in the scope between these two virtual straight lines, if, then judge from current location and see that the position of prediction destination is positioned at the direction of destination, if not in this scope, be not positioned at the direction of destination in the position of judging the prediction destination.In Fig. 6, judge that the position of prediction destination D1 is positioned at the direction of destination D, and the position of prediction destination D2 is not positioned at the direction of destination D.
Fig. 7 represents the synoptic diagram of the path of navigation of embodiments of the invention 1.In Fig. 7, represent the highway section that blocks up with black thick line, and dotted current path of navigation.Travel the place ahead when getting congestion the highway section at this car, the server navigation device sends the highway section that blocks up, predicts the information of destination and split point (1), (2), (3) accordingly.In Fig. 7, the coincidence highway section is promptly arranged owing to the highway section that gets congestion is identical with current path of navigation, and judge from current location, the position of prediction destination is positioned at the direction of destination, therefore explore new path of navigation, new path of navigation arrives the destination via split point (1), (2), (3).
Present embodiment is by effectively utilizing the transport information of shunting advisory information that comprises that server sends, and can in time avoid blocking up highway section or forbidden highway section can be improved and line efficiency.
In embodiment 1, the split point information that provides according to server recomputates new path of navigation.But for same the highway section that blocks up, the prediction destination that server provides has a plurality of, and split point also has a plurality of, thereby may have a plurality of via the shunt paths of these a plurality of split points.
Fig. 8 represents the synoptic diagram of the path of navigation of embodiments of the invention 2.In Fig. 8, the current location of establishing vehicle is A, and the destination is D, has 2 at the prediction destination of obtaining congestion information (among the figure black thick line): 01,02, and split point is respectively B1, B2, B3, B4.B1, B2 can be passed through in the path that arrives destination D, also can pass through B1, B2, B3.Thereby the path of navigation that recomputates has many, therefore needs to determine how to select these path of navigation.In the present embodiment, be according to pricing device 37 result calculated, select path of navigation.
Fig. 9 is the process flow diagram of the embodiment 2 of guider of the present invention.
In the process flow diagram of Fig. 9, identical from the step of step 201～207 with step 101～107 Fig. 4, so its explanation is omitted.
In step 207, guider judges that the position of prediction destination sees the direction that whether is positioned at the destination from current location, before judging when not being, returning step 205, and carries out the later process of step 205 repeatedly.
When the judged result of step 207 when being, enter step 208, it is a plurality of that guider judges whether split point has, when judged result for being, be that split point has when a plurality of, enter step 209, path cost calculation element 37 calculates the cost that arrives each path of destination via each split point.
The cost here can be the length that arrives the path of destination, also can be the length etc. of calculating the anticipation time that arrives the destination according to the signal lamp quantity of road width, congestion, process etc.Therefore the method for calculating path cost no longer describes in detail here owing to be technique known.
The mulitpath here can be the prediction destination when being a plurality of split point information many groups are arranged, thereby there is many situation in the path, also can be that the prediction destination is one, but via the split point difference, thereby there is many situation in the path.
Then in step 210, according to pricing device 37 result calculated, the new path of navigation that route searching apparatus 35 is explored via at least one split point is selected optimal path wherein.The optimal path here refer to the path the shortest or the anticipation travel the shortest time etc., use new path channeling conduct then.
Then enter step 212, guider judges whether to have arrived the destination, if judge the no show destination, then return step 205 before, and carry out repeatedly from the process of step 205 beginning.If judge to have arrived the destination, then finish navigation procedure.
On the other hand, when not being, change step 211 in the judged result of step 208 over to, explore the new path of navigation via a split point again, the walking along the street of going forward side by side directly guides.Enter step 212 then, guider judges whether to have arrived the destination, if judge the no show destination, then return step 205 before, and carry out repeatedly from the process of step 205 beginning.If judge to have arrived the destination, then finish navigation procedure.
Present embodiment is on the basis of embodiment 1, further consider the path cost problem when having many diverting routes, promptly calculate in the mulitpath the shortest or anticipation in the path path of shortest time of travelling, thereby optimized the selection in path more, further improved and line efficiency.
Below in conjunction with accompanying drawing 10,11 explanation embodiments of the invention 3.
In the present embodiment, the transport information that receives from server has a plurality of, and it is a plurality of to predict that promptly the destination has, and for how using its split point information, what present embodiment adopted is at least one split point information that a plurality of transport information comprise jointly.
