CN102252682B - Navigation with grids - Google Patents
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- CN102252682B CN102252682B CN201110097086.0A CN201110097086A CN102252682B CN 102252682 B CN102252682 B CN 102252682B CN 201110097086 A CN201110097086 A CN 201110097086A CN 102252682 B CN102252682 B CN 102252682B
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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 for destination navigation and a kind of for carrying out the computer program with program code of such method.
Background technology
In different design proposals, become known for carrying out the navigational system of destination navigation.Especially in motor vehicle, use such system, to calculate the route of the destination of expectation according to the input of corresponding destination, and will the navigation information of road and turning point be informed to driver.Carry out route guidance or the destination navigation on road based on digitized road net.
The shortcoming of known navigational system is, for example, can not realize rational destination navigation for the position (in the wild or in " cross-country district ", in digitized area by halves, on parking stall) of departing from digitized road net.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 by corresponding navigation information, especially inform driver to " rectilinear direction " of this inlet point.In the method for this being also referred to as " inlet point navigation ", there is no to consider that on relevant path possibility has unsurmountable obstacle (for example, waters, railway line, difficult current area, buildings).Have problems thus, that is, may advise can not travelling or being difficult to walk the route of sailing to driver.
Known a kind of for not having the region of known map or route data to carry out the method for destination navigation by EP 1 442 271B1.Be provided to directional information or the range information of at least two different path points at this.Based on this, driver should select his favourable route or there is no the route of (self) obstacle.
By a kind of known method for destination navigation of DE 101 46 115B4, the direction being wherein automatically switched in cross-country district by the navigation based on digital road map is navigated.In the situation that direction is navigated, air line distance and the direction that put in path are shown.
Summary of the invention
Task of the present invention is, has provided the solution in the improvement of the destination navigation in cross-country district for destination navigation, especially motor vehicle.
Solve this task by the feature of independent claims.Provide in the dependent claims other favourable embodiment.
According to the present invention proposes a kind of navigational system.This navigational system has the device for cartographic information is provided, and at least one analytical equipment for the navigation information of destination navigation is provided.This analytical equipment is constructed to: be that grid is determined in geographic area according to net point, and multiple kinematic parameters of the multiple motions between described net point are provided according to provided cartographic information.At this, kinematic parameter is relevant with the characteristic of the motion from a net point to adjacent net point.This analytical equipment is further configured to, and obtains the movement locus through multiple net points according to described multiple kinematic parameters, and movement locus based on obtained provides described at least one navigation information.
In addition, according to the present invention proposes the method for destination navigation.In the method, be that grid is determined in geographic area according to net point, and information is determined multiple kinematic parameters of the multiple motions between described net point according to the map.At this, kinematic parameter is relevant with the characteristic of the motion from a net point to adjacent net point.In addition, obtain the movement locus through multiple net points according to described multiple kinematic parameters, and movement locus based on obtained provides at least one navigation information for destination navigation.
This navigational system and the method provide and have realized for the area of partial digits or for the possibility of destination navigation that departs from regional improvement known or digitized road net or route net.Cover geographic area (or relevant cartographic information) and determine the kinematic parameter of the motion between single net point by the grid with geographical, can, according to multiple (possible with impossible) movement locus that provide in advance by net point, obtain favourable or optimum movement locus.
Especially for the destination navigation of vehicle or motor vehicle has been considered this navigational system and the method.This can avoid to the driver of vehicle or user's suggestion by or through the route of unsurmountable obstacle.Can also in non-digitalization or only bad digitized region, 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, its for determine current geographic position.At this, in the time obtaining movement locus, can consider this current location.
In another preferred embodiment, analytical equipment is constructed to, and considers multiple possible destinations, and acquires the movement locus of in possible destination according to kinematic parameter.Such mode for example can be used to such situation, and 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 to inlet point to driver, pass through/pass through the route such as the obstacle of for example waters or railway line although there is bee-line.
In another preferred embodiment, this analytical equipment is constructed to, and determines the grid with irregular grid, to make the having different mesh widths between described net point in different mesh region.Produce thus such possibility, be adapted to neatly each actual conditions of geographic area by grid.Following situation for example can occur, and geographic area had both comprised that uniform section also comprised having sections heterogeneous for example little and/or multiple obstacles.The mesh width of relative compact can be only set, to make quick and reliable destination navigation become possibility for such section with high packing density.
So make the adaptation flexibly of the grid that obtains geographic area become possibility according to another preferred implementation, analytical equipment is constructed to, and the net point of grid is shifted.In the time there is obstacle in the region between two net points, can for example use which.
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 direct access path between the first and second positions, and in described direct access path, determined the existence of obstacle before the determining of geographic grid.If there is not obstacle in this direct access path (" straight line "), can abandon the acquisition of the definite and movement locus of grid, to carry out relatively simply and fastly destination navigation.
In another preferred embodiment, analytical equipment is constructed to determine the first grid and obtain the first movement locus, and determines the second grid and obtain the second movement locus based on this.Described the first grid has than the larger mesh width of described the second grid between described each net point.By this design proposal, can refinement or optimize (roughly) movement locus first obtaining with the first thick grid, can further improve where necessary thus destination navigation.Can repeatedly repeat if desired such application of the grid of classification, thus the possible movement locus of refinement continuously.
In addition,, according to the present invention proposes the computer program with program code, in the time that computer program is implemented on computers, carry out air navigation aid described above.Such program code is for example stored in machine-readable carrier.
Brief description of the drawings
Further explain with reference to the accompanying drawings the present invention below, in accompanying drawing:
Fig. 1 shows the schematic block diagram for the navigational system of vehicle;
Fig. 2 shows the process flow diagram for the air navigation aid of destination navigation;
Fig. 3 shows the schematic diagram of the geographic area with mesh, so that air navigation aid to be described visually; And
Fig. 4 to 7 shows the schematic 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 is for example represented by motor vehicle 170, and navigational system 100 has wherein been installed regularly.Navigational system 100 comprises the device 110 for data processing and analysis, and it is below representing with analytical equipment 110.Analytical equipment 110 is connected with other device navigational system 100 or motor vehicle 170, and is configured to receive input signal and output signal output, as indicated with arrow in Fig. 1.
A device in the device of navigational system 100 is the receiver 120 for receiving 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 for cartographic information or numerical map are provided.Device 130 can be for example memory storage, and cartographic information is left in wherein.Also have likely, 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, cartographic information, except comprising the information for digitized road net, also comprises the other information for the region outside 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 such as 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 for example comprising the input media 140 of executive component or operation push-button, the user of motor vehicle 170 or driver can preset corresponding navigation purpose ground and determine the other default and parameter for route search and destination navigation.Display device 150 is for example constructed to the form of display, by this display device 150, corresponding navigation information can be visually shown.Also have following possibility at this, also display device 150 can be configured to touch-screen display, driver can select or default navigation purpose ground by it, to make it possible to omit the input media 140 of the separation shown in Fig. 1.Speaker unit 160 for the sense of hearing present navigation information.Speaker unit 160 can be illustrated as assembly or assembly motor vehicle 170 or its acoustics of navigational system 100 as shown in FIG. 1.
In addition can so arrange, as represented with dotted arrow in Fig. 1, navigational system 100 or its analytical equipment 110 are connected with the other device of motor vehicle 170.For example consider for 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 more reliably where necessary automobile navigation and overcome such situation, can not receive by receiver 120 situation (for example by tunnel or in travelling in crowded incity) of positioning signal.
Based on by the default navigation purpose of input media 140 ground and based on by device 120,130,175,176 signals that transmit and data (positional information and movable information), analytical equipment 110 can calculate corresponding route for motor vehicle 170, and generate for the relevant navigation information of destination navigation and navigation instruction based on this, its can be depicted in display device 150 and/or by speaker unit 160 by the sense of hearing present.If the relevant route between starting point and destination and the path-dependent that the road (be stored in device 130 or by installing 130 and provide) of digitized road net is only provided, 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 area incomplete or badly but route search relates to (relating at least in part), analytical equipment 110 is constructed to the method execution path search based on shown in Fig. 2, can use in the method geographic grid.The route search based on grid and destination navigation like this provide such possibility, obtain the route favourable or optimum for motor vehicle 170, and motor vehicle 170 can be directed to the route on unsurmountable obstacle or pass through the route of unsurmountable obstacle.In addition, can in the region of non-digitalization or only bad digitized region, 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, first from cross-country district or departing from primary importance the region 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 motor vehicle 170 obtaining by means of receiver 120, and the second place is the destination default by input media 140.
In the method, analytical equipment 110 obtains the direct access path (" straight line ") between the first and second positions in optional the first method step 190, and the existence of the obstacle of inspection in this direct access path.This inspection of digital map information and executing that can provide according to (by device 130).If there is no obstacle, analytical equipment 110 can generate navigation information, and it relates to the direct access path between the 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 directional information and the range information of destination, and the relevant geographic zone with direct access path is shown if desired in display device 150 figure.
For determine the situation that has obstacle in direct access path in method step 190, continue the method for Fig. 2 with method step 191.If optional method step 190 described above is not set, starts the method with method step 191.
In method step 191, analytical equipment 110 is that geographic grid is determined in geographic zone in the region of the first and second positions according to net point.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.For example here straight line and bending line segment.Also possibly, grid comprises the mesh lines for example, with multi-form (existing straight line has again bending line segment).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, the digital map data that analytical equipment 110 provides according to (by installing 130) and map content are determined the kinematic parameter of between the net point that adjoin or adjacent of area grid, the possible motion of travelling.Also can be called as motion or these kinematic parameters of current impedance and relate to grid edge along the grid characteristic of moving from each net point to adjacent net point.Movement resistance can relate to the feature of the infeasibility of the motion causing such as the time overhead, power expense, energy expense of motion and due to obstacle.Can consider in addition distance or spacing.
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 thus impossible current) exponentially.In an identical manner, can determine infinitely-great impedance for the region of the impassability such as waters, house, valley, railway line etc., and determine thus forbidden completely.Impedance in the region (" urban area ") of building also can be lower than the impedance being noted as in the area of free space, and impedance there is less than the impedance in forest land for example.Previous embodiment only shows that some are didactic, travel or the possible example of movement resistance for determining.
Can will can not change into the resistive figure of tool by means of the method processing of diagram principle, in fact continuous cross-country district by structure grid and definite movement resistance.As described below, based on this basis, analytical equipment 110 can be searched for by execution path, wherein can use known sequencing rule and method.
Under determined movement resistance auxiliary, analytical equipment 110 in further method step 193 for the route between the first and second positions obtains the movement locus that extends past multiple net points.Can be according to this movement resistance at this analytical equipment 110, analyze multiple different and through net point, the movement locus that provides in advance, to obtain favourable or optimum movement locus for motor vehicle 170.For example there is such possibility, in the time checking possible movement locus, cumulative movement resistance from grid node to grid node, and select to have the route of minimum total movement resistance.If there is obstacle or forbidden (infinitely-great impedance) a position, can abandon where necessary calculating relevant route.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 (optimum) at least one navigation information of trace generator based on obtained, 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 likely, illustrate figure and there is the relevant geographic area of corresponding route or movement locus or the part of itself (there is no grid).With compared with the definite movement locus of net point, shown here go out movement locus can be trimmed.
Can during travelling with motor vehicle 170, in succession repeat in multiple times according to Fig. 2 explain method or method step 191 to 194 (if desired also in steps 190 and step 195 described below).The destination navigation of vehicle 170 can be adapted in this way to the performed motion of vehicle 170 (it is different from the destination navigation according to navigation information if desired).
In method step 191, can provide in advance definitely grid, provide especially in advance the size of its direction and grid elements (such as triangle, rectangle, hexagon etc.), that is to say, being independent of the first and second positions, is the route of this first and second positions acquisition motor vehicle 170.For example can pass through the direction of North-south orientation determination grid.Under these circumstances, first and/or the second place can both be positioned on the net point of grid, be positioned in again the net point side of grid.For first or the position of the second place in the situation on net point side, in the time obtaining optimum movement locus, can first consider respectively the most contiguous first or the net point of the second place.Based on this, (only extending 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 possibly, check exist (corresponding to the method step 190) of unsurmountable obstacle, can adapt to where necessary thus movement locus (undersized obstacle is walked around in for example guiding) or also can obtain new movement locus.Alternatively likely, so determine grid (being the size of its direction and grid elements), the first and second positions (substantially) 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 machine-readable carrier at this program code, and for example before navigational system 100 is installed on motor vehicle 170, be stored on analytical equipment 110.Instead of software, the method for Fig. 2 also can be implemented in analytical equipment 110 with hardware mode.This explanation is also applicable to the other possible design proposal of the 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 are all arranged in the cross-country district that departs from digitized road net, can be also other applicable cases structure or the navigational system 100 of use Fig. 1 and the method for Fig. 2.To below further explain possible example according to Fig. 3.Be arranged in cross-country district at this motor vehicle 170, and search for to wheeled 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 in the cartographic information being comprised in the form of digitized road net by device 130 trends that provide, that comprise river 240 (obstacle).In addition show position 210, the current place that stops of its marker motor-car 170.Be arranged in deviating road 230, unknown or not digitized region at this motor vehicle 170, 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 inlet point that enters road net ") 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 optimum route (step 193) 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.Can be for example that position is reached or sailed into enter road net possible at this inlet point, it be comprised in by device 130 cartographic informations that provide.Consider possible inlet point, analytical equipment 110 can be constructed to further, only consider to be located at (for example by user by input media 140) default, apart from the inlet point in the distance of the current location 210 of motor vehicle 170.
As shown by means of the arrow at the mesh lines along area grid 200 or grid edge in Fig. 3, analytical equipment 110 calculates the net point of process grid to the possible movement locus of inlet point 220,221,222, to be that motor vehicle 170 obtains best or the fastest route according to each movement resistance.If exist in the motion between two net points such as the obstacle in river 240 and for example have thus infinitely-great movement resistance, 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 point 222 is more favourable.Reason can be, movement locus 250 is associated with more favourable or less resulting impedance.On the contrary, realize and therefore exist larger resulting impedance through a large amount of net points to the optimum movement locus of inlet point 221.
For the optimum movement locus 250 being obtained by analytical equipment 110, analytical equipment 110 produces corresponding navigation information for presenting by device 150,160 (vision ground and/or sense of hearing ground).This display device 150 for example can show corresponding to the figure of the geographic zone of (there is no grid 200), there is road 230, river 240, inlet point 222 and than " with angle " movement locus 250 and Fig. 3 of trimmed movement locus.
Clearly illustrated that the advantage of the destination navigation based on grid according to Fig. 3.Although inlet point 220 has to the shortest space length of the current location 210 of motor vehicle 170.But due to river 240 (obstacle), can not arrive inlet point 220 from position 210, 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, before carrying out the navigation of carrying out by means of geographic grid 200, first inspection is to the direct connection (corresponding to the method step 190 of Fig. 2) of possible inlet point 220,221,222.If determined at this, (unsurmountable) obstacle has blocked all direct access paths, can carry out above-described route search and destination navigation based on grid.
In view of the method for explaining according to Fig. 3 also exists such possibility, in (being provided by device 130) cartographic information, do not comprise inlet point 220,221,222 or their position.For example likely, can reach on shown road 230 to whole positions, because this road is dirt road 230.In this case, analytical equipment 110 can be constructed to, and in order to obtain optimum movement locus, for example, the intersection point of the mesh lines of grid 200 and road 230 is used as inlet point to be considered.
In view of the multiple possible inlet point in digitized road net (it is comprised in cartographic information and/or it represents the intersection point of grid 200 and road 230), can further consider in digitized road net (being preset by driver) destination, travelling of being connected to cross-country district.Can be constructed at this analytical equipment 110, from multiple 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 the route to destination here---be optimum.Realize the section navigation between starting point and the inlet point of optimum according to the 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 the calculating according to the movement locus of movement resistance, and refinement step by step thus.This will explain according to Figure 4 and 5 below in detail, and it relates to the fortune merit track 250 between current location 210 and the inlet point 222 at motor vehicle 170 shown in Fig. 3.Work as first " coarse mesh " grid at this grid 200, and movement locus 250 represents the first movement locus (Fig. 4) more roughly or roughly.Based on this, analytical equipment 110 (for example, only in the region of the first fortune merit track 250) is determined the second grid 201, and obtains the second movement locus 251, and it can be modified or refinement (Fig. 5) with respect to the first movement locus 250.Can repeatedly repeat if desired such mode, thus refinement optimal route continuously.
Alternatively or additionally can so arrange, be configured to generate the grid with irregular grid by analytical equipment 110, to make the having different mesh widths between net point in different mesh region.Relevant grid can be adapted to 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.Near that is positioned at path point 210 at this for example less obstacle 241 of a row, contrary remaining region does not have such obstacle 241 and therefore relatively even.The cartographic information that analytical equipment 110 can provide according to (by device 130) is determined such actual conditions.Based on this, analytical equipment 110 can only be determined relatively narrow mesh or mesh width in section heterogeneous, and again obtains (optimum) movement locus 252 by means of the movement resistance of the motion between net point.Can make also reliable destination navigation fast become possibility by which.Substitute as shown according to grid 202 in Fig. 5, grid elements (triangle) or two different mesh widths of two different sizes are only set, also can, according to each geographical actual conditions or each current packing density, with the different grade more than two of mesh width, irregular grid be set.
In addition, analytical equipment 110 can also be constructed to displacement be the net point of a determined grid in geographic area.Also making in this way becomes possibility by grid adaptation in relevant geographic area neatly.For explanation visually, in Fig. 7, figuratively understand the such displacement about the grid 200 of Fig. 3 or 4.Region memory at this between net point is at relatively undersized obstacle 241.As only according to substituting by 200 of the grids movement locus that default net point obtains definitely, net point cut-through 241 that can shifted grid 200 edge cut-through 241 that thus can shifted grid 200, as illustrated according to movement locus 253 in Fig. 7.
Method similar and that implement by analytical equipment 110 is, considers passage or intermediary movements between net point and the edge of grid, wherein can reuse map content or movement resistance (not shown) at this.In this way, can walk around undersized obstacle by guided-moving track, can avoid thus the blockade of (favourable in other respects) movement locus.
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 is in addition route to be searched, and it is from the starting point section of digitized road net of first travelling, and the deviating road net that travelled subsequently, to the section of destination.Under these circumstances, analytical equipment 110 can be constructed to determine one or more for rolling away from a little of leaving the road and net, and by means of covering cross-country district with grid and determining that movement resistance acquires the optimum movement locus of destination locations.At this, roll away from and a little can be used as primary importance, and destination can be used as the second place of the route search based on grid.Analytical equipment 110 is for example rolled accordingly away from possibility and/or is determined possible the rolling away from a little from road net by the intersection point of determining the mesh lines of grid and the road of road net by information acquisition according to the map.Can also determine independent optimum rolling away from a little by consideration general line (or by obtaining optimum general line) at this.
Similar mode relates to such applicable cases, and homeposition and destination locations are all arranged in the section of digitized road net, wherein between those sections, has region or bad the digitized region of non-digitalization.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 calculate at the optimal route between those points by means of the route search based on grid, wherein above-described mode can play a role.In the situation that considering general line, also can determine optimum inlet point and optimum rolling away from a little here.
The embodiment of explaining with reference to the accompanying drawings shows preferred or exemplary embodiment of the present invention.Except described and embodiment that construct, can also imagine other embodiment, it can comprise other variation or the combination of feature.For example likely, described feature is also arranged on to the navigational system for the movement of motor vehicle.Can also imagine except device and assembly shown in Figure 1, navigational system can also comprise other device or can be connected with other device.In addition, illustrated idea and mode not only can be applied to motor vehicle, also can be applied to even pedestrian's route search and destination navigation of any vehicles (such as bicycle, boats and ships and ship etc.).
For example there is equally such possibility about marine navigation, for determining grid in geographic area, and obtain optimum route according to the movement resistance of the motion between net point.Because should avoid land area, with respect to above-described land navigation, there is contrary relation at this.Except area, land, can pass through used movement resistance and consider the other actual conditions such as for example shoal water zone, current and wind regime.
In addition method step 190 shown in figure 2 has also been described, it comprises and obtains the direct access path between the first and second positions (" straight line "), inspection barrier existing in this direct access path (for example, according to provided digital map information) and the navigation information about direct access path (if there is no obstacle) is provided, and also can be independent of the navigation based on grid and realizes the method step.
Claims (9)
1. navigational system (100), comprising:
Device (130), for cartographic information is provided, and
Analytical equipment (110), at least one navigation information for destination navigation is provided,
It is characterized in that, described analytical equipment (110) is constructed to:
Be that grid (200,201,202) is determined in geographic area according to multiple net points, wherein, described multiple net point comprises the net point corresponding with starting point and the net point corresponding with destination, and described grid comprises multiple grid elements that formed by described multiple net points
Multiple kinematic parameters of the multiple motions between described multiple net points are provided according to provided cartographic information, and wherein, kinematic parameter is relevant with the characteristic of the motion from a net point to adjacent net point,
Obtain the movement locus (250,251,252,253) through multiple net points according to described multiple kinematic parameters,
And movement locus (250,251,252,253) based on obtained provides at least one navigation information.
2. navigational system according to claim 1 (100), is characterized in that, also comprises:
Position determining means (120), for determining current geographic position.
3. according to the navigational system (100) described in any one in aforementioned claim, it is characterized in that, described analytical equipment (110) is constructed to, consider multiple possible destinations (220,221,222), and acquire the movement locus (250 of in described possible destination (222) according to described multiple kinematic parameters, 251,252,253).
4. navigational system according to claim 1 (100), it is characterized in that, described analytical equipment (110) is constructed to, determine the described grid (202) with irregular grid, to make to exist the mesh width of the different grid elements between described net point in different mesh region.
5. navigational system according to claim 1 (100), is characterized in that, described analytical equipment (110) is constructed to, the net point of described grid (200) that are shifted.
6. navigational system according to claim 1 (100), is characterized in that, a kinematic parameter relates at least one the following characteristic of moving from a net point to an adjacent net point:
The time overhead of described motion, power expense, energy expense, distance, infeasibility.
7. navigational system according to claim 1 (100), it is characterized in that, described analytical equipment (110) is constructed to, at described grid (200,201,202) determine obtains the direct access path between the first and second positions before, and in described direct access path, determines the existence of obstacle.
8. navigational system according to claim 1 (100), it is characterized in that, described analytical equipment is constructed to, determine the first grid (200) and obtain the first movement locus (250), and determine the second grid (201) and obtain the second movement locus (251) based on this, wherein said the first grid (200) has the mesh width of the grid elements larger than described the second grid (201) between each net point.
9. for the method for destination navigation, it is characterized in that following method step:
Be that grid (200,201,202) is determined in geographic area according to multiple net points, wherein, described multiple net point comprises the net point corresponding with starting point and the net point corresponding with destination, and described grid comprises multiple grid elements that formed by described multiple net points
Information is determined multiple kinematic parameters of the multiple motions between described multiple net points according to the map, and wherein kinematic parameter is relevant with the characteristic of the motion from a net point to adjacent net point,
Obtain the movement locus (250,251,252,253) through multiple net points according to described multiple kinematic parameters, and
Movement locus (250,251,252,253) based on obtained provides at least one navigation information for destination navigation.
Applications Claiming Priority (2)
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| 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 |
| DE102010027775.4 | 2010-04-15 |
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| CN102252682A CN102252682A (en) | 2011-11-23 |
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| DE (1) | DE102010027775A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102013105502A1 (en) * | 2013-05-28 | 2014-12-04 | Michael Sterner | Method of storing energy on a watercraft |
| DE102013223803A1 (en) * | 2013-11-21 | 2015-05-21 | Robert Bosch Gmbh | Method and device for segmenting an occupancy grid for an environment model of a driver assistance system for a vehicle |
| EP3494366B1 (en) * | 2016-08-03 | 2020-07-15 | Robert Bosch GmbH | Method for the correction of elevation models for navigation devices on the basis of 3d-landmarks |
| CN108168566B (en) * | 2016-12-07 | 2020-09-04 | 北京三快在线科技有限公司 | Road determination method and device and electronic equipment |
| CN107084729B (en) * | 2017-05-03 | 2020-02-07 | 北京都在哪网讯科技有限公司 | Navigation method and device |
| CN108444487B (en) * | 2018-01-30 | 2021-03-02 | 北京星选科技有限公司 | Navigation data processing method, navigation method and related device |
| CN109814551A (en) * | 2019-01-04 | 2019-05-28 | 丰疆智慧农业股份有限公司 | Cereal handles automated driving system, automatic Pilot method and automatic identifying method |
| NL2022800B1 (en) * | 2019-03-25 | 2020-10-02 | Vanderlande Ind Bv | System and method for the intralogistics transport of products. |
| JP7154482B2 (en) * | 2019-03-29 | 2022-10-18 | マツダ株式会社 | Vehicle driving support system |
| 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 |
| CN110968658B (en) * | 2019-11-28 | 2022-12-16 | 安徽云森物联网科技有限公司 | Vector map preprocessing method for jump point search shortest path algorithm |
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Also Published As
| Publication number | Publication date |
|---|---|
| RU2011114478A (en) | 2012-10-20 |
| RU2589381C2 (en) | 2016-07-10 |
| CN102252682A (en) | 2011-11-23 |
| DE102010027775A1 (en) | 2011-10-20 |
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