CN104422454B - For realizing the method and mobile terminal of walking navigation - Google Patents
For realizing the method and mobile terminal of walking navigation Download PDFInfo
- Publication number
- CN104422454B CN104422454B CN201310371313.3A CN201310371313A CN104422454B CN 104422454 B CN104422454 B CN 104422454B CN 201310371313 A CN201310371313 A CN 201310371313A CN 104422454 B CN104422454 B CN 104422454B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- map
- destination
- route
- navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
- G01C21/3423—Multimodal routing, i.e. combining two or more modes of transportation, where the modes can be any of, e.g. driving, walking, cycling, public transport
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Instructional Devices (AREA)
Abstract
According to the present invention, propose a kind of method for realizing walking navigation, simplifiedly scheme the following steps are included: receiving part from centring system using the mobile terminal of the user of vehicle, partial simplified map is to be generated by centring system using electronic map data, according to the travel route of the vehicle received from in-vehicle navigation apparatus and destination, and partial simplified map illustrates the map element for walking navigation in the preset range around destination, and the map element for walking navigation includes that at least one in preset range is used for the parking lot of parked vehicles；And when vehicle enters in the preset range around destination, mobile terminal judges final parking position according to the driving trace of vehicle and generates the walking navigation route from the destination of the vehicle of final parking position, is presented to the user by walking navigation routing indicator in partial simplified map and by the partial simplified map after label.
Description
Technical field
The present invention relates to communication navigation and smart phone field, more particularly, to a kind of for realizing walking navigation
Method and mobile terminal, by carrying out data exchange between mobile terminal and automatic navigator, centring system, to be performed in unison with
Walking navigation application, and can be realized being switched fast between vehicle mounted guidance and walking navigation.
Background technique
Most important function is exactly to hand in vehicle-mounted information and entertainment system (In-Vehicle Infotainment System)
Logical navigation feature, so in daily life, people are usually referred to as onboard navigation system.Due to originals such as parking lot settings
Cause, onboard navigation system is often by the ground or underground parking place near user's automobile navigation to final destination.In addition
Due to the difference of different zones Parking Fee, driver may also be actively by vehicle parking with a certain distance from having from final destination
Parking lot.Navigation from parking position to final destination cannot rely on vehicle mounted guidance again, but rely on walking.In step
Before row navigation is universal, people's common practice is that people is looked for ask the way.With the popularization of smart phone, the application on smart phone is got over
Carry out abundanter, including walking navigation application.After user drives to reach strange area, it can be used on smart phone after getting off
Walking navigation function carries out walking and arrives at final destination, realizes the whole navigation of door-to-door.Realize that this process just needs
Solve a switching problem from vehicle mounted guidance to walking navigation.
Smart phone because influenced by own dimensions, built in GPS navigation hardware in received signal strength and speed
On be all not so good as the hardware device of vehicle mounted guidance, especially in built-up city, user may need to wait the long period
The walking navigation degree on smart phone can be made to position successfully.If user is parking lot located underground, being even more can not
GPS signal is received, but just can be carried out walking navigation on ground until user comes.
Navigation based on mobile phone can there are two types of, a kind of single machine off-line mode, i.e. mobile phone GPS positioning device and ground
Figure, user mobile phone, which does not need to be connected with centring system, just can be carried out walking navigation.Another kind is logical based on centring system and mobile phone
The location information of user is returned to centring system by the online navigation mode of letter, i.e. mobile phone positioning device, mobile phone in real time, by
Centring system calculates guidance path, and sends mobile phone terminal in real time for path and map.The patent document JP- of the prior art
2003-214860, JP-2001-298765-A, US7702457 person disclose a kind of dependence mobile phone terminal and information distribution service
The navigation system that device is communicated.Well known to these in the prior art, navigation system is connected to mobile radio communication including one
The mobile phone terminal of network, for releasing news, data communication services center receives on mobile phone terminal a data service center
The location information of biography, and the request of mobile phone is responded, it is responsible for path navigation and calculates.This kind of navigation system can not only provide for vehicle
Driving navigation can also provide walking navigation for pedestrian.
Summary of the invention
Problems to be solved by the invention
Online navigation mode described in the either aforesaid known prior art based on centring system and mobile communication, also
It is the Mobile Telephone Gps system of single machine off-line mode, is dependent on the GPS positioning device built in mobile phone and obtains current location information, generally
For mobile phone positioning initial position speed it is slow, and there are GPS signals not to be available in underground, is easy in city high
The problems such as building shields.Also due to problems above, user can not be switched fast between vehicle mounted guidance and walking navigation.User
Must take some time after getting off could be really using the walking navigation on mobile phone.It needs in order to solve these problems
It is a kind of can independent of GPS signal and with fast switching capability walking navigation.
The present invention is proposed in order to solve drawbacks described above in the prior art, therefore, the purpose of the present invention is to propose one kind
For realizing the method and mobile terminal of walking navigation, by being carried out between mobile terminal and automatic navigator, centring system
Data exchange to be performed in unison with walking navigation application, and can be realized being switched fast between vehicle mounted guidance and walking navigation.
To achieve the goals above, according to the invention it is proposed that a kind of method for realizing walking navigation, including it is following
Step: using vehicle user mobile terminal from centring system receive part simplifiedly scheme, the partial simplified map be by
The centring system utilizes electronic map data, the travel route according to the vehicle received from in-vehicle navigation apparatus and destination
Come what is generated, and the partial simplified map illustrate in the preset range around the destination for walking navigation
Map element, the map element for walking navigation include at least one in the preset range for parked vehicles
Parking lot；And when the vehicle enters in the preset range around the destination, the mobile terminal is according to institute
The driving trace of vehicle is stated to judge final parking position and generate the mesh from the final parking position to the vehicle
Ground walking navigation route, by the walking navigation routing indicator in the partial simplified map and by label after described in
Partial simplified map is presented to the user.
Preferably, the partial simplified map is basic VGP map or visual enhancement VGP map.
Preferably, the visual enhancement VGP map is according to the different degree of element in the basic VGP map, to described
The different regions divided in basic VGP map zoom in and out the VGP map to realize visual enhancement with different scalings.
Preferably, judge the mobile terminal and the in-vehicle navigation apparatus connection it is already off in the case where, will
The partial simplified map after label is presented to the user.
Preferably, when the vehicle enters in the preset range around the destination, in the partial simplified
In map, the inlet point in the preset range is entered to each parking lot by the driving trace of the vehicle and from the vehicle
Route carry out route matching, to judge the final parking position of the vehicle；And in partial simplified map, execute
The union operation of the driving trace and the travel route to the destination to the final parking position of the vehicle, from
And generate the walking navigation route.
Preferably, the map element for walking navigation further include: the institute around the destination, the destination
State the intersection in preset range, the building name near the intersection, the connection intersection road and
The traffic route being located in the preset range that its title and vehicle mounted guidance upload.
Preferably, when the vehicle enters in the preset range around the destination, the mobile terminal root
Determine that the driving trace of the vehicle, the vehicle are real-time according to the vehicle real-time position information received from the centring system
Location information is reported from the in-vehicle navigation apparatus to the centring system.
Preferably, the mobile terminal is intelligent mobile phone terminal.
In addition, according to the present invention, it is also proposed that a kind of mobile terminal for realizing walking navigation, comprising: receiving unit,
From centring system receive part simplifiedly scheme, the partial simplified map be by the centring system using electronic map data,
It is generated according to the travel route of the vehicle received from in-vehicle navigation apparatus and destination, and the partial simplified map
Illustrate the map element for walking navigation in the preset range around the destination, the ground for walking navigation
Pel element include in the preset range at least one be used for parked vehicles parking lot；And display unit, when the vehicle
Enter the destination around the preset range in when, final parking is judged according to the driving trace of the vehicle
Position simultaneously generates walking navigation route from the destination of the vehicle of the final parking position, by the walking navigation
Routing indicator is presented to the user in the partial simplified map and by the partial simplified map after label.
Detailed description of the invention
By reference to the detailed description below in conjunction with attached drawing to used preferred embodiment, above-mentioned mesh of the invention
, advantages and features will become more apparent from, in which:
Fig. 1 is to show vehicle mounted guidance, centring system, the relationship between mobile phone terminal three and simple VGP sample
Schematic diagram.
Fig. 2 is the system hardware structure figure of the embodiment of the present invention.
Fig. 3 shows the process flow for realizing that vehicle mounted guidance is switched fast to walking navigation.
Fig. 4 shows the example of partial simplified map (basic VGP).
Fig. 5 is the schematic diagram shown by map partitioning for multiple regions.
Fig. 6 is to show the schematic diagram of the allocation example of subregion zoom factor of partial simplified map (basic VGP).
Fig. 7 is basic VGP figure compared with visual enhancement VGP.
Fig. 8 illustrates " track of vehicle ", " to the route in parking lot " and " road of driving of calculating in VGP
Line ".
Fig. 9 shows two kinds of forms of expression of walking navigation route.
Figure 10 shows two kinds of special forms of the composition of walking navigation route.
Figure 11 is for explaining that automatic navigator, center-side, the Data Transmission Content between mobile phone end and data pass
The figure on defeated opportunity.
Specific embodiment
The preferred embodiment of the present invention is described below with reference to the accompanying drawings.In the accompanying drawings, identical element will be by identical ginseng
Examine symbol or digital representation.In addition, the specific descriptions to known function and configuration will be omitted in following description of the invention,
To avoid keeping subject of the present invention unclear.
In order to solve aforementioned cellphone GPS signal framing time it is long, vulnerable to interference and shielding the problems such as, and solve vehicle
The problem that is switched fast for navigating to walking navigation is carried, the present invention proposes a kind of walking navigation with fast switching capability.
The system establishes communication connection between automatic navigator, centring system, smart phone.In driving phase, by automatic navigator
It is responsible for the navigation of vehicle, and sends the information such as departure place, destination, real time position, the route of vehicle to centring system.Work as user
After parking, navigation system is rapidly switched to the walking navigation on mobile phone, waits mobile phone to go to receive GPS signal without user.It realizes
This function needs the hand-in-glove of centring system and mobile phone terminal.What most critical was is generated visualization guidance by centring system in advance
Scheme (VGP, Visualized Guidanee Picture), and send visualization guidance figure on mobile phone in time, then user
Walking navigation can be carried out according to VGP, without waiting for GPS signal, no matter above and below ground can be used, to realize from vehicle-mounted
Navigation is quickly switched into the ability of walking navigation.Fig. 1 illustrates vehicle mounted guidance in system, centring system, mobile phone terminal three
Between relationship, and illustrate a simple VGP sample.
System of the present invention is cooperated jointly by automatic navigator, centring system and mobile phone terminal, realize vehicle mounted guidance to
Walking navigation is switched fast.In simple terms, in the driving stage, automatic navigator can be in advance by destination and traffic route information
It is sent to centring system.Centring system generates an a certain range of partial simplified map A destination-centric, this
Partial simplified map A will include the information such as important terrestrial reference, intersection, parking lot near destination, these information should be held
Easy visual identity, this partial simplified map A is sent to mobile phone end by centring system.When vehicle driving enters this office
When portion simplifies map area, the real time position of vehicle is constantly transferred to mobile phone end, mobile phone end judgement by centring system
The parking site of vehicle, and generate from parking to the walking navigation route of final destination, and by a little routing indicators in office
Portion simplifies in map A, forms the visualization guidance figure (VGP) for walking leading.When smart phone detection user parking and from
When driving, smart phone automatically shows VGP on the screen of smart phone.Because the mark in VGP all easily identifies
Information compare the terrestrial reference in the actual environment around itself so user can look at the terrestrial reference in the VGP on mobile phone to distinguish
Know direction, just looks like to hold map made of paper to look for road the same, only VGP map is more succinct, it is easier to understand, it is easier to identification side
To, and route is identified in VGP, and user can easily recognize direction and along route walking.It is carried out using VGP
Walking navigation, user eliminate the reliance on GPS signal, it is possible to overcome the problems, such as that GPS signal is brought, and realize and be switched fast.
In the following, the present invention will be illustrated by introducing some specific embodiments, it should be appreciated that, the present invention is simultaneously
It is not limited only to these embodiments.
Fig. 2 is the system hardware structure figure of the embodiment of the present invention, includes intelligent mobile phone terminal, centring system and vehicle-mounted
Navigator end 700.It include user input apparatus 130, information output apparatus 140, communication link in intelligent mobile phone terminal
150, computing device 200 and storage device 300.Centring system include communication device 400, central computing complex 500 and
Information-storing device 600.
Smart phone and automatic navigator are all very mature products, the hardware such as input, output, calculating, communication, storage
Unit has mature technology, so all no longer doing excessive introduction for relevant apparatus 130,140,150,200,400,700.Emphasis
It introduces the application program saved in storage device 300 and 600 and how data cooperates.Automatic navigator 700
The data such as route, destination, the position in relation to vehicle are obtained, for real-time delivery to centring system, this part is also very mature skill
Art no longer does excessive introduction.Introducing after centring system receives the information from automatic navigator is how to be calculated
Processing.
Fig. 3 shows the process flow for realizing that vehicle mounted guidance is switched fast to walking navigation.Step can be described as follows:
1) it drives the moment of setting out in user, destination information is inputted in automatic navigator, automatic navigator is user's meter
Traffic route is calculated, user will travel according to the display of automatic navigator.At this time automatic navigator also can by the destination of user and
Route information is sent to centring system.
It 2) is at a certain distance radius delimitation destination-centric after centring system receives destination route information
One regional area generates local simplification map (referred to as base using the electronic map being stored in centring system storage device
This VGP).Basic VGP includes following element: destination, and the intersection of (such as 500 meters) in a certain range of destination periphery is handed over
Cross road mouth nearby buildings title connects the road and its title of intersection, in a certain range of destination periphery (such as 500 meters)
Parking lot, vehicle mounted guidance upload traffic route (being only limited in a certain range of route in destination periphery).Partial simplified
Map (basic VGP) enormously simplifies the element in local map, only retains the element useful to walking navigation, in smart phone
Small-size screen on, partial simplified map be easier watch, while again do not influence obtain guidance information.
3) latitude and longitude coordinates of element in partial simplified map (basic VGP) are converted to plane coordinates by centring system.This
One coordinate transform includes two steps, is that linear transformation is carried out to entire basic VGP first, followed by according to member in basic VGP
The importance of element, zooms in and out different regions, with different scalings to realize visual enhancement.
4) the basic VGP after coordinate transform is sent mobile phone end by centring system, while the also map table sent,
Map table has recorded the scaling in each region in basic VGP, carries out inverse transformation to basic VGP for smart phone, restores base
The latitude and longitude coordinates of element in this VGP.
5) smart phone starts navigation application basic VGP of the reception from center automatically, and continues to receive centring system hair
The vehicle real-time position information sent.
6) navigation application of smart phone judges the final parking position of user, and quickly generates walking navigation route, will
Walking navigation routing indicator generates final VGP in VGP.
When smart phone judges that user has stopped and left vehicle, VGP is pushed to user's intelligence automatically by smart phone
On the screen of energy mobile phone, user can be rapidly introduced into walking navigation mode.Smart phone can be by whether already off
Connection with automatic navigator judges whether user has been moved off vehicle, and the connection of smart phone and automatic navigator has been
The technology of comparative maturity, the present invention do not do excessive description.Certain user, which can be manually operated, is displayed on the screen VGP, because
VGP has had been prepared for, and does not depend on GPS signal, is switched fast so being able to achieve manual operation.
Can be seen that main function of system of the present invention from the above process flow is the processing function by centring system
It is formed with the processing function of mobile phone end.
The major function of centring system includes: 1. to generate partial simplified map (basic VGP) centered on customer objective ground.
2. the latitude and longitude coordinates of element in partial simplified map (basic VGP) are converted to plane coordinates.3. by the real-time longitude and latitude of vehicle
Degree coordinate is converted to plane coordinates.4. generating the route in vehicle all parking lots into basic VGP.5. by owning in basic VGP
The latitude and longitude coordinates of route (route including vehicle to destination and vehicle to parking lot) are converted to plane coordinates.6. to intelligence
Mobile phone sends information, including basic VGP, vehicle real-time position information etc..
Map is watched on smart phone screen in order to facilitate user, partial simplified map (basic VGP) enormously simplifies
Element in local map only retains the element useful to walking navigation, mainly includes following element: destination, destination week
The intersection of (such as 500 meters), intersection nearby buildings title in a certain range of side, connect intersection road and its
Title, the parking lot of (such as 500 meters) in a certain range of destination periphery, the traffic route that vehicle mounted guidance uploads (are only limited in mesh
The a certain range of route in ground periphery).Fig. 4 is the example of partial simplified map (basic VGP).
VGP is preferably watched on the smart phone screen of finite size in order to facilitate user, is simplified in local map
Element is the first step, second step be exactly in enlarged map part relevant to route reduce the part unrelated with route simultaneously.
This just needs that the latitude and longitude coordinates of element in partial simplified map (basic VGP) are converted to plane coordinates with nonlinear transformation.
In order to realize that the non-property line of latitude and longitude coordinates of element in simplified map (basic VGP) is transformed to plane coordinates.The present embodiment is adopted again
With two steps:
First, conventional method is used first, and the GPS latitude and longitude coordinates of element in map are converted into Gaussian plane right angle and are sat
Mark.Because what is involved is known methods for these, no longer it is discussed in detail.Although being non-line on this coordinate replacement theory
Property, it is contemplated that our the region very littles to be converted, the region of in general 500 meters × 500 meters sizes, in such size
Region carry out the conversion of rectangular space coordinate, can approximatively think that coordinate transform everywhere and map scaling are lines
Property.Map shown in Fig. 4 is exactly the partial simplified map of approximately linear transformation.
Second step carries out non-linear zoom and cutting to map obtained in the aforementioned first step (being defined as A grades of maps).It examines
Consider the feasibility and complexity in implementation.It first has to A obtained in the aforementioned first step grades of map carrying out subregion.When transformation,
Scaling in each area is consistent.Such as by the A grade map partitioning in Fig. 4 be 7 × 7 region, as shown in Figure 5.Its
It is secondary, the central point distance to destination of each subregion and the central point of each subregion are measured in Fig. 5 to " traffic route "
Nearest short distance.Then scaling is distributed to each subregion according to following two principle:
1) if subregion is white space (without map element) or only road, this subregion will distribute higher
Compression ratio.
2) regional center (RC) point is remoter with a distance from destination and " traffic route ", and compression ratio assigned by this subregion is just
It is higher.
Specific scaling formula can carry out customized according to the two principles above, it is not limited to specific scaling
Formula.The finally compression ratio according to assigned by each subregion is zoomed in and out and is cut to each subregion.It gives one example below
Illustrate, as shown in fig. 6, the zoom factor of outermost 24 subregions is respectively that (most upper left corner subregion is starting point, up time in map
The observation of needle direction): 0.2,0.3,0.5,0.2,0.5,0.5,0.2,0.2,0.2,0.5,0.5,0.5,0.2,0.3,0.2,0.5,
0.5,0.5,0.2,0.3,0.2,0.3,0.2,0.2.In view of the screen of smart phone is usually rectangle, see for convenience
See, the map shown on mobile phone screen will also remain rectangle, so in Fig. 6 aforementioned outermost 24 subregions into
When row scaling, need to take the maximum value of 24 zoom factors using unified zoom factor.Maximum value is 0.5 in the present example,
The size of i.e. aforementioned outermost 24 subregions is all uniformly reduced into original half size.By aforementioned outermost 24 subregions
Final zoom factor be stored in table shown in table 1.Table 1 is partial simplified map (basic VGP) subregion zoom factor table.
Table 1
| Partition number | Zoom factor |
| 1 | 0.5 |
| 2 | 0.5 |
| 3 | 0.5 |
| 4 | 0.5 |
| … |
Visual enhancement VGP will be referred to as by certain simplified map (basic VGP) above-mentioned for scaling and reducing in this example
(Enhanced VGP, EVGP), an example as shown in Figure 7.
The viewing that EVGP compares conducive to terminal user, so the VGP that center-side is sent to mobile phone end is preferably regarded
Feel and strengthens VGP, i.e. EVGP.But the calculating of the inconvenient directly progress walking navigation route of EVGP, so center-side is by EVGP
When being sent to mobile phone end, while mobile phone end also is sent by basic VGP subregion zoom factor table as shown in Table 1,
Using this subregion zoom factor table, EVGP can be reduced to basic VGP by smart phone, carry out the meter of walking navigation route
It calculates.Mobile phone end carries out initial position of the parking position as walking for needing to know vehicle when walking navigation route calculation,
So the longitude and latitude for the real-time vehicle position that automatic navigator uploads also is transformed to Gaussian parabolic line by center-side, so
After be sent to mobile phone end, such smart phone can know user position in EVGP.
The major function of center-side is described above.The processing function of mobile phone end specifically includes that 1. vehicle enters VGP
When in body of a map or chart, the vehicle real-time position information (Gauss plane coordinate) that simultaneously records center end is sent is received.2. vehicle enters
When VGP body of a map or chart, the position in vehicle inlet point all parking lots into VGP is calculated, while calculating from vehicle inlet point to mesh
Ground driving route.3. executing route matching operation in VGP body of a map or chart, by " track of vehicle " and " parking lot is arrived
Route " is matched, and judges the final parking position of vehicle.4. executing track of vehicle and driving route in VGP body of a map or chart
Union operation, generate final walking navigation route.5. showing finally to include walking to user on smart phone screen
The EVGP of navigation routine (walking navigation route will also be zoomed in and out according to the zoom factor of each subregion).
After smart phone receives EVGP and subregion zoom factor table, EVGP is reduced to basic VGP, then by following
Step gradually generates walking navigation route.And by routing indicator in EVGP.Finally show user is band walking navigation
The EVGP of route.
Center-side judges whether vehicle comes into VGP after the vehicle position information for receiving automatic navigator upload
In map area, if had not been entered into VGP map area, center-side is not believed to the position that mobile phone end sends vehicle
Breath.If vehicle comes into VGP map area, the location information of vehicle is converted to VGP from longitude and latitude first by center-side
In Gauss plane coordinate, start to mobile phone end send vehicle location information.
When vehicle is entered in VGP body of a map or chart, the vehicle real time position that smart phone receives and records center end is sent is believed
It ceases (Gauss plane coordinate).A series of coordinate points just constitute the actual travel track of vehicle, because usually user opens at this time
Begin to find parking area, so actual travel track is likely to not exclusively be overlapped with former precalculated driving locus.Vehicle enters
When VGP body of a map or chart, mobile phone end will also calculate the position in vehicle inlet point all parking lots into VGP, at the same calculate from
Driving route of the vehicle inlet point to destination.In order to facilitate understanding, Fig. 8 illustrated in VGP " track of vehicle " (point),
" to the route in parking lot " (dotted line), " driving route of calculating " (broken line with the arrow).
After obtaining " track of vehicle ", " to the route in parking lot ", mobile phone end executes in VGP body of a map or chart
" track of vehicle " is matched with " to the route in parking lot ", judges the final parking position of vehicle by route matching operation,
Lower example provides the specific method of matching judgment operation:
1) basic VGP is subjected to subregion, the method for subregion is as the subregion of center-side.For example also it is divided into the area of 7X7
Domain.Unique number (Mesh ID) is carried out to each subregion.
2) the Mesh ID (partition id) that statistics " track of vehicle " is passed through in order, while statistics " arrives parking in order
The Mesh ID that the route of field " is passed through.It illustrates " track of vehicle " in the following table 2 and is passed through " to the route in parking lot "
The list of Mesh ID.
Table 2
3) it is picked out " to parking lot route " by the Mesh ID list with " track of vehicle " is most similar, judges to correspond to
Parking lot be exactly the final parking position of user.As can be seen from Table 2 " to the route in parking lot 3 " with " track of vehicle "
Mesh ID list most matches, it is possible to judge that vehicle eventually stops at parking lot 3.
Mobile phone end detects behind the parking position of user it is necessary to starting to calculate the walking navigation road after user gets off
Line, because often and user will stop when starting walking, so wanting when smart phone detects user parking position
It asks and quickly generates walking navigation route, to realize being switched fast from vehicle mounted guidance to walking navigation.In order to realize this point sheet
Embodiment does not go to calculate a walking navigation route using conventional path search algorithm, using merging " track of vehicle "
Final walking navigation route is generated with the method for " driving route ".Lower example provides the specific method of merging:
1) basic VGP is subjected to subregion, the method for subregion is as the subregion of center-side.For example also it is divided into the area of 7X7
Domain.Unique number (Mesh ID) is carried out to each subregion.
2) statistics " track of vehicle " the Mesh ID that is passed through in order, while counting that above-mentioned " calculating is driven in order
The Mesh ID that bus or train route line " is passed through.Illustrate what " track of vehicle " and " driving route of calculating " passed through in the following table 3
The list of Mesh ID.
Table 3
3) part identical in the Mesh ID list of " driving route of calculating " and " track of vehicle " is deleted, is merged
Remaining Mesh ID, obtains new Mesh ID list, i.e. the list of Mesh ID that is passed through of walking navigation route, specifically such as
Shown in table 4.
Table 4
4) merge route and track of vehicle point in new Mesh ID list in listed Mesh and generate final walking navigation
Route.As Fig. 9 shows two kinds of forms of expression of walking navigation route.
By the final EVGP comprising walking navigation route of display, (walking navigation route also will basis on smart phone screen
The zoom factor of each subregion zooms in and out).According to the difference of parking position and final position, the form of walking navigation route may
There are also more forms.Figure 10 shows two kinds of special situations.What Figure 10 (a) was indicated is that mesh has been crossed in vehicle travel process
Ground, the case where then some parking lot at a distance is stopped, such case frequently appear in user go to for the first time it is strange
Place is not when being very familiar with to ambient enviroment.In this case, foot path is made of the tracing point of vehicle.Figure 10 (b)
What is indicated is placed exactly on drive route at vehicle parking.In this case, walking navigation route is made of driving route.
After user obtains the EVGP comprising walking navigation route on smart phone, so that it may carry out walking according to EVGP
Navigation.Terrestrial reference in practical terrestrial reference and EVGP around the starting point of walking compares first around starting point (can pass through title, shape
Shape etc. compares), it determines walking direction, walks then along route；When reaching first turning point, compare the reality of surrounding again
Terrestrial reference in border terrestrial reference and EVGP around first turning point, determines turn direction, turns to walk back along subsequent route；It connects down
Come, one turning point of every arrival all repeats aforementioned activities, relatively corresponds to around turning point in the practical terrestrial reference and EVGP of surrounding
Terrestrial reference determines turn direction, then turns to, until walking to terminal.
It realizes from vehicle mounted guidance to walking navigation, it is important to prepare Data Concurrent in advance and send data, Figure 11 explains vehicle
Carry navigator, center-side, Data Transmission Content and data transmission opportunity between mobile phone end.
System critical issue to be solved of the invention is how to realize between vehicle mounted guidance and walking navigation
Be switched fast, and how to realize the simple navigation for not depending on GPS.Solve this problem key be by smart phone to
User provides visualization guidance figure (VGP).VGP is based on partial simplified map and generates, walking navigation route and route periphery
Element (objects such as building near intersection) easy to identify is also labeled in VGP.Different from ordinary electronic seek for,
VGP positions element therein using plane coordinates, does not use latitude and longitude coordinates.Meanwhile in order to enhance in smart phone screen
On display effect, the transformation from latitude and longitude coordinates to plane coordinates uses nonlinear transformation, thus highlight in VGP to
Important element (turning point on such as walking navigation route) for family.Using the VGP of this vision enhancement, user can be easy to
Correctly turned to along walking navigation route, arrive at final destination step by step.Since VGP is the dynamic in centring system
It generates and is sent on smart phone before parking, so disclosed system is able to achieve vehicle mounted guidance to walking navigation
Be switched fast.Method and system of the present invention is switched fast in addition to being able to achieve, and is reduced outside the effect of waiting time, and
There are also some other effects.For example, GPS positioning signal is not needed in the walking navigation stage, so could be used that indoors；No
It needs to install map on smart phone, saves smart phone memory space；It does not need that navigation engine is installed on smart phone,
Save the energy consumption of smart phone；EVGP can be the form of picture, so being easy to share between users.
Although having been combined the preferred embodiment of the present invention above shows the present invention, those skilled in the art will
It will be appreciated that without departing from the spirit and scope of the present invention, can carry out various modifications, replace and change to the present invention
Become.Therefore, the present invention should not be limited by above-described embodiment, and should be limited by appended claims and its equivalent.
Claims (8)
1. a kind of method for realizing walking navigation, comprising the following steps:
It receives part from centring system using the mobile terminal of the user of vehicle simplifiedly to scheme, the partial simplified map is by institute
State centring system using electronic map data, according to the travel route of vehicle and destination received from in-vehicle navigation apparatus come
It generates, and the partial simplified map illustrates the ground for walking navigation in the preset range around the destination
Pel element, the map element for walking navigation include that at least one in the preset range is used for parked vehicles and stops
Parking lot；And
When the vehicle enters in the preset range around the destination, the mobile terminal is according to the vehicle
Driving trace judges final parking position and generates the step of destination from the final parking position to the vehicle
Row navigation routine, by the walking navigation routing indicator in the partial simplified map and by the partial simplified after label
Map is presented to the user,
When the vehicle enters in the preset range around the destination, in the partial simplified map, by institute
The route of the driving trace and the inlet point to each parking lot that are entered in the preset range from the vehicle of stating vehicle carries out
Route matching, to judge the final parking position of the vehicle；And
In partial simplified map, execute the driving trace to the final parking position of the vehicle with to the purpose
The union operation of the travel route on ground, to generate the walking navigation route.
2. according to the method described in claim 1, wherein,
The partial simplified map is basic VGP map or visual enhancement VGP map.
3. according to the method described in claim 2, wherein,
The visual enhancement VGP map is according to the different degree of element in the basic VGP map, to the basic VGP map
The different regions of middle division zoom in and out the VGP map to realize visual enhancement with different scalings.
4. according to the method described in claim 1, wherein,
Judge the mobile terminal and the in-vehicle navigation apparatus connection it is already off in the case where, described in after label
Partial simplified map is presented to the user.
5. according to the method described in claim 1, wherein,
The map element for walking navigation further include: the preset range around the destination, the destination
The road and its title of building name, the connection intersection near interior intersection, the intersection and
The traffic route being located in the preset range that vehicle mounted guidance uploads.
6. according to the method described in claim 1, wherein,
When the vehicle enters in the preset range around the destination, the mobile terminal is according to from the center
The vehicle real-time position information that system receives determines the driving trace of the vehicle, the vehicle real-time position information be from
The in-vehicle navigation apparatus is reported to the centring system.
7. according to the method described in claim 1, wherein,
The mobile terminal is intelligent mobile phone terminal.
8. a kind of mobile terminal for realizing walking navigation, comprising:
Receiving unit receives part from centring system and simplifiedly schemes, and the partial simplified map is utilized by the centring system
Electronic map data is generated according to the travel route of the vehicle received from in-vehicle navigation apparatus and destination, and institute
It states partial simplified map and illustrates the map element for walking navigation in preset range around the destination, the use
In the map element of walking navigation include in the preset range at least one be used for parked vehicles parking lot；And
Display unit, when the vehicle enters in the preset range around the destination, according to the row of the vehicle
Track is sailed to judge final parking position and generate the walking of the destination from the final parking position to the vehicle
Navigation routine, in the partial simplified map and by the partial simplified after label by the walking navigation routing indicator
Figure is presented to the user,
When the vehicle enters in the preset range around the destination, the display unit is in the partial simplified
In map, the inlet point in the preset range is entered to each parking lot by the driving trace of the vehicle and from the vehicle
Route carry out route matching, to judge the final parking position of the vehicle；And
The display unit executes the driving trace to the final parking position of the vehicle in partial simplified map
With to the destination travel route union operation, to generate the walking navigation route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310371313.3A CN104422454B (en) | 2013-08-23 | 2013-08-23 | For realizing the method and mobile terminal of walking navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310371313.3A CN104422454B (en) | 2013-08-23 | 2013-08-23 | For realizing the method and mobile terminal of walking navigation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104422454A CN104422454A (en) | 2015-03-18 |
| CN104422454B true CN104422454B (en) | 2019-06-28 |
Family
ID=52972119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310371313.3A Expired - Fee Related CN104422454B (en) | 2013-08-23 | 2013-08-23 | For realizing the method and mobile terminal of walking navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104422454B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105180958B (en) * | 2015-09-24 | 2021-06-18 | 上海车音网络科技有限公司 | Navigation method, device and system |
| KR101865728B1 (en) * | 2016-06-21 | 2018-06-08 | 현대자동차 주식회사 | Navigation device comprising auto mirroring function and computer readable recording medium for providing auto mirroring |
| CN106652524A (en) * | 2016-12-29 | 2017-05-10 | 广西财经学院 | Beidou navigation terminal device installed at outer portion of vehicle |
| CN106840173A (en) * | 2016-12-29 | 2017-06-13 | 广西财经学院 | Beidou navigation terminal based on RFID |
| CN106767886A (en) * | 2017-02-08 | 2017-05-31 | 大陆汽车电子(芜湖)有限公司 | The method that walking navigation is automatically switched to from traffic navigation |
| US9992465B1 (en) * | 2017-02-08 | 2018-06-05 | Hyundai Motor Company | Vehicular navigation system utilizing a projection device |
| CN111433564A (en) * | 2017-12-01 | 2020-07-17 | 本田技研工业株式会社 | Travel control device, vehicle, and travel control method |
| CN108413957A (en) * | 2017-12-06 | 2018-08-17 | 上海交通大学 | The method for carrying out pedestrian's course estimation under multiple carrying mode using mobile terminal |
| CN109990781B (en) * | 2017-12-29 | 2021-11-02 | 北京搜狗科技发展有限公司 | Navigation processing method and device for navigation processing |
| CN111578952B (en) * | 2019-02-15 | 2023-09-29 | 阿里巴巴集团控股有限公司 | Multi-terminal navigation method and equipment |
| WO2021221561A1 (en) | 2020-04-28 | 2021-11-04 | Grabtaxi Holdings Pte. Ltd. | Communications server apparatus and methods of operation thereof |
| CN112067010A (en) * | 2020-09-23 | 2020-12-11 | 长城汽车股份有限公司 | Navigation method and device |
| CN112484741A (en) * | 2020-11-19 | 2021-03-12 | 北京百度网讯科技有限公司 | Navigation method, apparatus, device and medium |
| CN113295160A (en) * | 2021-06-03 | 2021-08-24 | 舵敏智能科技(苏州)有限公司 | Map loading method, device and equipment based on visual navigation and storage medium |
| CN113706923B (en) * | 2021-08-26 | 2023-05-26 | 芜湖雄狮汽车科技有限公司 | Parking guiding method and device for vehicle, electronic equipment and storage medium |
| CN115273526A (en) * | 2022-06-20 | 2022-11-01 | 广州小鹏汽车科技有限公司 | Method, vehicle and mobile terminal for providing route guidance |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1839416A (en) * | 2003-08-22 | 2006-09-27 | 株式会社日立制作所 | Map display method |
| CN101435708A (en) * | 2008-12-05 | 2009-05-20 | 四川长虹电器股份有限公司 | Real time roaming and scaling method of vector map in mobile navigation equipment |
| CN102192749A (en) * | 2010-03-11 | 2011-09-21 | 日立汽车系统株式会社 | Route line transformation method, road information providing device and road information providing system |
| CN102564418A (en) * | 2011-12-31 | 2012-07-11 | 东软集团股份有限公司 | Navigation method and system for road network |
| CN103162699A (en) * | 2011-12-12 | 2013-06-19 | 现代Mnsoft公司 | Method and system for creating indoor and outdoor linked path |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003156340A (en) * | 2001-09-10 | 2003-05-30 | Pioneer Electronic Corp | Navigation system, information server apparatus for the same, communication terminal equipment, modification method of mobile telephone in navigation system, and modification processing program |
| JP2009110045A (en) * | 2007-10-26 | 2009-05-21 | Rohm Co Ltd | Communication device |
-
2013
- 2013-08-23 CN CN201310371313.3A patent/CN104422454B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1839416A (en) * | 2003-08-22 | 2006-09-27 | 株式会社日立制作所 | Map display method |
| CN101435708A (en) * | 2008-12-05 | 2009-05-20 | 四川长虹电器股份有限公司 | Real time roaming and scaling method of vector map in mobile navigation equipment |
| CN102192749A (en) * | 2010-03-11 | 2011-09-21 | 日立汽车系统株式会社 | Route line transformation method, road information providing device and road information providing system |
| CN103162699A (en) * | 2011-12-12 | 2013-06-19 | 现代Mnsoft公司 | Method and system for creating indoor and outdoor linked path |
| CN102564418A (en) * | 2011-12-31 | 2012-07-11 | 东软集团股份有限公司 | Navigation method and system for road network |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104422454A (en) | 2015-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104422454B (en) | For realizing the method and mobile terminal of walking navigation | |
| CN104359487B (en) | A kind of real scene navigation system | |
| CN105513389B (en) | The method and device of augmented reality | |
| CN103428635B (en) | The information providing method and its equipment of mobile terminal | |
| US20130054134A1 (en) | Telematics apparatus for driving assistance, system of the same, and method of the same | |
| CN104729515B (en) | Guidance path comparison method and system | |
| US20030028312A1 (en) | Road traffic information output apparatus | |
| CN103593997B (en) | Intelligent bus locating query system | |
| WO2017024780A1 (en) | Parking guidance method and apparatus, terminal and server | |
| CN109323707A (en) | Stroke reminding method and navigation terminal | |
| CN106289298A (en) | The display packing of point of interest and device, onboard navigation system | |
| CN107845255A (en) | A kind of trick car system of pilotless automobile with route | |
| CN105225468A (en) | A kind of method and device determining position | |
| CN102865876A (en) | Navigation method, server and system | |
| CN103942241A (en) | Real-time bus information query method, portable electronic device and server | |
| CN104236567A (en) | Vehicle-mounted navigation information acquisition method and vehicle-mounted navigation system | |
| CN109357681A (en) | The automobile navigation service coordinated with wireless handheld device | |
| CN102968909A (en) | System and method for remotely and intelligently recognizing road vehicle jam | |
| CN106352886A (en) | Method and intelligent vehicular equipment for searching gas stations | |
| CN103886769A (en) | Vehicle dynamic path navigation method and device for obtaining road condition video information in real time | |
| CN106595686A (en) | Vehicle-mounted navigation system, method, vehicle mounted equipment and vehicle | |
| CN103295393A (en) | Taxi appointment system based on smart phone | |
| CN106781445A (en) | Share information output method, client and the system of vehicle | |
| CN107687862A (en) | Scenic spot visit navigation methods and systems, car-mounted terminal and vehicle | |
| CN109874109A (en) | Mobile unit and its service information pushing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190628 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |