CN101865696B - Navigation device and path planning method and navigation method thereof - Google Patents
Navigation device and path planning method and navigation method thereof Download PDFInfo
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- CN101865696B CN101865696B CN201010152014.7A CN201010152014A CN101865696B CN 101865696 B CN101865696 B CN 101865696B CN 201010152014 A CN201010152014 A CN 201010152014A CN 101865696 B CN101865696 B CN 101865696B
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Abstract
The invention relates to a navigation device and a path planning method and a navigation method thereof. The path planning method comprises the following steps: determining information on a departure place and a destination; carrying out path planning according to the information on the departure place and the destination, the pre-stored walking navigation data and the pre-stored road information; and obtaining a planned path. The invention also provides a navigation device and a navigation method. Since squares, walkable open lawns and other road are considered in the path planning in the technical scheme, the invention can plan a more humane path for the user and save the time of the user.
Description
Technical field
The present invention relates to airmanship, more particularly, relate to method and the air navigation aid of a kind of navigator and path planning thereof.
Background technology
Airmanship GPS (Global Positioning System, GPS) principle of work be: navigation terminal receives the position coordinates that at least 3 satellites transmit in earth-circling 24 gps satellites, the position coordinates recorded in the electronic chart itself and terminal self are stored mates, and determines with this accurate location of navigation object in electronic chart carrying this terminal.After user sets departure place and destination, navigating instrument meeting compute best paths, and be user's navigation according to the optimal path calculated.
At present, navigational system mostly is automobile-used, is loaded in vehicle by navigational system, and onboard navigation system is vehicle path planning according to the feature that vehicle travels, thus navigates for vehicle.But when walking navigation path computing, as the road surface such as square, the Open lawn that can walk do not participate in path planning, make the inadequate hommization in path cooked up, waste the time of user.
Summary of the invention
The technical problem to be solved in the present invention is, for the defect of the inadequate hommization of path planning of the above-mentioned pedestrian navigation device of prior art, provides a kind of navigator of hommization more and the method for path planning thereof and air navigation aid.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of paths planning method, comprising:
Determine departure place, destination information;
Path planning is carried out according to departure place, destination information and the walking navigation data prestored and road surface information;
Obtain described path planning.
In paths planning method of the present invention, describedly carry out path planning step according to departure place, destination information and the walking navigation data prestored and road surface information and comprise: if departure place and/or destination are in road surface, or according to the road surface of next-door neighbour at least partially in departure place, destination information and the walking navigation data schema initial path that prestores, then road surface information participates in path computing, carry out the path planning that distance is the shortest, otherwise road surface information does not participate in path computing.
In paths planning method of the present invention, if according to the road surface of next-door neighbour at least partially in departure place, destination information and the walking navigation data schema initial path that prestores, then on the limit of road surface, get and second point at first, make described departure place be that described departure place is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of first, and make described destination be that described destination is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of second point; Connect at described first and become the first line segment with described second point, and with the path between first in described first line segment replacement initial path and second point, to form final path planning.
In paths planning method of the present invention, if one only in departure place and destination in road surface, then get thirdly on the limit of road surface, and planning is from described another both to described path thirdly, described another in both is made to be that described another distance to the limit of described road surface in both is the shortest to distance thirdly; Connect described in both one and thirdly become the second line segment with described, and with described second line segment add in planned both another arrive described thirdly between path, to form final path planning.
In paths planning method of the present invention, if departure place and destination are both in same road surface, then connect described departure place and become the 3rd line segment with described destination, and described 3rd line segment is final path planning.
The present invention also constructs a kind of air navigation aid, comprising:
Determine departure place, destination information;
Path planning is carried out according to departure place, destination information and the walking navigation data prestored and road surface information;
Obtain path planning;
Receive the navigation instruction of user's input;
Receive gps signal according to described gps signal determination current location;
Navigate according to described current location and described path planning.
