CN103398721A - Navigation path construction system and navigation method thereof - Google Patents
Navigation path construction system and navigation method thereof Download PDFInfo
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- CN103398721A CN103398721A CN2013103608599A CN201310360859A CN103398721A CN 103398721 A CN103398721 A CN 103398721A CN 2013103608599 A CN2013103608599 A CN 2013103608599A CN 201310360859 A CN201310360859 A CN 201310360859A CN 103398721 A CN103398721 A CN 103398721A
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- G—PHYSICS
- 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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3438—Rendez-vous, i.e. searching a destination where several users can meet, and the routes to this destination for these users; Ride sharing, i.e. searching a route such that at least two users can share a vehicle for at least part of the route
Abstract
The invention discloses a navigation path construction system and a navigation method thereof. The system comprises a path providing unit, a path analyzing unit and a calculating unit. The path providing unit provides data of at least two paths, the path analyzing unit picks out a basis path and a comparative path from all the paths, the basis path and the comparative path share the same initial coincident point and the same final coincident point, and the path section from the initial coincident point to the final coincident point in the basis path is the first path section. The calculating unit judges whether the first path section satisfies the preset conditions, and then determines whether the second path section, which is from the initial coincident point to the final coincident point in the comparative path, is adjusted as the first path section according to the judge results. The navigation path construction system is capable of integrating the routes of drivers and the passengers to satisfy the needs of drivers and passengers as much as possible.
Description
Technical field
The present invention relates to data processing field, be specifically related to a kind of guidance path construct system and air navigation aid thereof.
Background technology
In prior art, the guidance path that the own guider of the general employing of navigation user provides is as course.Yet, the starting point of the travel path that navigation user auto-navigation device provides is to traveling process to terminal, when the vehicle of wanting to take other people, or want to provide vehicle to take advantage of while carrying other people, driver and passenger are not easy to learn in advance course each other, and therefore, driver's traffic route will inevitably be subject to passenger's course, and be forced to change original traffic route, more expend driver's transportation cost.
Summary of the invention
The invention provides a kind of guidance path construct system and air navigation aid thereof, driver and passenger's course can be integrated, in order to meet as far as possible the demand of driver and passenger's travel path.
The invention provides a kind of guidance path construct system, described system comprises that path provides unit, path resolution unit and arithmetic element:
Described path provides unit, is used for providing the data at least two paths;
Described path resolution unit, be used for from selection reference path, described path and comparison path, wherein, described reference path and described relatively path have identical initial coincide point and identical final coincide point, will be defined as the first path-segments by described initial coincide point to the path-segments of described final coincide point in described reference path;
Described arithmetic element, be used for judging whether described the first path-segments meets pre-conditioned, and according to judged result, whether determine and will be adjusted into described the first path-segments by described initial coincide point to the second path-segments of described final coincide point in described relatively path.
Preferably, described path provides unit to comprise path construction module;
Described path construction module, be used for path according to the data construct in described path.
Preferably, described path provides unit to comprise the data receiver unit;
Described data receiver unit, for obtain the data in described path from least one external electronic.
Preferably, the path of described reference path is longer than the path in described relatively path, and described condition comprises the path and satisfied the first ratio condition of the length ratio of the path of described reference path of described the first path-segments.
Preferably, described arithmetic element, also be used for calculating the actual coincidence path of the section that described the first path-segments overlaps with described the second path-segments;
Described condition also comprises that the described actual length ratio that overlaps the path of path and described the first path-segments meets the second ratio condition.
Preferably, the data in described path also comprise the first corresponding with described reference path gait of march, and second gait of march corresponding with described relatively path, described condition comprises that the difference of described the first gait of march and described the second gait of march is poor less than default critical velocity.
Preferably, the data in described path also comprise first gait of march corresponding with described reference path, and second gait of march corresponding with described relatively path;
Described arithmetic element, be used for calculating and moving to the first required traveling time of described final coincide point by described initial coincide point along described the first path-segments according to described first velograph of advancing, and calculate and moved to the second traveling time of described final coincide point by described initial coincide point along described the second path-segments according to described the second gait of march, described condition comprises that the difference of described the first traveling time and described the second traveling time is poor less than the default marginal time.
The invention provides a kind of air navigation aid, described method comprises:
Provide unit that the data at least two paths are provided by path;
By path resolution unit selection reference path and comparison path from described path, wherein, described reference path and described relatively path have identical initial coincide point and identical final coincide point, will be defined as the first path-segments by described initial coincide point to the path-segments of described final coincide point in described reference path;
Judge by arithmetic element whether described the first path-segments meets pre-conditioned, and according to judged result, whether determine and will be adjusted into described the first path-segments by described initial coincide point to the second path-segments of described final coincide point in described relatively path.
Preferably, the path of described reference path is longer than the path in described relatively path, and described to judge by arithmetic element whether described the first path-segments meets described pre-conditioned, comprising:
Whether the length ratio that judges the path of the path of described the first path-segments and described reference path by arithmetic element meets the first ratio condition.
Preferably, when the length ratio of the path of the path of described the first path-segments and described reference path met described the first ratio condition, described method also comprised:
The actual coincidence path of the section that described the first path-segments of described arithmetic element calculating overlaps with described the second path-segments;
Overlap arithmetic element and judge whether the described actual length ratio that overlaps the path of path and described the first path-segments meets the second ratio condition.
Preferably, the data in described path also comprise first gait of march corresponding with described reference path, and second gait of march corresponding with described relatively path, and described to judge by arithmetic element whether described the first path-segments meets pre-conditioned, comprising:
Whether the difference that judges described the first gait of march and described the second gait of march by arithmetic element is poor less than default critical velocity.
Preferably, the data in described path also comprise first gait of march corresponding with described reference path, and second gait of march corresponding with described relatively path, and described method also comprises:
Calculate and move to described final coincide point required first traveling time by described initial coincide point along described the first path-segments with described the first gait of march by described arithmetic element;
Calculate and move to described final coincide point required second traveling time by described initial coincide point along described the second path-segments with described the second gait of march by described arithmetic element;
Described coincidence arithmetic element judges that the difference of described the first traveling time and described the second traveling time is whether poor less than the default marginal time.
Compared with the prior art, the invention has the advantages that:
(1) driver and passenger can obtain the course that can both accept each other in advance, so, driver's traffic route is not easy to be limited by passenger's course, can not be forced to the original traffic route of excessive change yet, can avoid excessively expending driver's transportation cost.
(2) user can faster find a road partner that travel path is comparatively close, while is according to the integrated results in path, the user also can own decision set out on a journey or with the road partner, go together voluntarily, and determine to use which kind of vehicles, or provide the vehicles to carry the road partner to take advantage of.In the planning of stroke, the user can have larger consideration space.
Description of drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present application, in below describing embodiment, the accompanying drawing of required use is briefly described, apparently, accompanying drawing in the following describes is only some embodiment of the application, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the first guidance path construct system structural drawing of the embodiment of the present invention;
Fig. 2 is the paths merge schematic diagram of the embodiment of the present invention;
Fig. 3 is the second guidance path construct system structural drawing of the embodiment of the present invention;
Fig. 4 is the third guidance path construct system structural drawing of the embodiment of the present invention;
Fig. 5 is the air navigation aid process flow diagram of the embodiment of the present invention.
110 paths provide unit
111 path construction modules
112 data receiver unit
120 path resolution unit
130 arithmetic elements
210 reference path
220 compare path
230 conditions
310 electronic third-party equipment
320 external electronic
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only the application's part embodiment, rather than whole embodiment.Based on the embodiment in the application, those of ordinary skills are not making under the creative work prerequisite the every other embodiment that obtains, and all belong to the scope of the application's protection.
With reference to figure 1, Fig. 2, the guidance path construct system structural drawing that Fig. 1 provides for the present embodiment, the paths merge schematic diagram that Fig. 2 provides for the embodiment of the present invention.Described guidance path construct system comprises that path provides unit 110, path resolution unit 120 and arithmetic element 130.
Path provides unit 110 to be used for providing the data at least two paths, and path resolution unit 120 can be resolved the data in all paths, and therefrom chooses a reference path 210 and a comparison path 220.
In the present embodiment, path resolution unit 120 can be corresponding according to the data in path travel path (as the highway section A-J-C-D-E-F-G-H in Fig. 2, with highway section I-J-C-K-L-F-G-M) length, the selection travel path data in long path is assumed to be highway section A-J-C-D-E-F-G-H as reference path 210(), the data in another path namely are considered as comparison path 220(and are assumed to be highway section I-J-C-K-L-F-G-M).Yet, in reference path 210 travel path corresponding with path 220 relatively, have identical initial coincide point (J) and final coincide point (G).Wherein, initial coincide point (J) is namely the location point that two travel paths intersect for the first time, overlap, and final coincide point (G) is namely the location point that two travel paths intersect finally, overlap.In the travel path of reference path 210 correspondences, the path-segments (highway section J-C-D-E-F-G) that is between initial coincide point (J) and final coincide point (G) will be regarded as the first path-segments.Identical, relatively in the travel path of path 220 correspondences, the path-segments (highway section J-C-K-L-F-G) that is between initial coincide point (J) and final coincide point (G) will be regarded as the second path-segments.
Afterwards, whether arithmetic element 130 analysis the first path-segments meet pre-conditioned 230.Wherein, condition 230 comprises that the length ratio between the path of the travel path that the path of the first path-segments is corresponding with reference path 210 meets the first ratio condition.For example, the path of travel path corresponding to the first path-segments must reach reference path 210 correspondences travel path path 80%.Therefore, analyze the first path-segments when arithmetic element 130 and meet this condition 230, that is to say, the path of the travel path (highway section J-C-D-E-F-G) that the first path-segments is corresponding reached reference path 210 correspondences travel path (highway section A-J-C-D-E-F-G-H) path 80% the time, namely Rule of judgment 230 is set up.Arithmetic element 130 can be followed according to the first path-segments and be readjusted this relatively path 220, and so that the first path-segments is replaced the second path-segments, namely highway section I-J-C-K-L-F-G-M can be corrected for highway section I-J-C-D-E-F-G-M.
Further, arithmetic element 130 is when obtaining the first path-segments, reference path 210 does not overlap path (highway section between C to F) with comparison path 220 reality length can obtain reference path 210 and the path 220 relatively actual length that overlaps path (highway section J-C adds highway section F-G) between initial coincide point and final coincide point, in can not be calculated in.
And arithmetic element 130 can also be calculated the actual coincidence path that overlaps section between the first path-segments and the second path-segments.Whether arithmetic element 130 meets at pre-conditioned 230 o'clock analyzing the first path-segments, and this condition 230 can also comprise the satisfied second ratio condition of length ratio of the path of the length in actual coincidence path and the first path-segments.For example, the actual path that overlaps travel path corresponding to path, its must reach travel path corresponding to the first path-segments path 85%.
Therefore, when arithmetic element 130 is analyzed the first path-segments eligible 230, that is to say, arithmetic element 130 is judged the path of travel path corresponding to actual coincidence path (highway section J-C adds highway section F-G), its reached travel path corresponding to the first path-segments (highway section J-C-D-E-F-G) path 85% the time, namely Rule of judgment 230 is set up.Arithmetic element 130 can be readjusted this relatively path 220 according to the first path-segments, so that the first path-segments is replaced the second path-segments.
In addition, the data in each path can comprise the gait of march data, and it refers to the affiliated people of the data in path, in the predicted travel speed of travel path corresponding to the data in path.This type of predicted travel speed can be the corresponding change in response to the traffic situation in highway section, or the fixed numbers of average gait of march, can determine according to user and system designer's demand, not restriction to some extent.Certainly path data comprise the first gait of march of reference path, and to comparing second gait of march in path.Yet condition 230 can also comprise that the difference of the first gait of march and the second gait of march is poor less than default critical velocity.The difference of judging the gait of march data when arithmetic element 130 reaches or exceeds critical velocity when poor, mean that namely this reference path can't coordinate with the affiliated people's of the data that compare path stroke, arithmetic element 130 is namely made the result of determination of the first path-segments ineligible 230.Otherwise arithmetic element 130 can be made the result of determination of the first path-segments eligible 230.
Further, arithmetic element 130 can, according to the gait of march data, be calculated two traveling times between the reference path 210 initial coincide point corresponding with comparing path 220 and final coincide point.Be that arithmetic element 130 can be calculated and moves to the first required traveling time of final coincide point (G) by initial coincide point (J) along the first path-segments according to first velograph of advancing, and calculate and moved to the second traveling time of final coincide point by initial coincide point along the second path-segments according to the second gait of march, condition 230 can also comprise that the difference of this first traveling time and the second traveling time is poor less than the default marginal time.The difference of judging this first traveling time and the second traveling time when arithmetic element 130 reaches or exceeds the above-mentioned marginal time when poor, namely mean this reference path and compare the affiliated people of data in path, in initial coincide point, with the journey time between final coincide point, also can't coordinate.Arithmetic element 130 is namely made the result of determination of the first path-segments ineligible 230.Otherwise arithmetic element 130 can be made the result of determination of the first path-segments eligible 230.
Continuation is with reference to figure 1, and this system can be connected with electronic third-party equipment 310.Path provides unit 110 to comprise path construction module 111, as has the electric map module of path construction ability.The user can be by the operating and controlling interface of electronic third-party equipment 310, and start point data and the endpoint data of input correlated measure supply path construction module 111 to set up the data in above-mentioned path.
With reference to figure 3, Fig. 3 is the guidance path construct system structural drawing of the embodiment of the present invention.This system is also to be connected with electronic third-party equipment 310, different from Fig. 1 be in, system is to be connected (no matter wired or wireless) with the external electronic 320 of (temporarily take two as example) more than.Wherein, path provides unit 110 to comprise data receiver unit 112, is used for obtaining from above-mentioned each external electronic 320 data in above-mentioned path.
With reference to figure 4, Fig. 4 is the guidance path construct system structural drawing of the embodiment of the present invention.This system still is connected with electronic third-party equipment 310, from the different of aforementioned system, is, the path in this system provides unit 110 to comprise path construction module 111 and data receiver unit 112.The wherein part of the data in path construction module 111 use and these paths of construction.112 of data receiver unit are to obtain another part of the data in these paths from external electronic 320.Perhaps, this system can be established in running gear, and path provides unit 110 to comprise path construction module 111 and data receiver unit 112.Path construction module 111 has station-keeping ability, is used for continuation location running gear, with the wherein part of the data in these paths of construction.112 of data receiver unit are to obtain another part of the data in these paths from external electronic 320.
Yet above-mentioned external electronic 320 can be also the running gear with global positioning satellite function.When the user moves with external electronic 320, the locator data that records external electronic 320 of external electronic 320 meeting continuation, and produce the data in above-mentioned path according to all locator datas.In addition, the data in revised each path can be by passback external electronic 320, or the display unit of the electronic third-party equipment 310 that is configured by system or external electronic 320 is shown.
With reference to figure 5, Fig. 5 is the air navigation aid process flow diagram of the embodiment of the present invention, please also refer to Fig. 1 to Fig. 4 so that understand.Described flow process can comprise as follows:
Step S110: by path, provide unit that the data at least two paths are provided.
Path provides unit 110 to can be path construction module 111.Path construction module 111 after the start point data and endpoint data of the some that obtains user's input, is set up above-mentioned many bar navigations path.Perhaps, path provides unit 110 to comprise data receiver unit 112, to obtain the data in these paths from above-mentioned more than one external electronic 320, comprising reference path and the data that compare path.Or when this system was connected with electronic third-party equipment 310, path provided unit 110 to comprise path construction module 111 and data receiver unit 112.Path construction module 111 is used for the wherein part of the data in these paths of construction.112 of data receiver unit are to obtain another part the data in these paths from external electronic 320.Can be established in running gear and work as system, path provides unit 110 to comprise path construction module 111 and data receiver unit 112.Path construction module 111 has station-keeping ability, in order to continuation location running gear, with the wherein part of the data in these paths of construction.112 of data receiver unit are to obtain another part of the data in these paths from external electronic 320.
Step S120: by path resolution unit selection reference path and comparison path from described path.
For example: path resolution unit 120 can be followed the length according to travel path corresponding to the data in path, and the data in the path that the selection travel path is grown are as reference path 210, and the data in another path namely are considered as comparison path 220.Wherein, reference path 210 travel path corresponding with comparing path 220 has identical initial coincide point and final coincide point.The travel path of reference path 210 correspondences, its path-segments that is between initial coincide point and final coincide point is considered as the first path-segments.The travel path that compares path 220 correspondences, its path-segments that is between initial coincide point and final coincide point is considered as the second path-segments.
Step S130: whether meet pre-conditionedly by arithmetic element analysis the first path-segments, and according to judged result, determine whether will to compare in path by initial coincide point to the second path-segments of final coincide point and be adjusted into the first path-segments.
Wherein, arithmetic element judges whether the first path-segments satisfied condition at 230 o'clock, can judge whether the length ratio between the path of the path of the first path-segments and reference path 210 meets the first ratio condition.To analyze the first path-segments eligible 230 when arithmetic element 130, and arithmetic element 130 can be readjusted this comparison path 220 according to the first path-segments, so that with first path-segments replacement the second path-segments.
Further, in step S120, when path analysis unit 120 when obtaining the first path-segments, in the length that the actual length that overlaps path between the initial coincide point that can obtain reference path 210 and path 220 relatively and final coincide point, reality do not overlap path can not be calculated in.And in step S130, arithmetic element 130 is when analyzing the first path-segments and whether meet the first ratio condition, and arithmetic element 130 can also judge whether the length ratio of the path of the length in actual coincidence path and the first path-segments meets the second ratio condition.
When arithmetic element 130 analysis the first path-segments meet the first ratio condition and the second ratio condition, just can determine the first path-segments eligible 230, readjust this comparison path 220 according to the first path-segments afterwards, in order to the first path-segments is replaced the second path-segments.
In other embodiments, the data in aforesaid path can also comprise the first gait of march of corresponding reference path, and corresponding relatively second gait of march in path.In step S130, when overlapping paths, arithmetic element 130 judgement whether satisfies condition 230 the time, can judge whether the difference between the first gait of march and the second gait of march is poor less than default critical velocity.The difference of judging the gait of march data when arithmetic element 130 reaches or exceeds critical velocity when poor, mean that namely this reference path can't coordinate with the affiliated people's of the data that compare path stroke, arithmetic element 130 is namely made the result of determination of the first path-segments ineligible 230.Otherwise arithmetic element 130 can be made the result of determination of the first path-segments eligible 230.
In addition, in step S130, arithmetic element 130 can also be calculated the first traveling time that moves along the first path-segments according to first velograph of advancing, and calculates the second traveling time that moves along the second path-segments according to the second gait of march, calculates the mistiming of two traveling times.
When the difference of arithmetic element 130 judgement the first traveling times and the second traveling time reaches or exceeds the marginal time when poor, the result of determination of judgement the first path-segments ineligible 230.Otherwise arithmetic element 130 can be made the result of determination of the first path-segments eligible 230.
Comprehensively above-mentioned, as seen the present invention is breaking through under previous technology, really reached the effect that institute's wish is promoted, and also non-be familiar with this skill person institute easily full of beard and, moreover, open before the present patent application, and the progressive of its tool, practicality, the aobvious application important document that has met patent should propose patented claim in accordance with the law.
Shown especially with reference to its exemplary embodiment when embodiments of the invention and while describing, under it can be, technical field has and knows that usually the knowledgeable is understood that, within not breaking away from by following claim and the defined spirit of the present invention of equivalent and category, can carry out various changes on form and details to it.
Need to prove, in this article, relational terms such as the first and second grades only is used for an entity or operation are separated with another entity or operational zone, and not necessarily requires or hint between these entities or operation the relation of any this reality or sequentially of existing.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby make the process, method, article or the equipment that comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or also be included as the intrinsic key element of this process, method, article or equipment.In the situation that not more restrictions, the key element that is limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
Above guidance path construct system and the air navigation aid thereof that the embodiment of the present invention is provided is described in detail, applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously,, for one of ordinary skill in the art,, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (12)
1. a guidance path construct system, is characterized in that, described system comprises that path provides unit, path resolution unit and arithmetic element:
Described path provides unit, is used for providing the data at least two paths;
Described path resolution unit, be used for from selection reference path, described path and comparison path, wherein, described reference path and described relatively path have identical initial coincide point and identical final coincide point, will be defined as the first path-segments by described initial coincide point to the path-segments of described final coincide point in described reference path;
Described arithmetic element, be used for judging whether described the first path-segments meets pre-conditioned, and according to judged result, whether determine and will be adjusted into described the first path-segments by described initial coincide point to the second path-segments of described final coincide point in described relatively path.
2. system according to claim 1, is characterized in that, described path provides unit to comprise path construction module;
Described path construction module, be used for path according to the data construct in described path.
3. system according to claim 1, is characterized in that, described path provides unit to comprise the data receiver unit;
Described data receiver unit, for obtain the data in described path from least one external electronic.
4. system according to claim 1, it is characterized in that, the path of described reference path is longer than the path in described relatively path, and described condition comprises the path and satisfied the first ratio condition of the length ratio of the path of described reference path of described the first path-segments.
5. system according to claim 4, is characterized in that, described arithmetic element also is used for calculating the actual coincidence path of the section that described the first path-segments overlaps with described the second path-segments;
Described condition also comprises that the described actual length ratio that overlaps the path of path and described the first path-segments meets the second ratio condition.
6. system according to claim 1, it is characterized in that, the data in described path also comprise the first corresponding with described reference path gait of march, and second gait of march corresponding with described relatively path, described condition comprises that the difference of described the first gait of march and described the second gait of march is poor less than default critical velocity.
7. system according to claim 1, is characterized in that, the data in described path also comprise first gait of march corresponding with described reference path, and second gait of march corresponding with described relatively path;
Described arithmetic element, be used for calculating and moving to the first required traveling time of described final coincide point by described initial coincide point along described the first path-segments according to described first velograph of advancing, and calculate and moved to the second traveling time of described final coincide point by described initial coincide point along described the second path-segments according to described the second gait of march, described condition comprises that the difference of described the first traveling time and described the second traveling time is poor less than the default marginal time.
8. an air navigation aid, is characterized in that, described method comprises:
Provide unit that the data at least two paths are provided by path;
By path resolution unit selection reference path and comparison path from described path, wherein, described reference path and described relatively path have identical initial coincide point and identical final coincide point, will be defined as the first path-segments by described initial coincide point to the path-segments of described final coincide point in described reference path;
Judge by arithmetic element whether described the first path-segments meets pre-conditioned, and according to judged result, whether determine and will be adjusted into described the first path-segments by described initial coincide point to the second path-segments of described final coincide point in described relatively path.
9. method according to claim 8, is characterized in that, the path of described reference path is longer than the path in described relatively path, and described to judge by arithmetic element whether described the first path-segments meets described pre-conditioned, comprising:
Whether the length ratio that judges the path of the path of described the first path-segments and described reference path by arithmetic element meets the first ratio condition.
10. method according to claim 9, is characterized in that, when the length ratio of the path of the path of described the first path-segments and described reference path met described the first ratio condition, described method also comprised:
The actual coincidence path of the section that described the first path-segments of described arithmetic element calculating overlaps with described the second path-segments;
Overlap arithmetic element and judge whether the described actual length ratio that overlaps the path of path and described the first path-segments meets the second ratio condition.
11. method according to claim 8, it is characterized in that, the data in described path also comprise first gait of march corresponding with described reference path, and second gait of march corresponding with described relatively path, described to judge by arithmetic element whether described the first path-segments meets pre-conditioned, comprising:
Whether the difference that judges described the first gait of march and described the second gait of march by arithmetic element is poor less than default critical velocity.
12. method according to claim 8, is characterized in that, the data in described path also comprise first gait of march corresponding with described reference path, and second gait of march corresponding with described relatively path, and described method also comprises:
Calculate and move to described final coincide point required first traveling time by described initial coincide point along described the first path-segments with described the first gait of march by described arithmetic element;
Calculate and move to described final coincide point required second traveling time by described initial coincide point along described the second path-segments with described the second gait of march by described arithmetic element;
Described coincidence arithmetic element judges that the difference of described the first traveling time and described the second traveling time is whether poor less than the default marginal time.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105588573A (en) * | 2014-11-06 | 2016-05-18 | 高德软件有限公司 | Determination method and determination apparatus for alternative navigation route |
| CN110646011A (en) * | 2018-06-26 | 2020-01-03 | 阿里巴巴集团控股有限公司 | Navigation path selection method and device and vehicle-mounted equipment |
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| CN103398721B (en) | 2016-01-20 |
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