Figure 10 represents the synoptic diagram of the path of navigation of embodiments of the invention 3.As shown in figure 10, the current location of establishing vehicle is A, and the destination is D, and the prediction destination has 2: O1, O2, and wherein, the split point that arrives prediction destination O1 process is respectively B1, B2, B3, B4; The split point that arrives prediction destination O2 process is respectively B1, B2, B3, B5.In the present embodiment, two split points (B1, B2) that adopt two prediction destinations to comprise are jointly explored prompting arrives destination D through B1, B2 path.
Figure 11 is the process flow diagram of present embodiment.Wherein, identical from the step of step 301～307 with step 201～207 Fig. 9, so its explanation is omitted.
In step 308, it is a plurality of to judge whether the prediction destination that comprises in the transport information has, if judged result then enters step 309 for being, judges whether and the common corresponding split point in a plurality of predictions destination.If the judged result of step 309 then enters step 310 for being, to explore again via with common corresponding all split points of a plurality of transport information and arrive the new path of destination, the walking along the street of going forward side by side directly guides.Then enter step 316, guider judges whether to have arrived the destination, if judge the no show destination, then return step 305 before, and carry out repeatedly from the process of step 305 beginning.If judge to have arrived the destination, then finish navigation procedure.
On the other hand, if the result who judges in step 308 then enters step 312 for not being, it is a plurality of to judge whether split point has.If the judged result of step 312 is for being, then enter step 313, calculate the cost that arrives each path of destination via each split point respectively, then enter step 314, according to the result of pricing, explore via at least one split point again and arrive the new path of destination, enter step 316 then, guider judges whether to have arrived the destination, if judge the no show destination, before then returning step 305, and carry out repeatedly from the process of step 305 beginning.If judge to have arrived the destination, then finish navigation procedure.
On the other hand, if the result of execution in step 309 then enters step 313 for not being, processing procedure then is identical with foregoing, repeats no more herein.
On the other hand,, explore via a split point again and arrive the new path of destination if the result who judges in step 312 then enters step 315 for not being, and channeling conduct.Enter step 316 then, guider judges whether to have arrived the destination, if judge the no show destination, then return step 305 before, and carry out repeatedly from the process of step 305 beginning.If judge to have arrived the destination, then finish navigation procedure.
At least one split point information that present embodiment adopts a plurality of transport information to comprise jointly can further improve the use accuracy rate of split point information.
Embodiment 4
Below in conjunction with accompanying drawing 12,13 explanation embodiments of the invention 4.
In the present embodiment, the transport information that receives from server has a plurality of, it is a plurality of to predict that promptly the destination has, at least one split point that comprises in the transport information that for how using its split point information, present embodiment adopts is in above-mentioned a plurality of transport information, prediction destination and destination are nearest.
Figure 12 represents the synoptic diagram of the path of navigation of embodiments of the invention 4.As shown in figure 12, the current location of establishing vehicle is A, and the destination is D, and the prediction destination has 2: O1, O2, and wherein, the split point that arrives prediction destination O1 process is respectively B1, B2, B3, B4; The split point that arrives prediction destination O2 process is respectively B5, B6, B7.In the present embodiment and nearest prediction destination, destination be O2, therefore adopt split point B5.Promptly arrive the path of destination D through B5, B1, B2.
Figure 13 is the process flow diagram of present embodiment.Wherein, identical from the step of step 401～407 with step 201～207 Fig. 9, so its explanation is omitted.
In step 408, it is a plurality of to judge whether the prediction destination that comprises in the transport information has, if judged result then enters step 409 for being, extracts and nearest prediction destination, destination from a plurality of predictions destination.Enter step 410 then, judge whether the split point corresponding with the prediction destination nearest apart from the destination has a plurality of.If the judged result of step 410 then enters step 411 for being, calculate via the split point corresponding and arrive the cost in each path of destination with nearest prediction destination, destination.Then enter step 412, according to the result of pricing, explore via in a plurality of transport information again, predict the path of at least one split point that comprises in the nearest transport information in destination and destination, the walking along the street of going forward side by side directly guides.Then enter step 418, guider judges whether to have arrived the destination, if judge the no show destination, then return step 405 before, and carry out repeatedly from the process of step 405 beginning.If judge to have arrived the destination, then finish navigation procedure.
