CN102235868A - Method of operating a navigation system to provide route guidance - Google Patents
Method of operating a navigation system to provide route guidance Download PDFInfo
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- CN102235868A CN102235868A CN201010248996XA CN201010248996A CN102235868A CN 102235868 A CN102235868 A CN 102235868A CN 201010248996X A CN201010248996X A CN 201010248996XA CN 201010248996 A CN201010248996 A CN 201010248996A CN 102235868 A CN102235868 A CN 102235868A
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Abstract
A method of operating a navigation system to provide a route guidance message for traveling a route is disclosed. A plurality of features visible from a road segment of the route is obtained from a geographic database associated with the navigation system. An importance rating for each of the identified features is determined. The guidance message references the identified feature having a highest determined importance rating. The importance rating considers a permanence or a seasonal dependency of the identified feature. The importance rating is adjusted to favor the identified feature closest to the lane in which the vehicle is currently located.
Description
To quoting of related application
The application is the part continuation application of the 12/549th, No. 604 application of submission on August 28th, 2009.
Technical field
The present invention relates to be used for the method and system of operated navigation systems, and relate more specifically to be used to use the method and system that route guiding (guidance) is provided along the background element (contextualelement) of the route that is calculated from the start position to the destination locations
Background technology
Can obtain provides the various functions relevant with navigation and the navigational system of feature to the terminal user.For example, some navigational system can be determined the optimal route of advancing from the start position to the destination locations along road network in the geographic area.Use is from terminal user's input, and navigational system can check that the potential route of each bar between start position and the destination locations is to determine optimal route.Navigational system can provide information about optimal route with the form of guiding to the terminal user then, and described guide marking terminal user advances to the required manipulation of taking of destination locations from start position.Some navigational system can show the position etc. of feature of type, some type of the detail map that route is delineated, the manipulation that will take at all places place along route on display.
For these and other function and feature relevant with navigation is provided, navigational system is used geodata.Geodata can be the form that comprises the one or more geographical data bank of the data of representing the physical features in the geographic area.Geographical data bank comprises about such as the position on one-way road, road, along the speed limit of the part on road, along the information that turns to the represented geographic entity restriction, the direction restriction (such as one-way road) etc. of the address realm of the part on road, crossing intersection part.In addition, geodata can comprise the point of interest such as trade company, facility, restaurant, hotel, airport, refuelling station, stadium, police office etc.
Though navigational system provides many important features, there are new feature and improved space constantly.Wherein exist the field in improved space to relate to provide to along route and the guide of row.Typically, the manipulation (maneuver) that route guiding sign will be taked in specified location is such as turning left in next crossing.Some terminal users may feel confused to their orientation (orientation) and turning to wherein.Therefore, provide improved to along route and the row guide be useful.More specifically, consider that terminal user's environment and the details in the background (context) are to provide more natural, environment and illustrative guidance message is useful.
Summary of the invention
In order to realize these and other target, the present invention includes a kind of method that is used for operated navigation systems with the guide message that is provided for advancing along the route that comprises at least one highway section.This method obtains the data of sign from the visible a plurality of features in highway section from the geographical data bank that is associated with navigational system.This method also identifies the track in the current highway section that is positioned at of vehicle.The dependence in season of persistence by the feature considering to be identified or the feature that is identified determines that the importance of the feature that each identified grades.Whether the visual appearance (appearance) of the feature that the persistence indication of the feature that is identified is identified is invariable.The dependence in season of the feature that is identified indicates the visual appearance of the feature that is identified whether to be subjected to seasonal effect.The importance grading of adjusting each feature that identifies is to help and the immediate feature that is identified in the current track that is positioned at of vehicle.Guide message reference (reference) to have the feature that is identified of the highest determined importance grading.The importance grading can further consider that the observability of the feature that indication identifies stops the visibility attribute of the feature that is identified of (obstruction) grade (level).The importance grading it is also conceivable that whether the title of the distinguishing aspect visually of the feature that description identifies can obtain from geographical data bank.
According on the other hand, the present invention includes a kind of navigational system.This navigational system comprises processor, the geographical data bank that is associated with processor and direct application, and described direct application is carried out the guide message of advancing along the route that comprises at least one highway section to be provided on processor.Direct application is determined the direction of upcoming manipulation, and obtains the data of sign from the visible a plurality of features in highway section from geographical data bank.Direct application is determined the importance grading of the feature that each identifies, and the guide message with reference to the feature that is identified with the highest determined importance grading is provided.The importance grading helps being positioned at the feature that is identified on the direction same side highway section and upcoming manipulation.The feature that importance grading consideration is identified, at least one attribute of from the group of forming by following attribute, selecting: the persistence the attribute whether visual appearance of the feature that identified of expression is invariable, whether the expression visual appearance is subjected to the dependency properties in season of seasonal effect, the expression observability stops the visibility attribute of grade, the conspicuousness attribute of conspicuousness of the feature that is identified apart from the two in the size of the feature that is identified and the feature that identified and highway section is considered in expression, characteristic range (extent) attribute of the length of the feature that expression is identified, and whether the title of representing the distinguishing aspect visually of the feature that description is identified can be from the preference name attribute of geographical data bank acquisition.
Description of drawings
Be described with reference to the following drawings example embodiment of the present invention here.
Fig. 1 is the block diagram according to the navigational system of example embodiment;
Fig. 2 shows the map of geographic area;
Fig. 3 is the block diagram of the geographical data bank of included expression geographic area in the navigational system depicted in figure 1;
Fig. 4 is the block diagram of the ingredient of the data recording that comprised in the geographical data bank depicted in figure 3;
Fig. 5 is used to collect to guiding the process flow diagram of the useful environmental background information of instruction;
Fig. 6 a and 6b are the expression of the part of geographic area;
Fig. 7 is the form of the importance attribute of the feature in the diagram geographic area;
Fig. 8 is the block diagram of the ingredient of the data recording that comprised in the geographical data bank;
Fig. 9 a provides process (passing) to guide the process flow diagram of message for being used to;
Fig. 9 b is the expression of the part of geographic area;
Figure 10 provides crossing (junction) to guide the process flow diagram of message for being used to;
Figure 11 is the expression of the part of geographic area;
Figure 12 is for being used to provide the process flow diagram that guides message;
Figure 13 is the expression of the part of geographic area;
Embodiment
I. navigational system
Fig. 1 is that described computing platform 102 for example is in-vehicle navigation apparatus, personal navigation equipment, mobile computer, mobile phone, PDA(Personal Digital Assistant), personal computer or other any computing machine according to example embodiment and block diagrams computing platform 102 associated navigation systems 100.Navigational system 100 is the combination of hardware and software component.In one embodiment, navigational system 100 comprises processor 104, the driver 106 that is connected with processor 104 and is used to the nonvolatile memory stores equipment 108 storing navigation application software program 110 and may store out of Memory.
In the system of an exemplary types, navigation application software program 110 is loaded on the random-access memory (ram) 122 that is associated with processor 104 from nonvolatile memory stores equipment 108.Processor 104 also receives the input from user interface 114.Navigational system 100 uses the geographical data bank 116 (may combine with the output that comes self aligning system 112 and communication system 120) that is stored on the storage medium 118 so that various navigation characteristic and function to be provided.Navigation application software program 110 can comprise provides the various features relevant with navigation and the application program of separating (or subroutine) of function.Navigation feature and feature can comprise that route calculation 124 (wherein determining the route from the starting point to the destination), route guiding 126 (wherein being provided for arriving the detailed guidance (direction) of expectation destination), map show 128 (maps that wherein show the route of describing current location and will advancing on display) and locate 130 (for example map match).
Can comprise other function and program design 132 in navigational system 100, described other function and program design 132 comprise personage and trade company's searching service (for example electronic yellow page and white page), point of interest search, destination selection and location-based advertising service.
Navigation application software program 110 can be write with the suitable computer programming language such as C, although other programming language such as C++ or Java also is suitable.All components described above can be traditional (or unconventional), and the manufacturing and the use of these assemblies are known to those skilled in the art.