The present invention also constructs a kind of navigator, comprising:
First receiving element, for determining departure place, destination information;
Path planning unit, for carrying out path planning according to departure place, destination information and the walking navigation data prestored and road surface information;
Path obtains unit, for obtaining path planning.
In navigator of the present invention, described path planning unit also comprises:
Judgment sub-unit, for judging departure place and/or destination whether in road surface, or judges according to whether being close to road surface at least partially in departure place, destination information and the walking navigation data schema initial path that prestores;
Subelement is determined in path, for judging that departure place and/or destination are in road surface, or when judging according to the road surface of next-door neighbour at least partially in departure place, destination information and the walking navigation data schema initial path that prestores, then road surface information participates in path planning, carries out distance shortest path planning; Otherwise road surface information does not participate in planning.
In navigator of the present invention, described navigator also comprises:
Second receiving element, for receiving the navigation instruction of user's input;
Position determination unit, for receiving gps signal and according to described gps signal determination current location;
Navigation elements, for navigating according to described current location and described path planning.
In navigator of the present invention, also comprise: described navigator also comprises:
Display unit, for showing described current location and described path planning on electronic chart.
Implement method and the air navigation aid in navigator of the present invention and path thereof, because the road surface such as square, the Open lawn that can walk take part in path planning, therefore can cook up the path of hommization more for user, save the time of user.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the process flow diagram of paths planning method embodiment one of the present invention;
Fig. 2 is the process flow diagram of step S200 embodiment one in Fig. 1;
Fig. 3 is that road surface participates in planning schematic diagram that is front and institute's path planning after planning;
Fig. 4 is the process flow diagram of air navigation aid embodiment one of the present invention;
Fig. 5 is the building-block of logic of navigator embodiment one of the present invention;
Fig. 6 is the building-block of logic of navigator embodiment two of the present invention;
Fig. 7 is the building-block of logic of navigator embodiment three of the present invention;
Fig. 8 is the building-block of logic of navigator embodiment four of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is described in further detail.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, in the process flow diagram of paths planning method embodiment one, the method comprises the following steps:
Step S100. determines departure place, destination information, wherein, determining that departure place information is determined by the departure place information receiving user's input, also by receiving gps signal determination current location, and current location being defined as departure place information; Determining that destination information is determined by the destination information receiving user's input, also can determine by receiving the destination information sent from other equipment.
Step S200. carries out path planning according to departure place, destination information and the walking navigation data prestored and road surface information;
Step S300. obtains described path planning.
In step s 200, the walking navigation data prestored comprise basic walking data, can also comprise important walking data and/or secondary walking data.Walking data in basis can complete the walking circuit with actual walking meaning, realize navigation.Important walking data, secondary walking data are on the basis realizing walking navigation, realize with actual life properer, walking navigation accurately, is optimized basic walking navigation, to expect to reach navigation purpose more accurately, walking navigation is carried out to the optimization of hommization more.
Walking data in basis comprise road walkway, should be noted that, most carriageway can become pedestrian walkway after removing its vehicle road traffic rules properties, such as calm four tunnels etc., but some carriageway pedestrian can not get on, such as a part of overpass, highway, therefore outside the vehicle road traffic rules properties removing carriageway, need to remove this part overpass, highway, do not allow it participate in the planning of walking circuit.In addition, basic walking data can also comprise following at least one: zebra stripes, overpass, tunnel (comprise subway tunnel, pedestrian tunnel, cross street culvert or street pedestrian's dedicated tunnel etc.).It should be noted that in bus-stop, zebra stripes do not gather and store when gathering and store zebra stripes data at this, such as, have zebra stripes between dark viaduct station, fragrant sweet lake 1, south and station 2; When gathering and store overpass data, each crossing attribute of overline bridge all gathers and stores, as sky bridge shape, and export volume, the direction of each gateway and photo etc. belong in bus platform; Gather and storage tunneling data time, each crossing attribute in tunnel all needs gather and store, as the quantity of gateway, each specific names exported, the direction of each gateway and photo etc.
Important walking data comprise following at least one: primary commercial shopping mall, city, villages within the city's bicycle lane, lane.Wherein, such as there is shopping mall, east gate, Shenzhen primary commercial shopping mall, city, shopping mall, Wangfujing, Beijing, shopping mall, Chun Xi road, Chengdu, Jianghan Road shopping mall, Wuhan, Nanjing Road East shopping mall, Nanjing etc.; Villages within the city's bicycle lane, lane such as have Shang Sha village, Shenzhen, the road of the villages within the city such as Xia Sha village, the lane in areas of Beijing.
Secondary walking data type comprises following at least one: open Urban Parks road, open sight spot, opened industrial garden/large-scale scientific and technological park accommodation road, large-scale community/community road, large-scale Public Transport Transfer station.Wherein, open Urban Parks road comprises 24 hours open Urban Parks and non-24 hours Open style parks.Such as have Shenzhen Mangrove woods, riverside park, Wuhan, VolksGarden, Chengdu, is free of charge, but may have enabling and lockup restriction; Open sight spot, i.e. free sight spot, such as Bund in Shanghai, but do not comprise sight spot, scenic spot; Opened industrial garden/large-scale scientific and technological park accommodation road, such as, have the digital city of Tian An, Technology Park, South Mountain, software centre, the self-sufficient and strategically located region, Chengdu etc.; Such as there is Shenzhen Nan Touguan at large-scale Public Transport Transfer station, and Buji closes, Wuhan Lu Xiang bus station, train northern station, Chengdu bus station, five Gui Qiao bus stations, railway station, Guangzhou etc.
In the road surface information prestored, road surface, refer to the opening in open circle, centre can freely be passed through, and as the Tian'anmen Square, Open lawn etc., passerby can clog-freely walk.The limit of road surface defines road surface, and the limit of described road surface can be line segment, can be also curve, and the road surface information stored, comprises the positional information on the limit of the road surface surrounded.When gathering road surface data, according to there being Lu Zexian to gather road, there iing face to gather road surface, having the principle collection then gathering road surface when face without road.
Preferably, as shown in Figure 2, step S200 can specifically comprise the following steps:
Step S201. judges departure place and/or destination whether in road surface, or judges according to whether being close to road surface at least partially in departure place, destination information and the walking navigation data schema initial path that prestores; If so, then S202 is gone to step; If not, then S203 is gone to step;
Step S202. road surface information participates in path computing, carries out the path planning that distance is the shortest, then performs step S300;
Step S203. road surface information does not participate in path computing, then performs step S300.
Preferably, in step S202, namely judge that departure place and/or destination are in road surface, or when judging according to the road surface of next-door neighbour at least partially in departure place, destination information and the walking navigation data schema initial path that prestores, have again following three kinds of situations:
The first: is if the judged result of step S201 is according to departure place, the road surface of next-door neighbour at least partially in destination information and the walking navigation data schema initial path that prestores, then in step S202, first, the limit of road surface is got first and second point, described departure place is made to be that described departure place is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of first, and make described destination be that described destination is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of second point, then, connect at described first and become the first line segment with described second point, and with the path between first in described first line segment replacement initial path and second point, to form final path planning.
The second: if the judged result of step S201 is in only departure place and destination is in road surface, then in step S202, first, the limit of road surface is got thirdly, and planning is from described another both to described path thirdly, described another in both is made to be that described another distance to the limit of described road surface in both is the shortest to distance thirdly; Then, connect described in both one and thirdly become the second line segment with described, and with described second line segment add in planned both another arrive described thirdly between path, to form final path planning.
The third: if the judged result of step S201 be departure place and destination both in same road surface, then in step S202, connects described departure place and become the 3rd line segment with described destination, and described 3rd line segment is final path planning.
Preferably, in the method, after acquisition path planning, also comprise, electronic chart shows path planning.
Illustrate that road surface participates in planning difference that is front and institute's path planning after planning below in conjunction with Fig. 3, as shown in Figure 3, point S is departure place, for the purpose of some E, rectangle frame is road surface, line segment SM-MN-NQ-QE is the initial path of planning, namely road surface information does not participate in the path planning of calculating, wherein, MN section in initial path and NQ section are the limit of road surface, and departure place S and destination E is not in road surface, so, the limit of road surface is got an A and puts B, make invocation point S along initial path to the distance of some A be that the distance of a S along initial path to the limit of road surface the shortest, and make invocation point E along initial path to some B distance be that the distance of an E along initial path to the limit of road surface is the shortest, then, tie point A becomes line segment AB with some B, and with the path that line segment AB replaces the some A (M) in initial path and puts between B (N), so, final path planning is line segment SA-AB-BE.It is shorter that this final path planning compares initial plan path, and therefore, hommization more, saves the time of user.Difference before road surface information in other two kinds of situations participates in path planning and after participation path planning is similar with it, does not repeat at this.
In the process flow diagram of air navigation aid embodiment one of the present invention as shown in Figure 4, the method comprising the steps of S100 is to step S600, wherein, step S100 to step S300 is identical with paths planning method embodiment one, therefore not to repeat here, before please refer to illustrate, below only description of step S400 to step S600:
Step S400. receives the navigation instruction of user's input;
Step S500. receives gps signal according to described gps signal determination current location;
Step S600. navigates according to described current location and described path planning.
Preferably, this air navigation aid also can comprise: will show described current location and described path planning on electronic chart.Wherein, the mode of display can be identified on electronic chart with one to be shown, and mark can use arrow, bright mark etc., can also add other icons or word, give user Way guidance, navigate by the mode of interface display.
Similarly, the step S200 in this air navigation aid also can comprise step S201 in above-mentioned paths planning method to step S203, and therefore not to repeat here, please refer to above-mentioned explanation.
In the building-block of logic of navigator embodiment one of the present invention as shown in Figure 5, this navigator comprises the first receiving element 100, path planning unit 200 and path and obtains unit 300, wherein,
First receiving element 100, for determining departure place, destination information;
Path planning unit 200, for carrying out path planning according to departure place, destination information and the walking navigation data prestored and road surface information;
Path obtains unit 300, for obtaining path planning.
In the building-block of logic of navigator embodiment two of the present invention as shown in Figure 6, this navigator comprises the first receiving element 100, path planning unit 200 and path and obtains unit 300, wherein, first receiving element 100 and path obtain unit 300 and the first receiving element 100 in the navigator embodiment one shown in Fig. 5 and path, and to obtain unit 300 identical, therefore not to repeat here, its different part is below only described, path planning unit 200 comprises judgment sub-unit 201, subelement 202 is determined in path, wherein
Judgment sub-unit 201, for judging departure place and/or destination whether in road surface, or judges according to whether being close to road surface at least partially in departure place, destination information and the walking navigation data schema initial path that prestores;
Subelement 202 is determined in path, for judging that departure place and/or destination are in road surface, or when judging according to the road surface of next-door neighbour at least partially in departure place, destination information and the walking navigation data schema initial path that prestores, then road surface information participates in path planning, carries out distance shortest path planning; Otherwise road surface information does not participate in path planning.
Preferably, path determines that the function of subelement 202 specifically has following 3 points: first: if the judged result of judgment sub-unit 201 is according to departure place, the road surface of next-door neighbour at least partially in destination information and the walking navigation data schema initial path that prestores, then path determines that first subelement 202 gets and second point at first on the limit of road surface, described departure place is made to be that described departure place is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of first, and make described destination be that described destination is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of second point, then connect at described first and become the first line segment with described second point, and with the path between first in described first line segment replacement initial path and second point, to form final path planning.Second: if the judged result of judgment sub-unit 201 is in only departure place and destination is in road surface, then path determines that first subelement 202 is got thirdly on the limit of road surface, and planning is from described another both to described path thirdly, described another in both is made to be that described another distance to the limit of described road surface in both is the shortest to distance thirdly; Then connect described in both one and thirdly become the second line segment with described, and with described second line segment add in planned both another arrive described thirdly between path, to form final path planning.3rd: if the judged result of judgment sub-unit 201 be departure place and destination both in same road surface, then path determines that subelement 202 connects described departure place and becomes the 3rd line segment with described destination, and described 3rd line segment is final path planning.
In the building-block of logic of navigator embodiment three of the present invention as shown in Figure 7, this navigator comprises the first receiving element 100, path planning unit 200, path obtains unit 300, second receiving element 400, position determination unit 500 and navigation elements 600, wherein, first receiving element 100, path planning unit 200, path obtains unit 300 and the first receiving element 100 in the navigator embodiment one shown in Fig. 5, path planning unit 200, it is identical that path obtains unit 300, therefore not to repeat here, second receiving element 400 is below only described, position determination unit 500 and navigation elements 600:
Second receiving element 400, for receiving the navigation instruction of user's input;
Position determination unit 500, for receiving gps signal and according to described gps signal determination current location;
Navigation elements 600, for navigating according to affiliated current location and described path planning.
Preferably, path planning unit 200 also can comprise judgment sub-unit 201 in navigator embodiment two as shown in Figure 6, subelement 202 is determined in path, and therefore not to repeat here, specifically please refer to above-mentioned explanation.
In the building-block of logic of navigator embodiment four of the present invention as shown in Figure 8, this navigator comprises the first receiving element 100, path planning unit 200, path obtains unit 300, second receiving element 400, position determination unit 500, navigation elements 600 and display unit 700, wherein, first receiving element 100, path planning unit 200, path obtains unit 300, second receiving element 400, position determination unit 500 and navigation elements 600 and the first receiving element 100 in the navigator embodiment three shown in Fig. 7, path planning unit 200, path obtains unit 300, second receiving element 400, position determination unit 500 is identical with navigation elements 600, therefore not to repeat here, its display unit 700 is below only described:
Display unit 700, for showing described current location and described path planning on electronic chart.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within right of the present invention.
Claims (5)
1. a paths planning method, is characterized in that, comprising:
Determine departure place, destination information;
Path planning is carried out according to departure place, destination information and the walking navigation data prestored and road surface information;
Obtain described path planning;
Wherein carry out path planning step according to departure place, destination information and the walking navigation data prestored and road surface information to comprise:
If according to the road surface of next-door neighbour at least partially in departure place, destination information and the walking navigation data schema initial path that prestores, then on the limit of road surface, get and second point at first, make described departure place be that described departure place is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of first, and make described destination be that described destination is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of second point; Connect at described first and become the first line segment with described second point, and with the path between first in described first line segment replacement initial path and second point, to form final path planning;
If one only in departure place and destination in road surface, then get thirdly on the limit of road surface, and planning is from described another both to described path thirdly, described another in both is made to be that described another distance to the limit of described road surface in both is the shortest to distance thirdly; Connect described in both one and thirdly become the second line segment with described, and with described second line segment add in planned both another arrive described thirdly between path, to form final path planning;
If departure place and destination are both in same road surface, then connect described departure place and become the 3rd line segment with described destination, and described 3rd line segment is final path planning.
2. an air navigation aid, is characterized in that, comprising:
Determine departure place, destination information;
Path planning is carried out according to departure place, destination information and the walking navigation data prestored and road surface information;
Obtain path planning;
Receive the navigation instruction of user's input;
Receive gps signal according to described gps signal determination current location;
Navigate according to described current location and described path planning;
Wherein, according to departure place, destination information and the walking navigation data prestored and road surface information are carried out path planning step and are comprised: if according to departure place, the road surface of next-door neighbour at least partially in destination information and the walking navigation data schema initial path that prestores, then on the limit of road surface, get and second point at first, described departure place is made to be that described departure place is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of first, and make described destination be that described destination is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of second point, connect at described first and become the first line segment with described second point, and with the path between first in described first line segment replacement initial path and second point, to form final path planning,
If one only in departure place and destination in road surface, then get thirdly on the limit of road surface, and planning is from described another both to described path thirdly, described another in both is made to be that described another distance to the limit of described road surface in both is the shortest to distance thirdly; Connect described in both one and thirdly become the second line segment with described, and with described second line segment add in planned both another arrive described thirdly between path, to form final path planning;
If departure place and destination are both in same road surface, then connect described departure place and become the 3rd line segment with described destination, and described 3rd line segment is final path planning.
3. a navigator, is characterized in that, comprising:
First receiving element, for determining departure place, destination information;
Path planning unit, for carrying out path planning according to departure place, destination information and the walking navigation data prestored and road surface information; Described road surface is the open opening surrounded by limit that can freely pass through, and described road surface information comprises the positional information on the limit of road surface;
Path obtains unit, for obtaining path planning;
Described path planning unit also comprises:
Judgment sub-unit, for judging according to whether being close to road surface at least partially in departure place, destination information and the walking navigation data schema initial path that prestores;
Path determine subelement for:
If the judged result of judgment sub-unit is according to departure place, the road surface of next-door neighbour at least partially in destination information and the walking navigation data schema initial path that prestores, then path determines that first subelement gets and second point at first on the limit of road surface, described departure place is made to be that described departure place is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of first, and make described destination be that described destination is the shortest to the distance on the limit of described road surface along described initial path along described initial path to the distance of second point, then connect at described first and become the first line segment with described second point, and with the path between first in described first line segment replacement initial path and second point, to form final path planning,
If the judged result of judgment sub-unit is in only departure place and destination is in road surface, then path determines that first subelement is got thirdly on the limit of road surface, and planning is from described another both to described path thirdly, described another in both is made to be that described another distance to the limit of described road surface in both is the shortest to distance thirdly; Then connect described in both one and thirdly become the second line segment with described, and with described second line segment add in planned both another arrive described thirdly between path, to form final path planning;
If the judged result of judgment sub-unit be departure place and destination both in same road surface, then path determines that subelement connects described departure place and becomes the 3rd line segment with described destination, and described 3rd line segment is final path planning.
4. navigator according to claim 3, is characterized in that, described navigator also comprises:
Second receiving element, for receiving the navigation instruction of user's input;
Position determination unit, for receiving gps signal and according to described gps signal determination current location;
Navigation elements, for navigating according to described current location and described path planning.
5. navigator according to claim 4, is characterized in that, also comprises: described navigator also comprises:
Display unit, for showing described current location and described path planning on electronic chart.
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| CN104268384A (en) * | 2014-09-17 | 2015-01-07 | 沈阳美行科技有限公司 | Method for calculating hybrid line of navigated vehicle and walk |
| CN107341226B (en) * | 2017-06-30 | 2021-06-22 | 北京奇虎科技有限公司 | Information display method and device and mobile terminal |
| CN113791627B (en) * | 2021-11-16 | 2022-02-11 | 中国科学院自动化研究所 | Robot navigation method, equipment, medium and product |
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| CN1997875A (en) * | 2004-07-20 | 2007-07-11 | 株式会社日本耐美得 | Path searching device, path searching method and program |
| CN101532847A (en) * | 2009-04-21 | 2009-09-16 | 深圳市凯立德计算机系统技术有限公司 | A method and a device for displaying points of interest result |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1997875A (en) * | 2004-07-20 | 2007-07-11 | 株式会社日本耐美得 | Path searching device, path searching method and program |
| CN101532847A (en) * | 2009-04-21 | 2009-09-16 | 深圳市凯立德计算机系统技术有限公司 | A method and a device for displaying points of interest result |
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