CN103134498B - Road condition determines method and device, paths planning method, navigation system - Google Patents
Road condition determines method and device, paths planning method, navigation system Download PDFInfo
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Abstract
A kind of road condition determines method and device, paths planning method, navigation system, wherein road condition determines that method includes obtaining road conditions event information, described road conditions event information include event position information and additional information, wherein said additional information include road conditions event coverage in road chain identification information；On electronic chart, the section numbering occurred in the position coordinates point of road conditions event and described road conditions event coverage is determined respectively according to described event position information and road chain identification information；The state in section, described position coordinates point place on electronic chart and the state of described section numbering corresponding road section are set to road closed state.The technical program solves existing navigation system cannot change, according to the road condition of road, the problem adjusting navigation path planning.
Description
Technical field
The present invention relates to field of navigation technology, determine method and device, path rule particularly to road condition
Draw method, navigation system.
Background technology
Wide with the navigation system based on global positioning system (Global Positioning System, GPS)
The general automotive field that is applied to provides navigation way for driver.Generally, the function that navigation system has includes
There is provided map data storehouse so that the display display electronic chart of navigation system, obtain vapour by gps receiver
Car location.In vehicle traveling process, the destination information that navigation system will input according to user
And departure place information calculates route generate navigation way, or navigation system can also by with its phase
Remote server even calculates route, remote server provide after calculating route corresponding navigation way to
Navigation system.So user can reach the destination according to the navigation way that navigation system provides.
Existing navigation system, during navigation path planning, only considers that navigation system is local electronically
Diagram data also calculates navigation way according to departure place and destination, and without reference to the road conditions of network-side offer
Information, such defect is the calculated navigation way of navigation system simply the most ideally optimal
Route.But in actual applications, the road condition of every road is it may happen that change, and existing
Navigation system cannot correspondingly adjust navigation path planning according to the road condition change of road.
Further, traffic information mainly includes real-time road condition information and road conditions event information, Qi Zhongshi
Time traffic information mainly include following three kinds of status informations: congestion status information, jogging status information and
Unimpeded status information.Road conditions event information includes road construction information, road closed information etc..But,
The real-time road condition information provided due to network-side and road conditions event information are separate, such as, and certain
The real-time road condition information displaying in bar section is jogging state, but may the jogging state in this section be due to
Road conditions event (such as road construction), in this case, the reality in this section is had on this section
Road condition should be impassable state, but existing navigation system cannot show such road condition.
More technical schemes about navigation path planning are referred to Publication No. " CN102564429A ",
The Chinese patent application file of invention entitled " a kind of transport information air navigation aid and device ".
Summary of the invention
What the present invention solved is that existing navigation system cannot change adjustment navigation according to the road condition of road
The problem of path planning.
For solving the problems referred to above, embodiments provide a kind of road condition and determine method, including obtaining
Taking road conditions event information, described road conditions event information includes event position information and additional information, Qi Zhongsuo
State the road chain identification information in additional information includes road conditions event coverage；Respectively according to described event position
Confidence Xi He road chain identification information determines on electronic chart the position coordinates point of road conditions event and described occurs
Section numbering in road conditions event coverage；By section, described position coordinates point place on electronic chart
The state of state and described section numbering corresponding road section is set to road closed state.
Alternatively, described event position information includes the first coordinate information and the second coordinate information, Qi Zhongsuo
Stating the first coordinate information mark occurs the start position of road conditions event, described second coordinate information mark to occur
The final position of road conditions event；On electronic chart, generation road conditions thing is determined according to described event position information
The position coordinates point of part includes: determine corresponding with described first coordinate information on electronic chart respectively
The second position coordinate points that primary importance coordinate points is corresponding with described second coordinate information.
Alternatively, in determining described road conditions event coverage on electronic chart according to road chain identification information
Section numbering include: corresponding relation based on described road chain identification information and electronic map data determines institute
State the section numbering in road conditions event coverage.
Alternatively, described the state in section, described position coordinates point place on electronic chart is set to road
Closed state includes: by primary importance coordinate points described on electronic chart and described second position coordinate points it
Between the state in section be set to road closed state.
Alternatively, described road conditions event information includes road construction information or control traffic message.
The embodiment of the present invention additionally provides the paths planning method of a kind of navigation system, including calculating navigation road
Footpath；Judge whether calculated guidance path exists section to be evaded, wherein said section to be evaded
Refer to that above-mentioned road condition determines that method is defined as the section of road closed state；If above-mentioned judged result is
Be, then get rid of described in section to be evaded recalculate guidance path.
Determine that method, the embodiment of the present invention additionally provide a kind of road condition and determine based on above-mentioned road condition
Device, including: information acquisition unit, it is used for obtaining road conditions event information, described road conditions event information bag
Include event position information and additional information, in wherein said additional information includes road conditions event coverage
Road chain identification information；Information process unit, for the institute got according to described information acquisition unit respectively
State event position information and road chain identification information determines the position coordinates that road conditions event occurs on electronic chart
Section numbering in point and described road conditions event coverage；Road condition setup unit, for by electronics
The state in section, described position coordinates point place obtained after being processed by described information process unit on map with
And the state of the described section numbering corresponding road section obtained after being processed by described information process unit is set to
Road closed state.
The embodiment of the present invention additionally provides a kind of navigation system, determines device including above-mentioned road condition；Road
Footpath computing unit, is used for calculating guidance path；Judging unit, by judging based on described path-calculating element
Whether there is section to be evaded in the guidance path obtained, wherein said section to be evaded refers to described road
Line state determines that device is defined as the section of road closed state；Control unit, for judging list described
In the case of the judged result of unit is for being, indicate section to be evaded described in the eliminating of described path-calculating element also
Recalculate guidance path.
Compared with prior art, technical solution of the present invention has the advantages that
Determining method and apparatus according to road condition, navigation system can obtain road conditions event information, and root
In determining this road conditions event coverage according to the event position information in road conditions event information and additional information
Relevant road segments, thus the state in these sections is set to road closed state.So navigation system is permissible
The real-time road condition information that eliminating provides due to network-side cannot reflect road by combining road condition event information exactly
The defect of road condition.
Further, determining method and apparatus based on above-mentioned road condition, navigation system is calculating navigation road
During footpath, it can be determined that whether calculated guidance path has the road being defined as road closed state
Section, the most then get rid of these sections, recalculate guidance path, until calculated navigation road
Footpath does not has the section of road closed state.So navigation system can be kept away during calculating guidance path
Open these actual impassable sections, improve the accuracy of navigation path planning.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet that a kind of road condition of the present invention determines the embodiment of method；
Fig. 2 is the structural representation that a kind of road condition of the present invention determines the embodiment of device；
Fig. 3 is the schematic flow sheet of the embodiment of the paths planning method of a kind of navigation system of the present invention；
Fig. 4 is the structural representation of the embodiment of a kind of navigation system of the present invention.
Detailed description of the invention
On the electronic chart of navigation system, the road condition of each bar road can be provided by network-side
Real-time road condition information determines, road condition includes unimpeded state, jogging state and congestion status.Logical
Often network-side records real-time road condition information in units of the chain of road, and navigation system can receive each bar from network-side
The real-time road condition information of road chain, and according to the local electronic map data of the road chain of network-side with navigation system
Between corresponding relation by the real-time road condition information displaying of each road chain on electronic chart.
But in actual applications, inventor finds, only can not reflect all roads by real-time road condition information
The road condition on road, such as, have road conditions event on certain section, may according to real-time road condition information
The road condition showing this section is jogging state, and actually this section should be in impassable shape
State, so can make user cannot understand real road condition from electronic chart.Further, navigation
System is when making navigation path planning with reference to real-time road condition information, if these being practically in impassable
If the road of state also includes planned range in, may comprise some in calculated guidance path cannot
Current section.
For problem of the prior art, inventor is through research, it is provided that a kind of road condition determines method
And device, paths planning method, navigation system.The technical program solves existing navigation system cannot
The problem that road condition change according to road adjusts navigation path planning.
Understandable, below in conjunction with the accompanying drawings for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from
The detailed description of the invention of the present invention is described in detail.
Elaborate detail in the following description so that fully understanding the present invention.But the present invention can
Being different from alternate manner described here implement with multiple, those skilled in the art can be without prejudice to this
Similar popularization is done in the case of invention intension.Therefore the present invention is not by following public detailed description of the invention
Limit.
As shown in Figure 1 be the flow process signal that determines the embodiment of method of a kind of road condition of the present invention
Figure.With reference to Fig. 1, described road condition determines that method includes:
Step S11: obtain road conditions event information, described road conditions event information includes event position information and attached
Adding information, wherein said additional information includes the road chain identification information in road conditions event coverage；
Step S12: determine on electronic chart according to described event position information and road chain identification information respectively
Section numbering in the position coordinates point of generation road conditions event and described road conditions event coverage；
Step S13: state and the described section in section, described position coordinates point place on electronic chart are compiled
The state of number corresponding road section is set to road closed state.
In the present embodiment, as described in step S11, obtaining road conditions event information, described road conditions event is believed
Breath includes that event position information and additional information, wherein said additional information include road conditions event coverage
Interior road chain identification information.
The various road conditions events occurred on road can be recorded in network-side (server of navigation system),
Described road conditions event information is a kind of text traffic information, and usual network-side will occur the concrete of road conditions event
Position marks with the form of coordinate points (the most described event position information), and uses written form to describe phase
The road conditions event answered, such as coordinate points (X1, Y1) to coordinate points (X2, Y2) section implement traffic
Control state, coordinate points (X3, Y3) to coordinate points (X4, Y4) section be in road construction state
Deng.Navigation system can obtain the road conditions event information that network-side issues, and according to coordinate points electronically
The particular location of this road conditions event is identified on figure.
Further, in the present embodiment, the road conditions event information that network-side provides also includes additional letter
Breath, described additional information includes the road chain identification information in road conditions event coverage.Described additional information
Indicate the relevant road segments owing to occurring the section of road conditions event to be had influence on.It is different from event position information,
Relevant road segments in the chain identification information recording road conditions event coverage of described additional information Zhong Shiyi road, example
As, road chain 1(node101, node102), road chain 2(node104, node105) etc..
It should be noted that in the present embodiment, indicated by the road chain identification information in described additional information
Section do not include occur road conditions event section (can be determined by described event position information), but send out
Other sections being had influence on of this road conditions event raw.Such as, seat is determined by described event position information
Punctuate (X3, Y3) to coordinate points (X4, Y4) section be in road construction state and (road conditions i.e. occur
Event), it is assumed that coordinate points (X3, Y3) to coordinate points (X4, Y4) section by n(n more than or etc.
In 1) the intersecting therewith road of bar is divided into n+1 section, then and the part way in this n bar road is exactly this road
Other sections in condition event coverage, i.e. except above-mentioned coordinate points (X3, Y3) to coordinate points (X4,
Y4) section outside other sections.And the part way in this n bar road can be by described additional
Road chain identification information in information determines, such as, road chain 3(node201, node202), road chain 4
(node203, node204) etc..In other embodiments, can also be with coordinate points in described additional information
Form indicate other sections in road conditions event coverage, i.e. identify other by coordinate points each
The original position in bar section, does not repeats them here.
As described in step S12, respectively according to described event position information and road chain identification information electronically
Determine on figure and occur the section in the position coordinates point of road conditions event and described road conditions event coverage to compile
Number.
In the present embodiment, described event position information includes the first coordinate information and the second coordinate information,
There is the start position of road conditions event, described second coordinate information mark in wherein said first coordinate information mark
Know the final position that road conditions event occurs.Navigation system can be respectively according to described first coordinate information and
Two coordinate informations determine primary importance coordinate points and second position coordinate points on electronic chart, namely exist
The section that road conditions event occurs is determined on electronic chart.
Further, navigation system according to the road chain identification information in described additional information on electronic chart
Determine the section numbering in described road conditions event coverage.The generally road chain identification information of network-side record
Number with the section on the electronic chart of navigation system this locality and differ, but there is between them corresponding relation.
Such as, the road chain identification information of network-side record is road chain 1, road chain 2, road chain 3 etc., and navigation system
Electronic map data in numbered section, section 101, section 102, section 103 etc., and according to institute
Stating road chain identification information and the corresponding relation of electronic map data, road chain 1 is corresponding to section 101, road chain 2
Corresponding to section 102, road chain 3 corresponding to section 103 etc..Above-mentioned road chain can be set in navigation system
Mapping relations table between identification information and electronic map data, thus determine respectively according to this mapping relations table
The section numbering that individual road chain identification information is corresponding.
It should be noted that in actual applications, described road conditions event is likely to occur on same path
Multiple sections, or it can also happen that on multiple sections of different roads.In order to determine generation respectively
Other sections in each section of road conditions event and each road conditions event coverage, network-side needs
Record the road chain mark in the event position information in each section and each road conditions event coverage respectively
Information, and each event position information includes a pair coordinate information (starting point coordinate information and terminal point coordinate
Information) identify the original position that road conditions event occurs.Navigation system is then according to the event location got
Information determines the concrete section that each road conditions event occurs respectively on electronic chart, according to each road conditions thing
In road chain identification information in part coverage determines each road conditions event coverage on electronic chart
Section is numbered.
As described in step S13, by the state in section, described position coordinates point place on electronic chart and institute
The state stating section numbering corresponding road section is set to road closed state.
Specifically, for each road conditions event information, navigation system will determine respectively on electronic chart
The state in the section between described primary importance coordinate points and described second position coordinate points is set to road envelope
Closed state, and corresponding section is numbered in the section in this road conditions event coverage on electronic chart
It is set to road closed state.
As mentioned above it is possible, navigation system generally according to the real-time road condition information got on electronic chart
Show that the road condition in each section, the road condition that described real-time road condition information is reflected mainly include gathering around
Stifled state, jogging state and unimpeded state.Generally represent with redness on the road of electronic chart and block up
State, yellow represent jogging state, green represents unimpeded state.
In this step, according to the road condition that the present embodiment provides, navigation system can determine that method will be sent out
The section of means of livelihood condition event is set to road closed state.In actual applications, permissible on electronic chart
The section of road closed state is represented with black.Compared with prior art, navigation system can be based on acquisition
To road conditions event information determine and be in the section of road closed state, thus make up and pass through real-time road
Information cannot determine the defect of such road condition.In the present embodiment, described road conditions event information
Including road construction information or control traffic message, but it is not limited to this in actual applications.
The embodiment of the present invention determines method based on above-mentioned road condition, additionally provides the road of a kind of navigation system
Footpath planing method.As shown in Figure 2 be the enforcement of paths planning method of a kind of navigation system of the present invention
The schematic flow sheet of mode.With reference to Fig. 2, described paths planning method includes:
Step S21: calculate guidance path；
Step S22: judge whether to exist in calculated guidance path section to be evaded, wherein said treats
Evade section and refer to that above-mentioned road condition determines that method is defined as the section of road closed state；
Step S23: if above-mentioned judged result is yes, then get rid of described in section to be evaded recalculate navigation
Path.
In the present embodiment, as described in step S21, calculate guidance path.
Those skilled in the art know, and can calculate navigation according to departure place and destination in navigation system
Path, or navigation system can also calculate guidance path by coupled remote server, far
Journey server will be calculated guidance path and be supplied to navigation system.
Further, in the present embodiment, navigation system is during calculating guidance path, except basis
Outside departure place, destination and electronic map data, it is also possible to combine from network-side get real-time
Traffic information calculates guidance path, and during calculating, navigation system can be arranged to be avoided being currently at
The section of congestion status (being determined by real-time road condition information), as far as possible selection be currently at unimpeded state or
The section of jogging state is to realize optimizing the effect of guidance path.
As described above, cannot determine and be in the road of road closed state owing to being based only upon real-time road condition information
Section, therefore to avoid the section of these road closed states, needs eliminating to determine according to above-described embodiment
The section of road closed state.
As described in step S22, it is judged that whether calculated guidance path exists section to be evaded, its
Described in section to be evaded refer to that above-mentioned road condition determines that method is defined as the section of road closed state.
In navigation system, can be by the number record in all sections being defined as road closed state one
In individual numbering set, by judging in calculated guidance path, whether the numbering in each section falls into this
Numbering collection is incompatible determines whether there is section to be evaded in this guidance path.Along with navigation system gets
The change of road conditions event information, the section being defined as road closed state also can correspondingly change, and leads
Boat system can update this numbering set in real time, it is thus possible to judge whether deposit in guidance path more accurately
In section to be evaded.
As described in step S23, if above-mentioned judged result is yes, then get rid of described in section to be evaded again
Calculate guidance path.
Specifically, navigation system can recalculate navigation road further according to original departure place and destination
Footpath, section to be evaded described in eliminating during calculating, thus the guidance path after being recalculated.
Navigation system calculates the process of guidance path and can realize in the way of using as described in step S21, only
It is to get rid of section to be evaded during calculating.Navigation system can also be on original calculated navigation road
Section to be evaded described in getting rid of in footpath also retains other sections, then rising according only to every section to be evaded
Point and terminal recalculate the path between these 2, thus the guidance path after being recalculated.
In other embodiments, navigation system before carrying out navigation path planning, can in advance by all by
Above-mentioned road condition determines that method is defined as the section of road closed state and forecloses.It is to say,
During calculating guidance path, described section to be evaded is considered as non-existent section on electronic chart,
Thus calculated guidance path will not include any section to be evaded.
Determine that method, the embodiment of the present invention additionally provide a kind of road condition and determine based on above-mentioned road condition
Device.As shown in Figure 3 be the structural representation that determines the embodiment of device of a kind of road condition of the present invention
Figure.With reference to Fig. 3, described road condition determines that device 11 includes:
Information acquisition unit 111, is used for obtaining road conditions event information, and described road conditions event information includes event
Positional information and additional information, wherein said additional information includes the road chain mark in road conditions event coverage
Knowledge information.Information process unit 112, for the institute got according to described information acquisition unit 111 respectively
State event position information and road chain identification information determines the position coordinates that road conditions event occurs on electronic chart
Section numbering in point and described road conditions event coverage.Road condition setup unit 113, for by electricity
The section, described position coordinates point place obtained after being processed by described information process unit 112 on sub-map
State and the shape of described section numbering corresponding road section obtained after being processed by described information process unit 112
State is set to road closed state.
In a particular embodiment, described event position information includes the first coordinate information and the second coordinate information,
There is the start position of road conditions event, described second coordinate information mark in wherein said first coordinate information mark
Know the final position that road conditions event occurs.Described information process unit 112 includes first information processing unit
1121, described first information processing unit 1121 is sat with described first for determining respectively on electronic chart
The corresponding primary importance coordinate points of the mark information second position corresponding with described second coordinate information is sat
Punctuate.Described information process unit 112 includes the second information process unit 1122, at described second information
Reason unit 1122 determines described for corresponding relation based on described road chain identification information and electronic map data
Section numbering in road conditions event coverage.
The embodiment of the present invention additionally provides a kind of navigation system.As shown in Figure 4 be that the one of the present invention is led
The structural representation of the embodiment of boat system.With reference to Fig. 4, described navigation system 1 includes: road condition is true
Determine device 11；Path-calculating element 12, is used for calculating guidance path；Judging unit 13, is used for judging institute
State and whether the calculated guidance path of path-calculating element 12 exists section to be evaded, wherein said treat
Evade section and refer to that described road condition determines that device 11 is defined as the section of road closed state；Control single
Unit 14, in the case of the judged result at described judging unit 13 is for being, indicates described path computing
Unit 12 get rid of described in section to be evaded recalculate guidance path.Wherein, described road condition determines
Device 11 can use road condition as shown in Figure 3 to determine device.
Although the present invention is open as above with preferred embodiment, but it is not for limiting the present invention, appoints
What those skilled in the art without departing from the spirit and scope of the present invention, may be by the disclosure above
Technical solution of the present invention is made possible variation and amendment by method and technology contents, therefore, every does not takes off
From the content of technical solution of the present invention, it is any that above example is made by the technical spirit of the foundation present invention
Simple modification, equivalent variations and modification, belong to the protection domain of technical solution of the present invention.
Claims (4)
1. the paths planning method of a navigation system, it is characterised in that navigation system receives each bar from network-side
The real-time road condition information of road chain, described real-time road condition information includes following three kinds of status informations: congestion status
Information, jogging status information and unimpeded status information；Navigation system is based on the road conditions event letter got
Breath determines the section being in road closed state, and navigation system cannot determine place by real-time road condition information
Section in road closed state；The paths planning method of described navigation system includes:
Calculate guidance path；
Judge whether calculated guidance path exists section to be evaded, wherein said section to be evaded
Refer to be determined that method is defined as the section of road closed state by road condition as described below；
If above-mentioned judged result is yes, then get rid of described in section to be evaded recalculate guidance path；
Wherein, described road condition determines that method includes:
The various road conditions events occurred on server record road, described road conditions event information is road construction
Information or control traffic message, described road conditions event is the information of written form；
The particular location that road conditions event occurs is marked, as event location by server with the form of coordinate points
Information, described event position information includes the first coordinate information and the second coordinate information, wherein said
First coordinate information mark occurs the start position of road conditions event, described second coordinate information mark to send out
The final position of means of livelihood condition event；
Relevant road segments in road conditions event coverage is marked, as road chain by server with the form of road chain
Identification information；
Navigation system obtains event position information and the road chain identification information that server issues；
Navigation system determines on electronic chart according to described event position information and road chain identification information respectively
Section numbering in the position coordinates point of generation road conditions event and described road conditions event coverage, wherein,
On electronic chart, determine that the position coordinates point that road conditions event occurs includes according to described event position information:
Electronic chart determines the primary importance coordinate points corresponding with described first coordinate information and institute respectively
State the second position coordinate points that the second coordinate information is corresponding；
State and the described section in section, described position coordinates point place on electronic chart are compiled by navigation system
The state of number corresponding road section is set to road closed state, described by position coordinates point described on electronic chart
The state in section, place is set to road closed state and includes: by primary importance coordinate described on electronic chart
The state in the section between point and described second position coordinate points is set to road closed state.
The paths planning method of navigation system the most according to claim 1, it is characterised in that according to road chain
Identification information determines that on electronic chart the section numbering in described road conditions event coverage includes: based on
In the corresponding relation of described road chain identification information and electronic map data determines described road conditions event coverage
Section numbering.
3. a navigation system, it is characterised in that navigation system receives the real-time road of Ge Tiao road chain from network-side
Information, described real-time road condition information includes following three kinds of status informations: congestion status information, jogging state
Information and unimpeded status information；Navigation system determines based on the road conditions event information got and is in
The section of road closed state, navigation system cannot be determined be in road closed state by real-time road condition information
Section；Described navigation system includes:
Road condition as described below determines device；
Path-calculating element, is used for calculating guidance path；
Judging unit, is used for judging whether exist in the calculated guidance path of described path-calculating element
Section to be evaded, wherein said section to be evaded refers to that described road condition determines that device is defined as road envelope
The section of closed state；
Control unit, in the case of the judged result at described judging unit is for being, indicates described road
Guidance path is also recalculated in section to be evaded described in the computing unit eliminating of footpath；
Wherein, described road condition determines that device includes:
The various road conditions events occurred on server record road, described road conditions event information is road construction
Information or control traffic message, described road conditions event is the information of written form；
The particular location that road conditions event occurs is marked, as event location by server with the form of coordinate points
Information, described event position information includes the first coordinate information and the second coordinate information, wherein said first
Coordinate information mark occurs the start position of road conditions event, described second coordinate information mark that road conditions thing occurs
The final position of part；
Relevant road segments in road conditions event coverage is marked, as road chain by server with the form of road chain
Identification information；
Information acquisition unit, obtains, for navigation system, event position information and the road chain mark that server issues
Knowledge information；
Information process unit, get according to described information acquisition unit respectively for navigation system described in
Event position information and road chain identification information determine the position coordinates point that road conditions event occurs on electronic chart
Numbering with the section in described road conditions event coverage, described information process unit includes at the first information
Reason unit, described first information processing unit is for determining respectively and described first coordinate on electronic chart
The second position coordinate that the corresponding primary importance coordinate points of information is corresponding with described second coordinate information
Point；
Road condition setup unit, for navigation system by electronic chart by described information process unit
The state in the section, described position coordinates point place obtained after reason and after being processed by described information process unit
The state of the described section numbering corresponding road section obtained is set to road closed state.
Navigation system the most according to claim 3, it is characterised in that described information process unit includes
Two information process units, described second information process unit is for based on described road chain identification information and electronics
The corresponding relation of map datum determines the section numbering in described road conditions event coverage.
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| CN201210572875.XA CN103134498B (en) | 2012-12-25 | 2012-12-25 | Road condition determines method and device, paths planning method, navigation system |
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| CN105206075B (en) * | 2015-08-12 | 2018-01-12 | 合肥工业大学 | A kind of traffic information prompt system in urban road temporary enclosed section |
| CN105675002B (en) * | 2016-01-27 | 2018-03-30 | 闫凯 | A kind of more transit point navigation route planning method and systems |
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