On the other hand, if the result who judges in step 408 then enters step 413 for not being, it is a plurality of to judge whether split point has.If the judged result of step 413 is for being, then enter step 414, calculate the cost that arrives each path of destination via each split point respectively, then enter step 415, result according to pricing, explore via at least one split point again and arrive the new path of destination, then guider along the path of exploring again to user's channeling conduct.Enter step 418 then, guider judges whether to have arrived the destination, if judge the no show destination, then return step 405 before, and carry out repeatedly from the process of step 405 beginning.If judge to have arrived the destination, then finish navigation procedure.
If the result who judges in step 413 then enters step 416 for not being, explore via a split point again and arrive the new path of destination, and channeling conduct.Enter step 418 then, guider judges whether to have arrived the destination, if judge the no show destination, then return step 405 before, and carry out repeatedly from the process of step 405 beginning.If judge to have arrived the destination, then finish navigation procedure.
On the other hand, for not the time, enter step 417 in the judged result of step 410, explore the new path of navigation that arrives the destination via a split point corresponding with nearest prediction destination, destination again, the walking along the street of going forward side by side directly guides.Enter step 418 then, guider judges whether to have arrived the destination, if judge the no show destination, then return step 405 before, and carry out repeatedly from the process of step 405 beginning.If judge to have arrived the destination, then finish navigation procedure.
More than embodiments of the present invention are illustrated, but the present invention is not limited to this, those skilled in the art's record according to the embodiment of the present invention can be carried out various distortion.But this does not influence protection domain of the present invention.
Claims (20)
1. guider has:
The current location pick-up unit;
The destination input media;
Route searching apparatus is explored the current location that detects from above-mentioned current location pick-up unit to the walking path by the destination of above-mentioned purpose ground input media input;
The driving path that described guider is explored according to described route searching apparatus arrives the route guidance of destination,
It is characterized in that having:
Display device, the road-map of demonstration current location periphery;
Information acquisition device is obtained transport information from the outside, and this transport information comprises the prediction destination, stop up the place or each positional information of the restriction place of travelling, split point that above-mentioned obstruction place or the restriction place of travelling are made a circulation;
Control device, when above-mentioned information acquisition device obtain above-mentioned obstruction place or travel the restriction place the position be positioned on the above-mentioned driving path, and the position of above-mentioned prediction destination from above-mentioned current location see be positioned at the above-mentioned purpose place to transport information the time, make above-mentioned route searching apparatus explore new driving path again, make new driving path arrive above-mentioned purpose ground via the above-mentioned split point that comprises in this transport information.
2. guider according to claim 1 also has the path cost calculation element, calculates to comprise the length of above-mentioned walking path and/or the path cost of the running time on the above-mentioned walking path arrival above-mentioned purpose ground that travels.
3. guider according to claim 2, when comprising the positional information of a plurality of above-mentioned split points in the above-mentioned transport information that above-mentioned information acquisition device is obtained, described control device is according to described path cost calculation element result calculated, and the distance that above-mentioned route searching apparatus is explored via at least one split point in a plurality of above-mentioned split points and arrival above-mentioned purpose ground again is the shortest new driving path.
4. guider according to claim 2, when comprising the positional information of a plurality of above-mentioned split points in the above-mentioned transport information that above-mentioned information acquisition device is obtained, described control device is according to described path cost calculation element result calculated, and the running time that above-mentioned route searching apparatus is explored via at least one split point in a plurality of above-mentioned split points and arrival above-mentioned purpose ground again is the shortest new driving path.
5. guider according to claim 1, obtain when above-mentioned information acquisition device and to stop up the place or the restriction place of travelling is positioned on the above-mentioned driving path, and the position of above-mentioned prediction destination from above-mentioned current location see be positioned at the above-mentioned purpose place to a plurality of transport information the time, at least one split point that described control device is explored described route searching apparatus to comprise jointly via above-mentioned a plurality of transport information again and arrive the new driving path of destination.
6. guider according to claim 1, obtain when above-mentioned information acquisition device and to stop up the place or the restriction place of travelling is positioned on the above-mentioned driving path, and the position of above-mentioned prediction destination from above-mentioned current location see be positioned at the above-mentioned purpose place to a plurality of transport information the time, described control device make described route searching apparatus explore again via in above-mentioned a plurality of transport information, at least one split point that comprises in the nearest transport information in above-mentioned prediction destination and above-mentioned purpose ground and the new driving path that arrives the destination.
