CN102252682A - Navigation with grids - Google Patents
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- CN102252682A CN102252682A CN2011100970860A CN201110097086A CN102252682A CN 102252682 A CN102252682 A CN 102252682A CN 2011100970860 A CN2011100970860 A CN 2011100970860A CN 201110097086 A CN201110097086 A CN 201110097086A CN 102252682 A CN102252682 A CN 102252682A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
Described is a navigation system (100), which is a device (130) for providing the map information, and an analysis unit (110) for providing at least one navigation information for the destination navigation. The analysis unit (110) is configured to define the grids 200, 201, 202 for a geographic area according to the grid points and determine a plurality of motion parameters of a plurality of motions between grids according to the provided map information. The motion parameter is correlated with the motion from one grid point to an adjacent grid point. The analysis unit (110) is further designed to obtain a movement path (250, 251, 252, 253) over several grid points according to the plurality of motion parameters and provide at least a navigation information based on the obtained motion path. Moreover, a method for destination navigation and a computer program with the program code for performing such a method.
Description
Technical field
The present invention relates to a kind of navigational system, a kind of method and a kind of computer program that is used to carry out such method that is used for destination navigation with program code.
Background technology
In different design proposals, become known for carrying out the navigational system of destination navigation.Especially in motor vehicle, use such system,, and will inform the driver the navigation information of road and turning point so that calculate the route of the destination of expectation according to the input of corresponding target ground.Based on route guidance or the destination navigation of digitized road net execution on road.
The shortcoming of known navigational system is, can not realize rational destination navigation for the position of departing from digitized road net (for example in the open air or in " cross-country district ", in digitized area by halves, on the parking stall).Under these circumstances, known navigational system obtain with current location nearest, be included in the road section that sails or reach road possible " inlet point " into, and with corresponding navigation information, especially inform the driver to " rectilinear direction " of this inlet point.In the method for this being also referred to as " inlet point navigation ", do not have to consider on relevant path, whether to have unsurmountable obstacle in (for example, waters, railway line, difficult current area, buildings).Have problems thus, that is, may advise the route that can not travel or be difficult to walk and sail to the driver.
By the known a kind of method that is used for carrying out destination navigation of EP 1 442 271B1 in the zone that does not have known map or route data.Be provided to the directional information or the range information of at least two different path points at this.Based on this, the driver should select his favourable route or not have the route of (self) obstacle.
By the known a kind of method that is used for destination navigation of DE 101 46 115B4, wherein the direction that is automatically switched in the cross-country district by the navigation based on the digital road map is navigated.Under the situation of direction navigation, air line distance and the direction put in the path are shown.
Summary of the invention
Task of the present invention is, provided to be used for destination navigation, the especially motor vehicle solution in the improvement of the destination navigation in cross-country district.
Feature by independent claims solves this task.Provided other favourable embodiment in the dependent claims.
According to the present invention proposes a kind of navigational system.This navigational system has the device that is used to provide cartographic information, and is used to provide at least one to be used for the analytical equipment of the navigation information of destination navigation.This analytical equipment is constructed to: according to net point is that grid is determined in the geographic area, and a plurality of kinematic parameters of a plurality of motions between described net point are provided according to the cartographic information that is provided.At this, kinematic parameter is relevant with the characteristic from the motion of a net point to an adjacent net point.This analytical equipment further is configured to, and obtains movement locus through a plurality of net points according to described a plurality of kinematic parameters, and provides described at least one navigation information based on the movement locus that is obtained.
In addition, according to the present invention proposes the method that is used for destination navigation.In the method, be that grid is determined in the geographic area according to net point, and information is determined a plurality of kinematic parameters of a plurality of motions between described net point according to the map.At this, kinematic parameter is relevant with the characteristic from the motion of a net point to an adjacent net point.In addition, obtain movement locus, and provide at least one to be used for the navigation information of destination navigation based on the movement locus that is obtained through a plurality of net points according to described a plurality of kinematic parameters.
This navigational system and this method provide and have realized at the area of partial digitsization or at the possibility of the destination navigation of the improvement that departs from area known or digitized road net or route net.By the kinematic parameter that covers geographic area (or relevant cartographic information) with the grid of geography and determine the motion between single net point, can obtain favourable or optimum movement locus according to a plurality of (possible with impossible) movement locus that provide in advance by net point.
Especially this navigational system and this method have been considered for the destination navigation of vehicle or motor vehicle.This can avoid to the driver of vehicle or user's suggestion by or through the route of unsurmountable obstacle.Can also in the digitized zone of non-digitalization or only bad ground, more estimate running section or running time with gearing to actual circumstances.
One preferred embodiment in, this navigational system also comprises other position determining means, it is used for determining current geographic position.At this, when obtaining movement locus, can consider this current location.
In another preferred embodiment, analytical equipment is constructed to, and considers a plurality of possible destinations, and acquires one movement locus in the possible destination according to kinematic parameter.Such mode for example can be used to such situation, and promptly motor vehicle is positioned at cross-country district, and searches for the best or the simplest path to (arbitrarily) inlet point, and vehicle can reach the road of digitized road net at this inlet point.Can avoid by the auxiliary of kinematic parameter, advise such route, pass through/pass through route such as the obstacle of for example waters or railway line although promptly have bee-line to inlet point to the driver.
In another preferred embodiment, this analytical equipment is constructed to, and determines to have the grid of irregular grid, so that there is the different mesh widths between described net point in different mesh region.Produce such possibility thus, be about to each actual conditions that grid is adapted to the geographic area neatly.For example following situation can take place, the geographic area had both comprised that uniform section also comprised having sections heterogeneous for example little and/or a plurality of obstacles.The mesh width of relative compact can only be set, so that quick and reliable destination navigation becomes possibility for such section with high packing density.
So make the adaptation flexibly of the grid that obtains the geographic area become possibility according to another preferred implementation, promptly analytical equipment is constructed to, and the net point of grid is shifted.When having obstacle in the zone between two net points, then can for example use this mode.
In view of kinematic parameter, consider different design proposals, wherein this kinematic parameter relates to the characteristic of the motion between the single net point of geographic grid or itself presents classification or classification.Preferably, this kinematic parameter relates to time overhead, power expense, energy expense, distance and/or the infeasibility of the motion between two net points.
In another preferred embodiment, analytical equipment is constructed to, and obtains the direct access path between first and second positions before the determining of geographic grid, and determines the existence of obstacle in described direct access path.If in this direct access path (" straight line "), do not have obstacle, then can abandon the acquisition of the definite and movement locus of grid, so that carry out destination navigation relatively simply and fastly.
In another preferred embodiment, analytical equipment is constructed to determine first grid and obtain first movement locus, and determines second grid and obtain second movement locus based on this.Described first grid has between described each net point than the bigger mesh width of described second grid.By this design proposal, can refinement or optimize (roughly) movement locus that at first obtains with the first thick grid, can further improve destination navigation where necessary thus.Can repeatedly repeat such application of the grid of classification in case of necessity, thus the possible movement locus of refinement continuously.
In addition, according to the present invention proposes computer program, to be used for when computer program is implemented on computers, carrying out air navigation aid described above with program code.Such program code for example is stored in the machine-readable carrier containing.
Description of drawings
Further explain the present invention below with reference to the accompanying drawings, in the accompanying drawing:
Fig. 1 shows the schematic block diagram of the navigational system that is used for vehicle;
Fig. 2 shows the process flow diagram of the air navigation aid that is used for destination navigation;
Fig. 3 shows the synoptic diagram of the geographic area with mesh, so that air navigation aid to be described visually; And
Fig. 4 to 7 shows the synoptic diagram of the other geographic area with mesh, so that the other design proposal of air navigation aid to be described visually.
Embodiment
Fig. 1 shows the schematic block diagram of navigational system 100, and this navigational system 100 can be used to the destination navigation of vehicle 170.Vehicle for example by motor vehicle 170 expressions, has wherein been installed navigational system 100 regularly.Navigational system 100 comprises the device 110 that is used for data processing and analysis, and it is hereinafter with analytical equipment 110 expressions.Analytical equipment 110 links to each other with other device navigational system 100 or motor vehicle 170, and is configured to receiving inputted signal and output signal output, as indicating with arrow among Fig. 1.
A device in the device of navigational system 100 is the receiver 120 that is used to receive positioning signal, for example GPS (Global Positioning System) signal, can determine the current geographic position of motor vehicle 170 according to this signal.In addition, navigational system 100 comprises the device 130 that is used to provide cartographic information or numerical map.Device 130 can be a memory storage for example, and cartographic information is left in wherein.Also possible is that device 130 is set to reading device, in this device the storage medium with cartographic information can be housed, for example storage card or memory stick.Consider that cartographic information has following setting, promptly cartographic information also comprises the other information at the zone outside the digitized road net except comprising the information at digitized road net.These other information for example relate to goes up a slope or descending, and such as the obstacle of the profile of for example railway line, waters or river, wood land, valley, buildings etc.
In addition, navigational system 100 also comprises input media 140, display device 150 and speaker unit 160.By the input media 140 that for example comprises executive component or operation push-button, the user of motor vehicle 170 or driver can preset the corresponding navigation destination and determine the other default and parameter that is used for route search and destination navigation.Display device 150 for example is constructed to the form of display, by this display device 150 corresponding navigation information can be shown visually.Also have following possibility at this, also display device 150 can be configured to touch-screen display, the driver can select or default navigation destination by it, so that can omit the input media 140 of the separation shown in Fig. 1.Speaker unit 160 is used for sense of hearing ground and presents navigation information.Speaker unit 160 can be illustrated as the assembly or assembly motor vehicle 170 or its acoustics of navigational system 100 as shown in FIG. 1.
Can so be provided with in addition, promptly represent as with dashed lines arrow in Fig. 1, navigational system 100 or its analytical equipment 110 link to each other with the other device of motor vehicle 170.Consider for example to be used to obtain car speed (velograph) or the device 175 of distance (mileometer) of process, and speed probe 176.By means of device 175,176 or its signal, can carry out automobile navigation where necessary more reliably and overcome such situation, promptly can not receive the situation (for example by the tunnel or in travelling in crowded incity) of positioning signal by receiver 120.
Based on by input media 140 default navigation destinations and based on by device 120,130,175,176 signals that transmitted and data (positional information and movable information), analytical equipment 110 can calculate corresponding route for motor vehicle 170, and being used for the relevant navigation information and the navigation indication of destination navigation based on this generation, it can be depicted on the display device 150 and/or by speaker unit 160 and be presented by sense of hearing ground.If the relevant route between starting point and destination is relevant with the path of the road that only relates to digitized road net (being stored in the device 130 or by installing 130 provides), then analytical equipment 110 is carried out traditional route search and destination navigation method at this.
If depart from the area of digitized road net or route net or relate to (relating at least in part) digitized incomplete or badly area yet route search relates to (relating at least in part), then analytical equipment 110 is constructed to can use geographic grid in the method based on method execution path search shown in Figure 2.Like this route search and destination navigation based on grid provide such possibility, promptly obtain for the favourable or optimum routes of motor vehicle 170, and motor vehicle 170 can be directed at route on the unsurmountable obstacle or the route by unsurmountable obstacle.In addition, can in the regional or digitized zone, only bad ground of non-digitalization, more estimate running section or running time in this way with gearing to actual circumstances.
In order to explain air navigation aid shown in figure 2, at first from cross-country district or departing from primary importance the zone of digitized road net and the second place between, route to be searched.In addition, primary importance is the current geographic position (starting point) of the motor vehicle that obtains by means of receiver 120 170, and the second place is by the default destination of input media 140.
In the method, analytical equipment 110 obtains the direct access path (" straight line ") between first and second positions in optional first method step 190, and the existence of the obstacle of check in this direct access path.Can be according to (by device 130) this check of digital map information and executing of being provided.If there is no obstacle, then analytical equipment 110 can generate navigation information, and it relates to the direct access path between first and second positions, and can omit other shown in figure 2 method step.Can present navigation information by installing 150,160 at this.For destination navigation, (vision ground and/or sense of hearing ground) transmits and for example arrives the directional information and the range information of destination, and the relevant geographic zone with direct access path is shown on display device 150 in case of necessity figure.
For the situation of in method step 190, determining in direct access path, to have obstacle, continue the method for Fig. 2 with method step 191.If optional method step 190 described above is not set, then begins this method with method step 191.
In method step 191, analytical equipment 110 is determined geographic grid according to net point for the geographic zone in the zone of first and second positions.For this geographic grid or area grid, different design proposals will be considered.In view of possible grid elements, grid for example can be constructed to leg-of-mutton, rectangle or hexagonal grid.In addition, the grid edge between the net point of grid can be set to the form of curve arbitrarily.Here for example be straight line and crooked line segment.Also possible is that grid comprises the mesh lines with multi-form (for example existing straight line has crooked line segment again).For example in Fig. 3 to Fig. 7, illustrated have straight grid edge, by the grid 200,201,202 of triangular construction, below will further explain based on this basis.
In other method step 192, analytical equipment 110 is determined between the net point that adjoin or adjacent of area grid, the possible kinematic parameter that travels and move according to digital map data and map content that (by installing 130) provided.Also can be called as motion or these kinematic parameters of current impedance and relate to the characteristic of moving of grid edge from each net point to adjacent net point along grid.Movement resistance can relate to such as the time overhead of motion, power expense, energy expense and because the feature of the infeasibility of the motion that obstacle causes.Can consider distance or spacing in addition.
For example can determine less movement resistance for smooth field, and can determine higher impedance for upward slope or descending, its middle impedance is for example along with the angle of gradient increases (have infinitely-great impedance for vertical hillside thus and exist impossible current thus) exponentially.In an identical manner, can determine infinitely-great impedance, and determine forbidden completely thus for zone such as the impassability of waters, house, valley, railway line etc.Impedance in the zone (" urban area ") of building also can be lower than impedance in the area that is noted as free space, and impedance there is less than the impedance in the forest land for example.Previous embodiment only shows that some are didactic, be used to determine to travel or the possible example of movement resistance.
By structure grid and definite movement resistance can with can not handle by means of the method for diagram principle, in fact continuous cross-country district changes into the figure with impedance.As described below, based on this basis, analytical equipment 110 can be searched for by execution path, wherein can use known route searching algorithm and method.
Assisting down of determined movement resistance, analytical equipment 110 is the movement locus that the route between first and second positions obtains a plurality of net points of extend past in further method step 193.Can be at this analytical equipment 110 according to this movement resistance, analyze a plurality of different and through movement locus net point, that provide in advance, so that be that motor vehicle 170 obtains movement locus favourable or optimum.For example there is such possibility, promptly when checking possible movement locus, the movement resistance from the grid node to the grid node of adding up, and the route of selecting to have minimum total movement resistance.If have obstacle or forbidden (infinitely-great impedance) a position, then can abandon calculating relevant route where necessary.Will be further described below alternative mode and walk around (undersized) obstacle such as for example shift network lattice point and edge.
In further method step 194, analytical equipment 110 generates at least one navigation information based on (optimum) movement locus that is obtained, and it can be presented by (vision ground and/or sense of hearing ground) by device 150,160.In view of display device 150, for example possible is, the relevant geographic area with corresponding route or movement locus or the part of itself (not having grid) are shown figure.Compare with the movement locus of determining by net point, the movement locus that goes out shown here can be trimmed.
Can during travelling, repeatedly repeat in succession with motor vehicle 170 method explained according to Fig. 2 or method step 191 to 194 (in case of necessity also in steps 190 and the step 195 that describes below).The destination navigation of vehicle 170 can be adapted to the performed motion (it is different from the destination navigation according to navigation information in case of necessity) of vehicle 170 in this way.
In method step 191, can provide grid definitely in advance, promptly provide the size of its direction and grid elements (for example triangle, rectangle, hexagon etc.) especially in advance, that is to say, be independent of first and second positions, obtain the route of motor vehicle 170 for this first and second position.For example can determine the direction of grid by the North-south direction.Under these circumstances, first and/or the second place can both be positioned on the net point of grid, be positioned in the net point next door of grid again.At first or the position of the second place in the situation on net point next door, when obtaining optimum movement locus, can at first consider respectively the most contiguous first or the net point of the second place.Based on this, (only extend past net point) movement locus can be by " expansion " to first or the second place.This for example can consider or determine first or the second place and each the most contiguous net point between other movement resistance (corresponding to method step 192).Also possible is, checks exist (corresponding to the method step 190) of unsurmountable obstacle, can adapt to movement locus (for example undersized obstacle is walked around in guiding) thus where necessary or also can obtain new movement locus.Alternatively possible is, so determines grid (being the size of its direction and grid elements), and promptly first and second positions (basically) is consistent with the net point of grid.
Can realize method shown in figure 2 by means of the computer program with corresponding program code, computer program is implemented on analytical equipment 110 (calculation element or computing machine).Can be stored in the machine-readable carrier containing at this program code, and for example before being installed to navigational system 100 on the motor vehicle 170, be stored on the analytical equipment 110.Instead of software, the method for Fig. 2 also can be implemented in the analytical equipment 110 with hardware mode.This explanation also is applicable to the other possible design proposal of this method, and this will be described hereinafter.
Except above-described situation, the primary importance and the second place that are its execution path search or destination navigation all are arranged in the cross-country district that departs from digitized road net, also can be other applicable cases structure or the navigational system 100 of use Fig. 1 and the method for Fig. 2.To further explain possible example according to Fig. 3 hereinafter.Be arranged in cross-country district at this motor vehicle 170, but and search for to the driving path or the optimum route of the inlet point of road net.
Fig. 3 shows the geographic zone with many roads 230 and river 240.The trend of road 230 is to be comprised in the form of digitized road net in the cartographic information of 130 that provide by device, as to comprise river 240 (obstacle) trend.Show position 210 in addition, the current place that stops of its marker motor-car 170.Be arranged at this motor vehicle 170 and depart from road 230, unknown or not digitized zone, its by road 230 around.Navigational system 100 or analytical equipment 110 can obtain position 210 by means of receiver 120.
Here, the suitable path of (digitized) road net is returned in search.This can be preset via input media 140 by corresponding input (" to the route search of the inlet point of intake duct road network ") by the user of motor vehicle 170 or driver.Based on this, analytical equipment 110 is by definite grid 200 (step 191) and determine that the movement resistance (step 192) of the motion between net point acquires the route (step 193) of the optimum of (arbitrarily) inlet point or destination, and produces corresponding navigation information (step 194).
In Fig. 3, in road net, exemplarily show 3 possible inlet points 220,221,222, it can be considered by analytical equipment 110.At this inlet point for example can be that the position is reached or sailed into to intake duct road network possible, and it is comprised in by in device 130 cartographic informations that provide.Consider possible inlet point, analytical equipment 110 can be constructed to further, only considers to be located at (for example by the user by input media 140) default, inlet point in the distance of the current location 210 of motor vehicle 170.
As in Fig. 3 by means of shown along the arrow at the mesh lines of area grid 200 or grid edge, analytical equipment 110 calculates through the net point of the grids possible movement locus to inlet point 220,221,222, so that be the best or the fastest routes of motor vehicle 170 acquisitions according to each movement resistance.If exist such as the obstacle in river 240 in the motion between two net points and for example have infinitely-great movement resistance thus, then can abandon or interrupt calculating relevant movement locus.This is shown based on inlet point 220 in Fig. 3.
Consider two inlet points 221,222, as represented by solid line 250 in Fig. 3, (not shown in Fig. 3) movement locus that compares inlet point 221 to (optimum) route of putting 222 is more favourable.Reason can be that movement locus 250 is associated with more favourable or less resulting impedance.On the contrary, the movement locus that arrives the optimum of inlet point 221 is realized through a large amount of net points and so bigger resulting impedance of existence.
For the movement locus 250 of the optimum that is obtained by analytical equipment 110, analytical equipment 110 produces corresponding navigation information and presents by installing 150,160 (vision ground and/or sense of hearing ground) being used for.This display device 150 for example can show corresponding to the figure of the geographic zone of (not having grid 200), have road 230, river 240, inlet point 222 and than " the band angle " movement locus 250 and Fig. 3 of trimmed movement locus.