In alternative embodiment, navigational system 100 comprises the local component that is physically located in the terminal user, and described local component is communicated by letter away from terminal user's remote component with the position.In this embodiment, remote component comprises navigation service server.Navigation application software program 110 is in the same place with geographical data bank 116 and navigation server position.The local component of navigational system is communicated by letter with remote component via communication link.Technology and/or agreement that this communication link can use current available any suitable technique and/or agreement and become available in future.The part of communication link can comprise the wireless portion that makes it possible to carry out the two-way communication between local component and the remote component.Radio communication that can be by any suitable form (comprise honeycomb, PCS, satellite, FM, radio,
Other short distance and long-range transmission technology or can be in the technology of exploitation in the future) implement wireless portion.
II. geographical data bank
In order to provide to the terminal user and relevant feature and the function of navigating, navigational system 100 is used geographical data bank 116.Geographical data bank 116 comprises the information about one or more geographic areas.Fig. 2 illustrates ground Figure 200 of the part of geographic area 202.Geographic area 202 can be corresponding to city or rural areas, state, country or its combination or any other zone.Physical geographical feature such as road, point of interest (comprising trade company, urban operating mechanism etc.), lake, river, railway, municipal government etc. is arranged in geographic area 202.
Ground Figure 200 illustrates the part of the road network in the geographic area 202.Except other, road network also comprises road and the crossing that is arranged in geographic area 202.Every road in the geographic area 202 is made up of one or more highway section 204.The part of highway section 204 expression roads.Each highway section 204 is shown having two nodes 206 that are associated with it; A node is represented the point at an end place in highway section, and another node is represented the point at the other end place in highway section.The node 206 at every end place in highway section 204 can be corresponding to the position (being the crossing) of this road and other road intersection or the position of this road broken end.Highway section 204 can comprise walkway and the crossing for pedestrian's walking.
As shown in Figure 2, geographic area 202 also comprises complex characteristic 208, such as the complex cross mouth that comprises a plurality of highway sections and a plurality of nodes.The geographic area also comprises the point of interest 208 such as trade company, facility, restaurant, hotel, refuelling station, stadium, police office etc.Geographic area 202 further comprises other map (cartographic) feature 210 such as lake, the woods, river, hill, high mountain etc.
With reference to figure 3, geographical data bank 116 comprises some the data 302 in the physical geographical feature in the geographic area of being described in the presentation graphs 2 202.The data 302 that comprised in the geographical data bank 116 comprise People's Bank of China's network that expression is bought car in installments a road network of advancing and walked for the pedestrian.In the embodiments of figure 3, the geographical data bank 116 of expression geographic area 202 comprises at least one highway section data recording 304 (data-base recording also can be known as " entity " or " clauses and subclauses ") in each highway section 204 that is used for geographic area 202.The geographical data bank 116 of expression geographic area 202 also comprises the node data record 306 of each node 212 that is used for geographic area 202.Term " node ", " section " and " link " only represent to be used to describe a term of these physical geographical features, and other term intention that is used to describe these features is included in the scope of these notions.
In addition, geographical data bank 116 comprises below with index feature point object data record 314 and the associated data record 316 described in detail.Geographical data bank 116 can also comprise the data of other kind.The data of other kind can be represented geographic entity or any other things of other kind.Geographical data bank 116 also comprises index 318.Index 318 can comprise with data of different types associated with each other or with geographical data bank 116 in the relevant various types of index of data of the others that comprised.For example, index 318 end points that node data can be write down the highway section in node and the highway section data recording 304 in 306 is associated.As another example, the interest point data that index 314 can write down interest point data in 312 is associated with highway section in the highway section data recording 304.
Fig. 4 shows some in the ingredient of the highway section data recording 304 that is comprised in the geographical data bank 116.Highway section data recording 304 comprises road section ID 304 (1), can identify this data recording by described road section ID 304 (1) in geographical data bank 116.Each highway section data recording 304 has the information (such as " attribute ", " field " etc.) that is associated with it, describe the feature in represented highway section.Highway section data recording 304 can comprise data 304 (2), speed limit on its represented highway section of indication or speed category (category) the vehicle gait of march of high permission (promptly).Highway section data recording 304 can also comprise data 304 (3), the classification its indication such as rank (rank) in highway section (can corresponding to its functional type (class)).
The highway section data recording also comprises data 304 (4), and whether its assignor trade is associated with this highway section and the attribute information on walkway.Highway section data recording 304 can also comprise other data 304 (6) or be associated with other data 304 (6) that described other data 304 (6) refer to various other attributes in represented highway section.The various attributes that are associated with the highway section can be included in the record of single highway section, maybe can be included in the record of quoting more than a class intersected with each other.For example, highway section data recording 304 can comprise being identified at each node (described node is corresponding to the crossing of the each end of the road part of being represented by this highway section) locates to exist what to turn to the data of restriction, known one or more titles in represented highway section, the length in this highway section, the grade in highway section, the number in track that comprises this highway section of specified added turning lane, street address scope along represented highway section, the direction that is allowed that vehicle on represented highway section is advanced, whether represented highway section is controlled passing road (such as highway), ramp to controlled passing road, bridge, the tunnel, toll road, the part at ferry etc.
Highway section data recording 304 also comprises data 304 (5), the end points in its sign highway section and the position (for example latitude and longitude) of end points.In one embodiment, the node data record 306 that defines for the node corresponding with reference to (reference) of end-point data 304 (5) with the end points in represented highway section.Traditionally, each highway section is considered and has " reference " or " left side " end points and " non-reference " or " right side " end points.Left end point can be the node with bigger longitude coordinate, or has the node of littler latitude when longitude coordinate is identical.Certainly, which node be can alternately define and left end point or right endpoint are defined as.
Each node data record comprises node ID 306 (1) can identify this record by described node ID 306 (1) in geographical data bank 116.Node data record 306 also comprises data 306 (2) data, the geographic coordinate of the node that its sign is represented (for example latitude, longitude and optional height above sea level).Node data record 306 also comprises data 306 (3), and its sign is connected with this node to form the highway section of crossing.For example, the crossing that can represent two road by the node of node ID 306 (1) signs.In this crossing, in these two road every can be had in two highway sections (being positioned at the opposition side at the center of this crossing) of the end points at this node place by each and represents.In this example of standard four-way crossing, linkage section data 306 (3) comprise that sign is connected four the section ID 304 (1) with four highway sections that form the crossing with this node.
III. collect the data and the related information of index feature point.
Expectation obtains providing support based on the route guiding instruction of the background element around the highway section for the terminal user.The guide of such enhancing is known as nature and guides, and guide is defined as comprising that (turn-by-turn) that turn to one by one of a plurality of attributes and relation experiences naturally, and described a plurality of attributes and relation are more natural, environment and trigger thing (trigger) intuitively user's environment and background detailed description (detail).Use nature to guide the guide message that forms that the details of background element around the decision-point (such as point of interest, map feature and traffic signals and/or stop sign) is provided.Use the example of the guide message of nature guide to be and ", after the refuelling station, turn right then through your right-hand dome buildings.”
In order to allow navigational system 100 that the nature director information is provided, the geographic database developer person collects providing more natural, additional environmental background being provided and guiding useful, relevant with the geographic entity of the geographic area information of instruction more intuitively.In one embodiment, Geographical Study person advances in the geographic area to collect the information relevant with geographic entity.Along with Geographical Study person advances in the geographic area, the image and/or the video in the zone around road network and the road are collected and are stored in the storage medium.Except the image or video of collecting road network and peripheral region, can make to use up and detect and range finding (ranging) (" LIDAR ") equipment or sensor, collect data (" LIDAR data ") by transmitting and receiving light.In one embodiment, LIDAR equipment is collected and the image data point in the mode of the some cloud such as 3D point cloud, and each data is corresponding to such as (x, y, z) and so on this locality (local) coordinate in described some cloud.Can analyze that 3D point cloud identifies the feature of road equipment (furniture) (identify) such as road sign, traffic lights and the street lighting, buildings and along the tree in roadside.Geographical Study person is direct acquisition of information when advancing in the geographic area, and/or after in the geographic area, advancing by checking that subsequently video, image and LIDAR data come acquisition of information.In another embodiment, Geographical Study person uses aerial image to come acquisition of information.
Fig. 5 illustrates and is used to collect to guiding the process flow diagram of useful environmental background information naturally.Geographical Study person uses and to comprise that the computer workstation of user interface, display, processor and computer-readable recording medium carries out the step of this process flow diagram.Be used to collect to guiding the step of useful environmental background information naturally though described about the highway section, similarly step can be used to collect the environmental background information useful to the pedestrian.In addition, many highway sections comprise the walkway for pedestrian walking, and institute thinks that the walkway that the environmental background information of highway section collection can easily be applied to be associated uses for the pedestrian.
