CN105277199A - Method and navigation apparatus for adding prograde to navigation map - Google Patents
Method and navigation apparatus for adding prograde to navigation map Download PDFInfo
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- CN105277199A CN105277199A CN201410241116.4A CN201410241116A CN105277199A CN 105277199 A CN105277199 A CN 105277199A CN 201410241116 A CN201410241116 A CN 201410241116A CN 105277199 A CN105277199 A CN 105277199A
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Abstract
Embodiments provide a method and a navigation apparatus for adding prograde to a navigation map. The method comprises: determining the angle slopes of an entering line and an exit line, the line grade, the intersection, the attribute and the diverge; according to the angle slopes, finding a corresponding first class prograde rule in a prograde model, wherein the first class prograde rule determines whether the prograde is added according to the angle slopes, and the prograde can shield the prompting information in navigation information; and according to the line grade, the intersection, the attribute and the diverge, correcting the first class prograde rule, and deleting the prograde doing not meet the line grade, the intersection, the attribute and the diverge and added in the navigation information during the correcting process. According to the present invention, the prograde is added in the navigation map according to the principle at the data conversion stage, and through the compilation, the unwanted voice guidance information and graphical information can be automatically shielded when the driving route is selected in the actual driving.
Description
Technical field
The present invention relates to airmanship, refer to a kind of method for navigation map interpolation direct motion and guider especially.
Background technology
In airmanship, in the process of practical guide, direct motion technology can shield the unnecessary voice and unnecessary figure that occur in navigating instrument.
There are the following problems for prior art: do not have effective direct motion principle and program, causes producing the navigation map supporting direct motion technology fast.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of method for navigation map interpolation direct motion and guider, solves in prior art and does not have effective direct motion principle and program, cause the defect cannot producing the navigation map supporting direct motion technology fast.
For solving the problems of the technologies described above, embodiments of the invention provide a kind of and add the method for direct motion for navigation map, and be applied to guider, method comprises: determine the angle gradient entering line He exit line, line grade, crossing and attribute and difference; In direct motion model, find corresponding first kind direct motion rule according to described angle gradient, described first kind direct motion rule determines whether add direct motion according to angle gradient, and described direct motion can shield the information in navigation information; According to described line grade, crossing and attribute and difference, correct first kind direct motion rule, delete in trimming process added in navigation information do not meet described line grade, the direct motion of crossing and attribute and difference.
In described method, in direct motion model, find corresponding first kind direct motion rule to comprise according to described angle gradient: when can find the extended line that enters line and exit formed between line in time judging angle, wait to judge whether angle meets direct motion threshold value low-angle according to described first kind direct motion rule judgment, described in wait to judge that angle meets the low-angle needs of described direct motion threshold value and adds direct motion.
In described method, wait to judge whether angle meets direct motion threshold value low-angle and comprise according to described first kind direct motion rule judgment: described direct motion threshold value low-angle is between-30 degree are to 30 degree.
In described method, in direct motion model, corresponding first kind direct motion rule is found also to comprise according to described angle gradient: when at compound crossing place, the first slope entering line can be found, and the terminal entering line and the starting point that exits line formed the second slope time, need to add direct motion when according to described first kind direct motion rule judgment, the absolute value of the difference of the first slope and the second slope is less than slope threshold value.
In described method, according to described line grade, crossing and attribute and difference, carry out correction to first kind direct motion rule to comprise: find correction rule model, by described line grade, crossing and attribute and difference input described correction rule model as correction parameter, according to each correction rule output calibration result in described correction rule model; Described line grade comprises one-level ~ eight grade, and wherein, three grades ~ seven grades is general road; Crossing in described crossing and attribute and difference comprises single intersection, compound crossing, and enter line and exit line quantity separately, wherein, single intersection only has a point of crossing, and compound crossing comprises two or more point of crossing and has through line; Attribute in described crossing and attribute and difference comprises this line, bypass, and be connected JCT, high speed parking area SA, high speed parking area PA at a high speed and at a high speed, ring road, turns left in advance, advance right-turn, and export IC, uplink is separated with downlink; Difference in described crossing and attribute and difference comprises left and right difference, left straight difference and the straight difference in the right side; Described correction parameter also comprises: voice guide and traffic restriction.
In described method, comprise according to each correction rule output calibration result in described correction rule model: regular B1, entering line or exiting line is 8 grades of roads, does not add direct motion; Rule B2, the grade entering line is 4 grades, 6 grades or 7 grades, and exiting line is 3 grades, 2 grades or 1 grade of road; Entering line is 1 grade, 2 grades, and exiting line is 3 grades; And entering line is 3 grades, exiting line is 1, does not all add direct motion; Rule B3, enters line and is 1 grade or 2 grades and is uplink when being separated with downlink, do not add direct motion; Move back number of outgoing >=2 and grade is 1 grade or 2 grades and is uplink when being separated with downlink, do not add direct motion; Rule B4,4 grades, 6 grades or 7 grades of bypasses exit to outlet IC, do not add direct motion; Rule B5, when one enter line have more than 3 and 3 exit line, all do not add direct motion.