Clearly illustrated that advantage according to Fig. 3 based on the destination navigation of grid.Although inlet point 220 has to the shortest space length of the current location 210 of motor vehicle 170.Yet because river 240 (obstacle), can not be from the position 210 arrive inlet points 220, so that motor vehicle 170 is directed to more favourable destination---inlet point 222.
In the application example of explaining according to Fig. 3, give such possibility, promptly before carrying out the navigation of carrying out by means of geographic grid 200, at first check the direct connection (corresponding to the method step 190 of Fig. 2) of possible inlet point 220,221,222.If determine that at this (unsurmountable) obstacle has blocked all direct access paths, then can carry out above-described route search and destination navigation based on grid.
In view of also there is such possibility in the method for explaining according to Fig. 3, promptly in (providing) cartographic information, do not comprise inlet point 220,221,222 or their position by device 130.For example possible is can reach on the shown road 230 to whole positions, because this road is a dirt road 230.In this case, analytical equipment 110 can be constructed to, and in order to obtain optimum movement locus, for example the mesh lines of grid 200 and the intersection point of road 230 is used as inlet point to be considered.
In view of a plurality of possible inlet point in the digitized road net (it is comprised in the cartographic information and/or the intersection point of its expression grid 200 and road 230), can further consider in digitized road net (presetting) destination by the driver, travelling of being connected to cross-country district.Can be constructed at this analytical equipment 110, from a plurality of inlet points, select optimum inlet point, for it, general line---the starting point from cross-country district is to the inlet point that enters digitized road net, and from here to the route of destination---be optimum.Be implemented in highway section navigation between starting point and the optimum inlet point according to air navigation aid based on grid.
As illustrated according to step 195 in Fig. 2, also there is such possibility in order to improve destination navigation, i.e. the repeatedly generation of repeated grid and, and refinement step by step thus according to the calculating of the movement locus of movement resistance.This will explain according to Figure 4 and 5 below in detail, its relate to shown in Fig. 3 at the current location 210 of motor vehicle 170 and the fortune merit track 250 between the inlet point 222.Work as first " coarse mesh " grid at this grid 200, and movement locus 250 expression first more roughly or movement locus roughly (Fig. 4).Based on this, analytical equipment 110 (for example only in the zone of the first fortune merit track 250) is determined second grid 201, and obtains second movement locus 251, and it can be modified or refinement (Fig. 5) with respect to first movement locus 250.Can repeatedly repeat such mode in case of necessity, thus refinement optimal route continuously.
Alternatively or additionally can so be provided with, be about to analytical equipment 110 and be configured to generate grid, so that in different mesh region, there is the different mesh widths between net point with irregular grid.Relevant grid can be adapted to the geographic area neatly thus.Especially can avoid, undersized object or obstacle cause the blockade of (favourable in other respects) route because the edge of (coarse mesh) grid is positioned on such object.
For explanation visually, Fig. 6 shows so irregular grid 202, rethinks the current location with motor vehicle 170 210 shown in Figure 3 and the situation of inlet point 222.This for example the less obstacle 241 of a row be positioned at path point 210 near, opposite remaining areas does not have such obstacle 241 and so even relatively.Analytical equipment 110 can be determined such actual conditions according to the cartographic information that (by device 130) provides.Based on this, analytical equipment 110 can be only determined narrow relatively mesh or mesh width in section heterogeneous, and obtains (optimum) movement locus 252 by means of the movement resistance of the motion between net point once more.Can make also reliable fast destination navigation become possibility by this mode.Substitute as shown according to grid 202 in Fig. 5, grid elements (triangle) or two different mesh widths of two different sizes only are set, also can be according to each geographical actual conditions or each current packing density, with the different grade more than two of mesh width irregular grid is set.
In addition, can also to be constructed to be shifted be the net point of the determined grid in a geographic area to analytical equipment 110.Also make in this way and neatly grid adaptation is become possibility in relevant geographic area.For explanation visually, in Fig. 7, figuratively speaking understand such displacement about the grid 200 of Fig. 3 or 4.At this region memory between net point at undersized relatively obstacle 241.As substituting only according to the movement locus that obtains by the default definitely net points of 200 of grids, net point cut-through 241 that can shifted grid 200 and edge cut-through 241 that thus can shifted grid 200, as in Fig. 7 according to movement locus 253 explanations.
Method similar and that implement by analytical equipment 110 is, considers passage or intermediary movements between the edge of net point and grid, wherein can reuse map content or movement resistance (not shown) at this.In this way, can walk around undersized obstacle by the guided-moving track, can avoid the blockade of (favourable in other respects) movement locus thus.
Except described applicable cases (starting point and destination in cross-country district, starting position search for suitable path in cross-country district and in digitized road net), can also be other applicable cases structure or use the navigational system of Fig. 1 and the method for Fig. 2.Possible example in addition is a route to be searched, and it is from the starting point highway section of digitized road net of at first travelling, and travelled subsequently depart from road net, to the highway section of destination.Under these circumstances, analytical equipment 110 can be constructed to determine one or more rolling away from a little of being used to leave the road and net, and by means of cover the movement locus that cross-country district and definite movement resistance acquire the optimum of destination locations with grid.At this, roll away from a little and can be used as primary importance, and the destination can be used as the second place based on the route search of grid.The intersection point that analytical equipment 110 for example rolls the road of possibility and/or mesh lines by determining grid and road net away from accordingly by information acquisition is according to the map determined possible the rolling away from a little from road net.Can also determine rolling away from a little of independent optimum by considering general line (or by obtaining optimum general line) at this.
Similar mode relates to such applicable cases, and promptly homeposition and destination locations all are arranged in the highway section of digitized road net, wherein has the zone or the digitized zone, bad ground of non-digitalization between those highway sections.Can both obtain one or more points (primary importance) that roll away from this analytical equipment 110, also obtain one or more points (second place) that sail into, and by means of calculating based on the route search of grid at the optimal route between those points, wherein above-described mode can play a role.Under the situation of considering general line, also can determine optimum inlet point and optimum rolling away from a little here.
The embodiment of Xie Shiing shows preferred or exemplary embodiment of the present invention with reference to the accompanying drawings.Except described and the embodiment of being constructed, can also imagine other embodiment, it can comprise the other variation or the combination of feature.For example possible is described feature also to be arranged on the navigational system that moves that is used for motor vehicle.Can also imagine except device and assembly shown in Figure 1, navigational system can also comprise other device or can link to each other with other device.In addition, illustrated idea and mode not only can be applied to motor vehicle, also can be applied to any vehicles (for example bicycle, boats and ships and ship etc.) even pedestrian's route search and destination navigation.
About marine navigation such possibility is for example arranged equally, for determining grid in the geographic area, and obtain optimum route according to the movement resistance of the motion between net point.Because should avoid the land area,, there is opposite relation at this with respect to above-described land navigation.Except the area, land, can be by the other actual conditions of employed movement resistance consideration such as for example shoal water zone, current and wind regime.
In addition method step 190 shown in figure 2 also has been described, it comprises acquisition at the direct access path between first and second positions (" straight line "), check barrier existing in this direct access path (for example according to the digital map information that is provided) and the navigation information about direct access path (if there is no obstacle) is provided, and also can be independent of based on the navigation of grid to realize this method step.
Claims (10)
1. navigational system (100) comprising:
Device (130) is used to provide cartographic information, and
Analytical equipment (110) is used to provide at least one to be used for the navigation information of destination navigation,
It is characterized in that described analytical equipment (110) is constructed to:
According to net point is that grid (200,201,202) is determined in the geographic area,
Determine a plurality of kinematic parameters of a plurality of motions between described net point according to the described cartographic information that provides, wherein, kinematic parameter is relevant with the characteristic from the motion of a net point to an adjacent net point,
According to the movement locus (250,251,252,253) of described a plurality of kinematic parameters acquisitions through a plurality of net points,
And provide described at least one navigation information based on the described movement locus that obtains (250,251,252,253).
2. navigational system according to claim 1 (100) is characterized in that, also comprises:
Position determining means (120) is used for determining current geographic position.
3. according to any described navigational system (100) in the aforementioned claim, it is characterized in that, described analytical equipment (110) is constructed to, consider a plurality of possible destinations (220,221,222), and acquire one movement locus (250 in the described possible destination (222) according to described a plurality of kinematic parameters, 251,252,253).
4. according to any described navigational system (100) in the aforementioned claim, it is characterized in that, described analytical equipment (110) is constructed to, determine to have the described grid (202) of irregular grid, so that in different mesh region, there is the different mesh widths between described net point.
5. according to any described navigational system (100) in the aforementioned claim, it is characterized in that described analytical equipment (110) is constructed to, the net point of described grid (200) that are shifted.
6. according to any described navigational system (100) in the aforementioned claim, it is characterized in that, a kinematic parameter relate to from a net point to an adjacent net point one the motion following characteristic at least one:
The time overhead of described motion, power expense, energy expense, distance, infeasibility.
7. according to any described navigational system (100) in the aforementioned claim, it is characterized in that, described analytical equipment (110) is constructed to, at described grid (200,201, obtain the direct access path between first and second positions before the determining 202), and in described direct access path, determine the existence of obstacle.
8. according to any described navigational system (100) in the aforementioned claim, it is characterized in that, described analytical equipment is constructed to, determine first grid (200) and obtain first movement locus (250), and determine second grid (201) and obtain second movement locus (251) that based on this wherein said first grid (200) has than the bigger mesh width of described second grid (201) between described each net point.
9. the method that is used for destination navigation is characterized in that following method step:
According to net point is that grid (200,201,202) is determined in the geographic area,
Information is determined a plurality of kinematic parameters of a plurality of motions between described net point according to the map, and wherein kinematic parameter is relevant with the characteristic from the motion of a net point to an adjacent net point,
According to the movement locus (250,251,252,253) of described a plurality of kinematic parameters acquisitions through a plurality of net points, and
Provide at least one to be used for the navigation information of destination navigation based on the described movement locus that obtains (250,251,252,253).
10. the computer program that has program code is to be used for carrying out method according to claim 9 when described computer program is implemented on computers.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010027775.4 | 2010-04-15 | ||
| DE201010027775 DE102010027775A1 (en) | 2010-04-15 | 2010-04-15 | Navigation system for use in motor vehicle, has reading device providing card information, and evaluation device determining movement path over grid points based on movement parameter and providing navigation information based on path |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102252682A true CN102252682A (en) | 2011-11-23 |
| CN102252682B CN102252682B (en) | 2014-06-25 |
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| CN201110097086.0A Expired - Fee Related CN102252682B (en) | 2010-04-15 | 2011-04-15 | Navigation with grids |
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| CN (1) | CN102252682B (en) |
| DE (1) | DE102010027775A1 (en) |
| RU (1) | RU2589381C2 (en) |
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| CN107084729A (en) * | 2017-05-03 | 2017-08-22 | 北京都在哪网讯科技有限公司 | Air navigation aid and device |
| WO2018103363A1 (en) * | 2016-12-07 | 2018-06-14 | 北京三快在线科技有限公司 | Road determination method and device |
| CN108444487A (en) * | 2018-01-30 | 2018-08-24 | 北京小度信息科技有限公司 | Navigation data processing method, air navigation aid and relevant apparatus |
| CN109564104A (en) * | 2016-08-03 | 2019-04-02 | 罗伯特·博世有限公司 | The method of height model based on 3D terrestrial reference correction navigation equipment |
| CN110160539A (en) * | 2019-05-28 | 2019-08-23 | 北京百度网讯科技有限公司 | Map-matching method, calculates equipment and medium at device |
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| JP7154482B2 (en) * | 2019-03-29 | 2022-10-18 | マツダ株式会社 | Vehicle driving support system |
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Also Published As
| Publication number | Publication date |
|---|---|
| RU2589381C2 (en) | 2016-07-10 |
| DE102010027775A1 (en) | 2011-10-20 |
| RU2011114478A (en) | 2012-10-20 |
| CN102252682B (en) | 2014-06-25 |
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