In one embodiment, Geographical Study person is by collecting the visual inspection of image, video or LIDAR data guiding useful environmental background information naturally.In another embodiment, a kind of automatic processing is extracted in feature visible and that exist in image and the video in the LIDAR data.Customize this automatically handle with based on discrepant color, discrepant size, with the distance of road etc. from extracting notable attribute on every side.Should handle color, texture, building materials or the others of all right identification characteristics automatically.Further, Geographical Study person can use expression previous by the detection data of advancing of vehicle along road network.
In another embodiment, use Indigenous knowledge and identify environmental background information from local expert's suggestion.For example, the community of navigation system users or local can recommend guiding Useful Information naturally.Geographical Study person can invite local or navigation system users to identify the appropriate index feature of the crossing of appointment.Geographical Study person's assessment is from the submission thing of local or navigation user, and use is carried out the step of discussing below by the information that navigation system users or local submit to.In addition, Geographical Study person can recruit the local or the information that is identified is verified or checked to navigation system users in the automatic processing of image, video and LIDAR data.
At step 500 place, Geographical Study person's sign (identify) is visible feature from the highway section.In one embodiment, Geographical Study person shows the video in highway section of part of the geographic area of the every side that is included in the highway section on workstation.Feature can be the point of interest such as buildings, and/or the map feature such as the lake.Fig. 6 a illustrates the map feature in the 602 visible lakes 600 from the highway section.That Fig. 6 b illustrates is visible from the highway section, the point of interest refuelling station 610 and the government buildings 612 of contiguous complex cross mouth 614.Geographical Study person can be identified on the highway section visible each feature or it comprises the subclass of significant visible features.
At step 502 place of Fig. 5, from the highway section visible feature-modeling index feature point object of Geographical Study person to being identified.The visible features at the some place on the index feature point object representation highway section or the visible features of the point on the highway section.For the purpose of the guide suggestion of quoting visible features is provided, feature the most visibly (most visibly) significantly or the most visibly can discern or index feature point object is created in recognizable position.When creating index feature point object, Geographical Study person writes down the latitude and longitude (and height above sea level) positional information of index feature object-point, and the indication visible features is positioned at which side in highway section.In one embodiment, because index feature point object is positioned at this feature from its most significant highway section, so index feature point object is not positioned at the inlet point of feature, private track or place, entrance, and index feature point object is not positioned at the address points position of feature.
With reference to figure 6a, index feature point object 604 is positioned on the highway section 602,600 positions from highway section 602 the most visible (visible) in the lake.As shown in Fig. 6 a, at some somes place of 602 along the highway section, tree 606 stops the watching of lake 600, and therefore, index feature point object 604 positions are away from setting 606, so that clearly watching of from the highway section 602 pairs of lakes 600 to be provided.In one embodiment, should put 25 meters or the farther feature that can see such as lake 600 on every side of object 604 from index feature.In other embodiments, be possible with the different distance of every side of index feature point object, and select such apart from the time can consider the speed limit that is associated with the highway section.In addition, guide, then, can reduce the distance on every side of index feature point object because pedestrian's the speed of travel is slow if visible features will be used to the pedestrian.
With reference to figure 6b, 610 contiguous complex cross mouth 614 and highway sections 620,622,624 and 626, refuelling station.Geographical Study person respectively in the highway section 620 and 622 places, refuelling station 610 is 620 and 622 the most visible and unobstructed or stop that limited position creates index feature point object 632 and 634 from the highway section.Geographical Study person also respectively in the highway section 624 and 626 places, refuelling station 610 is 624 and 626 the most visible and unobstructed or stop that limited position creates index feature point object 636 and 638 from the highway section.
With reference to figure 6b, government buildings 612 contiguous complex cross mouth 614 and highway sections 616,618,628 and 630.Geographical Study person 616 places in the highway section, government buildings 612 is 616 the most visible and unobstructed or stop that limited position creates index feature point object 640 from the highway section.Geographical Study person also in the highway section 630 places, government buildings 612 is 630 the most visible and unobstructed or stop that limited position creates index feature point object 642 from the highway section.Notice that government buildings is 618 and 628 invisible from the highway section, this is because high fence 644 and 646 stops the watching government buildings 612 from these highway sections.Therefore, Geographical Study person does not create the index feature point object corresponding to government buildings 612 on highway section 618 and 628 places or highway section 618 and 628.
In another embodiment, Geographical Study person's sign (identify) is easy observed roadway characteristic such as road curve or hill for the driver, and the researcher creates index feature point object for bend or hill.Can begin to locate at hill, at the hill top place or create the index feature point object of hill in the hill bottom.Similarly, can be before bend, create the index feature point object of bend after the position in the bend or the bend.
At step 504 place, Geographical Study person determines whether the index feature point object of being created guides useful to providing through guide or crossing.Route guiding when supporting through feature through guiding; The route guiding that is supported in when travelling (or turning to) on crossing and/or the complex cross mouth is guided at the crossing.With reference to figure 6a, index feature point object 604 can be used to provide through guiding, and this is because it provides clearly watching for lake 600 during through lake 600 on highway section 602.With reference to figure 6b, index feature point object 632,634,636,638,640 and 644 can be used to provide the crossing to guide, and this is because they are to be close to and can to see advancing when turning to by complex cross mouth 614 or at complex cross mouth 614 places.
At step 506 place, the highway section that be not blocked or restricted view that Geographical Study person will have feature is associated with the index feature point object of being created, thereby and described highway section is associated with feature.When determining which highway section is associated with index feature point object, Geographical Study person's assurance drives to the highway section that index feature point object is positioned at from (will association) this highway section be possible.For concerning through guiding the useful index feature point object, with the highway section be positioned at that this highway section is located or this highway section on index feature point object be associated.For shown in Fig. 6 a, concerning through guiding useful index feature point object 604, highway section 602 is associated with index feature point object 604, thereby highway section 602 is associated with map feature lake 600.
Fig. 6 b how to illustrate with the highway section with guide useful index feature point object to be associated to the crossing.Refuelling station 610 from the highway section 618,620,622,624,626 and 628 as seen.Highway section 620 is associated with index feature point object 632, highway section 622 is associated with index feature point object 634, highway section 624 is associated with index feature point object 636, and highway section 626 is associated with index feature point object 638, and this is because these each index feature point objects are positioned on these each places, highway section or these each highway sections.For not having of the highway section that is arranged in the index feature point object on highway section place or the highway section, feature is associated from the index feature point object on its visible highway section and the highway section that can drive to from another highway section that is arranged in the crossing one.For highway section 628, refuelling station 610 is visible and vehicle can drive on the highway section 626 from highway section 628.Therefore, highway section 628 is associated with index feature point object 638 on being positioned at highway section 626.Because high fence 644 stops watching of from the highway section 616 pairs of refuelling stations 610, so refuelling station 610 is 616 invisible from the highway section.And, because high fence 646 stops watching of from the highway section 630 pairs of refuelling stations 610, so refuelling station 610 is 630 invisible from the highway section.Thereby highway section 616 and the 630 discord index feature point object relevant with refuelling station 610 are associated.
With reference to figure 6b, government buildings 612 from the highway section 616 and 630 as seen, and high fence 644 and 646 stops watching of from the highway section 618,620,622,624,626 and 628 pairs of government buildings 612.Highway section 616 is associated with index feature point object 640; Highway section 630 is associated with index feature point object 642.
At step 508 place, Geographical Study person determines the preference name of feature, and this preference name is associated with corresponding one or more index feature point objects relevant with this feature.This preference name is described the visible properties of feature or visually distinguishing aspect, such as motion or the motion of institute's perception and/or any visual attribute that the further feature in feature and the peripheral region is differentiated of the part of other perceptual property of style, architecture description, decorative characteristics, the gloss that comprises feature and the brilliance (glittering or gloomy) of the building materials of age of the shape of the color of feature, feature, feature, feature, feature, feature.For example, special (special) title can be pink colour buildings, dome shape buildings, glass-enclosed building, brick building thing, Gothic architecture thing, windowless buildings, high constructure, the neon bulb sign that is attached to the bird of buildings, the fountain in buildings the place ahead, the sculpture in buildings the place ahead etc.Further, preference name can comprise that a plurality of adjectives are to describe feature, such as grand old law court.In one embodiment, preference name can be the title or the pet name that this locality of feature is known, such as " Max brother refuelling station ".Except the preference name of determining feature, also determine basic title (base name), such as " refuelling station " for refuelling station 612.In another embodiment, can determine the brand name of refuelling station.In another embodiment, can collect different preference name for different terminal users.For example, can collect a preference name for the women terminal user, and collect another preference name for male sex terminal user; Can collect a preference name for the local terminal user, and for the visitor or the terminal user who does not live in this geographic area collect another preference name.
At step 510 place, Geographical Study person collects the information of observability about feature, season dependence, relative distance, and calculates the importance of being calculated of this feature.With observability, season dependence and relative distance attribute information together be associated with the importance values of being calculated with corresponding one or more index feature point objects of this feature.Visibility attribute is defined in when advancing on the highway section feature to be had how visible or how unclear (obscured) arranged.Distribute in the observability value of indication observability grade (or vision stops grade) one to visibility attribute, such as for clearly visible 1, for partly visible 2 and for sightless 3.Owing to, the part observability may occur such as sign, tree, on every side the barrier of buildings etc.
For the example shown in Fig. 6 a, because for the part in highway section 602, tree 606 makes watching of lake 600 unclear, so be used in the visible observability value 2 of part in 600 minutes to the lake of index feature point object 604.For the example shown in Fig. 6 b, be used in 620,622,624,626 and 628 clearly visible observability values 1 in 610 minutes from the highway section to the refuelling station.In alternative embodiment, can use different observability values.For example, can recently select the observability grade based on the percentage in the visible highway section of feature.
In one embodiment, Geographical Study person collects the information about feature observability of different time in a day.For example, Geographical Study person is designated by day highly-visible during the period with the lake 600 of Fig. 6 a, but invisible during the non-period on daytime.In addition, Geographical Study person is designated by day highly-visible during period and non-period on daytime with the refuelling station 610 of Fig. 6 b, and this is because the business hours of refuelling station and street lighting significantly, the sign of lighting and one day 24 hours are associated.In addition, Geographical Study person collect indication all like rain the different weather conditions of, snow, mist etc. and so on during the information how to change of the observability of feature.For example, hardly as seen Geographical Study person is designated lake 600 during vaporous condition of rain, snow and greasy weather.In addition, Geographical Study person is designated during whole weather events highly-visible with refuelling station 610, and this is because refuelling station and street lighting significantly and the sign lighted are associated.
In addition, Geographical Study person collects the information that how observability of feature changes during the different traffic be illustrated in such as peak period and non-peak traffic time.During peak period or have the time durations of many automobile carrier, other vehicle that some features may partly on the way be advanced is covered.In addition, Geographical Study person collects the information of expression for the observability of the characteristic of the different terminal user such as truck, car, motorcycle, bicycle, pedestrian.In one embodiment, depend on the how observability of effect characteristics of illumination, traffic, weather or different terminal user, and adjust the observability grade.Alternately, Geographical Study person can be for time different in one day, different traffic, different weather conditions and different terminal user and is defined different observability grades.
Season, whether the dependency properties indicative character was influenced during the specific period.In one embodiment, Geographical Study person for season dependence whether have indication "Yes" or "No", and write down affected season of feature or period therebetween.For example, the lake 600 of Fig. 6 a is freezing during in the winter time, and may be covered by snow, cause it to distinguish, so the researcher is for the season dependence indication "Yes" of lake 600 during in the winter time.In addition, swimming pool will be difficult to distinguish (recognize) because it is closed during non-summer months, so for the dependence in season during the non-summer months swimming pool is categorized as "Yes".In addition, in summer, because tree and flower, the observability of buildings may be less.
The distance of institute's perception factor, between feature and the index feature point object's position of local circumstance, observability and the size of feature is considered in relative distance attribute indication.Relative distance provides the conspicuousness of feature, how remarkable has in around it such as feature.In one embodiment, near the characteristic allocation of index feature point object's position value 1, and be worth 2 for relatively for the characteristic allocation away from index feature point object's position relatively.For example, the cathedral that is positioned at apart from 100 meters of index feature point object's positions is considered approaching relatively; Be positioned at estaminet apart from 20 meters of index feature point object's positions be considered relatively away from; And the big lake that is positioned at apart from 100 meters of index feature point object's positions is considered approaching relatively.
Geographical Study person can also identify and write down that the outward appearance of indicative character or observability will change still is the persistence grading of invariable feature.In one embodiment, for being expected at the low persistent characteristic allocation value 1 that has that changes in a year, for being expected at persistent characteristic allocation value 2 in the having of changing between a year and 3 years, for being expected at 3 years or the interior immovable high persistent characteristic allocation value 3 that has.For example, give high persistence value to cathedral; Hang down the persistence grading to estaminet, this is because the possibility that it will be closed in a year.
Geographical Study person can also identify and write down the characteristic range grading of feature of the length of indicative character.In one embodiment, for characteristic range length allocation value 1 less than 25 meters, be worth 2 for the characteristic range length allocation between 25 and 50 meters, be worth 3 for the characteristic range length allocation between 50 and 75 meters, and for the characteristic range length allocation value 4 greater than 75 meters.For example, give characteristic range value 4 to cathedral, this is above 75 meters because of its scope; Give characteristic range value 1 to estaminet, this is less than 25 meters because of its scope.
Geographical Study person can also identify and write down the additional information of the importance of indicative character.For example, the uniqueness indicative character of grading is usually compared with feature on every side and how is differently visually had or many special (distinctive) are visually arranged.Unique grading can be for nondistinctive value 1, for the value 2 of some differences and for the value 3 of complete uniqueness.For example, the coverlet one storey building around 30 layers of skyscraper will have value 3.The shape such as buildings, the color of buildings or the visually special element of the feature the building materials are considered in unique grading.For example, the yellow glass buildings among white brick building thing will have value 3.
At step 510 place, Geographical Study person calculates the importance values calculated of indicative character for the grading of the importance of route guiding.Because feature can easily be distinguished or can easily visually separate with its peripheral region, so this feature is important for route guiding.Fig. 7 illustrates the form 700 that an example embodiment that is used to calculate the importance values of being calculated is shown.This form comprises the row that are used for attribute 702, value 704, score 706 and weight 708.In form, comprise following attribute: observability 710, persistence 721, relative distance 714, characteristic range 716, season dependence 718 and preference name 720.For the attribute preference name, there is not the preference name of feature in value 1 indication; Value 2 indications can obtain the preference name of the feature such as the square buildings of pink colour.Form 700 comprises the score of each value of each attribute.For example, provide score 2 to observability value 1 (clearly as seen).
With reference to figure 7, form 700 also comprises the weight 708 of each attribute.In this example embodiment, weight all has value 1; But these weights can have different values in other embodiments.For example, can there be different weighted values to the different terminal user such as truck, car, motorcycle, bicycle, pedestrian, the male sex, women, visitor and local.With the importance values of being calculated be calculated as the long-pending of the score of each attribute and weight and.For this example embodiment, the importance values of being calculated will be to be less than or equal to 10 number.For example the church has: observability value 1, and it has score 2 and weight 1; Persistence value 3, it has score 2 and weight 1; Relative distance value 1, it has score 1 and weight 1; Characteristic range value 4, it has score 3 and weight 1; Season, the dependence value 1, and it has score 0 and weight 1; And preference name value 2, it has score 2 and weight 1, and this provides the importance values of being calculated 10 (2*1+2*1+1*1+3*1+0*1+2*1=10).
In one embodiment, determine the single importance values of calculating.In another embodiment, determine a plurality of importance values calculated with different terminal users for feature for different illuminating positions, different weather conditions, different traffics.
At step 512 place, index feature put object information, related information, importance attribute information and the importance store calculated in geographical data bank.Geographical data bank is stored on the computer-readable medium.
IV. the geographical data bank that has index feature point and associated data
Index feature point object, associated data, importance attribute of collecting and the material information that calculated are included in some the geographical data bank 116 in the physical geographical feature of representing in the geographic area 202 as mentioned above.In the example embodiment of Fig. 3, the geographical data bank 116 of expression geographic area 202 comprises at least one the index feature point data base record 314 that is used for 202 each the index feature point object that is identified in the geographic area.Geographical data bank 116 comprises that also associated data record 316 is with attribute that index feature point object, index feature point object are provided and the association between other data-base recording.
Fig. 8 shows some in the ingredient of the index feature point data base record 314 that comprised in the geographical data bank 116 and linked database record 316.Index feature point data base record 314 comprises index feature point ID 314 (1), can identify this data recording by described index feature point ID 314 (1) in geographical data bank 116.Each index feature point data base record 314 has the information (such as " attribute ", " field " etc.) that is associated with it, describe the feature of index feature point object.Index feature point data base record 314 can comprise data 314 (2), and the type of its indication index feature point object is such as the type of guiding naturally that is used to provide background environment information.
Index feature point data record 314 comprises data 314 (3), and its indication index feature point object position thereon or the road section ID at its place.Index feature point object data record 314 comprises data 314 (4), a side in the highway section that its indication index feature point object is positioned at.Indicate these data 314 (4) of a side to provide feature on left side or right side with respect to the reference mode in highway section.In addition, side data 314 (4) can be equal to ground in feature and not indicate any side when visible in the both sides in highway section.Index feature point data record 314 further comprises position data 314 (5), the longitude and the latitude (and height above sea level) of its indication index feature point object.
Linked database record 316 provides related between two or more data-base recordings that definition selects or concerns from highway section data-base recording 304, node database record 306, complex characteristic data-base recording 308, map feature data-base recording 310, interest point data base record 312 and index feature point object database record 314 feature association model.The related member who is used for the background of nature guide comprises: the highway section that is associated with index feature point object, the point of interest that is associated with highway section and index feature point object, the map feature that is associated with highway section and index feature point object, the complex characteristic that is associated with highway section and index feature point object and the node that is associated with highway section and index feature point object.
Each linked database record 316 comprises ID 316 (1), can identify data recording in geographical data bank 116 by described ID 316 (1).Linked database record 316 comprises data 316 (2), the type that its indication is related: be used for still being used for the crossing through guide and guide.Be used for index feature being put object and be associated, to support the route guiding when on this highway section, travelling and pass through visible features corresponding to this index feature point object with the highway section through the feature association that guides.The feature association that is used for guiding at the crossing is put object with index feature and is associated with the highway section, to support the route guiding when travelling or turning on crossing or complex cross mouth.In the background of a manipulation on crossing or complex cross mouth, for before the particular manipulation on this crossing or the complex cross mouth, related with the highway section defined feature of this crossing or the connection of complex cross mouth.
Though not shown in Figure 8, associated data 316 may further include following data: described data write down associated data by sign (identify) corresponding related ID 316 (1) and road section ID 304 (1) 316 and link with highway section data-base recording 304, by identifying corresponding related ID 316 (1) and node ID 306 (1) associated data record 316 and node data record 306 are linked, by the ID that identifies corresponding related ID 316 (1) and geographic entity associated data record 316 is linked with map feature data-base recording 310, by the ID that identifies corresponding related ID 316 (1) and complex characteristic associated data record 316 is linked with complex characteristic data-base recording 398, by the ID that identifies corresponding related ID 316 (1) and point of interest associated data record 316 and interest point data base record 312 are linked, and associated data record 316 and index feature point data record 314 are linked by identifying corresponding related ID 316 (1) and index feature point object ID 314 (1).
As shown in Figure 8, associated data also comprises the attribute information of related name data 802.Related name data comprises ID 802 (1), can identify name data record 802 by described ID 802 (1) in geographical data bank 116.Related name database record 802 comprises data 802 (2), the preference name when it indicates the feature that (explicate) association is described during guiding.This preference name is described the visible properties of feature or visually distinguishing aspect, such as motion or the motion of institute's perception and/or any visual attribute that the further feature in feature and the peripheral region is differentiated of the part of other perceptual property of style, architecture description, decorative characteristics, the gloss that comprises feature or the brilliance (glittering or gloomy) of the building materials of age of the shape of the color of feature, feature, feature, feature, feature, feature.For example, special title can be pink colour buildings, red buildings, dome shape buildings, short and wide buildings, glass-enclosed building, brick building thing, Gothic architecture thing, windowless buildings, high constructure, the neon bulb sign that is attached to the bird of buildings, the fountain in buildings the place ahead, the sculpture in buildings the place ahead etc.In one embodiment, preference name can be the title or the pet name that this locality of feature is known, such as " Max brother refuelling station ".Alternately, preference name is basic title or the brand name such as " refuelling station ".In one embodiment, can in data 802 (2), comprise, such as the different preference name that are used for different terminals user (male sex, women, visitor and local) more than a preference name.
With reference to figure 8, associated data also comprises related importance data recording 804.Related importance data recording 804 comprises uses the related useful certain attributes of feature to determining whether when guide message is provided.Because feature can easily be distinguished or can easily visually separate with its peripheral region, so this feature is important for route guiding.Related importance data 804 comprise ID 804 (1), can identify this data recording by described ID 804 (1) in geographical data bank 116.Related importance data-base recording 804 comprises data 804 (2), and it indicates the direction of the application of described association.This direction is appointed as the positive dirction from reference mode to non-reference mode, negative direction or this two kinds of directions from non-reference mode to reference mode.
Related importance data-base recording 804 comprises data 804 (3), and its indicative character is from the observability of the direction in the highway section of association.As seen observability can indicate clearly, partly visible or invisible, and provide the value of the level ratings that grade or vision to observability stop.Observability data 804 (3) also comprise the data of the influence that indication causes observability owing to illuminating position, weather conditions, traffic and terminal user's type.
Related importance data recording storehouse 804 comprises data 804 (4), and whether the importance of its indication feature between certain seasonal period or during special time period the dependence in season of influenced ("Yes" or "No").Season, dependency properties can be used for being identified for the correlativity of certain time correlation in season or 1 year of the feature of route guiding and 1 year.In one embodiment, season dependency data 804 (4) indicative characters the affected special time period such as winter of observability.
Related importance data-base recording 804 comprises data 804 (5), the relative distance attribute that it provides indicative character and guides the distance of the institute's perception between the position.Relative distance provides the conspicuousness of feature, how remarkable has around it such as feature.Relative distance attribute indicative character be near or away from, and it is the value through explaining of the local circumstance, observability and the size that depend on feature.For example, be positioned at church apart from 100 meters in highway section be considered approaching, and be positioned at estaminet apart from 25 meters in highway section be considered away from.
Related importance data-base recording 804 can comprise other data 804 (6).Other data comprise: it still is that the preference name and the indicative character of characteristic range grading, feature of feature of length of persistence grading, indicative character of invariable feature compared the uniqueness that how different or special feature are arranged and graded with feature on every side that the outward appearance of indicative character or observability will change.In example embodiment, the value of importance attribute is corresponding to the value of describing in conjunction with Fig. 7.
Related importance data-base recording 804 also comprises the importance data of being calculated 804 (7).The importance data of being calculated 804 (7) are the grading on 0 to 10 grade (scale) of feature to the importance of route guiding, and the high more then feature of this grading is relevant more for route guiding.The importance of being calculated can be used for determining the correlativity of feature to route guiding.Because feature can easily be distinguished or can easily visually separate with its peripheral region, so this feature is important for route guiding.When manipulation has a plurality of feature that can be used for reference, select to have the feature of the highest importance of being calculated.Can use observability 804 (3), season dependence 804 (4), relative distance 804 (5), preference name (802) (2) availability and as other attribute of describing in conjunction with Fig. 5 calculate the importance of being calculated.In example embodiment, value, score and the weight that is used for the importance calculated corresponding to describe in conjunction with Fig. 7 those.In one embodiment, the importance data of being calculated are single values.In another embodiment, the importance data representation that is calculated is used for a plurality of importance of calculating of different illuminating positions, different weather conditions, different traffic and different terminal user.
V. route calculation and route guiding
As top discuss in conjunction with Fig. 1, the navigation application software of various navigation characteristic and the function program 110 that provides is provided navigational system 100.In one embodiment, navigation feature and feature can comprise route calculation 124.Route calculation function 124 receives the request of the route of the destination that calculates expectation.This request can be the form to the sign of the destination locations of starting position and expectation.The sign of these positions can comprise the geographic coordinate of these positions.Can also provide other data or parameter such as route preferences to the route calculation function.Given at least to the sign of starting position and destination locations, one or more scheme (solution) route that route calculation function 124 is determined between starting positions and the destination locations.The scheme route is formed by the highway section of a series of connections, and the terminal user can advance to destination locations from the starting position on described highway section.
When route calculation function 124 calculated route, its visit geographical data bank 116 and acquisition highway section data recording 304 and/or other data.Route calculation function 124 can use various means or algorithm to determine the scheme route.At United States Patent (USP) the 6th, 192, the method that is used for route calculation is disclosed in No. 314, incorporate by reference at this that it is all open into.(disclosed method is only represented some in can the mode of calculated route in the aforementioned patent, and claimed here theme is not limited to the method for any concrete route calculation.Can adopt any suitable route calculation algorithm now known or that develop in future.)
Route calculation function 124 provides output.In one embodiment, the output of route calculation function 124 is the forms of ordered list in a plurality of highway sections of sign, such as from the road section ID 304 (1) of geographical data bank 116 (be seg1, seg2, seg3 ..., seg (E), seg (F)).Described a plurality of road section ID 304 (1) but that expression forms is 124 that calculate by the route calculation function, the highway section of the continuous navigation way between starting point and the destination.(route calculation function 124 can be calculated more than a scheme route.)
The output of route guiding function 126 use route calculation functions 124 generates and is used for the detailed guidance of going along the route that is calculated or guides message.In example embodiment, each highway section of the route that is calculated is formed in 126 assessments of route guiding function, and prepares through guiding message and crossing to guide message.Through guiding message to be provided to travel on the highway section and guidance and related environmental cues during through visible features.Manipulation guidance and related environmental cues when the crossing is guided message to be provided to travel on crossing or the complex cross mouth or turned to.Can before advancing or during advancing, prepare to guide message along route along route.Can form highway section or only its subclass is provided through guiding message and crossing to guide message each of route.Usually need guide message at the decision-point place that handles along the needs of route.
A process flow diagram that provides through the step of guiding in the highway section that is used to the route that is calculated is provided Fig. 9 a.At step 900 place, whole index feature point objects that guiding function 126 signs are associated with the highway section.In example embodiment, guiding function 126 uses to provide and is positioned on the road, is used for identifying the index feature point object that is associated with the highway section through the associated data 316 of the geographical data bank 116 of the index feature point object that guides.Fig. 9 b illustrates has the highway section 910 that is positioned at two index feature point objects on the highway section 910.Index feature point object 912 is associated with hospital architecture thing 914, and index feature point object 918 is associated with lake 916.
At step 902 place of Fig. 9 a, guiding function 126 determines which the index feature point object that is positioned at the place, highway section has the importance of the highest association.Because feature can easily be distinguished or can easily visually separate with its peripheral region, so this feature is important for route guiding.In one embodiment, geographical data bank 116 acquisitions of importance values 804 (7) calculated from to(for) each the index feature point object that is positioned at highway section place of guiding function 126.For example, hospital 914 has the importance values of being calculated 8, and lake 916 has the importance values of being calculated 6.Therefore, hospital 914 has the highest importance values of being calculated, so will use hospital 914 rather than lake 916 when generating through guide message.
In another embodiment, guiding function 126 obtains for each the index feature point object that is positioned at the place, highway section and assessment importance attribute 804.The importance attribute comprises observability 804 (3), season dependence 804 (4), relative distance 804 (5) and other data 804 (6), and described other data 804 (6) still are that the existence of preference name of characteristic range grading, feature of feature of length of persistence grading, indicative character of invariable feature and indicative character are compared with feature on every side how different or special unique the grading visually arranged for the outward appearance of indicative character or observability will change for example.Some or all that guiding function 126 uses in the importance attribute are come each grading of feature calculation importance or value for being associated with the index feature point object that is positioned at the place, highway section.This calculating can combine compute classes that Fig. 7 describes seemingly with top, maybe can be different calculating.In addition, the weight of the score of each attribute and each attribute can be different from score and the weight of describing in conjunction with Fig. 7.For example, can revise score and weight, described terminal user's type such as the truck that higher viewpoint is provided or pedestrian, male/female terminal user or the visitor or the local that move at a slow speed based on terminal user's type.Can revise score and weight based on current illuminating position, current weather situation and current traffic condition in addition.In one embodiment, navigational system obtains real-time traffic and weather data.
At step 904 place, guiding function 126 uses the preference name of the feature that is associated with the index feature object-point of high importance to generate guide message.For the example shown in Fig. 9 b, find that hospital 914 (and index feature point object 912) has the highest importance grading, so guide message will be with reference to hospital 914.In example embodiment, guiding function 126 obtains title 802 (2) from geographical data bank 116.For example, hospital 914 has preference name " high blue tinted glass buildings ", and described preference name identifies its glass building material and the higher height of comparing with the surrounding buildings thing.In other embodiments, preference name can be such word, the visible properties of feature or visually distinguishing element described in this word, such as color, shape, age, building materials, size, architecture style, decorative characteristics, gloss, motion and/or any visual attribute that the further feature in this feature and the peripheral region is distinguished.For example, special title can be pink colour buildings, red buildings, dome shape buildings, glass-enclosed building, brick building thing, Gothic architecture thing, windowless buildings, high constructure, the neon bulb sign that is attached to the bird of buildings, the fountain in buildings the place ahead, the sculpture in buildings the place ahead etc.In another embodiment, preference name can be the title or the pet name that this locality of feature is known, such as " hospital in southern side ".In one embodiment, guiding function 126 is based on terminal user's characteristic and from more than selecting the available preference name, such as the preference name that is used for the women terminal user.
For the highway section 910 shown in Fig. 9 b, guiding message is " capable along road, through the high blue tinted glass buildings of your left ".At step 906 place, through the position of the index feature point object 912 that is associated of hospital 914 time, provide this process guide message via the user interface 114 of navigational system 100.Can with display that user interface 114 is associated on this guide message is provided, or provide this guide message as audio message from the loudspeaker that is associated with user interface 114.
Figure 10 illustrates and is used to provide at the crossing or the process flow diagram of the step guided to the crossing of the conversion (transition) in another highway section from a highway section of the route that calculated of complex cross mouth place.At step 1000 place, whole index feature point objects that guiding function 126 identifications (identify) are associated with crossing or complex cross mouth highway section before.Guiding function 126 uses the associated data 316 of geographical data bank 116 to discern the index feature point object that is associated with the highway section in example embodiment.
Figure 11 illustrates the route 1100 of advancing by the highway section 1102 and the manipulation to highway section 1104 of need turning left.Highway section 1102 has two index feature point objects that are associated.Index feature point object 116 is associated with law court 1108, and index feature point object 1110 is associated with refuelling station 1112, and law court 1108 and 1112 boths of refuelling station are from the highway section 1102 as seen.
At step 1002 place of Figure 10, which has the highest importance in the index feature point object that guiding function 126 is determined with highway section 1102 is associated.In one embodiment, for index feature point object 1106 and 1110 that highway section 1102 is associated in each, guiding function 126 obtains the importance values 804 (7) calculated from geographical data bank 116.For example, law court 1108 has the importance values of being calculated 7, and refuelling station 1112 has the importance values of being calculated 5.Therefore, law court 1108 has the highest importance values of being calculated, so will use law court 1108 but not the refuelling station when generating crossing guide message.In another embodiment, guiding function 126 with the front for through guide and the similar mode of describing of mode obtains and assessment and index feature point object 1106 and 1110 that highway section 1102 is associated in each importance attribute 804.
At step 1004 place, guiding function 126 uses the preference name of the feature that is associated with the index feature point object of high importance to generate guide message.For the example shown in Figure 11, find that law court 1108 (and index feature point object 1106) has the highest importance grading, so guide message will be with reference to (reference) law court 1108.In example embodiment, guiding function 126 obtains title 802 (2) from geographical data bank 116.For example, law court 1108 has preference name " grand old white marbly building ", and described preference name sign is compared with surrounding buildings its color, building materials, style and age.In another embodiment, preference name can be the title that this locality of this feature is known, such as " old prison ".
For the highway section shown in Figure 11 1102, guiding message is " directly turning left after grand old white marbly building ".At step 1006 place, the user interface 114 via navigational system 100 before the position of required manipulation provides this crossing to guide message.For exemplary situation, through the position of the index feature point object 1106 that is associated before the crossing, law court 1108 the time, provide this message.
In another embodiment, guiding function 126 can be considered to indicate with stopping with reference to traffic signals when providing the crossing to guide message.Traffic signals and/or stop to indicate also be the visible feature in highway section before handle.In one embodiment, geographical data bank 116 comprise expression be positioned at crossing place, from the highway section visible traffic signals and the data that stop to indicate, and be used for the importance values of being calculated with reference to traffic signals (and/or stopping sign).Similar with the above-mentioned importance values of calculating, the importance values of being calculated of traffic signals (and/or stop sign) is from 0 to 10 value, wherein 0 expression for the low importance of guiding and 10 expressions for the high importance of guiding.This database may further include following importance indicator attribute: the position (left side, right side, the crown) and the city/rural general position (city stops sign and stops to indicate more invisible than the rural area) of the type of signal (regularly, rotation arrow, traffic lights, stop sign), signal.The importance indicator attribute of traffic signals (and/or stopping sign) can also be used for determining observability and the correlativity of traffic signals (and/or stopping sign).When in the index feature point objects that guiding function 126 is determined to be associated with the highway section which had the highest importance, guiding function also obtained or calculates the importance values of being calculated of traffic signals (and/or stopping to indicate).For the example of Figure 11, if the traffic signals of crossing have the importance values of being calculated greater than law court, then guiding message will be " turning left at the traffic lights place ".
Figure 12 illustrates to be used to provide for the crossing in multilane highway section and guides and provide process flow diagram about the step of the feedback of this guide.At step 1200 place, whole index feature point objects that guiding function 126 identifications are associated with crossing or complex cross mouth highway section before.In example embodiment, guiding function 126 uses the associated data 316 of geographical data bank 116 to discern the index feature point object that is associated with the highway section.
Figure 13 illustrates the vehicle 1300 of advancing on the route 1302 that passes through the highway section 1304 that comprises left-lane 1306 and right lane 1308.The left-hand rotation that route 1302 need arrive on the highway section 1310 is handled.Highway section 1304 has three index feature point objects that are associated.Index feature point object 1312 is associated with restaurant 1314, index feature point object 1316 is associated with refuelling station 1318, and index feature point object 1320 is associated with bank 1322, and described restaurant 1314, refuelling station 1318 and bank 1322 are all from the highway section 1304 as seen.
At step 1202 place of Figure 10, guiding function 126 obtains the expression vehicle and is positioned at the information in which bar track and the information of representing the direction of upcoming manipulation.In one embodiment, guiding function 126 is arranged in left-lane 1306 from positioning function 130 acquisition vehicles.Positioning system 130 uses the information of self aligning system 112 and from the data in the track in the expression highway section of geographical data bank 116.Guiding function 126 obtains the left-hand rotation direction of upcoming manipulation from route information.
At step 1204 place, guiding function 126 is for the definite importance of being calculated of each the index feature point object that is associated with highway section 1304.In one embodiment, guiding function 126 is for each importance values 804 (7) calculated from geographical data bank 116 acquisitions in the index feature point object 1312,1316 and 1320 that is associated with highway section 1304.For example, restaurant 1314 has the importance values of being calculated 5, and refuelling station 1318 has the importance values of being calculated 6, and bank 1322 has the importance values of being calculated 3.Alternately, guiding function 126 can use the attribute from geographical data bank 116 to calculate the importance of being calculated.
At step 1206 place, guiding function 126 considers that lane position and upcoming manipulation adjust the importance values of being calculated of index feature point object 1312,1316 and 1320.Guiding function 126 uses and helps being positioned at weight road and index feature point object current lane position same side.For example, the current lane position of the vehicle 1300 among Figure 13 is left-lanes 1306, and compare with the refuelling station 1318 on road right side, the driver of this vehicle has the more direct visual field for the restaurant 1314 in road left side, and this is because other vehicle of advancing in right lane 1308 may make refuelling station not obvious for this driver (obscure).Therefore, guiding function applies weight to help restaurant 1314 with respect to refuelling station 1318 to the importance of being calculated.If the highway section comprise may make unclear to watching of restaurant 1314, in the traffic track in left-lane 1306 left sides, then can reduce the value of described weight.
In addition, guiding function 126 uses and helps being positioned at weight road and the index feature object-point manipulation same side.For example, the manipulation that is used for route 1302 is to need vehicle to be positioned at the left-hand rotation of left-lane 1306.Compare with the refuelling station 1318 on road right side, the driver of vehicle has the more direct visual field for the restaurant 1314 in road left side.Therefore, guiding function applies weight to help restaurant 1314 with respect to refuelling station 1318 to the importance of being calculated.If the highway section comprise may make unclear for watching of restaurant 1314, in the traffic track in left-lane 1306 left sides, then can reduce the value of described weight.
In addition, guiding function 126 uses the weight that helps being positioned at crossing 1324 index feature point object before, this is because for the driver of vehicle 1300, observed this feature before upcoming manipulation, is favourable thereby give the time that the driver prepares to handle.For example, the driver of vehicle 1300 saw restaurant 1314 and refuelling station 1318 before crossing 1324, and saw bank 1322 after crossing 1324.Therefore, guiding function applies weight to the importance of being calculated, to help restaurant 1314 and refuelling station 1318 with respect to bank 1322.In addition, guiding function 126 uses weight to help being positioned at the far index feature point object before of upcoming manipulation, this is because for the driver of vehicle 1300, observed this feature before upcoming manipulation, is favourable thereby give the time that the driver prepares to handle.For example, the driver of vehicle 1300 saw restaurant 1314 before the manipulation of necessity is far, and saw refuelling station 1318 and bank 1322 in more approaching described manipulation place.Therefore, guiding function applies weight to the importance of being calculated, with respect to refuelling station 1318 and bank 1322 and help restaurant 1314.
In addition, guiding function 126 considers that other situation factor adjusts the importance values of being calculated of index feature point object, and described other situation factor comprises current weather, current traffic condition, current illuminating position etc.For example, the importance of being calculated of the index feature object-point of seeing if the driver at high magnitude of traffic flow manipulate vehicle 1300, then needs the driver to cross another traffic track will be adjusted lowlyer.In one embodiment, can adjust the importance values of being calculated based on historical traffic, such as considering that the volume of traffic is high and on road, may having time in a day of many automobile carrier and/or the date in the week is adjusted the importance values of being calculated.In addition, since all low lights that causes like rain the weather conditions of, snow and mist and so on according to and the visual time durations of difference, the position can be reduced further from the importance values of being calculated of those features in highway section.
At step 1208 place, guiding function 126 obtains the advertisement information of the feature that is associated with the index feature point object of high importance.In one embodiment, guiding function obtains advertisement informations from the geographical data bank 116 of the advertisement information that comprises some points of interest.In another embodiment, navigational system receives the advertisement information of some points of interest of broadcasting, and they are stored in the advertising database.Guiding function 126 obtains advertisement information from advertising database.In another embodiment, guiding function obtains advertisement information from navigation service server or Advertisement Server away from navigational system 100.
For the example of Figure 13, guiding function 126 obtains the advertisement in restaurant 1314, for example " enjoys the pancake that dips in maple sugar juice of some delicious foods and obtains 10% discount in the pan-cake bar parking ".In one embodiment, if guiding function determines there is not advertisement for the feature that is associated with the index feature point object of high importance the then advertisement of a feature that is associated in guiding function acquisition and other index feature point object.For example, if do not have advertisement for restaurant 1314, then guiding function obtains the advertisement of refuelling station 1318 or bank 1322.
In addition, in one embodiment, guiding function 126 considers for various index feature point objects whether exist advertisement to adjust the importance values of being calculated of index feature point object 1312,1316 and 1320.Guiding function 126 uses the weight of the index feature object-point of the feature that helps having advertisement.For example, there is advertisement, but do not have advertisement for restaurant 1314 and refuelling station 1318 for bank 1322.Therefore, guiding function applies weight with relative restaurant 1314 and refuelling station 1318 and help bank 1322 to the importance of being calculated.
At step 1210 place, guiding function 126 uses the preference name of the feature that is associated with the index feature point object of high importance to generate guide message.For the example shown in Figure 13, find that restaurant 1314 (and index feature point object 1312) has the highest importance grading, so guide message will be with reference to restaurant 1314.In example embodiment, guiding function 126 obtains title 802 (2) from geographical data bank 116.For example, restaurant 1314 has preference name " red pan-cake bar ", its color that described preference name sign is compared with buildings on every side.For the highway section shown in Figure 13 1304, guiding message is " turning left after red pan-cake bar ".Guide message can also comprise advertisement, such as " left-hand rotation after red pan-cake bar, but why not enjoy the pancake that dips in maple sugar juice of some delicious foods and obtain 10% discount in the pan-cake bar parking? "
At step 1212 place, the user interface 114 via navigational system 100 before the position of required manipulation provides this crossing to guide message and/or advertisement.For exemplary situation, when through the position of the index feature point object 1312 that is associated in the restaurant 1314 before the crossing 1324, provide this message.Before crossing 1324, provide and guide message to prepare upcoming manipulation with the driver who allows vehicle 1300.
At step 1214 place, obtain about guiding the feedback of message.In one embodiment, guiding function 126 obtains data from positioning system 130, and left-hand rotation has been missed in described data indication and vehicle 1300 is no longer advanced along route 1302.Guiding function 126 is created daily records, and described log store is illustrated in the data of guiding employed index feature point object in the message and to the indication of the manipulation missed.Provide this daily record to Geographical Study person then, Geographical Study person analyzes these data to upgrade and to improve the data of this index feature point object of expression of geographical data bank 116.Use is from the information of this daily record, and Geographical Study person reduces the importance values of being calculated, the seasonality that reduces observability grading, modification conspicuousness value, the preference name of revising feature and/or modification feature then.In addition, Geographical Study person can check the image of position of index feature point object or LIDAR data to determine whether to revise described preference name, conspicuousness, observability, season dependence, illumination influence, weather effect, the influence of terminal user's type, traffic impact or other attribute.
In another embodiment, obtain about the feedback of guide naturally from the driver of vehicle or passenger.Navigational system can comprise improved report feature or the button that allows driver or passenger to report the mistake in the nature guide or advise guiding naturally.The suggestion that this report feature can record position, the time in one day, date, weather, current traffic condition, guide message and/or user propose, and this report feature sends this message to the geographical data bank founder.At U.S. Patent number 6,253, open with a kind of such report feature in 151, by reference the whole of described patent openly are incorporated into this.For example, the report feature allows the driver to indicate the feature of guiding in the message invisible.In another embodiment, the driver can use online reporting system to come reporting errors or the improvement of suggestion to guiding naturally.At U.S. Patent number 6,718, a kind of such report feature is disclosed in 258, by reference the whole of described patent openly are incorporated into this.
In another embodiment, can in route simulation, provide nature to guide message and along the visible feature of route.The image of those features that this route simulation will be mentioned in guiding message or video and guide message together provide.This simulation allows the driver that he is familiar with along the feature of route and required manipulation oneself.
Aforementioned detailed description is intended that and is considered exemplaryly and nonrestrictive, and should be appreciated that the described claim intention that comprises whole equivalents limits scope of the present invention.Claim should be interpreted as to be subject to described order or element, unless stated this meaning.Therefore, the whole embodiment in the scope and spirit that fall into claims and equivalent thereof are asked for protection as the present invention.
Claims (12)
1. an operated navigation systems is with the computer-implemented method of the route guiding message of the vehicle that is provided for advancing along the route that comprises at least one highway section, and this method comprises:
Obtain the data of sign from the geographical data bank that is associated with navigational system from the visible a plurality of features in described highway section;
The track in the current highway section that is positioned at of identification vehicle;
Determine the importance grading of the feature that each identifies, the dependence in season of the persistence of the feature that wherein said importance grading consideration is identified or the feature that is identified, whether wherein the persistence of the feature that is identified is indicated the visual appearance of the feature that is identified invariable, and wherein the dependence in season of the feature that is identified indicates the visual appearance of the feature that is identified whether to be subjected to seasonal effect;
The importance grading of adjusting each feature that identifies is to obtain adjusted grading, to help and the immediate feature that is identified in the current track that is positioned at of vehicle; And
Provide with reference to guide message with feature that is identified of the highest adjusted grading.
2. the method for claim 1, the step of wherein determining described importance grading are also considered the visibility attribute of the feature that identified, and the observability of the feature that wherein said visibility attribute indication is identified stops grade.
3. the method for claim 1, the step of wherein determining described importance grading is also considered the relative distance attribute of the feature that identified, and the conspicuousness of the feature that is identified apart from the two in the size of the feature that is identified and feature that is identified and highway section is considered in wherein said relative distance attribute indication.
4. the method for claim 1, the step of wherein determining described importance grading are also considered the characteristic range attribute of the feature that identified, the length of the feature that wherein said characteristic range attribute indication is identified.
5. the method for claim 1, the step of wherein determining described importance grading are also considered the unique attribute of the feature that identified, and the feature that wherein said unique attribute indication is identified is compared with feature on every side visually many special grades.
6. the method for claim 1 considers that wherein current traffic condition, current weather situation, current illuminating position or terminal user's type adjust described importance grading.
7. the method for claim 1 wherein obtains described importance grading from geographical data bank.
8. the method for claim 1, wherein the user interface via navigational system provides guide message.
9. navigational system, it comprises:
Processor;
The geographical data bank that is associated with processor; And
Direct application, described direct application is carried out the guide message of advancing along the route that comprises at least one highway section to be provided on processor, wherein said direct application obtains the data of sign from the visible a plurality of features in described highway section from geographical data bank, determine the direction of upcoming manipulation, determine the importance grading of the feature that each identifies, and the guide message with reference to the feature that is identified with the highest determined importance grading is provided, and wherein said importance grading helps being positioned at the feature that is identified on the direction same side highway section and upcoming manipulation.
10. navigational system as claimed in claim 9, the feature that wherein said importance grading consideration is identified, at least one attribute of from the group of forming by following attribute, selecting: the persistence the attribute whether visual appearance of the feature that identified of expression is invariable, represent whether described visual appearance is subjected to the dependency properties in season of seasonal effect, the expression observability stops the visibility attribute of grade, the conspicuousness attribute of conspicuousness of the feature that is identified apart from the two in the size of the feature that is identified and the feature that identified and highway section is considered in expression, the characteristic range attribute of the length of the feature that expression is identified, and whether the title of representing the distinguishing aspect visually of the feature that description is identified can be from the preference name attribute of geographical data bank acquisition.
11. navigational system as claimed in claim 9 is wherein adjusted described importance grading based on current traffic condition, current weather situation, current illuminating position or terminal user's type.
12. navigational system as claimed in claim 9 wherein obtains described importance grading from described geographical data bank.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US12/769,050 US8364398B2 (en) | 2009-08-28 | 2010-04-28 | Method of operating a navigation system to provide route guidance |
| US12/769,050 | 2010-04-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102235868A true CN102235868A (en) | 2011-11-09 |
| CN102235868B CN102235868B (en) | 2016-06-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010248996.XA Expired - Fee Related CN102235868B (en) | 2010-04-28 | 2010-08-06 | The operated navigation systems method to provide route guiding |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102235868B (en) |
| AU (1) | AU2010202508A1 (en) |
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| CN105393087A (en) * | 2013-07-15 | 2016-03-09 | 奥迪股份公司 | Method for operating a navigation system, navigation system and motor vehicle |
| CN110388929A (en) * | 2018-04-20 | 2019-10-29 | 比亚迪股份有限公司 | Navigation map update method, apparatus and system |
| CN115151959A (en) * | 2020-03-31 | 2022-10-04 | 本田技研工业株式会社 | Control device, saddle-ride type vehicle, method for operating control device, and program |
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| CN105393087A (en) * | 2013-07-15 | 2016-03-09 | 奥迪股份公司 | Method for operating a navigation system, navigation system and motor vehicle |
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| CN105393087B (en) * | 2013-07-15 | 2018-10-19 | 奥迪股份公司 | Method, navigation equipment and motor vehicle for running navigation equipment |
| CN110388929A (en) * | 2018-04-20 | 2019-10-29 | 比亚迪股份有限公司 | Navigation map update method, apparatus and system |
| CN110388929B (en) * | 2018-04-20 | 2022-04-15 | 比亚迪股份有限公司 | Navigation map updating method, device and system |
| CN115151959A (en) * | 2020-03-31 | 2022-10-04 | 本田技研工业株式会社 | Control device, saddle-ride type vehicle, method for operating control device, and program |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102235868B (en) | 2016-06-08 |
| AU2010202508A1 (en) | 2011-11-17 |
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