CN102128631A - Path searching method, navigation server and navigator - Google Patents

Path searching method, navigation server and navigator Download PDF

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CN102128631A
CN102128631A CN2010100036950A CN201010003695A CN102128631A CN 102128631 A CN102128631 A CN 102128631A CN 2010100036950 A CN2010100036950 A CN 2010100036950A CN 201010003695 A CN201010003695 A CN 201010003695A CN 102128631 A CN102128631 A CN 102128631A
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path
chain
link
road
candidate
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CN102128631B (en
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伏木匠
刘勃
山根宪一郎
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歌乐株式会社
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Abstract

The invention provides a path searching method on the basis of an effective path chain, which comprises the following steps of: selecting at least one part of a path chain when a terminal point of at least one path chain in the original path net structure is connected with starting points of a plurality of path chains to cause at least one path chain to have a plurality of different path chain travelling time; transforming the original path net structure formed by all the path chains into a new path net structure on the basis of the selected path chain and corresponding travelling time of theplurality of different path chains; and searching the optimal path according to the novel path net structure. After that, the optimal path is reversedly transformed to an optimal transformation path on the basis of the original path net structure, and the optimal transformation path is displayed in the original path net structure. In addition, the invention also provides a navigation server and anavigator used for realizing the path searching method based on the effective path chain.

Description

路径搜索方法、导航服务器和导航仪 Path search method, the navigation server and navigator

技术领域 FIELD

[0001] 本发明涉及导航技术,更具体地,涉及一种导航方法和导航系统(包括导航服务器和导航仪),能够在原路网中动态查找和变换有效路链得到新路网,并基于新路网进行路径搜索。 [0001] The present invention relates to a navigation technology, and more particularly, to a navigation method and a navigation system (navigation server and the navigation device comprises a) to dynamically find and transform effective way to give the new link in the road network in the same way network, and based on the new road network search path. 路链是实际道路在地图上的表示形式,一条路链如果具有多个与流向相关的路链阻抗,那么就将该路链称为有效路链。 Road chain is a representation of an actual road on the map, if you have more than one way link associated with the flow impedance of the road link, then the link road called effective way chain.

背景技术 Background technique

[0002] 最优路径搜索是车辆导航系统中的核心技术,根据路径计算所基于的信息类型, 可分为静态路径计算和动态路径计算。 [0002] The optimum route search is the core technology in the vehicle navigation system, according to the type of calculation based on the information of the path, the path computation can be divided into static and dynamic route calculation. 静态路径计算是根据道路的静态信息如长度、等级、 限速、收费等信息计算最优路径。 Static route calculation are based on static information, such as road length, grade, speed, and other information charges optimal path. 动态路径计算是根据动态实时交通信息计算最优路径。 Dynamic route calculation is based on dynamic real-time traffic information to calculate the optimal route. 根据路径计算的执行单元不同又可将车辆导航分为中心导航和车载导航。 Different path computation of vehicle navigation according to the execution unit can be divided into the navigation center and the car navigation. 中心导航的路径计算由位于导航服务器的计算单元完成,车载导航的路径计算由车载的计算单元完成,本发明中的路径计算既可以在导航服务器实现,也可以在车载终端实现。 Central navigation route calculation is done by the calculation unit of the navigation server, the car navigation route has been calculated by the calculation unit of the vehicle, calculating the path in the present invention can be implemented in either the navigation server may be implemented in a vehicle-mounted terminal.

[0003] 现有的导航系统多是基于静态信息进行路径计算。 [0003] existing navigation systems are mostly based on static information for route calculation. 但城市道路的拥堵情况是动态变化的,所以基于静态信息的最优路径计算结果与实际最优路径经常出现较大偏差。 But congestion on city roads is dynamic, so the optimal path is calculated based on static information with the actual optimal path often larger deviations. 因此一些较先进的导航系统提出基于实时交通信息计算最优路径,所利用的实时交通信息主要是反映道路拥堵程度的信息。 So some of the more advanced navigation system is proposed to calculate the optimal route based on real-time traffic information, the use of real-time traffic information primarily reflects the degree of road congestion information. 如日本专利申请公开2001-352501、美国专利申请公开2007/0162222A1、中国专利ZL200510089079. 0中都提到了用车辆通过路链的平均速度或平均旅行时间作为路链的阻抗,计算最优路径。 Japanese Patent Application Publication No. 2001-352501, US Patent Application Publication 2007 / 0162222A1, Chinese patent ZL200510089079. 0 vehicles are mentioned by way of chain average speed or average travel time as an impedance path chain, calculating the optimal path. 车辆通过路链所花费的时间称为路链旅行时间。 By the time a vehicle takes to the road called chain link travel time. 但是这些导航系统并没有考虑到路链旅行时间可能是流向相关的,如果道路交叉口允许红灯时车辆右转,那么右转车辆在交叉口的等待时间就会比直行和左转车辆短,即对于同一路链右转车辆平均旅行时间要小于左转和直行车辆。 But these navigation systems do not take into account the link travel time may be related to the flow, if the red light road intersection to allow vehicles to turn right, then right-turning vehicles in the waiting time will be shorter than the straight intersection and left-turning vehicles, That is the same way for the average travel time is less than the chain right-turning vehicles turn left and go straight vehicles. 所以基于实时道路拥堵程度计算最优路径时,需要考虑路链阻抗的流向性。 Therefore, when calculating the optimal path in real time based on the extent of road congestion, the need to consider the flow of the road chain impedance. 如果考虑路链阻抗的流向性,那么每条路链就有多个阻抗值,当前导航系统中广泛应用的经典路径计算方法Dijkstra算法或A*算法都要求路链或节点的阻抗是单一值。 Consideration of flow path resistance chain, then the chain each have a plurality of road resistance value, the current Navigation System classical route calculation method widely Dijkstra's algorithm or A * algorithm are required impedance path node is a chain or a single value. 所以如何将分流向的路链阻抗化解为传统的单一路链阻抗是一个必须解决的问题。 So how impedance shunt path to resolve chain for the traditional single-way chain impedance is a problem that must be addressed.

[0004] 分流向的路链阻抗问题与分流向的交叉口延误问题本质上是相同问题,路径计算中考虑流向相关的交通路口延误已经被研究了很多年。 [0004] to split the road chain problems and impedance shunt to turn penalty is the same problem on the nature of the problem, consider the flow path calculations related traffic junctions delay has been studied for many years. 当前在路径计算时对分流向的交叉口延误处理方法有:a.将不同流向的交叉口延误平均后作为一个附加项加入路链阻抗; b.添加逻辑边或逻辑点;c.利用对偶图理论处理流向相关的交叉口延误。 When current diversion to the intersection of the path computation delay processing method has: a different flow to the intersections of the average delay as an additional term added to the chain path impedance; B side logical add or a logical point; C using the dual graph... delays in the processing flow related to the theory of intersection. 方法a抹杀了不同流向交叉口延误的互异性,实际上是忽略而不是解决这个问题,方法b使网络规模倍增, 方法c带来了大量的额外计算量。 Methods denied a delay of different flow intersection reciprocity, in fact, is to ignore the problem rather than solving, the network scale multiplication method b, c method has brought a lot of additional computation. 方法b和c本质上都是进行路网变换,也可以应用于解决分流向的路链阻抗问题,但是同样需要克服方法本身的缺陷。 Are carried out on the methods b and c transform the nature of the road network, it can also be applied to solve the problem of impedance shunt path to the chain, but also need to overcome the drawbacks of the method itself. 而且方法b和方法c都是对整个路网进行变换,没有考虑到有效性问题,即实际上有些路链的阻抗流向相关性很小, 即各个流向的阻抗差异很小,根本不值得进行路网变换。 And the method b, and c are methods to transform the entire road network, without taking into account the effectiveness of the problem that in fact some roads impedance chain flow correlation is small, that is, each flow impedance difference is very small, simply not worth the road network transformation. 所以对整个路网不加区分的进行变换,必然会大规模的增加路网结构或增加计算量,导致这些方法无法有效的应用到实际导航系统中。 Therefore, the entire road network is converted without distinguishing bound massive increase in network structure or a calculation amount increases, leading to these methods can not be effectively applied to an actual navigation system.

[0005] 为了解决以上问题。 [0005] In order to solve the above problem. 本发明提出有效路链的概念,有效路链是指各流向上路链阻抗差异比较明显的路链。 Concept of the present invention provides an effective way of the chain, each chain refers to the effective flow passage road chain obvious difference in impedance path chain. 本发明所述系统具有动态检测路网中的有效路链的功能,对路网中的有效路链动态的进行变换,对非有效路链用各流向的平均值作为路链阻抗,保证处理后的路链阻抗值都是单一值,能够被当前广泛采用的路径计算算法所使用。 The system of the present invention has a function of detecting a valid path chain dynamic road network, the effective dynamic road link in the road network is transformed, non-effective way of using the average of the flow of the chain as the chain path impedance securing processing the chain path resistance value is a single value, the current path can be widely used in calculation algorithm used. 本发明只对有效路链进行变换保证了不会大幅增加路网规模,不会大幅增加计算量,变换后的新路网能够应用于经典的路径搜索算法保证了本发明所提出的系统能够很方便的应用到实际导航系统中。 The present invention only effective way to ensure that the chain does not transform a substantial increase in size of the network, would not substantially increase the amount of calculation, transformed the new road network can be used in the classic path search algorithms to ensure that the system proposed by the present invention can be very easily applied to actual navigation system.

发明内容 SUMMARY

[0006] 本发明的目的在于通过动态的对路网中的有效路链进行变换,在不大幅增加路网规模、不增加传统路径计算算法复杂度和计算量的情况下,以流向相关的路链旅行时间或速度作为路链阻抗,计算两点间最优路径。 [0006] The object of the present invention is transformed by the effective dynamic road link in the road network, without a substantial increase in size of the network, without increasing the complexity and the traditional path computation algorithm to the associated flow path link travel time or speed chain impedance as a way to calculate the optimal path between two points. 有效路链是指各流向上路链阻抗差异比较明显的路链。 Effective means that each flow passage road link chain obvious difference in impedance path chain. 本发明所述导航服务器首先动态的检测出当前路网中的有效路链,然后当用户请求路径搜索时,只对特定区域内有效路链进行变换,使得变换后得到的路链和节点只拥有单一阻抗值,最后在服务器端或客户端利用现有路径计算算法算出一条最优路径。 The navigation server of the present invention is first detected after the effective dynamic road link the current road network, and when the user requests a route search, only the effective path conversion chain in a specific area, such that the chain path and transform node has only single resistance value, and finally calculates an optimum path on the server or client side using existing path calculation algorithm.

[0007] 导航系统计算最优路径时,可以依据不同类型的路链阻抗,计算出不同类型的最优路径。 [0007] The navigation system calculating the optimal route, the road link can be based on different types of impedances, calculate the optimal paths of different types. 例如以路链长度作为路链阻抗,那么得到的最优路径称之为最短路径。 For example, as a chain length of path impedance path chain, the obtained optimum path is called shortest path. 如果以路链最大限速作为路链阻抗,那么得到的最优路径通常称之为最快路径。 If the maximum speed limit road chain as the chain impedance path, then we will get the optimal path commonly referred to as the quickest route. 这两种都是基于静态信息得到的最优路径,如果以实际所花费时间最短为准则的话,以上两种方法得到的路径往往都不是最优,真正最优的路径应该是以实时路链拥堵程度为路链阻抗,计算出来的最优路径,所以必须有系统能够提供实时路链拥堵程度,如日本专利07-(^9098(1995)介绍的浮动车系统。浮动车系统在中国已经越来越普及,但是现有的浮动车系统都是只计算路链旅行时间是一个平均值,没有区分流向,这种平均值适合于显示道路拥堵程度。但是导航系统中的路径计算是流向相关的,所以根据流向相关的路链旅行时间计算出来的路径比根据平均路链旅行时间更准确。但是并不是每条路链的分流向的阻抗都有明显差异,所以本发明提供一种有效路链检测装置,用于检测路网中各流向阻抗有明显差异的路链,称之为有效路链。因为道路拥堵状态是 Both are based on the optimal path static information obtained, if the actual time it takes a minimum of criteria, then the above two methods are not often the best path, the path should be based on a true best real-time road congestion chain degree of road chain impedance, calculated the optimal path, there must be a system to provide real-time road congestion level chain, such as Japanese patent 07--. (^ 9098 (1995) describes the floating car system floating car system has been increasingly in China more popular, but conventional systems are only floating car calculated link travel time is an average, there is no distinction between flow, which is adapted to display the average degree of road congestion, but the navigation system calculates route is associated flow, Therefore, according to the calculated link travel time based on the average flow path associated link travel time is more accurate than, but not to the impedance shunt path for each strand has a significant difference, the present invention provides an efficient path detection chain means for flowing each of the impedance detecting a significant difference in the road network path chain, is called effective path chain. since the road is congested state 态变化的,所以有效路链检测装置会动态的检测路网中的有效路链,实时更新系统中的有效路链信息。 State change, the effective road link chain effective path detection means for detecting dynamically the road network, the road link information updated in real time effective system.

[0008] 有效路链拥的阻抗值不是唯一的,要用于路径计算就必须对其进行变换使得阻抗值唯一。 [0008] Effective path chain pro impedance value is not unique, it is necessary to calculate a path such that the impedance value of the transform them unique. 本发明提供一种路网变换装置,可以对所有有效路链进行变换,变换后得到新的路网,在新的路网中,每条路链的阻抗值是单一值,以路链旅行时间作为路链阻抗,计算最优路径。 The present invention provides a network path converting means may transform the chain all valid paths, the new road network obtained after the conversion, the new road network, the road resistance value of each strand is a single value, in order to link travel time as the chain path impedance, calculates the optimal path.

[0009] 导航服务器将最优路径计算结果通过通信装置反馈给用户,并且可以根据路网中有效路链的变化,不断的更新用户的路线。 [0009] The navigation server optimal path calculation result to the user through the communication device, and may vary according to the road network chains effective way, constantly update the user's route. 导航服务器也可以只将有效路链的变换结果通过通信装置发送给客户端,由客户端自己进行最优路径计算。 The navigation server may also only effective way conversion result of the chain to the client through the communication device, by the client's own optimal path computation. 最优路径计算出来后,还需要将计算出来的路径反向变换为原路网结构中能显示的路径,这样才能在客户的导航仪显示装置上显示出来。 After the optimal path is calculated, the calculated required path inverse transform network structure in the same way as the path can be displayed, so that is displayed on the client device to display the navigation device.

[0010] 根据本发明的一个方案,提出了一种基于有效路链的路径搜索方法,包括:当由于原始路网结构中的至少一条路链的终点与多条其他路链的起点相连而导致所述至少一条路链具有多个不同的路链旅行时间时,选择所述至少一条路链中的一部分;基于所选择的路链及其相应的多个不同的路链旅行时间,将由所有路链构成的原始路网结构变换为新的路网结构;以及根据所述新的路网结构,搜索最优路径。 [0010] According to an embodiment of the present invention there is provided a path search method based on the effective passage of the chain, comprising: when the at least one end of the road due to the connection link in the original network structure starting with a plurality of other paths lead to chain said at least one strand having a plurality of different road link travel time, the selected portion of at least one chain path; path based on their corresponding plurality of different chain link travel time of the selected channel by all chains original network structure is converted into a new network structure; and the new network structure, according to the search for the optimal path.

[0011] 所述基于有效路链的路径搜索方法还可以包括:将所述最优路径反向变换为基于所述原始路网结构的变换最优路径;以及在原始路网结构中,显示所述变换最优路径。 [0011] The route searching method based on the effective passage of the chain may further comprise: the optimal path to an inverse transform based on the transform of the original optimal path network structure; and in the original network structure, the display of the converting said optimal path.

[0012] 优选地,在所述选择步骤中,可以将原始路网结构中具有多个不同的路链旅行时间的路链标记为候选路链,而将原始路网结构中具有单一路链旅行时间的路链标记为非有效路链,以及可以选择所述候选路链中的一部分,标记为有效路链,而将所述候选路链中的剩余路链标记为非有效路链,从而将原始路网结构中的所有路链划分为有效路链和非有效路链。 [0012] Preferably, in the selection step, the network structure in the original path having a plurality of different labeled chain link travel time for the road link candidate, and the original network structure in a single link travel Road marking time as an invalid link chain path, and can select a portion of said chain path candidate, the chain path marked as valid, and the remainder of the candidate road link labeled chain path as an invalid path chain, thereby All road link in the original network structure is divided into active and non-active channel link chain path.

[0013] 更优选地,可以根据每一条候选路链的变异系数,选择所述候选路链中的一部分, 标记为有效路链。 [0013] More preferably, in accordance with a variation coefficient of each candidate path strand, selecting a portion of said chain path candidate, the chain path marked as valid.

[0014] 此时,候选路链i在t时段内的变异系数Li (t)可以按照下述公式计算: [0014] In this case, the coefficient of variation within the candidate road link i in the period t of Li (t) may be calculated according to the formula:

[0015] [0015]

Figure CN102128631AD00081

[0016] 其中,SJt)表示候选路链i在t时段内的多个路链旅行时间的标准差,Ai (t)表示候选路链i在t时段内的多个路链旅行时间的平均值。 [0016] wherein, SJt) represents a plurality of candidate road link i standard link travel time difference in the time period t, Ai (t) represents the average link travel time of a plurality of candidate road link i in the period t .

[0017] 这里,变异系数阈值AL(t)可以是所有η条候选路链在t时段内的变异系数的平均值 [0017] Here, the coefficient of variation of the threshold value AL (t) may be an average variation coefficient η all pieces of candidate paths chains in the period t

[0019] 或者,变异系数阈值AL(t)可以是预先选定的η条代表候选路链在t时段内的变异系数的平均值 Average of the coefficients [0019] Alternatively, the coefficient of variation of the threshold value AL (t) may be pre-selected candidate path η chain bar represents the variation period t

Figure CN102128631AD00082

[0021] 或者,变异系数阈值ALdt)可以是与候选路链i具有相同路链等级j的所有η」条候选路链在t时段内的变异系数的平均值 All average variation coefficient η [0021] Alternatively, the coefficient of variation threshold ALdt) may be a candidate road link i j is the same path chain grade "pieces of candidate road link in the period t

Figure CN102128631AD00083

[0023] 或者,候选路链i在t时段内的变异系数Li (t)可以按照下述公式计算: [0023] Alternatively, the coefficient of variation within the candidate road link i in the period t of Li (t) may be calculated according to the formula:

[0024] [0024]

Figure CN102128631AD00084

[0025] 其中, [0025] wherein,

Figure CN102128631AD00085

表示在t时段内候选路链i的最大路链平均旅行速度,Vi (t)min表示在t时段内候选路链i的最小路链平均旅行速度。 T represents the period of the maximum velocity candidate road link average travel path of the chain i, Vi (t) min denotes the minimum average travel speed of the chain path candidate road link i in the period t.

[0026] 优选地,在所述搜索步骤中,如果起点或终点位于有效路链的非端点位置,则可以将所述起点或所述终点所处的有效路链更新为非有效路链,根据非有效路链的变换规则,更新所述新的路网结构中的所述起点或所述终点所处的有效路链,然后,再搜索最优路径。 [0026] Preferably, in the search step, if the start or end of the chain in a valid way of non-end position, effective path can start or the end of the chain which the chain path update to inactive, according to conversion rule inactive chain path, updating the effective path or the start point of the chain in which the new end point of the road network structure, and then, the optimal path filter.

[0027] 优选地,将候选路链或有效路链更新为非有效路链的步骤可以包括:计算所述候选路链或所述有效路链的多个路链旅行时间的平均值,作为所述非有效路链的路链旅行时间,以及将路链-路链旅行时间表中关于所述候选路链或所述有效路链的多条记录合并更新为关于所述非有效路链的单一记录。 [0027] Preferably, the candidate road link chain or effective way to update the non-effective chain path may include the step of: calculating the average value of the candidate path or chain link travel time more effective way chains, as the link travel time of said non-effective road link, and the road link - link travel schedule record of said plurality of candidate road link chain or the effective path merge updates into a single non-effective with respect to the chain path recording.

[0028] 优选地,所述至少一条路链的多个不同的路链旅行时间可以是流向相关的。 [0028] Preferably, at least one of said plurality of ways different chain link travel time may be related to the flow.

[0029] 优选地,在所述变换步骤中,可以采用对偶图法或虚拟边法,将所述原始路网结构变换为所述新的路网结构。 [0029] Preferably, in said converting step, the method can be used for dual graph edges or virtual method, the original structure of the road network is converted into the new network structure.

[0030] 根据本发明的另一方案,提出了一种导航服务器,包括:路链选择装置,用于当由于原始路网结构中的至少一条路链的终点与多条其他路链的起点相连而导致所述至少一条路链具有多个不同的路链旅行时间时,选择所述至少一条路链中的一部分;路网变换装置,用于基于所选择的路链及其相应的多个不同的路链旅行时间,将由所有路链构成的原始路网结构变换为新的路网结构;以及路径计算装置,用于根据所述新的路网结构,搜索最优路径。 [0030] According to another aspect of the present invention there is provided a navigation server, comprising: a chain path selection means for, when at least one end of the road since the start point of the link in the original network structure with a plurality of other road links in a chain the path leading to the at least one strand having a plurality of different time link travel time, at least a selected portion of said chain path; network path transforming means, and based on the road link corresponding to the selected plurality of different the link travel time, the original network structure by way of all chains is converted into a new network structure; and a path calculation means, for the new network structure, according to the search for the optimal path.

[0031] 优选地,所述导航服务器还可以包括:路径反向变换装置,用于将所述最优路径反向变换为基于所述原始路网结构的变换最优路径;以及发送装置,用于将所述变换最优路径发送至导航仪。 [0031] Preferably, the navigation server may further comprise: a path inverse conversion means for inverse converting the optimal path based on the transformation of the original optimal path of the network structure; and transmitting means for the conversion to the optimum path is transmitted to the navigator.

[0032] 优选地,所述路链选择装置可以将原始路网结构中具有多个不同的路链旅行时间的路链标记为候选路链,而将原始路网结构中具有单一路链旅行时间的路链标记为非有效路链,以及可以选择所述候选路链中的一部分,标记为有效路链,而将所述候选路链中的剩余路链标记为非有效路链,从而将原始路网结构中的所有路链划分为有效路链和非有效路链。 [0032] Preferably, the chain path selection means may be in the original network structure having a plurality of different road link travel time marked as a candidate road link chain, and the original network structure in a single link travel time the road link chain path marked as non-valid, and can select a portion of said chain path candidate, the chain path marked as valid, and the remainder of the candidate road link labeled chain path as an invalid path chain, so that the original All road link in the road network structure is divided into active and non-active channel link chain path.

[0033] 更优选地,所述路链选择装置可以根据每一条候选路链的变异系数,选择所述至少一条候选路链中的一部分,标记为有效路链。 [0033] More preferably, the chain path selection device according to each coefficient of variation of the candidate road link, selecting a portion of the at least one candidate path chain, the chain path marked as valid.

[0034] 此时,所述路链选择装置可以按照下述公式计算候选路链i在t时段内的变异系数Mt): [0034] In this case, the path strand selection means may calculate the coefficient of variation candidate road link i in the period t according to the following equation Mt):

[0035] Li(t) = Si(t) /Ai(t) [0035] Li (t) = Si (t) / Ai (t)

[0036] 其中,Si (t)表示候选路链i在t时段内的多个路链旅行时间的标准差,Ai (t)表示候选路链i在t时段内的多个路链旅行时间的平均值。 [0036] wherein, Si (t) represents a plurality of candidate road link i standard link travel time difference in the time period t, Ai (t) represents a plurality of candidate road link i link travel time in the period t average value.

[0037] 这里,所述路链选择装置可以将变异系数阈值AL (t)计算为所有η条候选路链在t时段内的变异系数的平均值 [0037] Here, the path the strand selection means may be coefficient of variation of the threshold value AL (t) is calculated as a coefficient of variation of all pieces of candidate paths η chains within the average period t

Figure CN102128631AD00091

[0039] 或者,所述路链选择装置可以将变异系数阈值AL(t)计算为预先选定的η条代表候选路链在t时段内的变异系数的平均值 [0039] Alternatively, the strand selection means may be path variation coefficient threshold value AL (t) is calculated as a preselected η bar represents coefficient of variation in the chain path candidates of the average period t

Figure CN102128631AD00092

[0041] 或者,所述路链选择装置可以将变异系数阈值ALdt)计算为与候选路链i具有相同路链等级j的所有r^.条候选路链在t时段内的变异系数的平均值 [0041] Alternatively, the strand selection means may be path variation coefficient threshold ALdt) r is calculated for all candidate road link chain path i having the same level of ^ j. Average of the coefficients of variation in the chain line candidates passage period t

[0043] 或者,所述路链选择装置可以按照下述公式计算候选路链i在t时段内的变异系数Mt): [0043] Alternatively, the strand selection means may calculate the road coefficient of variation of the candidate road link i in the period t according to the following equation Mt):

[0044] [0044]

Figure CN102128631AD00101

[0045] 其中,Vjt).表示在t时段内候选路链i的最大路链平均旅行速度,Vi (t)min表示在t时段内候选路链i的最小路链平均旅行速度。 [0045] wherein, Vjt). Representing a candidate road link i in the period t a maximum average travel speed of the chain path, Vi (t) min denotes the minimum average travel speed of the chain path candidate road link i in the period t.

[0046] 优选地,如果起点或终点位于有效路链的非端点位置,则所述路径计算装置还可以用于:将所述起点或所述终点所处的有效路链更新为非有效路链,根据非有效路链的变换规则,更新所述新的路网结构中的所述起点或所述终点所处的有效路链,然后,再搜索最优路径。 [0046] Preferably, if the start or end of the chain in a valid way of non-end position, the path calculation means may also be used: the effective road link start point or end point of the path which the chain is not the valid update the conversion rule inactive chain path, updating the effective path or the start point of the chain in which the new end point of the road network structure, and then, the optimal path filter.

[0047] 优选地,所述路链选择装置或所述路径计算装置,针对将要被更新为非有效路链的候选路链或有效路链,可以计算所述候选路链或所述有效路链的多个路链旅行时间的平均值,作为所述非有效路链的路链旅行时间,以及将路链-路链旅行时间表中关于所述候选路链或所述有效路链的多条记录合并更新为关于所述非有效路链的单一记录。 [0047] Preferably, the channel selecting means or said chain path calculation means, to be updated for the non-active path candidate road link chain or chains effective path, the candidate path may be calculated effective passage of the chain or chain a plurality of road link travel schedule or the chain with respect to the active path candidate chain - an average of a plurality of link travel time, as the non-effective path chain link travel time, and the road link the combined into a single record updated with respect to the non-effective record chain path.

[0048] 优选地,所述至少一条路链的多个不同的路链旅行时间可以是流向相关的。 [0048] Preferably, at least one of said plurality of ways different chain link travel time may be related to the flow.

[0049] 优选地,所述路网变换装置可以采用对偶图法或虚拟边法,将所述原始路网结构变换为所述新的路网结构。 [0049] Preferably, the transforming means may be employed road network in FIG dual edge method or a virtual method, the original structure of the road network is converted into the new network structure.

[0050] 根据本发明的另一方案,提出了一种导航仪,包括:路链选择装置,用于当由于原始路网结构中的至少一条路链的终点与多条其他路链的起点相连而导致所述至少一条路链具有多个不同的路链旅行时间时,选择所述至少一条路链中的一部分;路网变换装置,用于基于所选择的路链及其相应的多个不同的路链旅行时间,将由所有路链构成的原始路网结构变换为新的路网结构;以及路径计算装置,用于根据所述新的路网结构,搜索最优路径。 [0050] According to another aspect of the present invention there is provided a navigation device, comprising: a chain path selection means for, when at least one end of the road since the start point of the link in the original network structure with a plurality of other road links in a chain the path leading to the at least one strand having a plurality of different time link travel time, at least a selected portion of said chain path; network path transforming means, and based on the road link corresponding to the selected plurality of different the link travel time, the original network structure by way of all chains is converted into a new network structure; and a path calculation means, for the new network structure, according to the search for the optimal path.

[0051] 优选地,所述导航仪还可以包括:路径反向变换装置,用于将所述最优路径反向变换为基于所述原始路网结构的变换最优路径;以及显示装置,用于在原始路网结构中,显示所述变换最优路径。 [0051] Preferably, the navigation device may further comprise: a path inverse conversion means for inverse converting the optimal path based on the transformation of the original optimal path network structure; and a display means for in the original network structure, the display transform the optimal path.

[0052] 优选地,所述路链选择装置可以将原始路网结构中具有多个不同的路链旅行时间的路链标记为候选路链,而将原始路网结构中具有单一路链旅行时间的路链标记为非有效路链,以及可以选择所述候选路链中的一部分,标记为有效路链,而将所述候选路链中的剩余路链标记为非有效路链,从而将原始路网结构中的所有路链划分为有效路链和非有效路链。 [0052] Preferably, the chain path selection means may be in the original network structure having a plurality of different road link travel time marked as a candidate road link chain, and the original network structure in a single link travel time the road link chain path marked as non-valid, and can select a portion of said chain path candidate, the chain path marked as valid, and the remainder of the candidate road link labeled chain path as an invalid path chain, so that the original All road link in the road network structure is divided into active and non-active channel link chain path.

[0053] 根据本发明的一个具体实施例,提出了一种基于有效路链的路径搜索方法,包括: 实时获取原始路网结构中每一条路链的路链旅行时间,每一条路链具有至少一个路链旅行时间,生成或更新路链-路链旅行时间表;在所述路链-路链旅行时间表中,将具有多个路链旅行时间的路链标记为候选路链;针对每一条候选路链,计算所述候选路链的变异系数; 如果所述候选路链的变异系数大于变异系数阈值,则将所述候选路链标记为有效路链;如果所述候选路链的变异系数不大于变异系数阈值,则将所述候选路链标记为非有效路链, 并计算所述候选路链的多个路链旅行时间的平均值,作为所述非有效路链的路链旅行时间,据此,将所述路链-路链旅行时间表中关于所述候选路链的多条记录合并更新为关于所述非有效路链的单一记录;根据所述路链-路链 [0053] According to a particular embodiment of the present invention, a method is proposed route search based on the effective passage of the chain, comprising: a real-time access link travel time of the original road network structure of each chain, each chain having at least a road a link travel time, generated or updated path link - link travel schedule; the road link - link travel schedule, having a plurality of link travel time for the road link labeled candidate road link; for each a candidate road link, calculate the coefficient of variation of the candidate path chain; chain if the candidate path is greater than the coefficient of variation of the coefficient of variation threshold, then the candidate path as a valid path flag chain link; if the candidate path variation chain coefficient of variation coefficient of not greater than the threshold value, then the candidate path as an invalid tag chain link path, and calculating the average of the plurality of link travel time of the candidate road link as the non-effective chain link travel path time, whereby the road link - link travel schedule record of said plurality of candidate paths merge updates into a single chain with respect to the non-effective record chain path; according to the road link - link Road 行时间表,将由所有路链构成的原始路网结构变换为新的路网结构;根据起点和终点、以及所述新的路网结构,搜索最优路径。 Line schedules, all original network structure by way of the chains is converted into a new network structure; The start and end points, and the new network structure, the optimal route search.

[0054] 所述基于有效路链的路径搜索方法还可以包括:将所述最优路径反向变换为基于所述原始路网结构的变换最优路径;以及在所述原始路网结构中,显示所述变换最优路径。 [0054] The path searching method based on the effective paths chain may further comprise: the optimal path to an inverse transform based on the transform of the optimal path of the original network structure; and in the structure of the original road network, displaying the conversion optimal path.

[0055] 每一条路链的路链旅行时间可以是流向相关的。 [0055] Each chain link travel time of road may be related to the flow.

[0056] 在所述变换步骤中,可以采用对偶图法或虚拟边法,将所述原始路网结构变换为所述新的路网结构。 [0056] In the conversion step, the method can be used for dual graph edges or virtual method, the original structure of the road network is converted into the new network structure.

[0057] 在所述搜索步骤中,如果所述起点或所述终点位于有效路链的非端点位置,可以将所述起点或所述终点所处的有效路链标记为非有效路链,计算所述有效路链的多个路链旅行时间的平均值,作为所述非有效路链的路链旅行时间,根据非有效路链的变换规则,更新所述新的路网结构中的所述起点或所述终点所处的有效路链,然后,再搜索最优路径。 [0057] In the search step, if the start point or the end point in a non-end position of the effective passage of the chain, the effective road link start point or the end-point markers which may be non-effective road link calculated the average value of the plurality of link travel time of the effective path of the chain as the chain non-effective road link travel time, the conversion rule according to a non-effective way chains, updating the new network structure of the effective road link start point or the end-point is located, then search for the optimal route again.

[0058] 候选路链i在t时段内的变异系数Li (t)可以按照下述公式计算: [0058] The coefficient of variation candidate road link i in the period t of Li (t) may be calculated according to the formula:

[0059] [0059]

Figure CN102128631AD00111

[0060] 其中,Si (t)表示候选路链i在t时段内的多个路链旅行时间的标准差,Ai (t)表示候选路链i在t时段内的多个路链旅行时间的平均值。 [0060] wherein, Si (t) represents a plurality of candidate road link i standard link travel time difference in the time period t, Ai (t) represents a plurality of candidate road link i link travel time in the period t average value. 此时,变异系数阈值AL(t)可以是所有η条候选路链在t时段内的变异系数的平均信 In this case, the coefficient of variation threshold AL (t) may be all pieces of candidate paths η chain average channel coefficient of variation in the period t

Figure CN102128631AD00112

[0062] 或者,变异系数阈值AL(t)可以是预先选定的η条代表候选路链在t时段内的变异系数的平均值 Average of the coefficients [0062] Alternatively, the coefficient of variation of the threshold value AL (t) may be pre-selected candidate path η chain bar represents the variation period t

[0064] 或者,变异系数阈值ALdt)可以是与候选路链i具有相同路链等级j的所有η」条候选路链在t时段内的变异系数的平均值 All average variation coefficient η [0064] Alternatively, the coefficient of variation threshold ALdt) may be a candidate road link i j is the same path chain grade "pieces of candidate road link in the period t

[0066] 候选路链i在t时段内的变异系数Li (t)也可以按照下述公式计算: [0066] The coefficient of variation candidate road link i in the period t of Li (t) may be calculated according to the formula:

Figure CN102128631AD00113

[0068] 其中,Vjt).表示在t时段内候选路链i的最大路链平均旅行速度,Vi (t)min表示在t时段内候选路链i的最小路链平均旅行速度。 [0068] wherein, Vjt). Representing a candidate road link i in the period t a maximum average travel speed of the chain path, Vi (t) min denotes the minimum average travel speed of the chain path candidate road link i in the period t. 此时,变异系数阈值AL(t)可以是预先设定的。 In this case, the coefficient of variation threshold AL (t) may be set in advance.

[0069] 根据本发明的另一具体实施例,提出了一种导航服务器,包括:有效路链检测装置,用于实时获取原始路网结构中每一条路链的路链旅行时间,每一条路链具有至少一个路链旅行时间,生成或更新路链-路链旅行时间表,在所述路链-路链旅行时间表中,将具有多个路链旅行时间的路链标记为候选路链,以及针对每一条候选路链,计算所述候选路链的变异系数;如果所述候选路链的变异系数大于变异系数阈值,则将所述候选路链标记为有效路链;如果所述候选路链的变异系数不大于变异系数阈值,则将所述候选路链标记为非有效路链,并计算所述候选路链的多个路链旅行时间的平均值,作为所述非有效路链的路链旅行时间,据此,将所述路链-路链旅行时间表中关于所述候选路链的多条记录合并更新为关于所述非有效路链的单一记录;路网变换装 [0069] According to another embodiment of the present invention there is provided a navigation server, comprising: an effective path detection chain means for real-time access link travel time of the original road network structure of each chain, each path having at least one chain link travel time, generated or updated path link - link travel schedule, the road link - link travel schedule, having a plurality of link travel time path marked as a candidate road link chain and for each of the candidate road link, calculate the coefficient of variation of the candidate path chain; chain if the candidate path is greater than the coefficient of variation of the coefficient of variation threshold, then the candidate path as a valid path flag chain link; if the candidate coefficient of variation of the road link is not greater than the coefficient of variation threshold, then the candidate path as an invalid tag chain link path, and calculating the average link travel times of the plurality of candidate road link as the non-active path chain the link travel time, whereby the road link - link travel schedule record of said plurality of candidate paths merge updates into a single chain with respect to the non-effective record chain path; road network transforming means 置,用于根据所述路链-路链旅行时间表,将由所有路链构成的原始路网结构变换为新的路网结构;以及路径计算装置,用于根据起点和终点、以及所述新的路网结构,搜索最优路径。 Position, according to the road link - link travel schedule, the original network structure by converting all chains passage for the new network structure; and a path calculation means for start and end points, and the new the road network structure, search the optimal path.

[0070] 所述导航服务器还可以包括:路径反向变换装置,用于将所述最优路径反向变换为基于所述原始路网结构的变换最优路径;以及发送装置,用于将所述变换最优路径发送至导航仪。 [0070] The navigation server may further comprise: a path inverse conversion means for inverse converting the optimal path based on the transformation of the original optimal path network structure; and a transmitting means, for the converting said optimum path is transmitted to the navigator.

[0071] 每一条路链的路链旅行时间可以是流向相关的。 [0071] Each chain link travel time of road may be related to the flow.

[0072] 在所述变换步骤中,采用对偶图法或虚拟边法,将所述原始路网结构变换为所述新的路网结构。 [0072] In the transforming step, using the method of FIG dual edge or virtual method, the original structure of the road network is converted into the new network structure.

[0073] 如果所述起点或所述终点位于有效路链的非端点位置,所述路网变换装置可以将所述起点或所述终点所处的有效路链标记为非有效路链,计算所述有效路链的多个路链旅行时间的平均值,作为所述非有效路链的路链旅行时间,根据非有效路链的变换规则,更新所述新的路网结构中的所述起点或所述终点所处的有效路链,然后,再搜索最优路径。 [0073] If the start point or the end point in a non-end position of the effective chain path, the road network can be effectively transforming means marking the road link start point or end point of the road link in which the non-valid, calculates the average value of the plurality of link travel time of said effective path chains as the non-effective path chain link travel time, the conversion rule according to a non-effective way chains, updating the new starting point of the road network structure or the end of the chain in which the active path, then, the optimal path filter.

[0074] 所述有效路链检测装置可以按照下述公式计算候选路链i在t时段内的变异系数 The [0074] Effective path detection chain means may calculate the coefficient of variation candidate road link i in the period t according to the following formula

Figure CN102128631AD00121
Figure CN102128631AD00122

[0076] 其中,SJt)表示候选路链i在t时段内的多个路链旅行时间的标准差, [0076] wherein, SJT) represents a plurality of candidate road link i standard link travel time difference in the time period t,

Figure CN102128631AD00123

表示候选路链i在t时段内的多个路链旅行时间的平均值。 It represents the average link travel times of the plurality of candidate road link i in the period t. 此时,所述有效路链检测装置可以将变异系数阈值AL(t)计算为所有η条候选路链在t时段内的变异系数的平均值 In this case, the effective path detection means may link the variation coefficient threshold value AL (t) is the average of the coefficients of variation calculated for all pieces of candidate paths η chain in the period t

[0078] 或者,所述有效路链检测装置可以将变异系数阈值AL(t)计算为预先选定的η条代表候选路链在t时段内的变异系数的平均值 [0078] Alternatively, the active chain path variation coefficient detection means may be a threshold value AL (t) is calculated as a preselected η bar represents coefficient of variation in the chain path candidates of the average period t

[0080] 或者,所述有效路链检测装置可以将变异系数阈值ALj(t)计算为与候选路链i具有相同路链等级j的所有r^.条候选路链在t时段内的变异系数的平均值[0081] [0080] Alternatively, the active channel link detection means may be a coefficient of variation threshold alj (t) is calculated for all r with the candidate road link i has the same path chain grade j of ^ the coefficient of variation of pieces of candidate road link in the period t a the average value [0081]

Figure CN102128631AD00131

[0082] 所述有效路链检测装置也可以按照下述公式计算候选路链i在t时段内的变异系数Mt): [0082] The valid path detection chain means may be calculated according to the formula coefficient of variation candidate road link i in the period t Mt):

[0083] [0083]

Figure CN102128631AD00132

[0084] 其中,Vjt).表示在t时段内候选路链i的最大路链平均旅行速度,Vi (t)min表示在t时段内候选路链i的最小路链平均旅行速度。 [0084] wherein, Vjt). Representing a candidate road link i in the period t a maximum average travel speed of the chain path, Vi (t) min denotes the minimum average travel speed of the chain path candidate road link i in the period t. 此时,所述有效路链检测装置可以存储有预先设定的变异系数阈值AL (t)。 In this case, the active channel link detection means may store a threshold value variation coefficient AL (t) set in advance.

[0085] 根据本发明的另一具体实施例,提出了一种导航仪,包括:有效路链信息接收装置,用于接收或更新路链-路链旅行时间表,在所述路链-路链旅行时间表中包含关于有效路链的记录;路网变换装置,用于根据所述路链-路链旅行时间表,将由所有路链构成的原始路网结构变换为新的路网结构;以及路径计算装置,用于根据起点和终点、以及所述新的路网结构,搜索最优路径。 [0085] According to another particular embodiment of the present invention, there is proposed a navigation device, comprising: an effective way link information receiving means for receiving an update path or link - link travel schedule, the road link - Road link travel schedule contained in the recording on the effective passage of the chain; road network conversion apparatus, according to the road link - link travel schedule, the original network structure by converting all chains passage for the new network structure; and a path computing means for start and end points, and the new network structure, according to the search for the optimal path.

[0086] 所述导航仪还可以包括:路径反向变换装置,用于将所述最优路径反向变换为基于所述原始路网结构的变换最优路径;以及显示装置,用于在原始路网结构中,显示所述变换最优路径。 [0086] The navigation device may further comprise: a path inverse conversion means for inverse converting the optimal path based on the transformation of the original optimal path network structure; and a display means for the original network structure, the display transform the optimal path.

[0087] 如果所述起点或所述终点位于有效路链的非端点位置,所述路径计算装置可以将所述起点或所述终点所处的有效路链标记为非有效路链,计算所述有效路链的多个路链旅行时间的平均值,作为所述非有效路链的路链旅行时间,根据非有效路链的变换规则,更新所述新的路网结构中的所述起点或所述终点所处的有效路链,然后,再搜索最优路径。 [0087] If the start point or the end point in a non-end position of the effective chain path, the path calculation device may be effectively marking the road link start point or end point of the road link in which the non-valid, the computing the average value of the plurality of link travel time effective way chains as the non-effective path chain link travel time, the conversion rule according to a non-effective way chains, the new starting point to update the road network structure or the effective way in which the chain end, and then, the optimal path filter.

[0088] 根据本发明的另一具体实施例,提出了一种导航仪,包括:新路网结构接收装置, 用于接收新路网结构;路径计算装置,用于根据起点和终点、以及所述新路网结构,搜索最优路径;路径反向变换装置,用于将所述最优路径反向变换为基于原始路网结构的变换最优路径;以及显示装置,用于在原始路网结构中,显示所述变换最优路径。 [0088] According to another particular embodiment of the present invention, there is proposed a navigation device, comprising: a new network structure receiving means for receiving a new network structure; path calculation means for start and end points, as well as the new structure of said road network, the optimum route search; path inverse conversion means for inverse converting the optimal path based on the transformation of the original optimal path network structure; and a display means for the original road network structure, show the conversion optimal path.

[0089] 如果所述起点或所述终点位于有效路链的非端点位置,所述路径计算装置可以将所述起点或所述终点所处的有效路链标记为非有效路链,计算所述有效路链的多个路链旅行时间的平均值,作为所述非有效路链的路链旅行时间,根据非有效路链的变换规则,更新所述新的路网结构中的所述起点或所述终点所处的有效路链,然后,再搜索最优路径。 [0089] If the start point or the end point in a non-end position of the effective chain path, the path calculation device may be effectively marking the road link start point or end point of the road link in which the non-valid, the computing the average value of the plurality of link travel time effective way chains as the non-effective path chain link travel time, the conversion rule according to a non-effective way chains, the new starting point to update the road network structure or the effective way in which the chain end, and then, the optimal path filter.

附图说明 BRIEF DESCRIPTION

[0090] 通过下面结合附图说明本发明的优选实施例,将使本发明的上述及其它目的、特征和优点更加清楚,其中: [0090] conjunction with the accompanying drawings illustrating the preferred embodiments of the present invention, the above and other objects will present invention, features and advantages become more apparent, wherein:

[0091 ] 图1示出了实施例1的系统硬件结构图。 [0091] FIG. 1 shows a system diagram of a hardware configuration of the embodiment 1.

[0092] 图2示出了实施例1的系统流程图。 [0092] FIG. 2 shows a flowchart of an embodiment of a system.

[0093] 图3示出了用路链和节点表示的路网结构示例。 [0093] FIG. 3 shows a configuration example of road network represented by the road link and the node.

[0094] 图4示出了用对偶图法变换图3所示的路网结构示例后的路网结构示例。 [0094] FIG. 4 shows a network structure example of the road network configuration example shown in FIG method using dual conversion FIG.

[0095] 图5(a)、5(b)和5 (c)示出了用对偶图法对路网进行变换的简化图解。 [0095] FIG. 5 (a), 5 (b) and 5 (c) shows a method using a simplified dual graph illustrating the transformation of the road network.

[0096] 图6 (a)、6 (b)和6 (c)示出了路网变换时路链阻抗分配图解。 [0096] FIG. 6 (a), 6 (b) and 6 (c) shows a road link assigned illustrates impedance transformation network it. [0097] 图7(a) ,7(b)和7 (c)示出了用增加虚拟边法对路网进行变换的简化图解。 [0097] FIG. 7 (a), 7 (b) and 7 (c) shows a simplified illustration of a transforming method by increasing the virtual road network side.

[0098] 图8(a)、8(b)和8 (c)示出了环岛路口的路网变换示例图。 [0098] FIG. 8 (a), 8 (b) and 8 (c) shows a roundabout intersection road network conversion example of FIG.

[0099] 图9 (a)和9 (b)示出了各种交叉路口的路链表示示例。 [0099] FIG. 9 (a) and 9 (b) shows various road intersection link represents an example.

[0100] 图10示出了路径计算装置的示例方框图。 [0100] FIG. 10 illustrates an example block diagram of the path calculation device.

[0101] 图ll(a)、ll(b)和11(c)示出了首尾路链反向变换示例图。 [0101] FIG. Ll (a), ll (b) and 11 (c) shows an example of an inverse transform and last road link of FIG.

[0102] 图12(a)和12(b)示出了路径反向变换示例图。 [0102] FIG. 12 (a) and 12 (b) shows an example of an inverse transform path of FIG.

[0103] 图13示出了用户车载导航仪的系统结构图。 [0103] FIG. 13 shows a system configuration diagram of a user of car navigation systems.

[0104] 图14示出了本发明实施例2的系统硬件结构图。 [0104] FIG. 14 shows a hardware configuration of the system of the present invention, the second embodiment of FIG.

[0105] 图15示出了本发明实施例2的系统流程图。 [0105] FIG. 15 shows a flowchart of the inventive system of Example 2.

[0106] 图16示出了本发明实施例3的系统硬件结构图。 [0106] FIG. 16 shows a hardware configuration diagram of the present invention Example 3 of the embodiment.

[0107] 图17示出了本发明实施例3的系统流程图。 [0107] FIG. 17 shows a flowchart of the system of the present invention according to the third embodiment.

具体实施方式 Detailed ways

[0108] 下面参照附图对本发明的优选实施例进行详细说明,在描述过程中省略了对于本发明来说是不必要的细节和功能,以防止对本发明的理解造成混淆。 [0108] below with reference to the accompanying drawings of the preferred embodiment of the present invention will be described in detail, it is omitted unnecessary details and functions for the present invention in the course of the description, in order to prevent confusion of the understanding of the present invention.

[0109] 实施例1 [0109] Example 1

[0110] 图1是本发明实施例1的系统硬件结构图,导航服务器1000包含有效路链检测装置100、路网变换装置300、路径计算装置400、路径反向变换装置600、通信装置700、信息存储装置50。 [0110] FIG. 1 is a hardware configuration diagram of an embodiment of the present invention, the navigation server 1000 contains a valid path detection chain means 100, road network conversion device 300, the path calculation device 400, the path inverse transform means 600, communication means 700, information storage device 50.

[0111] 图2是实施例1的系统流程图,有效路链检测装置100通过分析浮动车数据110, 检测有效路链,得到路链表120,路链表120包含了有效路链和非有效路链的信息(步骤S100)。 [0111] FIG. 2 is a system flowchart of the embodiment 1, the effective path detection device 100 by analyzing the chains floating car data 110, road detecting a valid link, to obtain road list 120, channel list 120 contains a non-effective and efficient way road link chain information (step S100). 路网变换装置300通过查询路链表120和地图数据130,对地图中的有效路链进行变换,得到新的路网数据140(步骤S300)。 Road network conversion device 300 queries the road map data list 120 and 130, the effective road link map is transformed to obtain new network data 140 (step S300). 新路网中的路链和节点都具有单一值,路链或节点的阻抗为路链旅行时间,利用路径计算装置400计算最优路径(步骤S400)。 The new road network and road link nodes have a single value, or the node impedance path for the chain link travel time, using the path calculation device 400 calculates the optimum route (step S400). 路径反向变换装置600对最优路径进行反向变换,将路径变换为能够在车载导航仪800中的地图上显示的路径(步骤S600),车载导航仪800中的地图格式通常和服务器端的地图格式保持一致,车载导航仪800在向中心请求路径计算时,发送当前位置、目的地位置以及车载导航仪800上的地图的版本号,由导航服务器1000计算最优路径,并根据车载端地图版本对最优路径进行反向变换。 Map 600 pairs optimal path route inverse conversion means for inverse transform, converting the path into a path that can be displayed on a map in a car navigation device 800 (step S600), the car navigation device 800 and the server side map format is usually a format consistent in-vehicle navigation device 800 to the center path calculation request, send the current location, destination location and a map of the car navigation version number 800, the optimal path is calculated by a navigation server 1000, and the vehicle-mounted terminal map version the optimal path reverse transformation. 最后通信装置700将最优路径发送给客户端车载导航仪800。 Finally, the optimal path to the communication apparatus 700 to the client 800 car navigation.

[0112] 下面,将对导航服务器1000中的各装置进行详细说明。 [0112] Next, each apparatus will navigation server 1000 described in detail.

[0113] 一个位于中心的有效路链检测装置100用于生成流向相关的路链旅行时间作为路链的阻抗,并检测路链是否具有多个阻抗值。 [0113] a chain path in the center of the effective detection means 100 for generating a flow of link travel time as an impedance associated chain path, and detects whether the road link having a plurality of impedance values. 如果路链被检测出具有多个阻抗值(即多个旅行时间值),该路链就被标记为有效路链,有效路链的多个阻抗值被记录在有效路链表中,如表1所示。 If the road link is detected having a plurality of impedance values ​​(i.e., a plurality of travel time values), the road link is marked as valid road link, a plurality of valid channel impedance value chain is recorded in the effective way linked list, as shown in Table 1 Fig.

[0114]表 1 [0114] TABLE 1

[0115] [0115]

Figure CN102128631AD00151

[0116] 路链阻抗值是动态变化的,交叉口相连的路链的阻抗值可能在各个方向上都相同,也可能不相同,这是随时间变化的,所以一条路链是否有效路链也是随时间动态变化的。 [0116] road link is dynamic impedance value, the impedance value of the road link may be connected to the intersection are the same in all directions, may not be the same, which is time-varying, so that a road link chain path is valid dynamic changes over time. 路链是实际道路中被划分为出来的一段有向路段,每条道路都包含多条路链,一条双向通行的道路至少包含两条路链。 Road link is the actual road is divided into sections to have come out of a period, it contains multiple routes for each road link, a two-way traffic road chain containing at least two paths.

[0117] 图3示出了用路链和节点表示的路网结构示例。 [0117] FIG. 3 shows a configuration example of road network represented by the road link and the node. 如图3所示,横向有2条道路,纵向有2条道路,每条道路都包含多条有向线段,即路链。 3, there are two lateral roads, there are two longitudinal road, each road has to contain a plurality of segments, i.e., the road link. 路链的交叉点称为节点。 Chain intersection road referred to as nodes. 图3中总共16条路链,8个节点。 FIG 3 total road chain 16, eight nodes. 地图数据130中保存了所有路链的静态信息,如形状、位置、宽度、 长度、方向等,以及各个路链之间的连接情况。 The map data stored in the static information 130 of all the road link, such as the shape, the position, width, length, direction, etc., and the connection among the various paths chain.

[0118] 从表1和图3中可看出,在14:00时刻,路链1是有效路链,其路链旅行时间按照转弯方向划分为三个值。 [0118] As can be seen from Table 1 and FIG. 3, the time at 14:00, an effective way road chain link, link travel time which is divided into three values ​​in accordance with the turning direction. 路链1转向路链2时其旅行时间为30秒,即车辆如果从路链1开往路链2,那么它在路链1上的旅行时间为30秒。 12:00 road link travel time which is 30 seconds steering chain path, i.e. if the vehicle 1 from a road link chain bound channel 2, then it is time to travel the road link 1 to 30 seconds. 路链1转向路链3时其旅行时间为20秒, 即车辆如果从路链1开往路链3,那么它在路链1上的旅行时间为20秒。 A steering road link chain path 3 in its travel time is 20 seconds, i.e., if the vehicle 1 from a road link chain bound passage 3, then it is time to travel the road link 1 to 20 seconds. 路链1转向路链4的旅行时间为40秒,即车辆如果从路链1开往路链4,那么它在路链1上的旅行时间为40秒。 1 a steering link road link travel time of 4 to 40 seconds, i.e., if the vehicle 1 from a road link chain bound channel 4, then the travel time in the way that the chain 1 to 40 seconds. 在14:00时刻,路链2不是有效路链,其路链旅行时间只有一个,即车辆无论从路链2开向哪个方向,其在路链2上的旅行时间都是20秒。 At 14:00 the moment, the road is not a valid chain 2-way link, its link travel time is only one, that is, whether the vehicle away from the road link 2 to which direction their travel time on the road chain 2 is 20 seconds. 路链拥堵程度是动态变化的,从表1 中可看出到了14:05时刻,路链1也变成了非有效路链。 Road link congestion level is dynamic, it can be seen from Table 1 to 14:05 time, a road link has become non-effective way chain.

[0119] 下面是有效路链检测装置100利用浮动车数据110检测有效路链的具体示例步骤: [0119] The following is a specific example of the step of detecting effective path link means 100 by using the FCD 110 detecting a valid path chain:

[0120] 步骤SlOl :浮动车系统根据浮动车上传的GPS计算出每辆浮动车在路链上的旅行时间及转弯方向(即车辆行驶的下一条路链),结果保存为浮动车数据110。 [0120] Step SlOl: floating car system is calculated according to the floating cars per uploaded GPS floating car travel time on the road and the turning direction of the chain (i.e., the vehicle traveling the road link to the next), and stores the result as the FCD 110. 表2为浮动车数据110的数据格式示例。 Table 2 is an example of data format 110 of the floating car data.

[0121]表 2 [0121] TABLE 2

[0122] [0122]

Figure CN102128631AD00161

[0123] 因为浮动车系统是公知技术,如何计算路链旅行时间不是本发明的重点,为了突出本发明的重点,在此不再介绍浮动车系统的计算过程,其基本原理可参考日本专利07-029098(1995)或美国专利申请公开2004/0167710A1,有效路链检测装置100中不包含浮动车系统。 [0123] Because the floating car system is a known technique, how to calculate the key link travel time is not according to the present invention, in order to focus the present invention, which is not described calculation of floating vehicle system, the basic principle can refer to Japanese Patent 07 -029 098 (1995) or U.S. Patent application Publication 2004 / 0167710A1, 100 effective path detection means does not include a floating-chain vehicle system. 表2中的“当前时间”表示一个时间段,如果时间间隔是5分钟,那么当前时间14:00即表示从13:55〜14:00这个时间段。 Table 2 "current time" indicates a period of time, if the time interval is 5 minutes, then it means that the current time from 14:00 13: 55~14: 00 this time.

[0124] 步骤S102 :有效路链检测装置100从浮动车数据110中得到每条路链上每辆车的旅行时间,计算流向相同的车辆的旅行时间的平均值,作为该流向的路链旅行时间。 [0124] the step S102: Effective path detection apparatus 100 to obtain link travel time of each vehicle on each road link from the floating car data 110, the average travel time of the vehicle is calculated the same flow as the flow of the link travel time. 例如, 表2中在时间段14:00期间,路链1上有两辆编号为12344和12345的浮动车都驶向路链2,路链旅行时间分别为31秒和四秒,平均值为30秒,那么路链1在流向路链2的方向上的旅行时间就是30秒。 For example, Table 2 in 14:00 time period, the passage of the chain 1 has two numbers 12344 and 12345 floating cars towards road link 2, link travel time was four seconds and 31 seconds, an average of 30 seconds, then the travel time of a road link in the direction of the flow path of the chain 2 is 30 seconds. 表2中在时间段14:00期间从路链1流向路链3和路链4分别只有一辆浮动车,所以这两个流向的路链旅行时间就是车辆23456和34567的路链旅行时间[0125] 如果在某个时间段内,路链上没有实时浮动车数据或某个流向上没有实时数据, 就用统计数据替代,统计数据是通过分析该路链上的历史浮动车数据得到的。 Table 2 during the time period 14:00 floating cars were only one flow path from the road link 1 and link 3-way link 4, the link travel times of the two flows is the link travel time and vehicle 23456 34567 [ 0125] If not in a period of time, there is no road link data on a real-time floating car or a flow of real-time data, it is replaced by the statistical data, statistical data is obtained by analyzing the history of floating cars on the road link data. 如果该路链上也没有统计数据,那么该路链上的数据就用前一时段或相邻路链的浮动车数据代替。 If there is no statistical data on the road link, the link data on the road on a period of time prior to use in place of or FCD adjacent road link. 关于如何补全缺失的路链数据不是本发明的重点,所以在此不详细说明,相关技术可参考美国专利申请公开2004/0167710A1。 It focuses on how to complement the missing data is not the way the chain of the present invention, it is not described here in detail, refer to the relevant technical US Patent Application Publication 2004 / 0167710A1.

[0126] 步骤S103 :有效路链检测装置100从浮动车数据110中得到每条路链的分流向路链旅行时间后,再计算每条路链的分流向旅行时间的变异系数。 [0126] Step S103: the effective path detection apparatus 100 to obtain the chain split every road link from the floating car data 110 to the link travel time, and then calculates the coefficient of variation for each road link to the shunt trip time. 变异系数是标准差与平均数的比值,各流向路链旅行时间的变异系数计算公式如下所示: The coefficient of variation is the ratio of the mean and standard deviation, coefficient of variation of the flow of link travel time is calculated as follows:

[0127] L“t) = SJtVAi (t) (1) [0127] L "t) = SJtVAi (t) (1)

[0128] 公式(1)中Li (t)表示在t时段内路链i的变异系数,Si (t)表示在t时段内路链i的各流向车辆旅行时间的标准差,Ai (t)表示在t时段内路链i的各流向旅行时间平均值,或者是在t时段内路链i上所有车辆旅行时间的平均值。 [0128] Equation (1) of Li (t) represents the period t coefficient of variation of the road link i is, Si (t) represents the standard for each flow of the vehicle travel time within the period t road link i of the difference, Ai (t) indicates travel time of each flow path in the link i is the average period t, or the average of all vehicles on the road link travel time i in the period t. 计算出每条路链的变异系数Li (t)后,再用公式(2)计算整个路网的在t时段内的平均变异系数AL(t) After calculating the coefficient of variation of each passage strand Li (t), then Equation (2) calculates an average coefficient of variation AL entire network in a period t (t)

[0129] [0129]

Figure CN102128631AD00171

[0130] 公式(2)中η表示用于计算平均变异系数AL(t)的路链个数。 [0130] Equation (2), η represents the number of road link to calculate the average coefficient of variation for AL (t) is. 计算平均变异系数AL(t)时,既可以将所有η条路链的变异系数进行平均,也可只挑取部分有代表性的路链进行平均,还可以按路链的等级计算平均值,不同的路链等级计算出多个不同的平均变异系数ALj (t),j是路链等级标识(公式O'))。 Calculating the average coefficient of variation AL (t), the coefficient of variation may be all road η chains averaging, may be picked only some representative average chain path, may also be calculated according to the average level of the chain path, different road link level calculated a plurality of different coefficients of variation aLj (t), j is the path chain class identifier (formula O ')).

[0131] [0131]

Figure CN102128631AD00172

[0132] 步骤S104 :有效路链检测装置100将每条路链的变异系数Li (t)与平均变异系数AL (t)进行比较,将变异系数Li (t)大于平均变异系数AL (t)的路链标记为有效路链,变异系数LJt)小于等于平均变异系数AL(t)的路链标记为非有效路链(将多个流向的旅行时间的平均值作为非有效路链的旅行时间(不分流向平均路链阻抗)),并最终生成表1所示的路链表。 [0132] Step S104: the coefficient of variation of each passage 100 effective chain link path detection means Li (t) compared to the average coefficient of variation AL (t), the coefficient of variation Li (t) is greater than the coefficient of variation AL (t) chain marked valid way road link, the coefficient of variation LJT) equal to the average coefficient of variation of less than AL (t) of the chain path marked as non-valid path chain (the average travel time of a plurality of flow passage as a non-effective link travel time (regardless of the average flow path impedance chain)), and finally generate the list shown in table passage. 如果平均变异系数ALdt)是分路链等级的,那么计算时不同等级的路链要与对应等级的平均变异系数ALdt)进行比较。 If the average coefficient of variation ALdt) is a chain branching level, the different levels of the road link to be compared to the average variation coefficient corresponding to the class ALdt) calculation.

[0133] 此外,在上述步骤S103和S104中,变异系数还可以是同一路链的各分流向速度的差异。 [0133] Further, in the above-described steps S103 and S104, the coefficient of variation can also be differences of the shunt to the same channel link speed. 有效路链检测装置100从浮动车数据110中得到每条路链的分流向路链旅行时间后,再根据路链的长度计算每条路链的分流向的路链平均速度。 Effective path detection apparatus 100 to obtain the chain split every road link to the link travel time of each route recalculation chain to split according to the length of the road link from the average speed of the road link data 110 in a floating car. 因此,具有多个流向的路链i在t时段内具有多个分流向路链平均速度,定义最大的路链平均速度为Vi (t)max,最小的路链平均速度为,此时,可以将该路链i在t时段内的变异系数Li (t)定义为 Thus, i has a plurality of flow path of the chain in the period t has an average speed of the plurality of shunt path chain, the chain path defines the maximum average speed Vi (t) max, the minimum average velocity of the road link, In this case, the variation coefficient of the road link i in the period t of Li (t) is defined as

[0134] Li (t) =Vi Wmax-Vi (t)min (2") [0134] Li (t) = Vi Wmax-Vi (t) min (2 ")

[0135] 如果变异系数Li(t)大于一个系统设定的变异系数阈值AL (t),如AL (t) = IOkm/ h,那么就可以将路链i标记为有效路链。 [0135] If the variation coefficient Li (t) is greater than the coefficient of variation threshold value AL (t) set by a system, such as AL (t) = IOkm / h, then it can be marked as valid road link i road link.

[0136] 一个位于中心的路网变换装置300,参照表1所示的路链表中的有效路链,对原地图路网中的有效路链进行变换,变换的方式既可以是对偶图法,也可以采用增加虚拟边的方法。 [0136] a centrally located road network conversion device 300, with reference to the table is valid road link chain shown in Figure 1, the effective road link of the original map road network is transformed mode conversion may be either dual FIG method, the method can also be used to increase the virtual edge. 采用对偶图法时,新的路网中原来的有效路链被转化为有效节点。 When the method of using dual graph, the new road network in the original path chains are effectively converted to a valid node. 有效节点之间的新的连接线被当作是新的路链,每个新的路链只有单一的路链旅行时间。 The new connecting line between the effective node is treated as a new road link, each new road only a single chain link travel time. 采用增加虚拟边的方法时,一条有效路链变换为多条路链,每条路链只有单一的路链旅行时间。 Increased use of virtual methods sides, an effective chain into a multi-way street chains, each chain has a single road link travel time. 下面是执行路网变换的具体示例步骤: The following is a specific example of steps performed converted road network:

[0137] 步骤S201 :选择地图中的有效路链。 [0137] Step S201: Select a valid channel map chain. 地图中不是每条路链都是有效路链,需要参考路链表(如表1),将位于地图中的有效路链挑选出来。 Map each road link are not effective chain path, the reference path needs list (Table 1), it will be located in the effective path selection map out the chain.

[0138] 步骤S202 :针对步骤S201中挑选出来的有效路链,用对偶图法或增加虚拟边的方法进行变换,对偶图法主要有两个特点:a)用点表示边,并保留边的所有属性;b)用边表示转向行为。 [0138] Step S202: chosen for the step S201, the effective road link, with dual FIG method or increasing virtual edge is transformed, there are two main features of the dual graph method: a) by dots edges, and keep the edge All attributes; b) turning behavior represented by edges. 增加虚拟边法的特征是:a)删除原有效路链,原有效路链的属性被包含在新增虚拟边中b)新增虚拟边表示转向行为。 Adding virtual edge method is characterized by: a) an effective way to delete the original link, the original effective channel attributes contained in the chain is new virtual sides b) represents a new virtual edge turning behavior.

[0139] 下面,先举例说明如何用对偶图法对路网进行变换。 [0139] Next, a first example of how the dual graph of the road network conversion method.

[0140] 图4是对图3中路网对偶变换后得到的图。 [0140] FIG. 4 is a rear dual transform of FIG 3 Road Network Fig.

[0141] 因图3到图4的变换较为复杂,为了简化说明,图5(a)简化了图3中的路网结构。 [0141] due to 3 to 4 conversion is more complex, in order to simplify the explanation, FIG. 5 (a) simplifying the network structure in FIG. 图5(a)中,假设路链1有三个不同的路链阻抗(路链旅行时间),例如,可参考表1。 FIG 5 (a), assume that a road link has three different impedance path link (link travel time), for example, reference to Table 1. 通过对偶图法,图5(a)中的路链1、2、3、4被变换为图5(b)中的点1、2、3、4,它们之间的连线12、 13、14分别代表车辆从路链1转向路链2、3、4。 By dual diagram, FIG. 5 (a) of the chain path is converted into 1,2,3,4 1,2,3,4 FIG 5:00 (B) is, the connection between them 12, 13, 14 representing the vehicle steering a road link from the road link 2,3,4. 表1中路链表被更新,更新后的内容如表3 所示。 Table 1 Road list is updated, the updated content as shown in Table 3.

[0142]表 3 [0142] TABLE 3

[0143] [0143]

Figure CN102128631AD00181
Figure CN102128631AD00191

[0144] *1表示路链1已经变换成了节点1,并且节点阻抗为0。 [0144] * represents a chain path 1 has been converted to node 1 and node 0 is impedance.

[0145] 拉表示路链2已经变换成了节点2,并保留了路链2的所有属性。 [0145] represents a pulling chain path 2 has been converted to node 2, and retains all the properties of the road link 2.

[0146] *3表示路链3已经变换成了节点3,并保留了路链3的所有属性。 [0146] 3 * 3 means that a road link has been converted to node 3, and retains all the properties of the road link 3.

[0147] *4表示路链4已经变换成了节点4,并保留了路链4的所有属性。 [0147] 4 * 4 means that a road link has been converted to node 4 and retains all the properties of the road link 4.

[0148] 路链12、13、14的路链阻抗等于图5(a)中路链1在不同流向上的阻抗,即将路链1的三个流向的阻抗分配到三条路链上,确保每条路链上的阻抗是单一值。 [0148] road link chain 12, 13 is equal to the impedance of the impedance 5 (a) on the middle chain 1 of FIG different flows, i.e. the impedance of three-way flow of the chain 1 is assigned to the three-way link, to ensure that each impedance on the road is a single value chain. 图5(b)中点2 到点40的连接是逻辑边,本身阻抗值为0,只表示点2到点40的连接关系,这一连接关系是从图5(a)中路链2和节点40的连接关系继承下来的。 FIG. 5 (b) connecting a midpoint 40 is a logic point 2 side, the impedance value of 0 in itself, shows only the connection relationship between points 2 and 40, the connection relationship from FIG. 5 (a) and middle chain node 2 40 of the connection relationship inherited. 同理,图5(b)中点4和点90之间的连接也是逻辑边,点3和点60之间的连接也是逻辑边,点1和点20之间的连接也是逻辑边,阻抗都为0。 Similarly, the connection between points 90 and 4 of FIG. 5 (b) is also a logic midpoint edges, connected between points 3 and edge 60 is also a logic connection between points 1 and edge 20 is also a logic impedance are 0.

[0149] 进一步,如果图5 (a)中的路链4也是有效路链,有三个不同的路链旅行时间,那么图5(b)中的节点4就有多个阻抗值,图5(b)就应该进一步变换为图5 (C)。 [0149] Further, if the road link in FIG. 5 (a) is an effective way of chain 4, there are three different link travel time, then the FIG. 54 have a plurality of nodes impedance value (b) in FIG. 5 ( b) it should be further converted into FIG. 5 (C). 图5(b)中的路链5、6、7被变换为图5 (c)中的点5、6、7,它们与点4之间的连线45、46、47分别代表车辆从节点4(原路链4)转向路链5、6、7。 FIG chain passage 5 (b) is converted into 5,6,7 in FIG. 5 (c) the points 5,6,7, and their point of connection between the vehicle 4 from the node 46, 47 respectively represent 4 (4 backtrack chain) chain steering 5,6,7 way. 变换后,点4的阻抗值变为0。 After conversion, the impedance value of the point 4 becomes zero. 图5(c)中点5到点80 的连接是逻辑边,本身没有任何阻抗值,只表示点5到点80的连接关系,这一连接关系是从图5 (a)中路链5和节点80的连接关系继承下来的。 FIG 5 is connected (c) the midpoint 5 is a logic point 80 side, does not have any resistance value, shows only the connection relationship of the point 5 to point 80, the connection relationship from FIG. 5 (a) and 5 Middle chain node 80 of the connection relationship inherited. 同理,图5 (c)中点7和点120之间的连接也是逻辑边,点6和点100之间的连接也是逻辑边,都没有阻抗。 Similarly, the connection point between 7 and 120 in FIG. 5 (c) is also a logic midpoint edge, the connecting point between the point 6 and the edge 100 is also a logic are no impedance. 图5 (b)中点4和点90之间的逻辑边在图5(c)中被删除。 Logic between the center points 90 and 4 of FIG. 5 (b) is removed in FIG edge 5 (c) of. 路网变换后,路链表(表幻被更新,更新后的内容如表4所示。 After transformation road network, the road list (Table magic is updated, the updated content as shown in Table 4.

[0150] 表4 [0150] TABLE 4

[0151] [0151]

Figure CN102128631AD00192
Figure CN102128631AD00201

[0152] *4表示路链4已经变换成了节点4,并且节点阻抗为0。 [0152] * represents a 4-way link 4 has been converted to a node 4, and node 0 is impedance.

[0153] 路链45、46、47的路链阻抗等于图5(a)中路链4在不同流向上的阻抗,即将路链4的三个流向的阻抗分配到三条路链上,确保每条路链上的阻抗是单一值。 [0153] impedance path link chain 46, 47 is equal to 5 (a) on the middle chain impedance 4 of FIG different flow, i.e. the flow passage 4 three chain impedance dispensed onto the three-way link, to ensure that each impedance on the road is a single value chain.

[0154] 变换后新生成的点称之为有效点,新生成的边(逻辑边除外)称之为有效边。 [0154] After transformation the newly generated call point efficient point, the newly generated (the edge with the exception of logic) is called the effective edge. 有效边的阻抗为原路网中有效路链中多个旅行时间中的一个,有效点的阻抗分两种情况,如果有效点是由被变换的有效路链变换而来的,那么其阻抗设为0,如图5(b)中的节点1。 Effective impedance of the edge network effectively backtrack chain path in one of a plurality of travel times, the effective impedance point two cases, if the point is a valid way by the effective chain transformed from transformed, then the impedance provided It is 0, as shown in FIG 5 (b) in a node. 如果有效点是与被变换有效路链相连的路链变换而来的,那么其阻抗设为原路链的旅行时间, 如图5(b)中的节点4,此时其阻抗有可能不是唯一的,因为原路链有可能也是有效路链。 If the point is a valid conversion being transformed from an effective road link connected to the chain path, then the same way travel time to the impedance chain, 5 (b) in FIG. 4 nodes, then there may not be the only impedance because the chain the same way there may also be an effective way chain. 此时需要进一步进行变换,直到新生成的有效点的阻抗都是唯一的。 At this point the need for further transformation, the effective impedance point until a new generation is unique.

[0155] 例如,假设图6(a)中只有路链1和路链4是有效路链(有多个旅行时间值,路链1到路链2、4、3的旅行时间值分别为120、140、130,路链4到路链5、7、6的旅行时间值分别为450、470、460),路链2、3、5、6、7的旅行时间分别为20、30、50、60、70,上述旅行时间可以具有任意单位,为了统一,本说明书中以秒为单位。 [0155] For example, assume in FIG. 6 (a), only one path link chain 4 and a passage-way link is valid (the value of a plurality of travel times, the road link 1 to link travel time values ​​2,4,3 respectively 120 , 140, 130, the road link 4 to link travel time values ​​5,7,6 respectively 450,470,460), 2,3,5,6,7 link travel times were 20, 30, , 60 and 70, the above-described travel time may have arbitrary units, in order to unify the present specification in seconds. 图6(a)括号内的数字为阻抗值(旅行时间值),那么到了图6 (b)中新生成的有效点2和3的阻抗就分别是20和30,有效点1的阻抗为0。 The numbers in parentheses in FIG. 6 (a) is the resistance value (travel time value), the impedance of the effective point then to FIG. 6 (b) Newly generated 2 and 3 to respectively 20 and 30, the effective point impedance 1 0 . 但有效点4的阻抗值不唯一,需要进一步变换为图6(c)的形式。 Point 4 but the effective resistance value is not unique, needs to be further converted into the form of FIG. 6 (c) is. 到了图6(c)中, 新生成的有效点5、6、7的阻抗为别为50、60、70,有效点4的阻抗值变为0,新生成的有效边45、46、47的阻抗分别为450、460、470。 To FIG. 6 (c), the effective impedance of the newly generated points are 5,6,7 respectively to 60, 70, the effective resistance value of the point 4 becomes zero, a new generation of active edges 45,46,47 impedance respectively 450,460,470. 至此,新生成的有效点1、2、3、4、5、6、7的阻抗都是唯一值,对图6(a)的路网变换完成。 Thus, the effective impedance of the newly generated points are unique values ​​1,2,3,4,5,6,7, FIG. 6 (a) to complete the transformation of the road network.

[0156] 下面,再举例说明如何用增加虚拟边法对路网进行变换。 [0156] Next, another example of how the virtual edge by increasing the conversion process of the road network.

[0157] 假设图7(a)中路链1是有效路链,图7(b)中增加了三条虚拟路链12、13、14,同时删除路链1。 [0157] Suppose in FIG 7 (a) is an effective way middle chain link, FIG. 7 (b) an increase in the virtual three-way link 12, 13, and delete a road link. 路链12的阻抗值为路链1的阻抗加路链2的阻抗,路链13的阻抗值为路链1 的阻抗加路链3的阻抗,路链14的阻抗值为路链1的阻抗加路链4的阻抗。 Road link chain path impedance value of the impedance 12 is the impedance of a curb of the chain 2, the chain path 13 of the impedance value of the impedance of the road link chain path 1 plus 3 impedance, the impedance value of the road link passage 14 of the chain 1 Caroline chain impedance of 4. 路网变换后, 表1中路链表被更新,更新后的内容如表5所示。 After conversion road network, a middle table list is updated, the updated content as shown in Table 5.

[0158] 表5 [0158] TABLE 5

[0159] [0159]

Figure CN102128631AD00202
Figure CN102128631AD00211

[0160] 进一步,如果路链4也是有效路链,进一步变换为图7(c)所示的路网。 [0160] Further, it is also effective if the passage-way link chain 4, further transformed FIG. 7 (c) as shown in the road network. 删除路链14和路链7,增加路链145、146、147。 Delete Road 14 and Road link chain 7, increase road chain 145,146,147. 路链145的阻抗为路链1、4、5的阻抗之和。 Impedance path chain 145 of the impedance of the road and chain 1,4,5. 路链146 的阻抗为路链1、4、6的阻抗之和。 Impedance path chain 146 of the impedance of the road and chain 1,4,6. 路链147的阻抗为路链14、7(即、路链1、4、7)的阻抗之和。 Impedance path for the passage of the chain link 147 14,7 (i.e., road link 1,4,7) and impedance. 路网变换后,路链表(表幻被更新,更新后的内容如表6所示。 After transformation road network, the road list (Table magic is updated, the updated content as shown in Table 6.

[0161]表 6 [0161] TABLE 6

[0162] [0162]

Figure CN102128631AD00212
Figure CN102128631AD00221

[0163] 表7给出了用对偶图法和虚拟边法对路网进行变换后,路网中节点和路链的个数。 [0163] Table 7 shows the use of dual graph edges & Virtual number conversion process of the road network, road network and road node chain.

[0164]表 7 [0164] TABLE 7

[0165] [0165]

Figure CN102128631AD00222

[0166] 可以看出使用增加虚拟边的方法进行路网变换,变换后的路网规模比采用对偶图法更小。 [0166] It can be seen using the method of increasing the virtual road network side is converted, the converted road network is smaller than with the dual method of FIG. 但是新增的虚拟边的阻抗计算更复杂,需要对原路网中的多个路链的阻抗进行求和运算。 But the new virtual side impedance calculation is more complex, the need for multiple impedance road network in the same way chain of summing operations. 特别是对多条连续的有效路链进行变换时,需要进行多次的求和运算。 In particular when a plurality of consecutive valid path conversion chain, a plurality of times of summation is required. 为了平衡路网规模和计算量,可以采用如下策略:当交叉路口只有一条孤立的有效路链时,使用虚拟边法对有效路链进行变换,当交叉路口的有效路链是连续的两条或两条以上时,采用对偶图法。 In order to balance the size of the network and the amount of calculation, the following strategy may be adopted: when only one isolated active intersection road link using the virtual path side chain method effectively converts, when the effective road intersection continuous strand or two when more than two, using the dual graph method.

[0167] 步骤S203,通过以上两个步骤S201和S202,原道路网络中的有效路链被转换为新的有效边和有效点,每个有效边和有效点都只有单一的阻抗值,不会同时有多个值。 [0167] step S203, the above two steps S201 and S202, the original effective road link in the road network is converted into a new and effective active edge points, and each active edge points are valid only a single impedance value, does not have multiple values. 变换后的路网中的路链和节点都只有单一的值,用经典的Dijkstra算法或A*算法就能够处理。 Converted road network in the road link nodes and only a single value, the classical Dijkstra algorithm or A * algorithm can handle. 因为道路网络是有向图,路链都是有方向的,所以新的有效点的阻抗如果不为0,那么可以将其阻抗值附加到以该点为出口端点的有效边阻抗中,例如将图6 (c)中点5的阻抗归入有效边45中,则有效边45的阻抗由450增加为500,点5的阻抗为0。 Because the road network is a directed graph, is directed, the road link, the impedance of the new effective points if not zero, then the resistance value can be attached to the side of the effective impedance of the point in the outlet end, for example, FIG 6 (c) is included in the effective midpoint of the edge 5 the impedance 45, the effective impedance of the edge 45 is increased by 450 500, 0 is impedance point 5. 经过这一步骤,变换后的路网中所有节点的阻抗都是0。 After this step, the road network in the transformed impedance of all nodes are zero.

[0168] 步骤S203只是影响路径计算时对节点阻抗的初始化设置,是一个可选步骤。 [0168] Step S203 initialization settings only affect the impedance of the node to calculate the path, it is an optional step.

[0169] 根据以上变换步骤,不仅可以对常见的十字路口进行变换,还可以对不规则的交叉路口,如有环岛的交叉路口等进行变换。 [0169] According to the above conversion step, not only transforming the common intersection, the intersection may also be irregular, if roundabout intersection or the like transformation.

[0170] 图8(a)所示为典型的包含环岛的路口,环岛在道路计算时是表示为节点的,如图8 (b)所示为用节点和路链组合表达的环岛路网结构。 [0170] FIG. 8 (a) shows a typical intersection comprises the island, when the island is a diagram of a road is calculated, as shown in FIG 8 (b) is a node in the island network structure shown in expression of nodes and road chain combinations . 有1个节点,5个流入路链和5个流出路链,只是比普通的十字路口多了1个流出路链和1个流入路链。 Nodes 1, 5 and the inflow passage chain link outflow channel 5, but a plurality of the outflow channel and a chain link than the average inflow path intersections. 假设路链112是有效路链,应用虚拟边法进行路网变换后结构如图8(c)所示,图8(c)中的虚线为新增的虚拟边。 Suppose the road link 112 is converted road network structure shown in Figure 8 (c), the broken line (c) in FIG. 8 is a new virtual path active side chain, side virtual application method. [0171] 图9(a)和9(b)示出了各种交叉路口的路链表示示例。 [0171] FIG. 9 (a) and 9 (b) shows various road intersection link represents an example. 理论上各种形式的交叉路口,都可以表达为一个节点周围有若干条流入的路链和流出的路链,所不同的只是路链的数量差异,所以前述路网变换操作可以适用于各种交叉路口的有效路链。 Various forms of theoretical intersection, a road link can be expressed inflow and outflow of several pieces around a road link node, except that the number of differences in the road link, the road network so that the transformation operation is applicable to various chain effective way intersection.

[0172] 实际路网的拥堵状态是动态的变化的,所以导航服务器1000需要定时更新路链表,并根据新的路链表重新变换路网。 Congestion Status [0172] The actual road network is dynamic changes, the timing of the navigation server 1000 needs to update the routing list, and re-converted road network based on the new road list. 拥堵状态是一个渐变的过程,每次更新路链表时,并不是每条路链的有效性都会发生改变,例如某些路链很可能连续几个小时都是有效路链。 Congestion state is a gradual process, each update path list, the validity of each route will not change the chain, such as certain road chain is likely to continue for several hours is an effective way chain. 因此,除了首次路网变换时需要对所有有效路链进行变换,其它情况下,只需对新增的有效路链进行路网变换,对于已经变换过并持续到当前的有效路链不再进行路网变换,只更新其阻抗值。 Therefore, in addition to the road network for the first time need to transform all effective way to transform the chain, in other cases, the only effective way for the new road network chain transformation for transformation has been and continues to the current road chain no longer valid road network transformation, update only the impedance value. 对于失效的有效路链,及时删除其变换结果,恢复原始路链结构。 For effective way link failure, promptly remove its transformation result, restore the original road chain structure. 通过这种渐进式的路网变换方法,可以进一步减少路网变换装置300每次路网变换的计算量。 By this gradual conversion method road network, the road network can be further reduced amount calculation 300 every time the road network conversion apparatus converting.

[0173] 位于导航服务器1000的路径计算装置400根据车载端上传的目的地、出发地/当前位置信息,基于新路网,计算最优路径。 [0173] Path 1000 of the navigation server computing device 400, the current vehicle position information destination client upload departure /, based on the new road network, the optimal path is calculated. 新路网中以路链旅行时间作为路链阻抗,节点的阻抗也是原路网中的路链旅行时间。 The new road network to link travel time as the road chain impedance, impedance node network in the same way also the link travel time. 路径计算装置400采用传统的Di jkstra或A*算法计算出来的最优路径是旅行时间最短的路径。 The path calculation device 400 using conventional Di jkstra A * algorithm or the calculated optimal path is the shortest travel time route. 道路的拥堵状态是实时变化的,即路链旅行时间是不断变化的,在用户到达终点前路径计算装置400应该能够根据路链表的更新,重新为用户计算路径,并将更新后的路径发送给用户,当然用户可选择是否在导航过程中更新路径。 Road congestion status changes in real time, i.e., link travel time is constantly changing, according to the apparatus 400 should be able to update the routing list, the re-calculated route to the user before the user reaches the end of path computation, and sends the updated route to user, of course, the user can select whether to update the route during navigation.

[0174] 车辆的出发地和目的地不一定在路链的端点,可能是位于路链的中间位置,进一步来说可能是位于有效路链的中间位置。 [0174] origin and destination of the vehicle is not necessarily at the ends of the road link, the chain may be located at an intermediate position of the road, it may be more effective road link is located intermediate position. 有效路链经路链变换装置300变换后会变成多条路链,如果用户的起终点在有效路链上,一个起点就变成多个起点,一个终点也变成多个终点,这就使得路径计算装置400要进行多次路径计算,得到多个路径计算结果,并从中选出最优路径。 Multi-way link will become valid after passage through the link chain path transforming means transforms 300, if the end user in an effective way from the chain, a plurality of start point becomes the starting point, but also into a plurality of end end, which so that the path calculation means 400 to calculate multiple paths to obtain a plurality of path computation result, and to choose the optimal path. 前述多个起点的差异实际上只是转弯方向的差异,而车辆到达目的地后只能是靠边停车,根据多个起点和终点进行多次计算的意义并不大。 The aforementioned difference is really just the starting point of difference more than the turn direction, and the vehicle arrived at their destination only to pull over several times calculated from the multiple origins and destinations of little significance.

[0175] 因此,本发明在路径计算装置400中包含一个首尾路链反向变换单元410,如图10 所示。 [0175] Accordingly, the present invention is a path calculation device 400 comprises a chain inclusive path inverse transform unit 410, as shown in FIG. 如果路径计算的起终点位于有效路链的非端点位置,那么首尾路链反向变换单元410 就将新路网中的由有效路链变换而来的路链反向变换为原路链或节点,并用路链的平均旅行时间作为路链阻抗,保证路链阻抗值的唯一性。 If the path from the calculated end position of the effective path in a non-chain end, the end to end link path inverse transform by the effective path chain link path converting unit 410 from the new road network will inverse transform is the same route or node chain uniqueness and the average travel time of a road link chain path impedance, the impedance value chain to ensure road. 然后,再由路径计算单元420搜索最优路径。 Then, the optimal route calculated by the route search unit 420.

[0176] 图ll(a)、ll(b)和11(c)示出了首尾路链反向变换示例图。 [0176] FIG. Ll (a), ll (b) and 11 (c) shows an example of an inverse transform and last road link of FIG. 假设图11(a)中的车辆起点位于有效路链4上,到路链4终点距离为路链4长度的1/3。 Suppose FIG 11 (a) the vehicle starts from the chain 4 on the active path, the path is a path from the end of the chain 4 4 1/3 the length of the chain. 在变换后的新路网(图1Kb))中,车辆起点有三处,分别位于路链45、46、47上,这三条路链在地理上是重合的,只是路链旅行时间不一样。 In the new road network after conversion (Figure 1Kb)), the starting point there are three vehicles, which are located on the road chain 46, 47, the three-way link geographically overlap, just link travel time is not the same. 路径计算前,首尾路链反向变换单元410对这三条路链进行反向变换,变换后结果如图11(c)所示,车辆起点位于节点4,节点4是由路链4变换而来的,所以节点4的阻抗为路链4平均旅行时间的1/3。 Before the path calculation, and last road link these three inverse transform unit 410 inverse transform chain path, the result of conversion as shown in FIG 11 (c), the vehicle starts from the node 4, node 4 is transformed from a 4-way link , so the impedance node 4 1/3 4-way chain average travel time. 这样就保证了路径计算时起点只有一个,终点如果也在有效路链上,那么采用同样方法进行反向变换,保证路径计算时终点也只有一个。 This ensures that only a starting point to calculate the path, if the end of the chain path are valid, then the inverse transform using the same method to ensure that only when the end of a path computation. 首尾路链反向变换单元410对起点、终点的反向变换只针对当前用户有效,只在计算当前用户的路径时临时生效,对其它用户无效,这种变换不会更改作为全局数据存在的新路网数据140。 The new road link inclusive inverse transform unit 410 to the start point, end point inverse transform only valid for the current user, only a temporary effect when calculating the path of the current user is not valid to other users, this transformation does not change as a global data exists road network data 140.

[0177] 当然如果导航服务器1000的计算能力很强,能承受多路径计算的计算量,那么不进行首尾路链的反向变换也是可以的,路径计算装置400仍然从多条路径中挑出一条最优路径提供给用户。 [0177] Of course, if the navigation server computing strong ability of 1000, amount calculation can withstand multiple path computation, the inverse transform is not performed end to end path chains are possible, the path calculation device 400 still pick from a plurality of paths optimal path to the user.

[0178] 路径计算装置400计算出来的最优路径中的所包含的路链和节点信息都是基于新路网数据140的,而车载导航仪上的地图是原始地图,前述最优路径不能直接显示给用户。 Optimal Path [0178] calculated by the path calculation means 400 included in the road link and node information is based on the new network data 140 and the map on the original map is car navigation systems, the optimal path can not be directly displayed to the user. 本发明提供一个路径反向变换装置600,将最优路径变换为基于原始地图中路链和节点信息的路径。 The present invention provides a reverse path converting means 600, the optimal path based on the original map is converted into middle chain path and node information.

[0179] 图12(a)和12(b)示出了路径反向变换示例图。 [0179] FIG. 12 (a) and 12 (b) shows an example of an inverse transform path of FIG. 图12(a)所示的虚线为某最优路径的其中一段,经反向变换后显示为图12(b)中的点划线路径。 FIG. 12 (a) wherein the dotted line is a section of the optimal path, through a reverse path transformed display dot chain line (b) in FIG. 12.

[0180] 实际道路是不断变化的,地图是在不断升级的,各个用户车载导航仪800中的地图的版本未必是一致的,路径反向变换装置600要能够针对不同版本的地图进行反向变换。 800 map [0180] The actual road is constantly changing, the map is escalating, car navigation systems each user version may not be the same, the path inverse transform device 600 to be able to reverse conversion for the different versions of maps . 这就需要用户在向中心请求路径搜索服务时,除了提供出发地、目的地信息,还要提供车载的地图版本信息。 This requires the user when requesting the route search service to the Center, in addition to providing origin, destination information, but also to provide information on-board version of the map. 经路径反向变换装置600反向变换后的最优路径中包含的路链和节点信息都是基于用户车载导航仪800中的地图格式的,通过通信装置700将这些路径信息发送给用户车载导航仪800。 After the optimal path via path 600 inverse transform inverse transform means included in the road link and node information is based on a user of car navigation system 800 in the map format, 700 sends these route information to the user via the communication car navigation apparatus 800 instrument.

[0181] 图13是用户车载导航仪800的结构图。 [0181] FIG. 13 is a configuration diagram of the user car navigation system 800. 通信装置810用于车载导航仪800与导航服务器1000的通信,以及车载导航仪800内各装置之间的通信。 A communication device 810 for communicating between devices 800 and 800 PND navigation server communication, and the car navigation system 1000. GPS定位装置820用于确定用户当前的位置,路径引导装置830用于保存通信装置810接收到的导航服务器1000 计算出来的最优路径,并根据用户当前位置、地图信息和路径信息生成驾驶引导信息,如导航画面和声音。 GPS positioning means 820 for determining a current location of the user, the route guidance means for holding the communication device 830 to the navigation server 810 receives the calculated optimal path 1000, and in accordance with user's current location, the map information and the path information generation drive guide information such as navigation picture and sound. 输出显示装置840将路径引导装置830生成的导航画面和声音呈现给驾驶员。 The display device 840 outputs the route guidance device 830 to generate a navigation picture and sound presented to the driver. 用户输入装置850用于接收用户的设定,如对目的地进行设定、对车载导航仪800的其它参数进行设定等。 User input means 850 for receiving a user's setting, such as setting the destination, other parameters of the car navigation device 800 and the like are set. 用户对目的地的设定将由通信装置810传送给导航服务器1000。 Set by the user to the destination by transmitting communication device 810 to the navigation server 1000.

[0182] 实施例2 [0182] Example 2

[0183] 在本发明的前述实施例1中路径计算功能由导航服务器1000完成,所以图13中的车载导航仪800中没有路径计算装置。 Example 1 route calculation function [0183] In the foregoing embodiment of the present invention is accomplished by the navigation server 1000, so 13 in FIG car navigation device 800 is not the path calculation. 但是路径计算功能也可以位于车载导航仪中(实施例幻,那么图1中的路径计算装置400和路径反向变换装置600就必须移到车载导航仪800 中。 However, path computation functionality could also be located in the car navigation system (Example magic, the path calculation device 400 in FIG. 1 and the path inverse transform means 600 must move the vehicle-mounted navigation device 800.

[0184] 图14是本发明实施例2的导航服务器1000和车载导航仪810的结构图。 [0184] FIG. 14 is a configuration diagram of the navigation server 1000 and 2 810 of the car navigation system embodiment of the present invention. 在图14 的导航服务器1000只包含有效路链检测装置100和路网变换装置300。 In the navigation server 1000 of FIG. 14 contains a valid path detection chain means 100 and conversion means 300 road network. 路网变换装置300 生成的新路网数据经通信装置700发送给车载导航仪800。 The new road network data conversion apparatus 300 generates road network is transmitted to the car navigation system 800 via the communication device 700.

[0185] 图14的车载导航仪800中增加了路径计算装置400和路径反向变换装置600,这两个装置的工作原理与实施例1中介绍的一样,只是安装位置在车载端。 [0185] FIG. 14 in the car navigation apparatus 800 increases the path calculation device 400 and the inverse conversion path 600, the working principle of the embodiment of Example 1 the two devices as described, only the in-vehicle terminal mounted position.

[0186] 图15为实施例2的系统流程图。 [0186] FIG. 15 is a flowchart illustrating the system of Example 2. 导航服务器1000负责检测有效路链、生成路链表,然后变换路网中的有效路链,最后根据车载导航仪800的请求发送新路网数据给车载端。 The navigation server 1000 is responsible for detecting a valid path link, generating road list, and then converting the effective road link in the road network, road network data is transmitted last to the new car navigation terminal 800 according to a request of the vehicle. 车载导航仪800通过步骤S810接收新路网数据,步骤S400根据用户输入的目的地计算最优路径,步骤S600将最优路径进行反向变换,使得最优路径能够在原始地图上显示。 Car navigation systems 800 through step S810 to receive new road network data, a step S400 calculates the optimal route based on the destination input by the user, in step S600, the optimal route reverse conversion, so that the optimum route can be displayed on the original map. 步骤S830根据路径信息和车辆当前位置,生成引导驾驶员的导航信息,如“前方50米右转”寸。 Step S830 based on the current vehicle position and the route information, navigation information to generate driver guidance, such as "50 meters ahead, turn right." Inch.

[0187] 车载导航仪800的通信装置810需要从导航服务器下载新路网数据,然后根据新路网数据进行路径计算。 Communication device 810 [0187] Car navigation system 800 need to download the new road network data from the navigation server, and then calculates the new route network data. 新路网数据的下载一般需要花费一些时间,车载导航仪800的计算能力也不如导航服务器1000,如果要减少车载导航仪800的数据下载量和计算量,可以根据用户的起终点位置,有选择地下载新路网数据,例如车载导航仪800中的路径计算装置400先以路链长度为路链阻抗计算出一条初始路径,然后只下载这条初始路径周围的新路网数据(例如,与初始路径的距离小于等于15km),下载完成后,再根据新路网中的路链阻抗重新计算最优路径。 The new way to download network data generally takes some time, car navigation systems computing capacity of 800 is not as navigation server 1000, if you want to reduce data downloads and calculate the amount of car navigation systems 800, depending from the end user's location, selectively download new road network data, such as the path of car navigation device 800 the computing device 400 prior to passage the chain length of the road link impedances calculated an initial path, and download only new road network data of this initial path around (e.g., with from the initial path is 15km or less), the download is complete, then recalculates an optimal path according to the impedance of the new road link in the road network. 划定路网数据的下载范围,除了采用初始路径的方法,还可以采用其它方法,例如,将路网数据的下载范围限定在以起点和终点为直径的圆的外切正方形的外接圆的范围内。 Designated road network data downloaded range, in addition to the method using an initial path, other methods may also be employed, e.g., to download data defining the range of the road network in the scope of the square circumscribed circle circumscribed circle to the diameter of the start and end of the Inside. 在下载的过程中,车载导航仪800也可引导驾驶员先按照初始路线驾驶, 然后在途中用最优路径去更新导航路线。 In the download process, car navigation systems 800 may also guide the driver to drive in accordance with the initial route, then the optimal path to update the navigation route on the way. 这种方法可以减少驾驶员的等待时间。 This approach can reduce the waiting time of the driver.

[0188] 实施例3 [0188] Example 3

[0189] 在本发明的实施例3中,将前述实施例2的导航服务器1000的路网变换装置300 也安装在车载导航仪800中,由车载导航仪800完成路网变换工作,导航服务器1000只负责生成包含有效路链的路链表。 [0189] In Example 3 of the invention, the aforementioned Example 2, the navigation server road network conversion device 300 1000 is also installed in the car navigation device 800, to complete the road network conversion operation by the car navigation device 800, the navigation server 1000 only responsible way to generate the list contains a valid path chain.

[0190] 图16示出了本发明实施例3的导航服务器1000和车载导航仪810的结构图。 [0190] FIG. 16 shows a block diagram of the present invention Example 3 of the navigation server 1000 and the car navigation system 810 of FIG. 因各个模块的功能均已在实施例1中进行了详细的描述,这里不再赘述。 Due to the function of each module have been described in detail in Example 1, is omitted here.

[0191] 图17为本发明实施例3的系统流程图。 [0191] The system 17 of FIG. 3 flowchart of the embodiment of the present invention. 在导航服务器1000中,由有效路链检测装置100生成路链表,并持续进行更新。 In the navigation server 1000, the chain path by the effective path detector 100 generates a list, and updated continuously. 车载导航仪800中的通信装置810下载路链表,由路网变换装置300生成新路网数据,路径计算装置400计算最优路径,路径反向变换装置600 对最优路径进行反向变换。 Car navigation device 810 downloads a communication path list 800, the road network conversion device 300 generates a new road network data, the path calculation device 400 calculates the optimal path 600 path optimum path inverse conversion means for inverse transform. 路径引导装置830生成引导驾驶员的导航信息。 Route guidance means guides the driver 830 generates the navigation information. 输出显示装置840将路径引导装置830生成的导航画面和声音呈现给驾驶员。 The display device 840 outputs the route guidance device 830 to generate a navigation picture and sound presented to the driver.

[0192] 有效路链数据的下载一般需要花费一些时间,车载导航仪800的计算能力也不如导航服务器1000,如果要减少车载导航仪800的数据下载量和计算量,可以根据用户的起终点位置,有选择的下载有效路链数据,例如车载导航仪中的路径计算装置先以路链长度为路链阻抗计算出一条初始路径,然后只下载这条初始路径周围的有效路链数据(例如, 与初始路径的距离小于等于15km),车载导航仪800进行路网变换时也只对这条初始路径周围的路网进行变换,变换完成后,再根据新路网中的路链阻抗重新计算最优路径。 [0192] Download active channel link data typically takes some time, car navigation computing capacity of 800 is not as navigation server 1000, if you want to reduce data downloads and calculates the amount of car navigation device 800, depending from the user's end position selectively downloading valid road link data, such as the path car navigation calculation means prior to passage the chain length of the road link impedances calculated an initial path, and download only around this initial path of the effective channel link data (e.g., initial path distance is equal to less than 15km), car navigation device 800 when the road network converting this article only the road network around the initial path is converted, after the completion of conversion, the most recalculated according to the new road link road network impedance of shortest paths. 划定路网变换的范围,除了采用初始路径的方法,还可以采用其它方法,例如,将路网变换的范围限定在以起点和终点为直径的圆的外切正方形的外接圆的范围内。 Scoping converted road network, in addition to the method using an initial path, other methods may also be employed, e.g., to limit the scope of the road network in the range of conversion of the circumscribed circle of the square circumscribed circle to a diameter of the start and end points. 在有效路链的下载过程中,车载导航仪800也可引导驾驶员先按照初始路线驾驶,然后在途中用最优路径去更新导航路线。 During the download effective path chain, car navigation systems 800 may guide the driver to follow the initial driving line, and then update the optimal route to the navigation route on the way. 这种方法可以减少驾驶员的等待时间。 This approach can reduce the waiting time of the driver.

[0193] 此外,在以上的描述中,针对各个实施方式,列举了多个单元结构实例或步骤实例,虽然发明人尽可能地标示出彼此关联的实例,但这并不意味着这些实例必然按照相应的标号存在对应关系。 [0193] In the above description, for the various embodiments, include a plurality of unit instances or instances step structure, the inventors although an example of possible mark associated with each other, but this does not necessarily mean that these examples in accordance with corresponding relationship exists between the respective reference numerals. 只要所选择的单元结构实例或步骤实例所给定的条件间不存在矛盾,可以在不同的实施方式中,选择标号并不对应的实例来构成相应的技术方案,这样的技术方案也应视为被包含在本发明的范围内。 As long as the selected configuration instance or units to the procedure of Example no contradiction between the given conditions, in various embodiments, the selected reference examples do not correspond to the respective configuration aspect, this aspect should also be considered It is included within the scope of the present invention.

[0194] 此外,本发明也可以实现为计算机可读介质中的计算机可执行指令。 [0194] Further, the present invention may be implemented in a computer-readable medium as computer executable instructions. 计算机可读介质包括其中存储或包括了计算机可读数据、或者可以包括能够由计算机或处理单元读取的任何类型的数据的所有种类的介质。 The computer-readable media include or includes a computer-readable data, or may include all kinds of any type of media can be read by a computer or data processing unit. 计算机可读介质包括但不局限于以下存储介质:例如,磁存储介质(例如,ROM、软盘、硬盘等)、光读取介质(例如⑶-ROM(只读光盘存储器)、 DVD(数字通用盘)、可重写光盘等)、混合磁光盘、有机盘、系统存储器(只读存储器、随机存取存储器)、非易失性存储器诸如闪速存储器或其他任何类型的易失性或非易失性存储器、 其他半导体介质、电介质、电磁介质、红外线、以及如载波等其他通信介质(例如,通过因特网或另外的计算机的传输)。 The computer-readable media include, but are not limited to the following storage media: e.g., magnetic storage medium (e.g., ROM, floppy disks, hard disks, etc.), optical reading medium (e.g. ⑶-ROM (compact disc read only memory), DVD (digital versatile disc ), a rewritable optical disk, etc.), hybrid magnetic optical disks, organic disks, system memory (read-only memory, random access memory), a nonvolatile memory such as volatile or non-volatile flash memory, or any other type of volatile memory, other semiconductor media, dielectrics, electromagnetic media, infrared, and other communication media such as carrier waves (e.g., via the Internet or another computer transmission). 通信介质通常实现计算机可读指令、数据结构、程序模块或者在如载波或包括任何信息传送介质的其他可传输介质等调制信号中的其他数据。 Communication media typically implemented as computer readable instructions, data structures, program modules or other data such as a carrier wave or a modulated signal comprises a transmission medium other any information delivery media in the like. 如通信介质等计算机可读介质可以包括如射频、红外线微波等无线介质、以及如有线网络等有线介质。 The communication media may include computer readable media such as radio frequency, infrared, microwave and other wireless media, and wired media such as a wired network or the like. 此外,计算机可读介质可以存储和执行分布在通过网络连接的计算机中的计算机可读代码。 Further, a computer-readable medium may store and execute distributed through a network connected computer readable code. 计算机可读介质还包括处于处理系统中、或者分布在位于处理系统的本地或远端的多个处理系统中的协同或互连的计算机可读介质。 The computer-readable medium further comprises in the processing system, or distributed to the processing system a plurality of local or remote processing system synergistic or interconnected computer readable media. 本发明可以包括其上存储有数据结构的计算机可读介质,所述数据结构包括包含表示本发明的技术的数据的多个字段。 The present invention may include a computer having stored thereon a data structure readable medium comprising a data structure comprising a plurality of fields represented by the present technology data. [0195] 至此已经结合优选实施例对本发明进行了描述。 [0195] So far in connection with preferred embodiments of the present invention has been described. 应该理解,本领域技术人员在不脱离本发明的精神和范围的情况下,可以进行各种其它的改变、替换和添加。 It should be understood that those skilled in the art without departing from the spirit and scope of the present invention may be made of other various changes, substitutions and additions. 因此,本发明的范围不局限于上述特定实施例,而应由所附权利要求所限定。 Accordingly, the scope of the present invention is not limited to the specific embodiments, but is defined by the appended claims.

Claims (29)

1. 一种基于有效路链的路径搜索方法,包括:当由于原始路网结构中的至少一条路链的终点与多条其他路链的起点相连而导致所述至少一条路链具有多个不同的路链旅行时间时,选择所述至少一条路链中的一部分;基于所选择的路链及其相应的多个不同的路链旅行时间,将由所有路链构成的原始路网结构变换为新的路网结构;以及根据所述新的路网结构,搜索最优路径。 An effective road link based on the route search method, comprising: when the at least one end of the road due to the connection link of the original network structure in the plurality of other paths starting chain path leading to said at least one strand having a plurality of different when the link travel time, at least a selected portion of said chain path; path based on different chains and link travel time of the corresponding plurality of selected, by converting the original network structure consisting of chains of all new paths the network structure; and the new network structure, according to the search for the optimal path.
2.根据权利要求1所述的基于有效路链的路径搜索方法,还包括:将所述最优路径反向变换为基于所述原始路网结构的变换最优路径;以及在原始路网结构中,显示所述变换最优路径。 And in the original network structure; the optimal path to an inverse transform based on the transform of the optimal path of the original network structure: 2. The path searching method based on the effective passage of the chain according to claim 1, further comprising in displaying the optimal path conversion.
3.根据权利要求1或2所述的基于有效路链的路径搜索方法,其特征在于:在所述选择步骤中,将原始路网结构中具有多个不同的路链旅行时间的路链标记为候选路链,而将原始路网结构中具有单一路链旅行时间的路链标记为非有效路链,以及选择所述候选路链中的一部分,标记为有效路链,而将所述候选路链中的剩余路链标记为非有效路链,从而将原始路网结构中的所有路链划分为有效路链和非有效路链。 The path searching method based on the effective passage of the chain or as claimed in claim 12, wherein: in said selecting step, the original network structure having a plurality of different paths labeled chain link travel time labeled candidate road link chain path, and the original network structure in a single link travel time as an invalid path chain, and a portion of the selected candidate path chain, the chain path marked as valid, and the candidate the remaining road link in the chain link path marked as non-valid so as to divide all the road link in the original network structure for the effective and non-effective way road link chain.
4.根据权利要求3所述的基于有效路链的路径搜索方法,其特征在于:根据每一条候选路链的变异系数,选择所述候选路链中的一部分,标记为有效路链。 4. The path searching method based on the effective passage of the chain according to claim 3, wherein: each candidate based on the coefficient of variation of the chain path, selecting the candidate path portion of chain, the chain path marked as valid.
5.根据权利要求4所述的基于有效路链的路径搜索方法,其特征在于:候选路链i在t时段内的变异系数Li (t)是按照下述公式计算的:Li (t) = S1(I)ZA1 (t)其中,Si (t)表示候选路链i在t时段内的多个路链旅行时间的标准差,Ai (t)表示候选路链i在t时段内的多个路链旅行时间的平均值。 The path searching method based on the effective passage of the chain according to claim 4, wherein: the coefficient of variation candidate road link i in the period t of Li (t) is calculated according to the following equation: Li (t) = S1 (i) ZA1 (t) where, Si (t) represents a plurality of candidate road link i standard link travel time difference in the time period t, Ai (t) represents a plurality of candidate road link i in the period t the average link travel time.
6.根据权利要求5所述的基于有效路链的路径搜索方法,其特征在于: The path searching method based on the effective passage of the chain as claimed in claim 5, wherein:
Figure CN102128631AC00021
变异系数阈值AL (t)是所有η条候选路链在t时段内的变异系数的平均值 Coefficient of variation of the threshold value AL (t) is an average coefficient of variation of all the pieces of candidate paths η chain in the period t
7.根据权利要求5所述的基于有效路链的路径搜索方法,其特征在于: The path searching method based on the effective passage of the chain as claimed in claim 5, wherein:
Figure CN102128631AC00022
变异系数阈值AL (t)是预先选定的η条代表候选路链在t时段内的变异系数的平均值 Coefficient of variation of the threshold value AL (t) is the average of the coefficients η preselected bars represent candidate road link variations in period t
8.根据权利要求5所述的基于有效路链的路径搜索方法,其特征在于: 变异系数阈值A、(t)是与候选路链i具有相同路链等级j的所有r^.条候选路链在t 时段内的变异系数的平均值 8. A route search method based on the effective passage of the chain according to claim 5, wherein: the coefficient of variation threshold value A, (t) for all candidate road link i and r have the same path of the chain class j ^ pieces of candidate paths the average coefficient of variation of the chain in the period t
Figure CN102128631AC00023
9.根据权利要求4所述的基于有效路链的路径搜索方法,其特征在于候选路链i在t时段内的变异系数Li (t)是按照下述公式计算的: Li (t) = Vi (t)--ViWmin其中,Vi (t)max表示在t时段内候选路链i的最大路链平均旅行速度,Vi (t)min表示在t 时段内候选路链i的最小路链平均旅行速度。 9. The route search method based on the effective passage of the chain according to claim 4, characterized in that the coefficient of variation of the candidate road link i in the period t of Li (t) is calculated according to the following equation: Li (t) = Vi (t) - ViWmin wherein, Vi (t) max represents the candidate road link i in the period t is the maximum average travel speed of the chain path, Vi (t) min denotes the minimum average travel path candidate road link chain in period t i speed.
10.根据权利要求3〜9之一所述的基于有效路链的路径搜索方法,其特征在于: 在所述搜索步骤中,如果起点或终点位于有效路链的非端点位置,则将所述起点或所述终点所处的有效路链更新为非有效路链,根据非有效路链的变换规则,更新所述新的路网结构中的所述起点或所述终点所处的有效路链,然后,再搜索最优路径。 10. The path search method based on the effective passage of the chain to one of claims 3~9, wherein: in the search step, if the starting or ending end position of the effective path in a non-chain, then the effective way to update the start point or the end point of the chain in which the chain of non-effective way, in accordance with the conversion rule inactive chain path, updating the new network structure starting point or the end point of the road link at which effective and then, and then search for the optimal path.
11.根据权利要求3〜10之一所述的基于有效路链的路径搜索方法,其特征在于: 将候选路链或有效路链更新为非有效路链的步骤包括:计算所述候选路链或所述有效路链的多个路链旅行时间的平均值,作为所述非有效路链的路链旅行时间,以及将路链-路链旅行时间表中关于所述候选路链或所述有效路链的多条记录合并更新为关于所述非有效路链的单一记录。 11. The path search method based on the effective passage of the chain to one of claims 3~10, wherein: the active path candidate path chain or chain link update to inactive path comprises: calculating the candidate road link or the average of a plurality of link travel time of the effective path of the chain as the chain non-effective road link travel time, and the road link - link travel schedule candidate path with respect to the chain or the recording a plurality of valid path chains combined to update a single recording channel with respect to the non-effective chain.
12.根据权利要求1〜11之一所述的基于有效路链的路径搜索方法,其特征在于: 所述至少一条路链的多个不同的路链旅行时间是流向相关的。 12. The path search method based on the effective passage of the chain to one of claims 1~11, wherein: at least one of said plurality of ways different chain link travel time is related to the flow.
13.根据权利要求1〜12之一所述的基于有效路链的路径搜索方法,其特征在于:在所述变换步骤中,采用对偶图法或虚拟边法,将所述原始路网结构变换为所述新的路网结构。 13. The path search method based on the effective passage of the chain to one of claims 1~12, wherein: in said converting step, the method using the dual graph edges or virtual method, the original network structure conversion to the new network structure.
14. 一种导航服务器,包括:路链选择装置,用于当由于原始路网结构中的至少一条路链的终点与多条其他路链的起点相连而导致所述至少一条路链具有多个不同的路链旅行时间时,选择所述至少一条路链中的一部分;路网变换装置,用于基于所选择的路链及其相应的多个不同的路链旅行时间,将由所有路链构成的原始路网结构变换为新的路网结构;以及路径计算装置,用于根据所述新的路网结构,搜索最优路径。 14. A navigation server, comprising: a chain path selection means for, when at least one end of the road due to the connection link in the original network structure starting with a plurality of other paths lead to the chain at least one strand having a plurality of path when different link travel time, the selected portion of at least one chain path; network path transforming means, and based on the road link corresponding to a plurality of different link travel time of the selected channel by all chains the original structure of the road network is converted into a new network structure; and a path calculation means, for the new network structure, according to the search for the optimal path.
15.根据权利要求14所述的导航服务器,还包括:路径反向变换装置,用于将所述最优路径反向变换为基于所述原始路网结构的变换最优路径;以及发送装置,用于将所述变换最优路径发送至导航仪。 15. The navigation server according to claim 14, further comprising: a path inverse conversion means for inverse converting the optimal path based on the transformation of the original optimal path of the network structure; and transmitting means, means for converting the optimum path is transmitted to the navigator.
16.根据权利要求14或15所述的导航服务器,其特征在于:所述路链选择装置将原始路网结构中具有多个不同的路链旅行时间的路链标记为候选路链,而将原始路网结构中具有单一路链旅行时间的路链标记为非有效路链,以及选择所述候选路链中的一部分,标记为有效路链,而将所述候选路链中的剩余路链标记为非有效路链,从而将原始路网结构中的所有路链划分为有效路链和非有效路链。 The navigation server according to claim 14 or 15, wherein: said path selection means of the original chain structure of the road network having a plurality of different paths labeled chain link travel time for the road link candidate, and the Road link marker in the original network structure having a single link travel time is not the valid road link, and selecting the candidate path portion of the chain, the chain path marked as valid, and the remainder of the candidate road link chain path chain marked as non-valid path, whereby all the road link in the original network structure is divided into active and non-active channel link chain path.
17.根据权利要求16所述的导航服务器,其特征在于:所述路链选择装置根据每一条候选路链的变异系数,选择所述至少一条候选路链中的一部分,标记为有效路链。 17. The navigation server according to claim 16, wherein: said path selection means based on the coefficient of variation chains each chain path candidates, selecting a portion of the at least one candidate path chain, the chain path marked as valid.
18.根据权利要求17所述的导航服务器,其特征在于:所述路链选择装置按照下述公式计算候选路链i在t时段内的变异系数Li 18. The navigation server according to claim 17, wherein: said path selection means calculates the coefficient of variation chain candidate road link i in the period t according to the formula Li
Figure CN102128631AC00041
其中,Si (t)表示候选路链i在t时段内的多个路链旅行时间的标准差,Ai (t)表示候选路链i在t时段内的多个路链旅行时间的平均值。 Wherein, Si (t) represents a plurality of candidate road link i standard link travel time difference in the time period t, Ai (t) represents the average link travel time of a plurality of candidate road link i in the period t.
19.根据权利要求18所述的导航服务器,其特征在于:所述路链选择装置将变异系数阈值AL (t)计算为所有η条候选路链在t时段内的变异系数的平均值 The average path strand selection means coefficient of variation threshold value AL (t) is calculated as a coefficient of variation of all pieces of candidate paths η chains in period t is: 19. The navigation server according to claim 18, characterized in that
Figure CN102128631AC00042
20.根据权利要求18所述的导航服务器,其特征在于:所述路链选择装置将变异系数阈值AL (t)计算为预先选定的η条代表候选路链在t时段内的变异系数的平均值 20. The navigation server according to claim 18, wherein: said passage strand selection means coefficient of variation threshold value AL (t) is calculated for the preselected candidate η bar represents coefficient of variation in the chain path of the period t average value
Figure CN102128631AC00043
21.根据权利要求18所述的导航服务器,其特征在于:所述路链选择装置将变异系数阈值A、(t)计算为与候选路链i具有相同路链等级j的所有r^.条候选路链在t时段内的变异系数的平均值 21. The navigation server according to claim 18, characterized in that: said chain path selection threshold calculating means coefficient of variation value A, (t) and r is all candidate road link chain path i having the same level of ^ j Article the average coefficient of variation of the candidate road link in the period t
Figure CN102128631AC00044
22.根据权利要求17所述的导航服务器,其特征在于:所述路链选择装置按照下述公式计算候选路链i在t时段内的变异系数Li 22. The navigation server according to claim 17, wherein: said path selection means calculates the coefficient of variation chain candidate road link i in the period t according to the formula Li
Figure CN102128631AC00045
其中,Vi (t)max表示在t时段内候选路链i的最大路链平均旅行速度,Vi (t)min表示在t 时段内候选路链i的最小路链平均旅行速度。 Wherein, Vi (t) max represents the candidate road link i in the period t is the maximum average travel speed of the chain path, Vi (t) min denotes the minimum average travel speed of the chain path candidate road link i in the period t.
23.根据权利要求16〜22之一所述的导航服务器,其特征在于:如果起点或终点位于有效路链的非端点位置,则所述路径计算装置还用于: 将所述起点或所述终点所处的有效路链更新为非有效路链,根据非有效路链的变换规则,更新所述新的路网结构中的所述起点或所述终点所处的有效路链,然后,再搜索最优路径。 23. The navigation server according to one of claims 16~22, wherein: if the start or end position of the effective path in a non-end of a chain, the path calculation means is further configured to: the starting point or the effective way in which the chain end effective way to update the non-chain, non-active in accordance with the conversion rule of the road link, the beginning of a new update of the road network structure or the end of the effective way in which the chain, then, again search for the optimal path.
24.根据权利要求16〜23之一所述的导航服务器,其特征在于:所述路链选择装置或所述路径计算装置,针对将要被更新为非有效路链的候选路链或有效路链,计算所述候选路链或所述有效路链的多个路链旅行时间的平均值,作为所述非有效路链的路链旅行时间,以及将路链-路链旅行时间表中关于所述候选路链或所述有效路链的多条记录合并更新为关于所述非有效路链的单一记录。 24. The navigation server according to claim one of 16~23, wherein: said path selection means or said chain path calculation means, to be updated for the non-active path candidate road link chain or chains effective passage , the average value of the plurality of link travel time of the candidate path calculating said effective path chain or chains as the non-effective path chain link travel time, and the road link - link travel schedule regarding the recording said plurality of candidate road link chain or the combined effective way to update a single recording channel with respect to the non-effective chain.
25.根据权利要求14〜M之一所述的导航服务器,其特征在于:所述至少一条路链的多个不同的路链旅行时间是流向相关的。 25. The navigation server according to claim one 14~M, wherein: at least one of said plurality of ways different chain link travel time is related to the flow.
26.根据权利要求14〜25之一所述的导航服务器,其特征在于:所述路网变换装置采用对偶图法或虚拟边法,将所述原始路网结构变换为所述新的路网结构。 26. The navigation server according to claim one of 14~25, wherein: said converting means using the road network in FIG dual edge method or a virtual method, the original structure of the road network is converted into the new road network structure.
27. 一种导航仪,包括:路链选择装置,用于当由于原始路网结构中的至少一条路链的终点与多条其他路链的起点相连而导致所述至少一条路链具有多个不同的路链旅行时间时,选择所述至少一条路链中的一部分;路网变换装置,用于基于所选择的路链及其相应的多个不同的路链旅行时间,将由所有路链构成的原始路网结构变换为新的路网结构;以及路径计算装置,用于根据所述新的路网结构,搜索最优路径。 27. A navigation device, comprising: a chain path selection means for, when at least one end of the road due to the connection link in the original network structure starting with a plurality of other paths lead to the chain at least one strand having a plurality of path when different link travel time, the selected portion of at least one chain path; network path transforming means, and based on the road link corresponding to a plurality of different link travel time of the selected channel by all chains the original structure of the road network is converted into a new network structure; and a path calculation means, for the new network structure, according to the search for the optimal path.
28.根据权利要求27所述的导航仪,还包括:路径反向变换装置,用于将所述最优路径反向变换为基于所述原始路网结构的变换最优路径;以及显示装置,用于在原始路网结构中,显示所述变换最优路径。 28. The navigation device according to claim 27, further comprising: a path inverse conversion means for inverse converting the optimal path based on the transformation of the original optimal path network structure; and a display means, for the original network structure, the display transform the optimal path.
29.根据权利要求27或观所述的导航仪,其特征在于:所述路链选择装置将原始路网结构中具有多个不同的路链旅行时间的路链标记为候选路链,而将原始路网结构中具有单一路链旅行时间的路链标记为非有效路链,以及选择所述候选路链中的一部分,标记为有效路链,而将所述候选路链中的剩余路链标记为非有效路链,从而将原始路网结构中的所有路链划分为有效路链和非有效路链。 As claimed in claim 27 or 29. The concept of the navigation device, characterized in that: said path selection means of the original chain structure of the road network having a plurality of different paths labeled chain link travel time for the road link candidate, and the Road link marker in the original network structure having a single link travel time is not the valid road link, and selecting the candidate path portion of the chain, the chain path marked as valid, and the remainder of the candidate road link chain path chain marked as non-valid path, whereby all the road link in the original network structure is divided into active and non-active channel link chain path.
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