7. according to each described guider of claim 1～6, described control device is when the straight line that connects current location and described prediction destination, with be connected the angle of current location between the straight line of described destination when predetermined angle is following, judge that described prediction destination sees the direction that is positioned at above-mentioned purpose ground from above-mentioned current location.
8. guider according to claim 7, described predetermined angle are preferably 30 degree.
9. guider according to claim 1, described information acquisition device obtains above-mentioned transport information by communicating with the server that traffic-information service is provided.
10. guider according to claim 9, the transport information that described server sends is based on the consensus standard of intelligent transportation system.
11. the path searching method therefor of a guider has:
Current location detects step;
The destination input step;
The track search step is explored from above-mentioned current location and is detected the walking path of the current location of step detection to the destination of being imported by above-mentioned purpose ground input step;
The route guidance step, the driving path of exploring according to described track search step arrives the route guidance of destination,
It is characterized in that having:
Step display, the road-map of demonstration current location periphery;
Information obtains step, obtains transport information from the outside, and this transport information comprises the prediction destination, stop up the place or each positional information of the restriction place of travelling, split point that above-mentioned obstruction place or the restriction place of travelling are made a circulation;
Controlled step, step obtains above-mentioned obstruction place or the position in the restriction place of travelling is positioned on the above-mentioned driving path when above-mentioned information obtains, and the position of above-mentioned prediction destination from above-mentioned current location see be positioned at the above-mentioned purpose place to transport information the time, make above-mentioned track search step explore new driving path again, make new driving path arrive above-mentioned purpose ground via the above-mentioned split point that comprises in this transport information.
12. the path searching method therefor of guider according to claim 11 also has the path cost calculation procedure, calculates to comprise the length of above-mentioned walking path and/or the path cost of the running time on the above-mentioned walking path arrival above-mentioned purpose ground that travels.
13. the path searching method therefor of guider according to claim 12, when above-mentioned information obtains when comprising the positional information of a plurality of above-mentioned split points in the above-mentioned transport information that step obtains, described controlled step is according to described path cost calculation procedure result calculated, and the distance that above-mentioned track search step is explored via at least one split point in a plurality of above-mentioned split points and arrival above-mentioned purpose ground again is the shortest new driving path.
14. the path searching method therefor of guider according to claim 12, when above-mentioned information obtains when comprising the positional information of a plurality of above-mentioned split points in the above-mentioned transport information that step obtains, described controlled step is according to described path cost calculation procedure result calculated, and the running time that above-mentioned track search step is explored via at least one split point in a plurality of above-mentioned split points and arrival above-mentioned purpose ground again is the shortest new driving path.
15. the path searching method therefor of guider according to claim 11, step obtains the obstruction place or the restriction place of travelling is positioned on the above-mentioned driving path when above-mentioned information obtains, and the position of above-mentioned prediction destination from above-mentioned current location see be positioned at the above-mentioned purpose place to a plurality of transport information the time, at least one split point that described controlled step is explored described track search step to comprise jointly via above-mentioned a plurality of transport information again and arrive the new driving path of destination.
16. the path searching method therefor of guider according to claim 11, step obtains the obstruction place or the restriction place of travelling is positioned on the above-mentioned driving path when above-mentioned information obtains, and the position of above-mentioned prediction destination from above-mentioned current location see be positioned at the above-mentioned purpose place to a plurality of transport information the time, described controlled step make described track search step explore again via in above-mentioned a plurality of transport information, at least one split point that comprises in the nearest transport information in above-mentioned prediction destination and above-mentioned purpose ground and the new driving path that arrives the destination.
17. the path searching method therefor of guider according to claim 11, also has the direction determining step, described direction determining step is when the straight line that connects current location and described prediction destination, with be connected the angle of current location between the straight line of described destination when predetermined angle is following, judge that described prediction destination sees the direction that is positioned at above-mentioned purpose ground from above-mentioned current location.
18. the path searching method therefor of guider according to claim 17, described predetermined angle are preferably 30 degree.
19. the path searching method therefor of guider according to claim 11, described information are obtained step and are obtained above-mentioned transport information by communicating with the server that traffic-information service is provided.
20. the path searching method therefor of guider according to claim 19, the transport information that described server sends is based on the consensus standard of intelligent transportation system.
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