In described method, also comprise according to each correction rule output calibration result in described correction rule model: regular C1, specification special case situation: the two dimension of direct motion can not be added in advance, the arrow number of three dimensional pattern is organized in a configuration file, if run into two dimension, three dimensional pattern arrow number in described configuration file, do not add direct motion; Rule C2, exits from outlet IC and is connected JCT, high-speed service district SA or high speed parking area PA to outlet IC, high speed and high speed, do not add direct motion; Rule C3, exits from high-speed service district or high speed parking area to high speed, expressway around city, does not add direct motion; Exit from high-speed service district or high speed parking area to high speed service area, high speed parking area, outlet IC or be connected JCT at a high speed with at a high speed, not adding direct motion; Rule C4, exiting to being connected JCT, outlet IC, high-speed service district SA or high speed parking area PA with high speed at a high speed from being connected at a high speed JCT with high speed, not adding direct motion; Rule C5, enters line, inlet point exists direct motion, do not add direct motion; Rule C6, this line exits to bypass, and this line exits to ring road, does not add direct motion; Rule C7, high speed expressway around city exit to outlet IC, do not add direct motion; Rule C8, Gao Su expressway around city exits to being connected JCT at a high speed with at a high speed, does not add direct motion; Rule C9, Gao Su expressway around city exits to high speed service area SA/ high speed parking area PA, does not add direct motion; Rule C10, Gao Su expressway around city exits to Gao Su expressway around city, if connected by being connected JCT with high speed at a high speed between two Gao Su expressway around cities, does not add direct motion; Rule C11, compound crossing, entering line or exiting line is link in crossing, does not add direct motion; Rule C12, enters line, exits line when being a link, do not add direct motion; Rule C13, if there is more than two and two enter line and exit line and meet that to add direct motion regular, but have at least one be on to roll off the production line separation, do not add direct motion; Rule C14, this line exits to outlet IC, does not add direct motion, and outlet IC exits to high speed service area SA and do not add direct motion, and high-speed service district SA exits to this line and do not add direct motion; Rule C15, this line exits to being connected JCT does not add direct motion at a high speed with at a high speed; Rule C16, bypass exits and does not add direct motion to exporting IC; Rule C17, outlet IC exit and do not add direct motion to outlet IC, and outlet IC exits to being connected JCT does not add direct motion at a high speed with at a high speed; Regular C18, is connected at a high speed this line of JCT/ and exits to being connected JCT at a high speed with at a high speed, and have at least two exit high speed and be connected JCT at a high speed, do not add direct motion with high speed; Rule C19, this line exits to this line, and has at least two to exit this line, does not add direct motion; Rule C20, is connected at a high speed this line of JCT/ outlet IC/ and exits to outlet IC, and have at least two to exit outlet IC, do not add direct motion with high speed.
In described method, comprise according to each correction rule output calibration result in described correction rule model: outlet IC exists correction rule A1 ~ A3 to the parting of ordinary road at a high speed: correction rule A1, article two, exiting line is left and right difference, and two are exited line and all do not add direct motion; Correction rule A2, for the straight difference in a left side, does not add direct motion; Correction rule A3, for the straight difference in the right side, craspedodrome difference does not add direct motion.
In described method, also comprise according to each correction rule output calibration result in described correction rule model: regular D1, enter line and there is voice guide to exiting line, do not add direct motion; Rule D2, enter line to exit line have forbid hand over limit or one direction cannot exit, do not add direct motion.
In described method, also comprise: in direct motion model, find corresponding Equations of The Second Kind direct motion rule according to described angle gradient, described Equations of The Second Kind direct motion rule executing rule E1 ~ E3, and regular F1 ~ F5: regular E1, being connected at a high speed JCT with high speed exits to this line interpolation direct motion, and this line exits to this line interpolation direct motion; Regular E2, be connected at a high speed JCT with high speed and exit to this line interpolation direct motion, outlet IC exits to this line interpolation direct motion; Rule E3, bypass exits and then judges according to angle to bypass, and bypass exits and adds direct motion to this line, and IC exits to this line, adds direct motion; And regular F1, export between IC and two general road: the first general road and the second general road tandem array, and is connected with outlet IC at joining place, then export IC and exit to the interpolation direct motion of general road, general road exits and calls direct motion model to general road and judge that angle judges according to waiting; Rule F2, IC is with between two general roads in outlet: the first general road is connected with the second general road tail tail, and joining place with export IC and be connected, then outlet IC exits and calls direct motion model to general road and judge that angle judges according to waiting; Rule F3, article one, general road and two export between IC, this general road is divided in order to first paragraph, second segment and the 3rd section: first head exported are connected general road by two outlet IC with two joining places in general road, the afterbody of the second outlet is connected general road, then general road exits to general road, adds the direct motion in first paragraph on general road, second segment and the 3rd section of craspedodrome direction; Rule F4, if it is curved to enter line advance right-turn, does not then consider that remaining enters line, obtains this root and enter line and exit the angle between line, and call direct motion model, as described waiting, angle is judged that angle judges; Rule F5, bypass exits to bypass, calls described direct motion model and judges that angle processes according to waiting.
For navigation map adds the guider of direct motion, comprising: parameter acquiring unit, for the angle gradient determining to enter line He exit line, line grade, crossing and attribute and difference; Direct motion model unit, for finding corresponding first kind direct motion rule in direct motion model according to described angle gradient, described first kind direct motion rule determines whether add direct motion according to angle gradient, and described direct motion can shield the information in navigation information; Correcting unit, for according to described line grade, crossing and attribute and difference, correct first kind direct motion rule, delete in trimming process added in navigation information do not meet described line grade, the direct motion of crossing and attribute and difference.
In described guider, direct motion model unit comprises: angle module, for when can find the extended line that enters line and exit formed between line in time judging angle, wait to judge whether angle meets direct motion threshold value low-angle according to described first kind direct motion rule judgment, described in wait to judge that angle meets the low-angle needs of described direct motion threshold value and adds direct motion.
In described guider, correcting unit comprises: correct execution module, for finding correction rule model, by described line grade, crossing and attribute and difference input described correction rule model as correction parameter, according to each correction rule output calibration result in described correction rule model; Described line grade comprises one-level ~ eight grade, and wherein, three grades ~ seven grades is general road; Crossing in described crossing and attribute and difference comprises single intersection, compound crossing, and enter line and exit line quantity separately, wherein, single intersection only has a point of crossing, and compound crossing comprises two or more point of crossing and has through line; Attribute in described crossing and attribute and difference comprises this line, bypass, and be connected JCT, high speed parking area SA, high speed parking area PA at a high speed and at a high speed, ring road, turns left in advance, advance right-turn, and export IC, uplink is separated with downlink; Difference in described crossing and attribute and difference comprises left and right difference, left straight difference and the straight difference in the right side; Described correction parameter also comprises: voice guide and traffic restriction.
The beneficial effect of technique scheme of the present invention is as follows: at data translate phase, direct motion is with the addition of on principle in navigation map, through compiling, in the driving of reality when have selected traffic route, the voice guidance message that meeting automatic shield is unnecessary and graphical information, avoid unnecessary voice or the interference of figure.
Accompanying drawing explanation
Fig. 1 represents a kind of method flow schematic diagram for navigation map interpolation direct motion;
Fig. 2 represents the angle schematic diagram of direct motion model;
Fig. 3 represents the coverage schematic diagram one of direct motion model;
Fig. 4 represents the coverage schematic diagram two of direct motion model;
Fig. 5 represents that single intersection situation does not add the schematic diagram one of direct motion;
Fig. 6 represents that single intersection situation does not add the schematic diagram two of direct motion;
Fig. 7 represents that single intersection situation does not add the schematic diagram three of direct motion;
Fig. 8 represents that single intersection situation does not add the schematic diagram four of direct motion;
Fig. 9 represents that single intersection situation does not add the schematic diagram five of direct motion;
Figure 10 represents that single intersection situation does not add the schematic diagram six of direct motion;
Figure 11 represents that single intersection situation does not add the schematic diagram seven of direct motion;
Figure 12 represents that single intersection situation is added or do not add the schematic diagram one of direct motion;
Figure 13 represents that single intersection situation is added or do not add the schematic diagram two of direct motion;
Figure 14 represents that single intersection situation is added or do not add the schematic diagram three of direct motion;
Figure 15 represents that single intersection situation is added or do not add the schematic diagram four of direct motion;
Figure 16 represents that single intersection situation is added or do not add the schematic diagram five of direct motion;
Figure 17 represents that single intersection situation is added or do not add the schematic diagram six of direct motion;
Figure 18 represents that single intersection situation is added or do not add the schematic diagram seven of direct motion;
Figure 19 represents that single intersection situation is added or do not add the schematic diagram eight of direct motion;
Figure 20 represents that single intersection situation is added or do not add the schematic diagram nine of direct motion;
Figure 21 represents that single intersection situation is added or do not add the schematic diagram ten of direct motion;
Figure 22 represents that single intersection situation is added or do not add the schematic diagram 11 of direct motion;
Figure 23 represents that single intersection situation is added or do not add the schematic diagram 12 of direct motion;
Figure 24 represents that single intersection situation is added or do not add the schematic diagram 13 of direct motion;
Figure 25 represents left and right difference schematic diagram;
Figure 26 represents left straight difference schematic diagram;
Figure 27 represents right straight difference schematic diagram.
Embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
Direct motion refers in road guide technology, masks unnecessary voice and graphical cues.
Enter line and exit line and intersect at point of crossing place; Enter the extended line of line and to exit the angle formed between line be the angle that direct motion model needs.
In the middle of practice, for direct motion model, usually adopt-30 ° ~ 30 ° as low-angle, usually need under low-angle situation to add direct motion, but other angular range also can be adopted as low-angle.
The embodiment of the present invention relates to multiple technical term: outlet IC, is connected JCT, high-speed service district SA, high speed parking area PA and ring road at a high speed with at a high speed.Ring road should satisfy condition (1) (2) (3) or (1) (2) (4) simultaneously: (1) connects two not at conplane road, (2) be a link road and without independently link name, (3) road itself has the gradient, (4) road this there is no other functions as level, only have the effect of link road.
The embodiment of the present invention provides a kind of method for navigation map interpolation direct motion, and be applied to guider, as shown in Figure 1, method comprises:
Step 11, determines the angle gradient entering line He exit line, line (link) grade, crossing and attribute and difference;
Step 12, finds corresponding first kind direct motion rule according to described angle gradient in direct motion model, and described first kind direct motion rule determines whether add direct motion according to angle gradient, and described direct motion can shield the information in navigation information;
Step 13, according to described line grade, crossing and attribute and difference, correct first kind direct motion rule, delete in trimming process added in navigation information do not meet described line grade, the direct motion of crossing and attribute and difference.
The technology provided is provided, data translate phase with the addition of direct motion according to direct motion model in navigation map, through compiling, in the driving of reality when have selected traffic route, the voice guidance message that meeting automatic shield is unnecessary and graphical information, avoid unnecessary voice or the interference of figure.
In order to clearly describe technical scheme of the present invention in detail, need according to different its angles of angle direction setting in embodiment, as shown in Figure 2, the angle between line a to line b is 0 °, angle between line a and line c is 90 °, and the angle between line c and line e is 50 °.Above angle is all positive-angle, in like manner also can have negative angle, and line a is-40 ° to line f.
As shown in Figure 3, point of crossing is the center of circle, and the circular radius of formation should be not less than 20m, if enter line and exit the scope of line beyond circle, direct motion model can be adopted to judge.Verifying through a large amount of navigation on the spot the value optimum range drawn, take 20m as the parting of radius, can than more completely expressing the form entering line and exit line.
As shown in Figure 4, the circular radius of formation should be not less than 20m.If there is no distance limit, the road of such as 10m, it is nonsensical for having dosed direct motion, because, direct motion actually increases the size of stored data, and driver can estimate current road completely to determine how to operate, there is no need in this case to carry out direct motion process.
In a preferred embodiment, in direct motion model, find corresponding first kind direct motion rule to comprise according to described angle gradient: when can find the extended line that enters line and exit formed between line in time judging angle, wait to judge whether angle meets direct motion threshold value low-angle according to described first kind direct motion rule judgment, described in wait to judge that angle meets the low-angle needs of described direct motion threshold value and adds direct motion.
In angle gradient, enter the extended line of line and to exit the angle formed between line be the angle that direct motion model needs, the angle that direct motion model needs meets the low-angle situation needs of direct motion threshold value and adds direct motion.
In a preferred embodiment, wait to judge whether angle meets direct motion threshold value low-angle and comprise according to described first kind direct motion rule judgment: described direct motion threshold value low-angle is between-30 degree are to 30 degree.Can know, wait to judge that angle is greater than that 30 degree and angle be less than-30 degree and do not add direct motion.
Determine to need the angle of adding between the line of direct motion to comprise: the direct motion threshold value low-angle of employing is-30 ° ~ 30 °, meet the low-angle situation needs of direct motion threshold value and add direct motion, but other angular range also can be adopted to be low-angle.
In a preferred embodiment, in direct motion model, corresponding first kind direct motion rule is found also to comprise according to described angle gradient:
When at compound crossing place, the first slope entering line can be found, and the terminal entering line and the starting point that exits line formed the second slope time, need to add direct motion when according to described first kind direct motion rule judgment, the absolute value of the difference of the first slope and the second slope is less than slope threshold value.Slope, also known as angle factor, represents the inclined degree of straight line relative to abscissa axis.Formed by straight line and certain plane right-angle coordinate abscissa axis positive axis direction, tangent of an angle value i.e. this straight line is relative to the slope of this coordinate system.If straight line and x-axis orthogonal, the tangent value at right angle is infinitely great, so straight line does not exist slope.When the slope of straight line L exists, for slope intercept form linear function y=kx+b, the k i.e. slope of this function.
In a preferred embodiment, according to described line grade, crossing and attribute and difference, correction is carried out to first kind direct motion rule and comprises:
Find correction rule model, by described line grade, crossing and attribute and difference input described correction rule model as correction parameter, according to each correction rule output calibration result in described correction rule model;
Described line grade comprises one-level ~ eight grade, and wherein, three grades ~ seven grades is general road;
Crossing in described crossing and attribute and difference comprises single intersection, compound crossing, and enter line and exit line quantity separately, wherein, single intersection only has a point of crossing, and compound crossing comprises two or more point of crossing and has through line;
Attribute in described crossing and attribute and difference comprises this line, bypass, and be connected JCT, high speed parking area SA, high speed parking area PA at a high speed and at a high speed, ring road, turns left in advance, advance right-turn, and export IC, uplink is separated with downlink;
Difference in described crossing and attribute and difference comprises left and right difference, left straight difference and the straight difference in the right side;
Described correction parameter also comprises: voice guide and traffic restriction.
Enter line and exit the category of roads of line, such as whether super expressway, whether 8 grades of roads.8 grades of roads are inferior grade roads, such as, enter concrete inside, community, from community/gate, community to the road on interior building doorway, community, or walkway, or blindmen road etc., can be defined as 8 grades of roads.
The type at crossing comprises simple crossing and complex crossing.
Enter line on roll off the production line and there is unbundled attribute refer to that uplink is separated with downlink, in real road, usually there is isolation strip between uplink and downlink, such as most highways is all that uplink is separated with downlink, and the loop of Beijing area is also that uplink is separated with downlink.
In a preferred embodiment, the correction result obtaining exporting according to each correction rule in described correction rule model also comprises:
Rule B1, entering line or exiting line is 8 grades of roads, does not add direct motion; As shown in Figure 5, entering line a and exiting between line b is low-angle, enter=1, exit line=1, but owing to there are 8 grades of roads, interference can be formed to navigation, therefore do not need to add direct motion.
As shown in Figure 6, enter >=1, exit line=2, enter line a, to exit the direction of line b identical, namely enter line a, exit angle between line b between-30 ° ~ 30 °, also do not add direct motion, these are different from first kind direct motion rule, and in other words, direct motion is not added in direction of turning back.Judgement similar is below identical all therewith.
Rule B2, the grade entering line is 4 grades, 6 grades or 7 grades, and exiting line is 3 grades, 2 grades or 1 grade of road;
Entering line is 1 grade, 2 grades, and exiting line is 3 grades;
Entering line is 3 grades, and exiting line is 1, does not all add direct motion;
And, enter line and be 1 grade or 2 grades and be uplink when being separated with downlink, do not add direct motion;
Rule B3, moves back number of outgoing >=2 and grade is 1 grade or 2 grades and is uplink when being separated with downlink, does not add direct motion;
Rule B4,4 grades, 6 grades or 7 grades of bypasses exit to outlet IC, do not add direct motion;
Rule B5, when one enters line and has more than 3 and 3 exiting line and meeting angle conditions, does not all add direct motion;
As shown in Figure 10, enter line >=1, exit line=3, meet two conditions: | angle ac|<70 °, | angle ad|<70 °, there is corresponding 2D or 3D mode chart, and mode chart is in the mode chart configuration file not adding direct motion, then do not add the direct motion in any direction.Otherwise, add the direct motion in ab craspedodrome direction.
As shown in figure 11, enter line >=1, exit line=4, meet two conditions, | angle ac|<70 °, and | angle ad|<|70 ° |.Have corresponding 2D or 3D mode chart, and mode chart is in the mode chart configuration file not adding direct motion, then do not add the direct motion in any direction, otherwise, add the direct motion in ab craspedodrome direction.
Can know, for entering line >=1, exiting the situation of line >=5 should as processed in Figure 10 and Figure 11 equally.
In a preferred embodiment, the correction result obtaining exporting according to each correction rule in described correction rule model also comprises:
Rule C1, specification special case situation: 2D (high speed difference mode chart), the 3D pattern figure number that can not add direct motion are organized into separately a text document, 2D, 3D arrow number in configuration file, does not add direct motion;
Program can read this file in transfer process, if 2D, 3D pattern figure number in data has appeared in this configuration file, does not add direct motion, otherwise adds direct motion.
Particularly, " not adding the high speed difference mode chart numbering of the direct motion " configuration file according to pre-setting is needed to judge whether not need to add direct motion, comprising: if mode chart is not in configuration file, then add direct motion, if in configuration file, do not add.Such as mode chart numbering is the mode chart of 00215805, although meet the condition of adding direct motion according to mode chart numbering, the shape in its craspedodrome direction is not keep straight on, so do not add direct motion.Operating personnel or program batch processing, usually be all judge whether to add direct motion according to two of mode chart numbering, and do not go with reference to concrete mode chart, so there will be the situation that with the addition of direct motion of left parting mistake, therefore, add the judgement to pattern figure concrete shape in the embodiment of the present invention, and not only depend on the numbering of mode chart, avoid direct motion mistake.
Rule C2, exits to outlet IC, high speed from outlet IC and is connected at a high speed JCT, high-speed service district SA or high speed parking area PA, is connected at a high speed and at a high speed JCT and exits and be connected JCT to high speed with high speed, do not add direct motion;
As shown in figure 15, outlet IC exits and does not add direct motion to outlet IC, and outlet IC exits and do not add direct motion to JCT, is connected at a high speed JCT exits to being connected JCT does not add direct motion at a high speed with at a high speed with high speed.
Rule C3, exits to high speed, expressway around city from high-speed service district SA or high speed parking area PA, does not add direct motion;
As shown in figure 23, high-speed service district SA exits to this line-at a high speed, expressway around city, does not add direct motion.
Rule C4, exiting to being connected JCT, outlet IC, high-speed service district SA or high speed parking area PA with high speed at a high speed from being connected at a high speed JCT with high speed, not adding direct motion;
And, exit to high speed service area SA, high speed parking area PA, outlet IC from high-speed service district SA or high speed parking area PA or be connected JCT at a high speed with at a high speed, not adding direct motion;
Rule C5, Gao Su expressway around city exits to high speed service area SA/ high speed parking area PA, does not add direct motion;
As shown in figure 23, this line exits to high speed service area SA/ high speed parking area PA, does not add direct motion;
Rule C6, enters line, inlet point exists direct motion, do not add direct motion;
Rule C7, this line exits to bypass, and this line exits to ring road, does not add direct motion;
Rule C8, high speed expressway around city exit to outlet IC, do not add direct motion;
Rule C9, Gao Su expressway around city exits to being connected JCT at a high speed with at a high speed, does not add direct motion;
Rule C10, Gao Su expressway around city exits to Gao Su expressway around city, if connected by being connected JCT with high speed at a high speed between two Gao Su expressway around cities, does not add direct motion;
Rule C11, compound crossing, entering line or exiting line is link in crossing, does not add direct motion;
Rule C12, enters line, exits line when being a link, do not add direct motion;
Rule C13, if there is more than two and two enter line and exit line and meet that to add direct motion regular, but have at least one be on to roll off the production line separation, do not add direct motion;
Rule C14, as shown in figure 12, this line exits to outlet IC, does not add direct motion, and outlet IC exits to high speed service area SA and do not add direct motion, and high-speed service district SA exits to this line and do not add direct motion;
Rule C15, as shown in figure 13, as shown in figure 16, this line exits to being connected JCT at a high speed with at a high speed, does not add direct motion;
Rule C16, as shown in figure 14, bypass exits to outlet IC, does not add direct motion;
Regular C17, as shown in figure 16, is connected at a high speed this line of JCT/ and exits to being connected JCT at a high speed with at a high speed, and have at least two exit high speed and be connected JCT at a high speed, do not add direct motion with high speed;
Rule C18, as shown in figure 16, this line exits to this line, and has at least two to exit this line, does not add direct motion;
Rule C19, as shown in figure 16, is connected at a high speed this line of JCT/ outlet IC/ and exits to outlet IC, and have at least two to exit outlet IC, do not add direct motion with high speed.
As shown in Figure 7, enter >1, exit line=1, line a and line b are all that uplink is separated with downlink, enter line c non-on to roll off the production line separation.
Line ab, line cb are all low-angles, and between-30 ° ~ 30 ° enter into one and exit line b, therefore add direct motion in principle, but only add cb direct motion, because entering b from c is unique selection, without the need to row voice message again, ab does not then add direct motion.
When if rolled off the production line on non-, separation has many, then according to entering line and exiting waiting that line formed and judge that angle judges whether to need to add direct motion.
In a preferred embodiment, comprise according to each correction rule output calibration result in described correction rule model:
There is correction rule A1 ~ A3 in the parting exporting at a high speed ordinary road:
As shown in figure 25, correction rule A1, two are exited line is left and right difference, and two are exited line and all do not add direct motion;
As shown in figure 26, correction rule A2, for the straight difference in a left side, does not add direct motion;
As shown in figure 27, correction rule A3, for the straight difference in the right side, craspedodrome difference does not add direct motion.
In a preferred embodiment, also comprise according to each correction rule output calibration result in described correction rule model:
Rule E1, be connected at a high speed JCT with high speed and exit to this line interpolation direct motion, this line exits to this line interpolation direct motion; As shown in figure 17, JCT exits and adds direct motion to this line, and as shown in figure 14, this line exits to this line interpolation direct motion.
Regular E2, be connected at a high speed JCT with high speed and exit to this line interpolation direct motion, outlet IC exits to this line interpolation direct motion; As shown in figure 18, be connected at a high speed JCT with high speed and exit to this line interpolation direct motion, outlet IC exits to this line interpolation direct motion.
Rule E3, bypass exits to bypass then according to waiting to judge that angle judges, bypass exits and adds direct motion to this line, and IC exits to this line, adds direct motion; As shown in figure 19, bypass exits to bypass, and judge that angle judges according to waiting, bypass exits to this line, adds direct motion; Outlet IC exits to this line, adds direct motion.
And
Rule F1, export between IC and two general road: the first general road and the second general road tandem array, and is connected with outlet IC at joining place, then export IC and exit to the interpolation direct motion of general road, general road exits and calls direct motion model to general road and judge that angle judges according to waiting;
As shown in figure 19, as shown in figure 20, side line and this line are all general roads, and outlet IC exits to general road, adds direct motion;
As shown in figure 21, side line and this line are all general roads, and general road exits to general road, judges angle according to waiting, if there is craspedodrome, then add the direct motion in craspedodrome direction.
Rule F2, IC is with between two general roads in outlet: the first general road is connected with the second general road tail tail, and joining place with export IC and be connected, then outlet IC exits and calls direct motion model to general road and judge that angle judges according to waiting;
As shown in figure 22, have two general roads, the first general road is connected with the second general road tail tail, and outlet IC exits to general road, judges that angle judges according to waiting.
Rule F3, article one, general road and two export between IC, this general road is divided in order to first paragraph, second segment and the 3rd section: first export and be connected first paragraph and second segment by two outlet IC with two joining places in general road, second outlet is connected second segment and the 3rd section, then there will be general road and exit situation to general road, add the direct motion in first paragraph on general road, second segment and the 3rd section these the three sections craspedodrome directions formed.
Rule F4, if it is curved to enter line advance right-turn, does not then consider that remaining enters line, obtains this root and enter line and exit the angle between line, and call direct motion model, as described waiting, angle is judged that angle judges;
Rule F5, bypass exits to bypass, calls direct motion model and judges that angle processes according to waiting.The judgement of high speed difference mode chart numbering can also be increased.
As shown in Figure 8 a, line a, line b is consistent with the attribute of line c, selects to enter line and exit treating between line to judge the interpolation direct motion that angle absolute value is little.Comprise:
As shown in Figure 8 b, line a, line b attribute is consistent, and grade is higher than line c, and select the line a that attribute is consistent, line b adds direct motion; Here attribute unanimously refers to interpolation attribute on line, and in this, as a kind of auxiliary basis for estimation, roll off the production line such as unbundled attribute etc.
As shown in Figure 8 c, line a, line b attribute is consistent, and grade, lower than line c, is selected to exit the high line c of grade and added direct motion;
As shown in figure 8d, line a, line b, line c attribute is inconsistent, selects to exit the high interpolation direct motion of grade.
As Fig. 8 a ~ as in Fig. 8 d, wait to judge angle conditions if run into meet, but attribute is inconsistent, then judges how to add direct motion according to details.
As shown in Figure 9, under interflow, shunting craspedodrome direction situation, treat to judge that angle all needs interpolation direct motion if enter line and exit to meet between line, although this exists inconsistent with the interpolation specification of base library, be as the criterion with this demand in direct motion model.
In a preferred embodiment, the correction result obtaining exporting according to each correction rule in described correction rule model also comprises:
Rule D1, enters line and there is voice guide to exiting line, do not add direct motion;
Rule D2, enter line to exit line have forbid hand over limit or one direction cannot exit, do not add direct motion.
Apply the technology that each embodiment provides, in an application scenarios, according to the order judged, first determine whether to meet angle, and then judge whether the requirement meeting the grade in rule definition etc., if still there is more than two and two exit line and cannot determine by above condition adding direct motion exits line to which bar actually, then employing slope judges, get slope value minimum exit line interpolation direct motion.
Step 6, program development, develops the tax direct motion program based on form (Windows) and oracle database platform according to the direct motion principle determined.
Step 7, program test and amendment, according to mentioned above principle, carry out the test of program and update routine.
Step 8, editor tests-determines the data after the tax direct motion of NavInfo, whether meets compiling.
Step 9, determines on-the-spot real vehicle proof scheme and implements.
According to road complexity distribution situation, have chosen the report that evaluation of programme, plan and result have been formulated in the cities such as Beijing, Tianjin, Shanghai, Guangzhou and Shenzhen.
Step 10, relevant departments and client evaluate result.
By the evaluation reported test report, principle and field evaluation, determine that the tax direct motion program that NavInfo is new formally puts into production.
Step 11, navigation map data and vehicle control system combine, and map obtains the direct motion information of advancing on road, to unnecessary voice or figure automatic shield, avoid unnecessary voice or figure interference.
Navigation map, at data translate phase, just with the addition of direct motion on principle, through compiling, in the driving of reality, when have selected traffic route, will the unnecessary voice guidance message of automatic shield and graphical information, avoid unnecessary voice or the interference of figure.
The technology provided is provided, adopts angle, length parameter between intersection mounting link to filter out qualified link; Adopt slope between intersection mounting link to calculate comparative approach and filter out of simultaneously meeting in multiple conditions of above-mentioned condition; High speed difference mode chart and 3D mode chart is adopted to judge whether to add the algorithm of direct motion; The principle needing to add direct motion and do not need to add direct motion adopting summary and induction to go out; The special treatment method of complex model and manual work direct motion over the years; Navigation map datum and vehicle control system, map obtains the direct motion information of advancing on road, shields unnecessary voice or figure.
The embodiment of the present invention provides a kind of guider for navigation map interpolation direct motion, comprising:
Parameter acquiring unit, for the angle gradient determining to enter line He exit line, line grade, crossing and attribute and difference;
Direct motion model unit, for finding corresponding first kind direct motion rule in direct motion model according to described angle gradient, described first kind direct motion rule determines whether add direct motion according to angle gradient, and described direct motion can shield the information in navigation information;
Correcting unit, for according to described line grade, crossing and attribute and difference, correct first kind direct motion rule, delete in trimming process added in navigation information do not meet described line grade, the direct motion of crossing and attribute and difference.
In a preferred embodiment, direct motion model unit comprises:
Angle module, for when can find the extended line that enters line and exit formed between line in time judging angle, wait to judge whether angle meets direct motion threshold value low-angle according to described first kind direct motion rule judgment, described in wait to judge that angle meets the low-angle needs of described direct motion threshold value and adds direct motion.
In a preferred embodiment, correcting unit comprises:
Correct execution module, for finding correction rule model, by described line grade, crossing and attribute and difference input described correction rule model as correction parameter, according to each correction rule output calibration result in described correction rule model;
Described line grade comprises one-level ~ eight grade, and wherein, three grades ~ seven grades is general road;
Crossing in described crossing and attribute and difference comprises single intersection, compound crossing, and enter line and exit line quantity separately, wherein, single intersection only has a point of crossing, and compound crossing comprises two or more point of crossing and has through line;
Attribute in described crossing and attribute and difference comprises this line, bypass, and be connected JCT, high speed parking area SA, high speed parking area PA at a high speed and at a high speed, ring road, turns left in advance, advance right-turn, and export IC, uplink is separated with downlink;
Difference in described crossing and attribute and difference comprises left and right difference, left straight difference and the straight difference in the right side;
Described correction parameter also comprises: voice guide and traffic restriction.
Advantage after employing this programme is: the principle and each rule that devise direct motion, these principle Sum fanction can be applied to database platform and Windows, the prompting of shielding navigating instrument extra voice and figure, meet cross-platform operation requirements, instead of Denso and compose direct motion, tax direct motion is made no longer to become the bottleneck of product product, meet the requirement of producing fast, according to putting into practice the actual effect display obtained, the efficiency composing direct motion improves 97%, overall product efficiency improves 40%, and the product cycle shortened to 3 days-wherein conversion in 2 days inspection in 1 day by original 5 days; Eliminate and produce later stage artificial special modification direct motion and batch processing deletion direct motion and add the links such as 3 dimension direct motions of turning left in advance, all automatically realized by program, annual saving cost of labor 144 man day.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (13)
1., for navigation map adds a method for direct motion, be applied to guider, it is characterized in that, method comprises:
Determine the angle gradient entering line He exit line, line grade, crossing and attribute and difference;
In direct motion model, find corresponding first kind direct motion rule according to described angle gradient, described first kind direct motion rule determines whether add direct motion according to angle gradient, and described direct motion can shield the information in navigation information;
According to described line grade, crossing and attribute and difference, correct first kind direct motion rule, delete in trimming process added in navigation information do not meet described line grade, the direct motion of crossing and attribute and difference.
2. method according to claim 1, is characterized in that, finds corresponding first kind direct motion rule to comprise according to described angle gradient in direct motion model:
When can find the extended line that enters line and exit formed between line in time judging angle, wait to judge whether angle meets direct motion threshold value low-angle according to described first kind direct motion rule judgment, described in wait to judge that angle meets the low-angle needs of described direct motion threshold value and adds direct motion.
3. method according to claim 2, is characterized in that, waits to judge whether angle meets direct motion threshold value low-angle and comprise according to described first kind direct motion rule judgment:
Described direct motion threshold value low-angle is between-30 degree are to 30 degree.
4. method according to claim 1, is characterized in that, finds corresponding first kind direct motion rule also to comprise according to described angle gradient in direct motion model:
When at compound crossing place, the first slope entering line can be found, and the terminal entering line and the starting point that exits line formed the second slope time, need to add direct motion when according to described first kind direct motion rule judgment, the absolute value of the difference of the first slope and the second slope is less than slope threshold value.
5. method according to claim 1, is characterized in that, according to described line grade, and crossing and attribute and difference, correction is carried out to first kind direct motion rule and comprises:
Find correction rule model, by described line grade, crossing and attribute and difference input described correction rule model as correction parameter, according to each correction rule output calibration result in described correction rule model;
Described line grade comprises one-level ~ eight grade, and wherein, three grades ~ seven grades is general road;
Crossing in described crossing and attribute and difference comprises single intersection, compound crossing, and enter line and exit line quantity separately, wherein, single intersection only has a point of crossing, and compound crossing comprises two or more point of crossing and has through line;
Attribute in described crossing and attribute and difference comprises this line, bypass, and be connected JCT, high speed parking area SA, high speed parking area PA at a high speed and at a high speed, ring road, turns left in advance, advance right-turn, and export IC, uplink is separated with downlink;
Difference in described crossing and attribute and difference comprises left and right difference, left straight difference and the straight difference in the right side;
Described correction parameter also comprises: voice guide and traffic restriction.
6. method according to claim 5, is characterized in that, comprises according to each correction rule output calibration result in described correction rule model:
Rule B1, entering line or exiting line is 8 grades of roads, does not add direct motion;
Rule B2, the grade entering line is 4 grades, 6 grades or 7 grades, and exiting line is 3 grades, 2 grades or 1 grade of road; Entering line is 1 grade, 2 grades, and exiting line is 3 grades; And entering line is 3 grades, exiting line is 1, does not all add direct motion;
Rule B3, enters line and is 1 grade or 2 grades and is uplink when being separated with downlink, do not add direct motion;
Move back number of outgoing >=2 and grade is 1 grade or 2 grades and is uplink when being separated with downlink, do not add direct motion;
Rule B4,4 grades, 6 grades or 7 grades of bypasses exit to outlet IC, do not add direct motion;
Rule B5, when one enter line have more than 3 and 3 exit line, all do not add direct motion.
7. method according to claim 5, is characterized in that, also comprises according to each correction rule output calibration result in described correction rule model:
Rule C1, specification special case situation: the two dimension of direct motion can not be added in advance, the arrow number of three dimensional pattern is organized in a configuration file, if run into two dimension, three dimensional pattern arrow number in described configuration file, do not add direct motion;
Rule C2, exits from outlet IC and is connected JCT, high-speed service district SA or high speed parking area PA to outlet IC, high speed and high speed, do not add direct motion;
Rule C3, exits from high-speed service district or high speed parking area to high speed, expressway around city, does not add direct motion;
Exit from high-speed service district or high speed parking area to high speed service area, high speed parking area, outlet IC or be connected JCT at a high speed with at a high speed, not adding direct motion;
Rule C4, exiting to being connected JCT, outlet IC, high-speed service district SA or high speed parking area PA with high speed at a high speed from being connected at a high speed JCT with high speed, not adding direct motion;
Rule C5, enters line, inlet point exists direct motion, do not add direct motion;
Rule C6, this line exits to bypass, and this line exits to ring road, does not add direct motion;
Rule C7, high speed expressway around city exit to outlet IC, do not add direct motion;
Rule C8, Gao Su expressway around city exits to being connected JCT at a high speed with at a high speed, does not add direct motion;
Rule C9, Gao Su expressway around city exits to high speed service area SA/ high speed parking area PA, does not add direct motion;
Rule C10, Gao Su expressway around city exits to Gao Su expressway around city, if connected by being connected JCT with high speed at a high speed between two Gao Su expressway around cities, does not add direct motion;
Rule C11, compound crossing, entering line or exiting line is link in crossing, does not add direct motion;
Rule C12, enters line, exits line when being a link, do not add direct motion;
Rule C13, if there is more than two and two enter line and exit line and meet that to add direct motion regular, but have at least one be on to roll off the production line separation, do not add direct motion;
Rule C14, this line exits to outlet IC, does not add direct motion, and outlet IC exits to high speed service area SA and do not add direct motion, and high-speed service district SA exits to this line and do not add direct motion;
Rule C15, this line exits to being connected JCT does not add direct motion at a high speed with at a high speed;
Rule C16, bypass exits and does not add direct motion to exporting IC;
Rule C17, outlet IC exit and do not add direct motion to outlet IC, and outlet IC exits to being connected JCT does not add direct motion at a high speed with at a high speed;
Regular C18, is connected at a high speed this line of JCT/ and exits to being connected JCT at a high speed with at a high speed, and have at least two exit high speed and be connected JCT at a high speed, do not add direct motion with high speed;
Rule C19, this line exits to this line, and has at least two to exit this line, does not add direct motion;
Rule C20, is connected at a high speed this line of JCT/ outlet IC/ and exits to outlet IC, and have at least two to exit outlet IC, do not add direct motion with high speed.
8. method according to claim 5, is characterized in that, comprises according to each correction rule output calibration result in described correction rule model:
There is correction rule A1 ~ A3 to the parting of ordinary road in outlet IC at a high speed:
Correction rule A1, two are exited line is left and right difference, and two are exited line and all do not add direct motion;
Correction rule A2, for the straight difference in a left side, does not add direct motion;
Correction rule A3, for the straight difference in the right side, craspedodrome difference does not add direct motion.
9. method according to claim 5, is characterized in that, also comprises according to each correction rule output calibration result in described correction rule model:
Rule D1, enters line and there is voice guide to exiting line, do not add direct motion;
Rule D2, enter line to exit line have forbid hand over limit or one direction cannot exit, do not add direct motion.
10. method according to claim 5, is characterized in that, also comprises:
In direct motion model, corresponding Equations of The Second Kind direct motion rule is found, described Equations of The Second Kind direct motion rule executing rule E1 ~ E3, and regular F1 ~ F5 according to described angle gradient:
Rule E1, be connected at a high speed JCT with high speed and exit to this line interpolation direct motion, this line exits to this line interpolation direct motion;
Regular E2, be connected at a high speed JCT with high speed and exit to this line interpolation direct motion, outlet IC exits to this line interpolation direct motion;
Rule E3, bypass exits and then judges according to angle to bypass, and bypass exits and adds direct motion to this line, and IC exits to this line, adds direct motion;
And
Rule F1, export between IC and two general road: the first general road and the second general road tandem array, and is connected with outlet IC at joining place, then export IC and exit to the interpolation direct motion of general road, general road exits and calls direct motion model to general road and judge that angle judges according to waiting;
Rule F2, IC is with between two general roads in outlet: the first general road is connected with the second general road tail tail, and joining place with export IC and be connected, then outlet IC exits and calls direct motion model to general road and judge that angle judges according to waiting;
Rule F3, article one, general road and two export between IC, this general road is divided in order to first paragraph, second segment and the 3rd section: first head exported are connected general road by two outlet IC with two joining places in general road, the afterbody of the second outlet is connected general road, then general road exits to general road, adds the direct motion in first paragraph on general road, second segment and the 3rd section of craspedodrome direction;
Rule F4, if it is curved to enter line advance right-turn, does not then consider that remaining enters line, obtains this root and enter line and exit the angle between line, and call direct motion model, as described waiting, angle is judged that angle judges;
Rule F5, bypass exits to bypass, calls described direct motion model and judges that angle processes according to waiting.
11. 1 kinds is the guider of navigation map interpolation direct motion, it is characterized in that, comprising:
Parameter acquiring unit, for the angle gradient determining to enter line He exit line, line grade, crossing and attribute and difference;
Direct motion model unit, for finding corresponding first kind direct motion rule in direct motion model according to described angle gradient, described first kind direct motion rule determines whether add direct motion according to angle gradient, and described direct motion can shield the information in navigation information;
Correcting unit, for according to described line grade, crossing and attribute and difference, correct first kind direct motion rule, delete in trimming process added in navigation information do not meet described line grade, the direct motion of crossing and attribute and difference.
12. guiders according to claim 11, is characterized in that, direct motion model unit comprises:
Angle module, for when can find the extended line that enters line and exit formed between line in time judging angle, wait to judge whether angle meets direct motion threshold value low-angle according to described first kind direct motion rule judgment, described in wait to judge that angle meets the low-angle needs of described direct motion threshold value and adds direct motion.
13. guiders according to claim 11, it is characterized in that, correcting unit comprises:
Correct execution module, for finding correction rule model, by described line grade, crossing and attribute and difference input described correction rule model as correction parameter, according to each correction rule output calibration result in described correction rule model;
Described line grade comprises one-level ~ eight grade, and wherein, three grades ~ seven grades is general road;
Crossing in described crossing and attribute and difference comprises single intersection, compound crossing, and enter line and exit line quantity separately, wherein, single intersection only has a point of crossing, and compound crossing comprises two or more point of crossing and has through line;
Attribute in described crossing and attribute and difference comprises this line, bypass, and be connected JCT, high speed parking area SA, high speed parking area PA at a high speed and at a high speed, ring road, turns left in advance, advance right-turn, and export IC, uplink is separated with downlink;
Difference in described crossing and attribute and difference comprises left and right difference, left straight difference and the straight difference in the right side;
Described correction parameter also comprises: voice guide and traffic restriction.
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| CN111238509A (en) * | 2018-11-28 | 2020-06-05 | 沈阳美行科技有限公司 | Special road guiding method and device and related equipment |
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