CN104864879A

CN104864879A - Navigation path planning method and device

Info

Publication number: CN104864879A
Application number: CN201410064581.5A
Authority: CN
Inventors: 孙剑桥; 李敬民; 闫喆; 贺肖芳
Original assignee: Autonavi Software Co Ltd
Current assignee: Autonavi Software Co Ltd
Priority date: 2014-02-25
Filing date: 2014-02-25
Publication date: 2015-08-26

Abstract

The invention discloses a navigation path planning method and device. The method comprises planning a riding path from an initial position to a destination, if the shortest riding distance of the planned riding path from the initial position to the destination is greater than a preset first distance threshold value, planning a bus path from the initial position to the destination, planning a riding path from the initial position to an initial bus station of the bus path and a path from the tail bus station of the bus path to the destination, and determining a navigation path from the initial position to the destination according to the planned bus path, the riding path from the initial position to the initial bus station and the riding path from the tail bus station to the destination. The invention provides a technical scheme for realizing seamless exchange of various public vehicles.

Description

Navigation path planning method and device

Technical field

The present invention relates to field of navigation technology, particularly relate to a kind of navigation path planning method and device.

Background technology

Use the problems such as brought energy resource consumption, traffic congestion and environmental pollution to become increasingly conspicuous in a large number due to motor vehicle, the utility that public bicycles relies on the many advantages such as it is convenient, energy-saving and environmental protection to become countries and regions to do one's utmost to promote, together constitutes comprehensive, all standing, high efficiency three-dimensional urban traffic network with other public transports (bus or subway).

As the green traffic instrument of a kind of " zero-emission ", citizen can not only be able to be allowed to enjoy the convenient short distance trip of 1 ~ 5 kilometer with the public bicycles given back with, strange land with borrowing, improve maneuverability and the accessibility of urban public transport, constantly can also attract traveler change trip mode of driving, effectively carry out Green Travel, with Green city.

Because people are when leasing public bicycles trip, may to the public bicycles site of periphery and the route being unfamiliar with of riding, therefore need for user provides path planning service of riding, in prior art, the general following manner that adopts plans path of riding for user:

The lock control devices of public bicycles site by the data importing of each public bicycles site in periphery certain limit in public bicycles, when user leases public bicycles, user arranges destination by the touch-screen of lock control devices, data processing unit in public bicycles is according to GPS (GlobalPositioning System, GPS) destination that arranges of the geographic coordinate data of current location that arrives of module Real-time Collection and user, cook up path of riding, then provide real-time navigation services according to the path of riding cooked up for user.

Although can plan for user path of riding by the way, but it can only plan between each site of public bicycles internal system, and in actual applications, user may not only need from arrival destination, current position to use public bicycles to ride, also need to be changed to by other public transports (such as bus or subway), but prior art does not have proposition realizes various public traffic instrument (public bicycles, bus or subway) between the scheme of seamless exchange, thus public bicycles system fully cannot be merged in the go off daily of access customer.

Prior art is when providing path planning of riding to serve for user, can only plan between each site of public bicycles internal system, and in actual applications, user may not only need from arrival destination, current position to use public bicycles to ride, and also needs to be changed to by other public transports.To this, the embodiment of the present invention proposes, when carrying out the planning of guidance path for user, first the path of riding from reference position to destination locations is planned, if reference position distance destination locations is distant, then user not only needs to use public bicycles to ride, may also need to be changed to by other public transports, therefore need to plan the public transport path from reference position to destination locations, in addition, also need ride path and the path of riding from the end bus station in public transport path to destination locations of the initial bus station of planning from reference position to public transport path, user to be ridden to initial bus station from reference position by public bicycles, then Public Transport Transfer is carried out in initial bus station, after user arrives end bus station, to be ridden to from end bus station target location by public bicycles, thus the seamless exchange of various public traffic Tool Room can be realized, public bicycles system is fully merged in the go off daily of user.

When user needs to go on a journey, path navigation can be carried out by equipment (hereinafter referred to as navigator) such as mobile phone, Pad or the navigating instrument etc. that navigation software is housed.When user uses navigator to carry out path navigation, first in navigator, input needs the station location marker of the destination locations arrived, after navigator obtains the station location marker of destination locations, determine the geographic coordinate that this station location marker is corresponding, the i.e. geographic coordinate of destination locations, and obtain the geographic coordinate of the current present position of user by gps system, i.e. the geographic coordinate of reference position, navigator according to the geographic coordinate of reference position and the geographic coordinate of destination locations for user plans guidance path.

It should be noted that, public transport can be, but not limited to comprise public bicycles, bus, subway etc.Wherein, the path for public bicycles planning is called path of riding, and the path for the planning of other public transports such as bus and subway is called public transport path.In each bus station in public transport path, initial website is called initial bus station, and the website of end is called end bus station, and transfer website is called transfer bus station; Ride in each public bicycles site in path, initial site is called initial public bicycles site, and the site of end is called end public bicycles site.

Be described in detail the present invention program below by specific embodiment, certainly, the present invention is not limited to following examples.

Summary of the invention

The embodiment of the present invention provides a kind of navigation path planning method and device, in order to propose a kind of technical scheme realizing various public traffic Tool Room seamless exchange.

The embodiment of the present invention provides following technical scheme:

The embodiment of the present invention proposes a kind of navigation path planning method, comprising:

The ride path of planning from reference position to destination locations;

If the shortest distance of riding in the path of riding from reference position to destination locations cooked up is greater than the first distance threshold of setting, then plan the public transport path from described reference position to described destination locations; And

Planning is from described reference position to ride path and the path of riding from the end bus station in described public transport path to described destination locations of the initial bus station in described public transport path;

According to the public transport path cooked up, ride path and the path of riding from end bus station to destination locations from reference position to initial bus station, determine the guidance path from described reference position to described destination locations.

As shown from the above technical solution, when carrying out the planning of guidance path for user, first the path of riding from reference position to destination locations is planned, if this cooking up is ridden, the shortest distance of riding in path is greater than the first distance threshold of setting, then show that reference position distance destination locations is distant, user not only needs to use public bicycles to ride, may also need to be changed to by other public transports, therefore need to plan the public transport path from above-mentioned reference position to above-mentioned purpose position, in addition, also need ride path and the path of riding from the end bus station in public transport path to destination locations of the initial bus station of planning from reference position to public transport path, user to be ridden to initial bus station from reference position by public bicycles, then Public Transport Transfer is carried out in initial bus station, after user arrives end bus station, to be ridden to from end bus station target location by public bicycles, thus the seamless exchange of various public traffic Tool Room can be realized, public bicycles system is fully merged in the go off daily of user.

Preferably, plan the path of riding from reference position to destination locations, specifically comprise:

Centered by reference position, determine the region needing to search public bicycles site, and search the public bicycles site nearest apart from described reference position in this region; And

Centered by destination locations, determine the region needing to search public bicycles site, and search the public bicycles site nearest apart from described destination locations in this region;

Plan the path of riding of the public bicycles site nearest to distance destination locations from the public bicycles site nearest apart from reference position.

By the scheme of the present embodiment, the path of riding between two location points can be planned fast and accurately, improve efficiency and the accuracy of navigation path planning.

Preferably, described method also comprises:

If the shortest distance of riding in the path of riding from reference position to destination locations cooked up is not more than the first distance threshold of setting, then according to the path of riding from reference position to destination locations cooked up, determine the guidance path from reference position to destination locations.

By the scheme of the present embodiment, can when reference position distance destination locations be nearer, directly determine guidance path according to reference position to the path of riding of destination locations, user can directly use public bicycles to be ridden to destination locations by reference position, improves the convenience of user's trip.

Preferably, plan from described reference position to before the path of riding of the initial bus station in described public transport path, also comprise:

Judge whether the distance between described reference position and described initial bus station is greater than the second distance threshold value of setting;

If the determination result is YES, then perform described planning from described reference position the step to the path of riding of the initial bus station in described public transport path;

Before the path of riding of planning from the end bus station in described public transport path to described destination locations, also comprise:

Judge whether the distance between described end bus station and described destination locations is greater than the second distance threshold value of setting;

If the determination result is YES, then the step in the ride path of described planning from the end bus station in described public transport path to described destination locations is performed.

By the scheme of the present embodiment, when reference position is far away apart from initial bus station, just plan the ride path of reference position to initial bus station, when end bus station distance destination locations is far away, just plan the ride path of end bus station to destination locations, when reference position is nearer apart from initial bus station, user can directly walk to initial bus station by reference position, when end bus station distance destination locations is nearer, user directly can walk to destination locations by end bus station, thus improve the utilization factor of navigation path planning.

Preferably, plan the path of riding from described reference position to the initial bus station in described public transport path, specifically comprise:

Centered by described reference position, determine the region needing to search public bicycles site, and search the public bicycles site nearest apart from described reference position in this region; And

Centered by described initial bus station, determine the region needing to search public bicycles site, and search the public bicycles site nearest apart from described initial bus station in this region;

Plan the path of riding from the public bicycles site nearest apart from reference position to the public bicycles site nearest apart from initial bus station;

The ride path of planning from the end bus station in described public transport path to described destination locations, specifically comprises:

Centered by described end bus station, determine the region needing to search public bicycles site, and search the public bicycles site nearest apart from described end bus station in this region; And

Centered by described destination locations, determine the region needing to search public bicycles site, and search the public bicycles site nearest apart from described destination locations in this region;

Plan the ride path of the public bicycles site nearest from distance end bus station to the public bicycles site nearest apart from destination locations.

Preferably, determine, from described reference position to before the guidance path of described destination locations, also to comprise:

For two adjacent transfer bus stations any in the public transport path cooked up, judge whether the distance between these two transfer bus stations is greater than the second distance threshold value of setting, if the determination result is YES, then the path of riding between these two adjacent transfer bus stations is planned;

Determine the guidance path from described reference position to described destination locations, specifically comprise:

According to the public transport path cooked up, the path of riding of riding path and adjacent transfer bus station from reference position to the path of riding of initial bus station, from end bus station to destination locations, determine the guidance path from described reference position to described destination locations.

By the scheme of the present embodiment, when adjacent two transfer bus station between distant time, just plan the path of riding between two transfer bus stations, when changing to the close together between bus station for adjacent two, user can change in walking, thus improves the utilization factor of navigation path planning.

The embodiment of the present invention also provides a kind of navigation path planning device, comprising:

First path planning unit, for planning the path of riding from reference position to destination locations;

First Distance Judgment unit, user judges whether the shortest distance of riding in the path of riding from reference position to destination locations that the first path planning unit is cooked up is greater than the first distance threshold of setting;

Second path planning unit, for when the judged result of the first Distance Judgment unit is for being, plans the public transport path from described reference position to described destination locations;

3rd path planning unit, for planning ride path and the path of riding from the end bus station in described public transport path to described destination locations from described reference position to the initial bus station in described public transport path;

First guidance path determining unit, for ride path and the path of riding from end bus station to destination locations from reference position to initial bus station that public transport path, the 3rd path planning unit cooked up according to the second path planning unit are cooked up, determine the guidance path from described reference position to described destination locations.

Preferably, described first path planning unit specifically for:

Preferably, described device also comprises:

Second guidance path determining unit, for when the judged result of the first Distance Judgment unit is no, according to the path of riding from reference position to destination locations that the first path planning unit is cooked up, determines the guidance path from reference position to destination locations.

Preferably, described device also comprises:

Second distance judging unit, for in the 3rd path planning unit planning from described reference position to before the path of riding of the initial bus station in described public transport path, judge whether the distance between described reference position and described initial bus station is greater than the second distance threshold value of setting;

Described 3rd path planning unit, specifically for when the judged result of second distance judging unit is for being, plans the path of riding from described reference position to the initial bus station in described public transport path;

3rd Distance Judgment unit, for before the 3rd the ride path of path planning unit planning from the end bus station in described public transport path to described destination locations, judge whether the distance between described end bus station and described destination locations is greater than the second distance threshold value of setting;

Described 3rd path planning unit, specifically for when the judged result of the 3rd Distance Judgment unit is for being, plans the path of riding from the end bus station in described public transport path to described destination locations.

Preferably, described 3rd path planning unit specifically for:

Preferably, described device also comprises:

4th Distance Judgment unit, for determining from described reference position to before the guidance path of described destination locations in the first guidance path determining unit, for two adjacent transfer bus stations any in the public transport path that the second path planning unit is cooked up, judge whether the distance between these two transfer bus stations is greater than the second distance threshold value of setting

4th path planning unit, for when the judged result of the 4th Distance Judgment unit is for being, plans the path of riding between these two adjacent transfer bus stations;

Described first guidance path determining unit, specifically for according to the public transport path cooked up, the path of riding of riding path and adjacent transfer bus station from reference position to the path of riding of initial bus station, from end bus station to destination locations, determine the guidance path from described reference position to described destination locations.

Accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly introduced, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is in the embodiment of the present invention one, navigation path planning method schematic flow sheet;

Fig. 2 is in the embodiment of the present invention one, plans the specific implementation schematic diagram in path of riding;

Fig. 3 is in the embodiment of the present invention one, determines the specific implementation schematic diagram of guidance path according to path of riding;

Fig. 4 is in the embodiment of the present invention one, determines the specific implementation schematic diagram one of guidance path according to public transport path and path of riding;

Fig. 5 is in the embodiment of the present invention one, determines the specific implementation schematic diagram two of guidance path according to public transport path and path of riding;

Fig. 6 is in the embodiment of the present invention one, to the Navigation Picture schematic diagram that user provides;

Fig. 7 is in the embodiment of the present invention one, for driver and pedestrian provide the schematic diagram of best point;

Fig. 8 is in the embodiment of the present invention two, navigation path planning method specific implementation principle schematic;

Fig. 9 is in the embodiment of the present invention three, navigation path planning apparatus structure schematic diagram;

Figure 10 is in the embodiment of the present invention four, navigator structural representation.

Embodiment

In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, and obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.

Embodiment one

As shown in Figure 1, be the navigation path planning method schematic flow sheet that the embodiment of the present invention one proposes, its concrete treatment scheme is as follows:

Step 11, plans the path of riding from reference position to destination locations.

GPS locating module is provided with, for determining the geographic coordinate of the current present position of user, for path navigation provides real time position data in the navigator that user uses.Navigator can provide positioning service for user, electronic digit map datum is stored in navigator, when after the geographic coordinate getting the current present position of user, navigator shows electronic digit map on the display screen, and on electronic digit map, showing the current present position of user, user can amplify the electronic digit map that display screen shows, reduce and the operation such as dragging.

GPS locating module periodically can obtain the geographic coordinate of the current present position of user, or after navigator moves setpoint distance, obtain the geographic coordinate of the current present position of user.

Check public bicycles site for the ease of user, the geographic position of the public bicycles site of user's periphery can be integrated into Digital map by navigator, forms public bicycles network point distribution figure.In addition, navigator can also provide the related service information of public bicycles system and existing public transportation system to user, so that user selects traffic path according to self-demand and actual conditions, wherein, the related service information of public bicycles system comprises: the leased number of vehicles of each public bicycles site, current parking space information, handle the dot location leasing card, lease the expenses standard information of vehicle, the telephone number of each public bicycles site and relevant maintenance information out of service etc., the related service information of existing public transportation system comprises: first and last regular bus temporal information, seat information in car, vehicle arrives at a station information, crowded state information etc. in car.

If user wants to use navigator to carry out path navigation, the station location marker needing the destination locations arrived then can be inputted in navigator, navigator determines the geographic coordinate that this station location marker is corresponding, the i.e. geographic coordinate of destination locations, and pass through GPS module, the geographic coordinate of the current present position of user is obtained, i.e. the geographic coordinate of reference position from gps system.Navigator according to the geographic coordinate of reference position and the geographic coordinate of destination locations for user plans guidance path.

The embodiment of the present invention one proposes, and when planning guidance path for user, first navigator plans the path of riding from reference position to destination locations.When being ridden in path in planning, navigator determines the region needing to search public bicycles site centered by reference position, and search the public bicycles site nearest apart from above-mentioned reference position in this region, in like manner, navigator determines the region needing to search public bicycles site centered by destination locations, and search nearest public bicycles site, distance above-mentioned purpose position in this region, then navigator plans the path of riding of the public bicycles site nearest to distance destination locations from the public bicycles site nearest apart from reference position in each public bicycles site.

Wherein, when navigator determines the region needing to search public bicycles site centered by reference position, can will take reference position as the center of circle, take preset length as the border circular areas of radius, be defined as the corresponding region needing to search public bicycles site, in like manner, when determining the region needing to search public bicycles site centered by destination locations, can will take destination locations as the center of circle, take preset length as the border circular areas of radius, be defined as the corresponding region needing to search public bicycles site.

Above-mentioned preset length can be arranged according to actual conditions, such as, be set to 1 km.User also can be arranged according to individual concrete condition.

Such as, as shown in Figure 2, the reference position of user is position A, and destination locations is position B, navigator with position A for the center of circle, the public bicycles site that distance and position A is nearest is searched in the border circular areas being radius with 1 km, find site a, with position B for the center of circle, search the public bicycles site that distance and position B is nearest in the border circular areas being radius with 1 km, find site b, then the ride path of navigator planning from site a to site b.

Step 12, if the shortest distance of riding in the path of riding from reference position to destination locations cooked up is greater than the first distance threshold of setting, then plans the public transport path from described reference position to described destination locations.

Because user mainly uses public bicycles to carry out short distance trip, therefore when reference position distance destination locations is far away, user arrives destination locations from reference position may not only be needed to use public bicycles to ride, and also needs to be changed to by other public transports (such as bus or subway).Therefore the embodiment of the present invention one proposes, after navigator cooks up the path of riding from reference position to destination locations, judge whether the shortest distance of riding in the path of riding cooked up is greater than the first distance threshold of setting, if judged result is no, then show that reference position distance destination locations is nearer, that is, user can directly use public bicycles to be ridden to destination locations by reference position, therefore navigator can according to the path of riding from reference position to destination locations cooked up, determine the guidance path from reference position to destination locations, then the guidance path determined is supplied to user, if the determination result is YES, then show that reference position distance destination locations is comparatively far away, now navigator recommends user to use Public Transport Transfer+ride mode to arrive destination, therefore needs to plan the public transport path from reference position to destination locations.

Known according to the trip psychology investigation of user, the problem be concerned about most when user goes on a journey is the convenience of travel route, next is that the travel time is the shortest and travel cost is minimum, when navigator plans the public transport path from reference position to destination locations, can based on number of transfer minimum and distance the shortest based on, travel time and travel cost are weighted process, and unified plan goes out the public transport path from reference position to destination locations.

Wherein, above-mentioned first distance threshold can be arranged according to actual conditions, known through testing, and 5 kms of riding continuously are the acceptable comfort value of human body, therefore above-mentioned first distance threshold can be set to 5 kms.User also can be arranged according to individual concrete condition.

In above-mentioned steps 11, navigator may cook up many paths of riding from reference position to destination locations, therefore navigator can calculate the every bar cooked up and to ride the distance of riding in path, then the shortest distance of riding is determined, using the shortest the shortest distance of riding of distance as the path of riding from reference position to destination locations cooked up of riding determined.

The embodiment of the present invention one proposes, navigator is according to the path of riding from reference position to destination locations cooked up, when determining the guidance path from reference position to destination locations, first can plan the walking path of the initial public bicycles site from reference position to path of riding and the walking path from the end public bicycles site in path of riding to destination locations, by from reference position to the walking path of initial public bicycles site, the path and from end public bicycles site to the guidance path of the walking path of destination locations composition from reference position to destination locations of riding from reference position to destination locations.

Such as, as shown in Figure 3, the reference position of user is position A, destination locations is position B, the initial public bicycles site in the path of riding from reference position to destination locations cooked up is site a, end public bicycles site is site b, and the guidance path from reference position to destination locations is made up of following three sections of paths: the walking path from position A to site a, ride path and the walking path from site b to position B from site a to site b.

If navigator cooks up many paths of riding from reference position to destination locations, then navigator can determine corresponding guidance path respectively for every bar path of riding, then the many bar navigations path determined is supplied to user, select a bar navigation path by user according to the demand of self, the guidance path selected based on user of navigator provides real-time navigation services for user; In addition, navigator also can the shortest based on distance of riding based on, in many paths of riding of planning department, prioritizing selection is ridden the shortest path of riding of distance, then guidance path corresponding for path of riding the shortest for distance of riding is supplied to user.

Step 13, plans ride path and the path of riding from the end bus station in described public transport path to described destination locations from described reference position to the initial bus station in described public transport path.

The embodiment of the present invention one proposes, if have public bicycles site between the initial bus station in reference position and public transport path, then user can by leasing public bicycles, ride to initial bus station by reference position, in like manner, if having public bicycles site between end bus station and destination locations, then user can by leasing public bicycles, ride to destination locations by end bus station, greatly facilitate the trip of user.Therefore, navigator is being cooked up after by reference position to the public transport path of destination locations, can plan ride path and the path of riding from the end bus station in public transport path to destination locations of the initial bus station from reference position to public transport path further.

Planning from reference position to initial bus station ride path time, navigator determines the region needing to search public bicycles site centered by reference position, and search the public bicycles site nearest apart from above-mentioned reference position in this region, the region needing to search public bicycles site is determined centered by initial bus station, and search the public bicycles site nearest apart from initial bus station in this region, then navigator plans the path of riding from the public bicycles site nearest apart from reference position to the public bicycles site nearest apart from initial bus station in each public bicycles site.

Planning from end bus station to destination locations ride path time, navigator determines the region needing to search public bicycles site centered by end bus station, and search nearest public bicycles site, distance above-mentioned end bus station in this region, the region needing to search public bicycles site is determined centered by destination locations, and search the nearest public bicycles site of distance destination locations in this region, then navigator plans the ride path of the public bicycles site nearest from distance end bus station to the public bicycles site nearest apart from destination locations in each public bicycles site.

Wherein, when navigator determines the region needing to search public bicycles site centered by reference position, can will be the center of circle with reference position, take preset length as the border circular areas of radius, is defined as the corresponding region needing to search public bicycles site; When determining the region needing to search public bicycles site centered by initial bus station, can by with initial bus station for the center of circle, take preset length as the border circular areas of radius, be defined as the corresponding region needing to search public bicycles site; When determining the region needing to search public bicycles site centered by end bus station, can by with end bus station for the center of circle, take preset length as the border circular areas of radius, be defined as the corresponding region needing to search public bicycles site; When determining the region needing to search public bicycles site centered by destination locations, can will be the center of circle with destination locations, take preset length as the border circular areas of radius, is defined as the corresponding region needing to search public bicycles site.

The embodiment of the present invention one proposes, navigator is before planning the path of riding from reference position to initial bus station, first can also judge whether the distance between reference position and initial bus station is greater than the second distance threshold value of setting, if judged result is no, then show that reference position is nearer apart from initial bus station, user can directly walk to initial bus station by reference position, therefore navigator do not perform above-mentioned planning from reference position the step to the path of riding of initial bus station, if the determination result is YES, then show that reference position is far away apart from initial bus station, user needs to ride to initial bus station by public bicycles from reference position, therefore navigator perform above-mentioned planning from reference position the step to the path of riding of initial bus station,

In like manner, navigator is before planning the path of riding from end bus station to destination locations, first can also judge whether the distance between end bus station and destination locations is greater than the second distance threshold value of setting, if judged result is no, then show that end bus station distance destination locations is nearer, user directly can walk to destination locations by end bus station, therefore navigator does not perform the step in the ride path of above-mentioned planning from end bus station to destination locations, if the determination result is YES, then show that end bus station distance destination locations is far away, user needs to ride to destination locations by public bicycles from end bus station, therefore navigator performs the step in the ride path of above-mentioned planning from end bus station to destination locations.

Above-mentioned second distance threshold value can be arranged according to actual conditions, such as, be set to 2 kms.User also can be arranged according to individual concrete condition.

Step 14, according to the public transport path cooked up, ride path and the path of riding from end bus station to destination locations from reference position to initial bus station, determines the guidance path from described reference position to described destination locations.

The embodiment of the present invention one proposes, when navigator determines the guidance path from reference position to destination locations, if there is path of riding between reference position and initial bus station, then plan the walking path between reference position and the initial public bicycles site in this path of riding and the walking path between end public bicycles site and initial bus station; If there is not path of riding between reference position and initial bus station, then plan the walking path between reference position and initial bus station; If there is path of riding between end bus station and destination locations, then plan the walking path between end bus station and the initial public bicycles site in this path of riding and the walking path between end public bicycles site and destination locations; If there is not path of riding between end bus station and destination locations, then plan the walking path between end bus station and destination locations.Navigator is by the walking path cooked up, ride path and the guidance path of public transport path composition from reference position to destination locations.

Such as, as shown in Figure 4, the reference position of user is position A, destination locations is position B, the initial bus station in the public transport path from reference position to destination locations cooked up is website C, end bus station is website D, the initial public bicycles site in the path of riding from reference position to initial bus station cooked up is site a, end public bicycles site is site b, therefore the guidance path from reference position to destination locations is made up of following five sections of paths: the walking path from position A to site a, path of riding from site a to site b, walking path from site b to website C, the walking path of the public transport path of slave site C to website D and slave site D to position B.

The public transport path cooked up due to navigator may need user to change to, if the hypertelorism between transfer website, then be not easy to the trip of user, to this, the embodiment of the present invention one proposes, navigator is before determining the guidance path from reference position to destination locations, first for two adjacent transfer bus stations any in the public transport path cooked up, judge whether the distance between these two transfer bus stations is greater than the second distance threshold value of setting, if judged result is no, then show the close together between these two transfer bus stations, user can change in walking, if the determination result is YES, then show these two transfer bus stations between distant, user needs to be changed to by public bicycles, now navigator can plan the path of riding between these two adjacent transfer bus stations, subsequent navigation equipment is according to the public transport path cooked up, from reference position to the path of riding of initial bus station, the path of riding of riding path and adjacent transfer bus station from end bus station to destination locations, determine the guidance path from reference position to destination locations.

When navigator determines the guidance path from reference position to destination locations, need to plan walking path, then by the walking path cooked up, ride path and the guidance path of public transport path composition from reference position to destination locations.

Such as, as shown in Figure 5, the reference position of user is position A, destination locations is position B, the initial bus station in the public transport path from reference position to destination locations cooked up is website C, end bus station is website F, middle transfer bus station is website D and website E, the initial public bicycles site in the path of riding from reference position to initial bus station cooked up is site a, end public bicycles site is site b, site a is positioned at A place, position, the initial public bicycles site from transfer bus station D to the path of riding of transfer bus station E cooked up is site c, end public bicycles site is site d, site c is positioned at D place, bus station, site d is positioned at E place, bus station, therefore the guidance path from reference position to destination locations is made up of following six sections of paths: the path of riding from site a to site b, walking path from site b to website C, the public transport path of slave site C to website D, path of riding from site c to site d, the walking path of the public transport path of slave site E to website F and slave site F to position B.

If navigator cooks up many public transport paths from reference position to destination locations, then navigator can determine corresponding guidance path respectively for every bar public transport path, then the many bar navigations path determined is supplied to user, select a bar navigation path by user according to the demand of self, the guidance path selected based on user of navigator provides real-time navigation services for user; In addition, many the public transport paths cooked up also first can be supplied to user by navigator, a public transport path is selected according to the demand of self by user, navigator determines corresponding guidance path for the public transport path that user selects, then based on this guidance path for user provides real-time navigation services.

Navigator is after determining guidance path, derive navigation way figure to user, and calculate the distance, travel time etc. of reference position to destination locations, then real-time navigation services is provided with forms such as voice, picture or dynamic medias to user, wherein, the picture provided to user can be as shown in Figure 6.

In the technical scheme that the embodiment of the present invention one proposes, when user goes on a journey, navigator can according to the distance between reference position and destination locations for user plans guidance path, when reference position distance destination locations is nearer, be directly the ride path of user's planning from reference position to destination locations, user can walk to nearest public bicycles site from reference position, leases public bicycles and rides to the public bicycles site nearest apart from destination locations, and give back public bicycles, when reference position distance destination locations is far away, can plan that reference position arrives the public transport path of destination locations for user, reference position is to path and the end bus station path of riding to destination locations of riding of initial bus station, user can walk to nearest public bicycles site from reference position, leasing public bicycles rides to the public bicycles site nearest apart from initial bus station, and give back public bicycles, take bus or subway arrival end bus station, nearest public bicycles site is walked to from end bus station, leasing public bicycles rides to the public bicycles site nearest apart from destination locations, and give back public bicycles.

Therefore, in the navigation path planning method that the embodiment of the present invention proposes, based on the navigator with GPS positioning function, on the basis of electronic digit map, public bicycles system is dissolved in urban public tranlport system conscientiously, allow user can obtain the route planning of seamless exchange under " public bicycles-subway-bus " three kinds of travel patterns from going out, solve the problem of user's " last one kilometer " or " parking difficulty "; Simultaneously, when driver drive to connect pedestrian go to same destination altogether, if pedestrian maintains static, its present position may be remoter, thus make driver arrive this position to need to spend more time, inconvenience is brought to driver, in the navigation path planning method that the embodiment of the present invention proposes, best point can be provided for driver and pedestrian, as shown in Figure 7, make pedestrian utilize the driving time of driver, converge place by public bicycles arrival of riding, thereby reduce the driving time of driver; In addition, public bicycles system combines with electronic digit map by the navigation path planning method proposed due to the embodiment of the present invention, and user can understand the public bicycles site of periphery in time, achieves short-range service for life.

Embodiment two

As shown in Figure 8, be the navigation path planning method specific implementation principle schematic that the embodiment of the present invention two proposes, concrete:

GPS locating module is provided with in the navigator that user uses, user is from the moment of going out, GPS locating module in navigator just can get the geographic coordinate of the current present position of user, load local electronic digit map datum simultaneously, the position of orienting is presented on electronic digit map exactly.

If user wants to use navigator to carry out path navigation, the station location marker needing the destination locations arrived then can be inputted in navigator, the geographic coordinate of navigator determination destination locations and the geographic coordinate of reference position, and be the path of riding that user plans from reference position to destination locations by public bicycles system.

Check public bicycles site for the ease of user, the geographic position of the public bicycles site of user's periphery also can be integrated into Digital map by navigator, forms public bicycles network point distribution figure and is supplied to user.

Navigator judges whether the shortest distance of riding in the path of riding cooked up is greater than 5 kms, if judged result is no, then show that reference position distance destination locations is nearer, user can directly use public bicycles to be ridden to destination locations by reference position, therefore navigator can according to the path of riding from reference position to destination locations cooked up, determine the guidance path from reference position to destination locations, then the guidance path determined is supplied to user, for user provides real-time navigation, user is according to the navigation of navigator, public bicycles is used to be ridden to destination locations by reference position.

If judged result is no, then show that reference position distance destination locations is far away, navigator recommends user to use Public Transport Transfer+ride mode to arrive destination, therefore need to plan the public transport path from reference position to destination locations, navigator judges whether the distance between reference position and initial bus station is greater than 2 kms, if judged result is no, then show that reference position is nearer apart from initial bus station, user can directly walk to initial bus station by reference position, if the determination result is YES, then show that reference position is far away apart from initial bus station, user needs to ride to initial bus station by public bicycles from reference position, therefore the ride path of navigator planning from reference position to initial bus station, in like manner, navigator judges whether the distance between end bus station and destination locations is greater than 2 kms, if judged result is no, then show that end bus station distance destination locations is nearer, user directly can walk to destination locations by end bus station, if the determination result is YES, then show that end bus station distance destination locations is far away, user needs to ride to destination locations by public bicycles from end bus station, therefore the ride path of navigator planning from end bus station to destination locations.Navigator is according to the public transport path cooked up and path of riding, determine that reference position arrives the guidance path of destination locations, the guidance path determined is supplied to user, for user provides real-time navigation, user, according to the navigation of navigator, arrives destination locations by public bicycles, bus or subway.

Embodiment three

Based on the navigation path planning method that the embodiment of the present invention one proposes, the embodiment of the present invention three proposes a kind of navigation path planning device, and its structure as shown in Figure 9, comprising:

First path planning unit 91, for planning the path of riding from reference position to destination locations;

First Distance Judgment unit 92, user judges whether the shortest distance of riding in the path of riding from reference position to destination locations that the first path planning unit 91 is cooked up is greater than the first distance threshold of setting;

Second path planning unit 93, for when the judged result of the first Distance Judgment unit 92 is for being, plans the public transport path from described reference position to described destination locations;

3rd path planning unit 94, for planning ride path and the path of riding from the end bus station in described public transport path to described destination locations from described reference position to the initial bus station in described public transport path;

First guidance path determining unit 95, for ride path and the path of riding from end bus station to destination locations from reference position to initial bus station that public transport path, the 3rd path planning unit 94 cooked up according to the second path planning unit 93 are cooked up, determine the guidance path from described reference position to described destination locations.

Preferably, described first path planning unit 91 specifically for:

Preferably, described navigation path planning device also comprises:

Second guidance path determining unit, for when the judged result of the first Distance Judgment unit 92 is no, according to the path of riding from reference position to destination locations that the first path planning unit 91 is cooked up, determines the guidance path from reference position to destination locations.

Preferably, described navigation path planning device also comprises:

Second distance judging unit, for planning at the 3rd path planning unit 94 from described reference position to before the path of riding of the initial bus station in described public transport path, judge whether the distance between described reference position and described initial bus station is greater than the second distance threshold value of setting;

Described 3rd path planning unit 94, specifically for when the judged result of second distance judging unit is for being, plans the path of riding from described reference position to the initial bus station in described public transport path;

3rd Distance Judgment unit, for plan the path of riding from the end bus station in described public transport path to described destination locations at the 3rd path planning unit 94 before, judge whether the distance between described end bus station and described destination locations is greater than the second distance threshold value of setting;

Described 3rd path planning unit 94, specifically for when the judged result of the 3rd Distance Judgment unit is for being, plans the path of riding from the end bus station in described public transport path to described destination locations.

Preferably, described 3rd path planning unit 94 specifically for:

Preferably, described navigation path planning device also comprises:

4th Distance Judgment unit, for determining from described reference position to before the guidance path of described destination locations in the first guidance path determining unit 95, for two adjacent transfer bus stations any in the public transport path that the second path planning unit 93 is cooked up, judge whether the distance between these two transfer bus stations is greater than the second distance threshold value of setting

Described first guidance path determining unit 95, specifically for according to the public transport path cooked up, the path of riding of riding path and adjacent transfer bus station from reference position to the path of riding of initial bus station, from end bus station to destination locations, determine the guidance path from described reference position to described destination locations.

Embodiment four

Corresponding with the navigation path planning device that the embodiment of the present invention three provides, the embodiment of the present invention four provides a kind of navigator, and this navigator can be mobile phone, Pad or navigating instrument etc.

As shown in Figure 10, be provided with GPS locating module 101 in navigator, electronic chart stores and calling module 102, information input inquiry module 103, path planning module 104, main control module 105 and display module 106, wherein:

GPS locating module 101 is for determining the geographic coordinate of the current present position of user, and for path navigation provides real time position data, GPS locating module 101 is sent to path planning module 104 in time by locating the information obtained;

Electronic chart storage and calling module 102 are for store electrons digital map data, and call local electronic digit map according to the positioning result of GPS locating module 101, electronic digit map shows the current present position of user, user can amplify the electronic digit map that display screen shows, reduce and the operation such as dragging, above-mentioned electronic digit map datum can be downloaded in advance and be saved in electronic chart storage and calling module 102, and user can upgrade electronic digit map;

The station location marker of the destination locations that information input inquiry module 103 is arrived for the needs receiving user and inputted by interactive mode, and the process request of user, such as public bicycles site inquiry request, navigation path planning request etc., be sent in path planning module 104 by the process request of user;

The geographic coordinate of path planning module 104 for orienting according to GPS locating module, the public bicycles network point distribution figure of display user periphery, the path planning request that combining information inquiry load module sends, merge public bicycles system and existing public transportation system, for user plans guidance path;

Main control module 105 derives navigation way figure for the guidance path cooked up according to path planning module 104, and calculates the distance, travel time etc. of reference position to destination locations;

Display module 106, according to the result of described path planning module 104, GPS locating module 101 and main control module 105, electronic digit map demonstrates guidance path relevant information, and shows to user with forms such as voice, picture or dynamic medias.

Introduce the principle of work of path planning module 104 below in detail.

Path planning module 104 comprises public bicycles system storage module, existing public transportation system memory module, in real time dynamic service information database, navigation processing module further.

Wherein, public bicycles system storage module comprises the public bicycles system of existing multilevel city, and the geographic position of the public bicycles site of user's periphery is integrated into Digital map, forms public bicycles network point distribution figure; Existing public transportation system memory module comprises the information of existing public transportation system.It should be noted that, public bicycles system storage module and existing public transportation system memory module form the public traffic network system of 3 D stereo, slitless connection jointly, facilitate user to realize one-stop trip;

Real-time dynamic service information database provides the related service information of public bicycles system and existing public transportation system to user, so that user selects traffic path according to self-demand and actual conditions, wherein, the related service information of public bicycles system comprises: the leased number of vehicles of each public bicycles site, current parking space information, handle the dot location leasing card, lease the expenses standard information of vehicle, the telephone number of each public bicycles site and relevant maintenance information out of service etc., the related service information of existing public transportation system comprises: first and last regular bus temporal information, seat information in car, vehicle arrives at a station information, crowded state information etc. in car,

Navigation processing module is used for according to the path planning request of user for user plans guidance path, concrete, the ride path of planning from reference position to destination locations, if this cooking up is ridden, the shortest distance of riding in path is greater than the first distance threshold of setting, then show that reference position distance destination locations is distant, user not only needs to use public bicycles to ride, may also need to be changed to by other public transports, therefore need to plan the public transport path from above-mentioned reference position to above-mentioned purpose position, in addition, also need ride path and the path of riding from the end bus station in public transport path to destination locations of the initial bus station of planning from reference position to public transport path, user to be ridden to initial bus station from reference position by public bicycles, then Public Transport Transfer is carried out in initial bus station, after user arrives end bus station, to be ridden to from end bus station target location by public bicycles, thus the seamless exchange of various public traffic Tool Room can be realized, public bicycles system is fully merged in the go off daily of user.

Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.The present invention can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code.

The present invention describes with reference to according to the process flow diagram of the method for the embodiment of the present invention, equipment (system) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or square frame.These computer program instructions can being provided to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computing machine or other programmable data processing device produce device for realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.

These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.

These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.

According to defining herein, computer-readable medium does not comprise the computer readable media (transitory media) of non-standing, as data-signal and the carrier wave of modulation.

Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.

Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims

1. a navigation path planning method, is characterized in that, comprising:

The ride path of planning from reference position to destination locations;

2. the method for claim 1, is characterized in that, plans the path of riding from reference position to destination locations, specifically comprises:

3. the method for claim 1, is characterized in that, also comprises:

4. the method for claim 1, is characterized in that, plans from described reference position to before the path of riding of the initial bus station in described public transport path, also comprises:

5. the method for claim 1, is characterized in that, plans the path of riding from described reference position to the initial bus station in described public transport path, specifically comprises:

6. the method for claim 1, is characterized in that, determines, from described reference position to before the guidance path of described destination locations, also to comprise:

7. a navigation path planning device, is characterized in that, comprising:

8. device as claimed in claim 7, is characterized in that, described first path planning unit specifically for:

9. device as claimed in claim 7, is characterized in that, also comprise:

10. device as claimed in claim 7, is characterized in that, also comprise:

11. devices as claimed in claim 7, is characterized in that, described 3rd path planning unit specifically for:

12. devices as claimed in claim 7, is characterized in that, also comprise: