CN105806349B - A kind of true three-dimensional navigation turns to abductive approach and turns to induction navigation equipment - Google Patents
A kind of true three-dimensional navigation turns to abductive approach and turns to induction navigation equipment Download PDFInfo
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- CN105806349B CN105806349B CN201410852702.2A CN201410852702A CN105806349B CN 105806349 B CN105806349 B CN 105806349B CN 201410852702 A CN201410852702 A CN 201410852702A CN 105806349 B CN105806349 B CN 105806349B
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Abstract
The present invention provides a kind of true three-dimensional navigation steering abductive approach, comprising the following steps: S1 provides true three-dimensional navigation database for storing true three-dimensional navigation map datum；S2 determines the exact position for being navigated object；S3 receives external command and calculates and provide three-dimensional induction path；S4 extracts and loads current road segment and along the three-dimensional true three-dimensional navigation map datum for inducing front first via mouth along path；S5 judges that the induction behavior at the first crossing of front in the three-dimensional induction path is specific steering or commonly turns on current location；S6 judges whether there is specific steering special lane and/or specific steering area to be transferred, and is generated into specific steering special lane and/or the specific induction scene for turning to area to be transferred；Judge to be generated into the induction scene of specific type special lane with the presence or absence of the specific type special lane having to enter between currently the second crossing of crossing and front to be turned.The present invention also provides a kind of true three-dimensional reorientations for realizing the above method to induce navigation equipment.
Description
Technical field
The invention belongs to technical field of electronic navigation, and in particular to a kind of method and apparatus of true three-dimensional navigation.Particularly,
The air navigation aid can clearly induce the lane for needing to enter after added turning lane and steering, navigation accuracy until
The specific lane of a certain item on road.
Background technique
In recent years, due to the fast development of urban road, the traffic beacon note of intersection gradually increases, refines, fixed
Turning Roadways and access lane to bridge and through street are also increasingly complex.For common driver, electronic navigation system is gradually
As indispensable travelling facility.
In the navigation Service that existing two dimensional navigation electronic map provides, all geographic information datas all being abstracted,
It is conceptualized as lines additive attribute in the street to be expressed, driver can only simply see the two dimension for being abstracted by navigation screen
Road.Two dimensional navigation electronic map can not true expressed intact place, can only be supplemented with outdoor scene photo and ideograph
Expression.In addition, induced for turning to, turning point usually in navigation circuit add a mark direction induction line or
It is directly showed and is turned to static crossing enlarged drawing, there is no the detail characteristics in conjunction with turning point intuitively dynamically to mention in advance
Show how to turn to specific lane.When two crossings are closer or need to drive into specific added turning lane in advance, motorist
It can not prepare in advance.
Compared with two dimensional navigation electronic map, the appearance of three-dimensional navigation electronic map is vivider express it is increasingly complicated
Urban road form.Existing so-called three-dimensional navigation electronic map mainly includes following two form, the first as shown in Figure 1,
By the superposition of two-dimentional orthophotoquad there is the three-dimensional symbol building model of stereoscopic visual effect to constitute, is marked on map
With relief three-dimensional building object model be navigate visual expression emphasis, but navigate mode still continue to use two dimensional navigation
In simple direction navigation add the mode of picture assisting navigation.This navigation mode can not accurately reflect current drivers
The actual scene seen, in more complicated section, driver possibly can not be corresponded to Navigation Picture and real road
Come, leads to route selection mistake.Second of three-dimensional navigation based on virtual reality technology, as shown in Fig. 2, its navigation for being presented
Effect is the road image presented based on camera system subsidiary in navigation system, then navigational arrows and mark are superimposed on image
Icon and text are navigated with the three-dimensional live realized in publicity.This navigation mode is able to reflect the reality being currently seen with driver
The completely the same picture of border scene, still, arrow can not fit like a glove with scene, can equally make to drive in complicated highway section
The person of sailing can not judicious runway.In addition, this navigation mode is severe in road environment, such as heavy rain, wind and snow or haze
When, it can not accurately be navigated, or even safe navigation can not be carried out.Both the above mode, there is no really from
Two dimensional navigation data and three-dimensional induction data are distinguished at data source, for the road conditions form and road of the Essential Action that navigated
Road scene, there is no really three-dimensional scenic reproduction is carried out according to real road, so can not be based on real road scene come thin
Crossing when road guide, especially multilane when greasy performance multilane turns to induction navigation.
Thus, it is necessary to provide a kind of novel three-dimensional navigation method, driving can be accurately showed according to actual scene
Person currently can be seen practical scene, and generate in navigation screen with the accurate corresponding guide line of actual scene, make to drive
Person can be apparent from correct planning driving path, to judge the correct execution position of the movements such as steering, lane change.It is now existing
Airmanship in there is no this form air navigation aid.Both do not had in the prior art publicly, completely to very three-dimensional
The method of steering induction in navigation scenarios at crossing, also without the device using this method.
Summary of the invention
The present invention is at least to solve one of above-mentioned technical problem, provides a kind of true three-dimensional navigation steering abductive approach,
In include:
S1. true three-dimensional navigation database is provided for storing true three-dimensional navigation map datum, the true three-dimensional navigation map
Data are the trivector data comprising precise information, and the database includes true scene data and very three-dimensional induction
Data, the very three-dimensional induction data record have specific steering special lane, specific steering area to be transferred and the special defects at each crossing
Type special lane data information；
S2. it determines the exact position for being navigated object, is determined according to the exact position current where being navigated object
Section and traveling lane position；
S3. external command is received to calculate and three-dimensional induction path is provided；
S4. constantly extract and load current road segment and the true three-dimensional navigation of front first via mouth along three-dimensional induction path
Diagram data, the true three-dimensional navigation map datum loaded include current road segment and the front first via mouth along three-dimensional induction path
The very three-dimensional induction data of true scene data and respective paths；
S5. the induction behavior that the first crossing of front in the three-dimensional induction path is judged on current location is specific steering
Or it is common to turn to；
S6. if it is specific steering, currently whether deposited at crossing to be turned according to the very three-dimensional induction data judgement loaded
In specific steering special lane and/or specific steering area to be transferred, if there is specific steering special lane and/or specific turn to wait turn
Area, then generate from current driving lane lead into it is specific turn to special lane and/or the specific induction scene for turning to area to be transferred, such as
Specific steering special lane and/or specific steering area to be transferred is not present in fruit, then enters step S7；
It is turned to if it is common, is directly entered step S7；
S7. according to the induction behavior at the second crossing of front on the three-dimensional induction path, analysis currently crossing to be turned and before
The very three-dimensional induction data loaded in section, judges whether there is the spy that induction behavior is had to enter between the second crossing of side
Different type special lane, if it is present generating, from currently, wait turn lane position locating for crossing, to lead into specific type dedicated
The induction scene in road.
It can also include: to be divided in the step 7 according to the induction behavior at the second crossing of front on the three-dimensional induction path
The very three-dimensional induction data loaded for analysing section between currently the second crossing of crossing and front to be turned, judges whether there is induction
The specific type special lane that behavior is had to enter into, if it does not exist, then generating from currently wait turn lane position locating for crossing
Guidance avoid specific type special lane enter can through lane induction scene.
In addition, the specific steering may include turning left, turning around to turn；The common steering includes: to turn right, is straight
Row.The specific type special lane may include: left-hand rotation special lane, the special lane that turns around, public transportation lane, taxi special lane,
Non-motor vehicle special lane, changeable driveway.The crossing can be with are as follows: the road for having the crossing of traffic light, having direction instruction to identify
Mouth, rotary island, expressway exit, expressway access, expressway exit, through street entrance.
The true scene data may include crossing contextual data and section contextual data, the very three-dimensional induction number
According to include crossing induction layer data and section induce layer data, the specific steering special lane at each crossing, it is specific turn to wait turn
Area and specific type special lane data information memory are in section induction layer data.
Described the step of generating induction scene includes that three-dimensional induction scene is synthesized in conjunction with the true scene data loaded,
Addition induction line turns to induction arrow, and guide is navigated object and drives to and should sail wait turn lane position locating for crossing from currently
The correct lane entered.
On the other hand, the present invention also provides a kind of true three-dimensional reorientations for realizing the above method to induce navigation equipment, wherein
Include:
True three-dimensional navigation database, for storing true three-dimensional navigation map datum, the true three-dimensional navigation map datum is
Trivector data comprising elevation information, the database include true scene data and very three-dimensional induction data, institute
State specific steering special lane, specific steering area to be transferred and specific type special lane that very three-dimensional induction data record has each crossing
Data information；
Locating module is navigated object according to exact position determination for determining the exact position for being navigated object
The current road segment at place and traveling lane position；
Path calculation module is induced, external command is received and calculates and three-dimensional induction path is provided；
Navigation data management module is constantly extracted and is loaded current road segment from true three-dimensional navigation database and lures along three-dimensional
The true three-dimensional navigation map datum of front first via mouth on guiding path, the true three-dimensional navigation map datum loaded includes current road
Section and the true scene data of front first via mouth and the very three-dimensional induction data of respective paths along three-dimensional induction path；
Behavioural analysis module is induced, for reading three-dimensional induction path, the three-dimensional induction road is judged on current location
The induction behavior at the first crossing of front is specific steering or common steering in diameter；
Specific steering runway analysis module, if the analysis result of induction behavioural analysis module is specific steering, root
According to the very three-dimensional induction data judgement loaded currently crossing to be turned with the presence or absence of specific steerings special lane and/or specific steering to
Turn area；
Specific steering runway induces scene process module, if there are specific for the judgement of specific steering runway analysis module
Turn to special lane and/or specific steering area to be transferred, then generate from current driving lane lead into it is specific turn to special lane and/or
The specific induction scene for turning to area to be transferred；
Specific type special lane analysis module is gone forward for reading three-dimensional induction path according to the three-dimensional induction path
The induction behavior at the second crossing of side, the very three-dimensional loaded for analyzing section between currently the second crossing of crossing and front to be turned lure
Derivative evidence judges whether there is the specific type special lane that induction behavior is had to enter into；
Specific type special lane induces scene process module, if the judgement of specific type special lane analysis module has induction
The specific type special lane that behavior is had to enter into, then generate from currently wait turn lane position locating for crossing lead into it is special
The induction scene of type special lane.
It can also include that ordinary lane induces scene process module in the equipment, if the dedicated trace analysis mould of specific type
There is no the specific type special lanes that induction behavior is had to enter into for block judgement, then generate from currently wait turn lane locating for crossing
Position guidance avoid specific type special lane enter can through lane induction scene.
In addition, the specific steering includes: to turn left, turn around to turn；The common steering includes: right-hand bend, straight trip.Institute
Stating specific type special lane includes: that left-hand rotation special lane, the special lane that turns around, public transportation lane, taxi special lane, non-motor vehicle are special
With road, changeable driveway.The crossing are as follows: have the crossing of traffic light, the crossing for thering is direction instruction to identify, rotary island, high speed public
Way outlet, expressway access, expressway exit, through street entrance.
The true scene data may include crossing contextual data and section contextual data, the very three-dimensional induction number
According to include crossing induction layer data and section induce layer data, the specific steering special lane at each crossing, it is specific turn to wait turn
Area and specific type special lane data information memory are in section induction layer data.
The equipment further include:
Scene synthesis module is induced, for induction scene addition induction line and induction arrow is turned to, generates three-dimensional induction scene,
Guide is navigated object and drives to the correct lane that should be driven into wait turn lane position locating for crossing from currently；And
Scene display module is induced, for playing the three-dimensional induction field generated with 1:500 meters to 1:1000 meters of scale bar
Scape.
True three-dimensional navigation provided by the invention, which turns to abductive approach, can generate the actual scene being currently seen with driver
The induction scene to match, and clearly indicate by induction line and induction arrow and be navigated the correct driving direction of object.
Particularly, when turning to, method of the invention, which can be guided, is navigated object into correctly road to be changed trains or buses.Complete steering
Afterwards, additionally it is possible to which guide is navigated object and drives into correct lane in lower a road section, with the steering and road after facilitating and avoids
The lane avoided into needs.
Detailed description of the invention
Fig. 1 is the schematic diagram of digital navigation map in the prior art；
Fig. 2 is the schematic diagram of digital navigation map in the prior art；
Fig. 3 is the step schematic diagram that true three-dimensional navigation provided by the invention turns to abductive approach；
Fig. 4 is that the plane that true three-dimensional navigation of the present invention turns to abductive approach looks down schematic diagram；
Fig. 5 is the continuous three-dimensional induction scene that true three-dimensional navigation of the invention turns to that abductive approach generates in actual use
Screenshot；
Fig. 6 is the comparison of three-dimensional induction scene and actual scene photo of the present invention；
Fig. 7 is the structural schematic diagram that true three-dimensional reorientation provided by the invention induces navigation equipment.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.Public affairs hereafter
It opens and provides many different embodiments or example for realizing different structure of the invention.In order to simplify disclosure of the invention,
Hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and purpose does not lie in limitation originally
Invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.This repetition is in order to simplified and clear
The purpose of Chu itself does not indicate the relationship between discussed various embodiments and/or setting.
The present invention provides a kind of true three-dimensional navigations to turn to abductive approach, coincide for providing for driver with actual conditions
Turn particularly to information, as shown in figure 3, including following steps:
Step 1, true three-dimensional navigation database is provided for storing true three-dimensional navigation map datum, the true three-dimensional navigation
Diagram data is the trivector data comprising precise information, and the database includes true scene data and very three-dimensional lures
Derivative evidence, the very three-dimensional induction data record have the specific steering special lane at each crossing, specific steering area to be transferred and special
Type special lane data information.
Steering abductive approach of the present invention needs to provide three-dimensional navigation map datum, compared to traditional two dimensional navigation
Diagram data, the three-dimensional navigation map datum are that there are three the spatial coordinate data of dimension for tool.For example, by using cartesian coordinate system,
Origin based on setting, those skilled in the art can obtain the relatively three-dimensional coordinate data of urban road by surveying and mapping technology.
Each spatial coordinate data can have the x and y coordinates for indicating plan-position, and indicate the z coordinate of height and position.By vertical
Body coordinate data is modeled, and available complete, accurate true three-dimensional navigation map datum can accurately reflect road
Section, the road conditions at crossing and traffic signals mark.In a particular embodiment, the true three-dimensional navigation map datum can store
It wherein at least include true scene data and very three-dimensional induction data in true three-dimensional navigation database.The true three dimensional field
Scape data are the high-precision three-dimensional data of road scene, may include that record has road surface at crossing, traffic affiliated facility, isolation strip
Etc. information crossing contextual data and record have section direction, width of roadway, road gradient, lane turn to etc. information section
Contextual data.The very three-dimensional induction data is the high-precision three-dimensional data in relation to induction label, may include the record road You Ge
Specific steering special lane, specific area to be transferred and the crossing of specific type dedicated Lanes of turning at mouthful induce layer data, and
Record has traffic on each section to turn to the section induction layer data that instruction indicates.The very three-dimensional induction data and true three-dimensional scenic
Data be it is mutual corresponding, every section of true scene data all has matched very three-dimensional induction data.
Step 2, it determines the exact position for being navigated object, working as where being navigated object is determined according to the exact position
Preceding section and traveling lane position.
After driver starts air navigation aid of the present invention, the accurate location for being navigated object should be determined first.?
In specific embodiment, the exact position of testee in space can be determined by positioning systems such as GPS, then can be incited somebody to action
The position is mapped in the true three-dimensional navigation map datum, and determination is navigated the specific section and specific vehicle that object is currently located
Road.
Step 3, external command is received to calculate and three-dimensional induction path is provided.Determining the exact position for being navigated object
Afterwards, the instruction that can be set according to driver is generated for guiding the three-dimensional induction path for being navigated object and arriving at the destination.
Step 4, it constantly extracts and loads current road segment and the very three-dimensional of front first via mouth is led along three-dimensional induction path
Navigate map datum, and the true three-dimensional navigation map datum loaded includes current road segment and the front first via along three-dimensional induction path
The true scene data of mouth and the very three-dimensional induction data of respective paths.
It in step 4, should be from the true three-dimensional navigation database in order to provide the detailed path information on induction path
It constantly extracts, load is navigated object and is currently located the very three-dimensional of front first via mouth on section and the three-dimensional induction path and leads
Navigate map datum, for generating detailed induction image.Specifically, section contextual data and the front of current road segment should be extracted
The crossing contextual data at one crossing, to generate corresponding scene image.In addition, should also extract and current road segment and front first
The corresponding very three-dimensional induction data in crossing, wherein may include section induction data and crossing induction data.It requires emphasis,
The section induction data of extraction and the section contextual data of current road segment should be mutually matched, and the two is at same location, area
Size is identical.Similarly, the crossing induction data of extraction and the crossing contextual data at the first crossing of front should be also mutually matched.
Step 5, judge that the induction behavior at the first crossing of front in the three-dimensional induction path is specific on current location
It turns to or commonly turns to.
Step 6, if it is specific steering, according to the very three-dimensional induction data judgement loaded currently crossing to be turned whether
There are specific steering special lane and/or specific steering area to be transferred, if there is specific steering special lane and/or specific turn to wait turn
Area, then generate from current driving lane lead into it is specific turn to special lane and/or the specific induction scene for turning to area to be transferred, such as
Specific steering special lane and/or specific steering area to be transferred is not present in fruit, then enters step S7.
According to the true three-dimensional navigation map datum of extraction, induction row of the three-dimensional induction path at the first crossing of front is judged
For type.In a specific embodiment, induce the type of behavior that can be divided into specific steering and common steering, the specific steering
It may include the movement such as turn left and reverse end for end turning, the common steering may include turning right and keeping straight on.According to the actual situation,
Those skilled in the art can be adjusted the type of specific steering and movement, and the present invention is not to specific steering and common turn
To it is specific movement limited.
If inducible form of the three-dimensional induction path at the first crossing of front is specific steering, need according to crossing
Actual conditions generate specific induction scene.For example, before the very three-dimensional induction data judgement of load is read before first
The first crossing of side whether there is specific steering special lane and/or specific steering area to be transferred.As if really including in three-dimensional induction data
Have specific steering special lane and/or specific steering area to be transferred, then should generate from current location guidance be navigated object enter it is specific
Added turning lane and/or the specific induction scene for turning to area to be transferred.Specifically, can be first according to very three-dimensional section contextual data and true
Three-dimensional crossing contextual data generates road scene, generates further according to very three-dimensional crossing induction data and very three-dimensional section induction data
It is specific to turn to special lane and/or the specific index line for turning to area to be transferred and induction line and induction arrow.
And if induction behavior of the three-dimensional induction path at the first crossing of front is commonly to turn to, under normal circumstances
Without specially analyzing, generating specific induction scene, directly after progress the step of.But if it is general for inducing behavior itself
It is logical to turn to, and have recorded corresponding specific direction information in the very three-dimensional crossing induction data extracted, then it can be according to reality
Situation chooses whether to generate specific induction scene, and the present invention is to this without particularly limiting.
Step 7, currently road to be turned can be analyzed according to the induction behavior at the second crossing of front on the three-dimensional induction path
The very three-dimensional induction data loaded in section mouthful between the second crossing of front, judging whether there is induction behavior must be into
The specific type special lane entered leads into special defects wait turn lane position locating for crossing if it is present generating from currently
The induction scene of type special lane.
In this step, the first crossing of front described before the crossing currently to be turned is.It is leaned on when being navigated object
Nearby the first crossing of side and when being ready to pass through, the present invention by currently wait turn crossing in the form of be described.At this point it is possible to according to institute
The induction behavior at the second crossing of front on three-dimensional induction path is stated, analysis is from currently crossing to be turned to the second crossing of front
It is no to have the dedicated Lanes having to enter into or convenient for current optimization lane.In a particular embodiment, it is assumed that currently crossing to be turned
Induction behavior is left-hand bend, and the induction path at the second crossing of front is also to turn left either into directional bridge entrance, at this point,
Special induction scene can be generated, induction is navigated object and after turning crossing and turning left, directly enters the spy of lower a road section from currently
Different type special lane, for example, the leftmost side lane or be incorporated to directional bridge entrance, and then optimize the planning driving path for being navigated object,
It is ready it before at the second crossing of side before entry.If currently the distance between crossing to be turned and the second crossing of front are very
Closely, the advantages of better reflecting step 7 prevents driver from having little time to judge lane.
In above-mentioned steps 1 into step 7, described the step of generating induction scene includes in conjunction with the true three-dimensional scenic loaded
Data Synthesis three-dimensional induces scene, and addition induction line turns to induction arrow, and guide is navigated object from currently wait turn locating for crossing
Lane position drive to the correct lane that should be driven into.Abductive approach of the present invention can satisfy the need according to three-dimensional induction path
Mouth and section are navigated respectively.
It is that true three-dimensional navigation provided by the invention turns to abductive approach above, wherein further including other more preferred steps
Suddenly, such as step S7 can also include, if there is no the specific type special lane that induction behavior is had to enter into, then generate from
Currently wait turn lane position locating for crossing guidance avoid specific type special lane, into can through lane induction scene.Example
Such as, there are left turn lane or the entrances of directional bridge in the section between currently the second crossing of crossing and front to be turned, and
The three-dimensional induction path does not need the induction at the second crossing of front and is navigated object into these specific type special lanes.This
When, it can be generated from currently and avoid specific type special lane, into can through lane wait turn the guidance of lane position locating for crossing
Induction scene.
In addition, the specific type special lane may include left-hand rotation special lane, u-turn special lane, public transportation lane, taxi
The lanes such as special lane, non-motor vehicle special lane and changeable driveway.The induction scene, which can guide, is navigated object completion turn
Enter or avoid above-mentioned lane after curved movement, to prevent driver due to being not easy to observe surface conditions when turning to, into mistake
Lane.
The crossing can be the crossing of traffic light, the crossing for having direction instruction to indicate, rotary island, highway go out
The road structures such as entrance, through street entrance.Crossing of the present invention refers to that road conditions change, and driver needs to row
The case where bus or train route line is selected, however it is not limited to above-mentioned several Road forms.Those skilled in the art can be according to practical survey
The path coordinate drawn is specifically defined the case where crossing.
Method provided by the invention forms induction scene by accurate trivector data, can be from induction path
Entirety is analyzed, and the traffic route of optimization is made.And the three-dimensional induction scene to match with practical scene is provided, makes to drive
Person can accurately know the lane that needs drive into.
The method provided in order to better illustrate the present invention is drilled with the schematic diagram of true three-dimensional navigation scene shown in Fig. 4
Show the guidance path in true three-dimensional navigation scene.As shown in figure 4, A point position of the driver before illustrating crossing, current road to be turned
The induction behavior of mouth is to turn left, and the induction behavior at next continuous crossing in front is to turn left, and is currently existed at crossing to be turned left
Turn exclusive district, current traffic light is red light.
It is as follows that true three-dimensional navigation of the present invention turns to the induction prompt of abductive approach here:
1: prompt user enters the left-hand rotation special lane from being identified as 1 in Fig. 4 from current lane；
2: prompt user enters in Fig. 4 the left turn waiting zone waiting being identified as at 2；
3: when traffic light becomes green user starting, the left turn waiting zone being identified as at 2 in user Fig. 4 being prompted to sail
Inlet identity is the lane at 3.
Attached drawing 5 is shown in navigation equipment in true three-dimensional navigation road scene based on methods and apparatus of the present invention
By there is the left-hand rotation schematic diagram at the crossing of traffic light.From attached drawing 6, it is seen that true three-dimensional navigation scene really reproduces
Actual scene, navigation scenarios accurately show that the thin portion expression element of road, navigation screen clearly give expression in three-dimensional navigation
Turn to induction air navigation aid, no matter any user can be visual and clear clear steering method.
On the other hand, the present invention also provides a kind of true three-dimensional reorientations to induce navigation equipment, as shown in fig. 7, wherein can be with
Including true three-dimensional navigation database 201, locating module 203, induction path calculation module 212, navigation data management module 202,
Behavioural analysis module 204, specific steering runway analysis module 205, specific steering runway is induced to induce scene process module
206, specific type special lane analysis module 207 and specific type special lane induce scene process module 208.
The true three-dimensional navigation database 201 is for storing true three-dimensional navigation map datum, the true three-dimensional navigation map
Data are the trivector data comprising precise information, include three coordinates of x, y, z in data.The trivector number
According to the three-dimensional scenic that can have dynamically reproduced navigation road in a manner of really modeling.The database includes true three-dimensional scenic number
According to very three-dimensional induction data, the very three-dimensional induction data record have each crossing specific steering special lane, it is specific turn to
Turn the data information in area and specific type special lane.More specifically, the true scene data may include: for recording
The very three-dimensional section contextual data of information of road surface on section；For recording the very three-dimensional crossing scene number of information of road surface at crossing
According to.The very three-dimensional induction data may include: for record the very three-dimensional section induction layer data of induction information on section with
And the very three-dimensional crossing induction layer data for recording induction information at crossing.
The locating module 203 is navigated the exact position of object for determining, is led according to exact position determination
Current road segment and traveling lane position where boat object.The induction path calculation module 212 is by receiving based on external command
It calculates and three-dimensional induction path is provided.
The navigation data management module 202 is current for constantly extracting and loading from true three-dimensional navigation database 201
Section and the true three-dimensional navigation map datum that front first via mouth along path is induced along three-dimensional, the true three-dimensional navigation map loaded
Data include current road segment and induce the true scene data and respective paths of front first via mouth along path along three-dimensional
Very three-dimensional induction data.The very three-dimensional induction data being extracted is and be extracted true scene data mutual
Match, three-dimensional induction data reflects the induction information in this section of scene data.It specifically can also be with section and crossing two
The part of seed type corresponds to each other.
The induction behavioural analysis module 204 judges the three-dimensional for reading three-dimensional induction path on current location
The induction behavior at the first crossing of front is specific steering or common steering in induction path.The induction behavior includes turning left
Curved, right-hand bend, u-turn turning, straight trip.Specific turn to includes turning left, reversing end for end turning.Common turn to includes turning right
Curved, straight trip.
The specific runway analysis module 205 that turns to is moved according to the result of the induction behavioural analysis module 204
Make, if the analysis result of induction behavioural analysis module 204 is specific steering, is sentenced according to the very three-dimensional induction data loaded
Disconnected crossing currently to be turned whether there is specific steering special lane and/or specific steering area to be transferred；
The specific steering runway induction scene process module 206 is according to the specific steering runway analysis module
205 result is acted, if there are specific steering special lane and/or spies for the judgement of specific steering runway analysis module 205
Surely it turns to area to be transferred, then generates to lead into from current driving lane and specific turn to special lane and/or the specific area to be transferred that turns to
Induce scene.
The specific type special lane analysis module 207 is for reading three-dimensional induction path, according to the three-dimensional induction road
The induction behavior at the second crossing of front on diameter, analysis currently between the second crossing of crossing and front to be turned section loaded it is true
Three-dimensional induction data judges whether there is the specific type special lane that induction behavior is had to enter into.
The specific type special lane induction scene process module 208 is according to specific type special lane analysis module 207
As a result it is acted, if there are the special defectss that induction behavior is had to enter into for the judgement of specific type special lane analysis module 207
Type special lane is then generated from the induction scene for currently leading into specific type special lane wait turn lane position locating for crossing.
Particularly, the navigation equipment further includes induction scene synthesis module 210, for adding induction line for induction scene
Arrow is induced with turning to, generates true three-dimensional reorientation induction scene, guide is navigated object from currently wait turn lane locating for crossing
Position drives to the correct lane that should be driven into.
Navigation equipment provided by the invention can also include that ordinary lane induces scene process module 209, if special defects
There is no the specific type special lanes that induction behavior is had to enter into for the judgement of type special lane analysis module 207, then generate from current
Wait turn lane position locating for crossing guidance avoid specific type special lane, into can through lane induction scene.General feelings
Be navigated object under condition and will drive into the sum in section lane and be more than or equal to two lanes, it is described judge the lane that has to enter into or
The lane for avoiding to enter is the movement needed when entering lower a road section or next crossing.
The navigation equipment can also include induction scene display module 211, for playing the three-dimensional induction ultimately generated
Scene.When playing, in order to preferably allow driver to determine correct planning driving path, it can be used 1:500 meters to 1:1000 meters
Large scale.Certainly, the scale bar that the present invention does not use broadcasting limits, and selecting biggish scale bar is preferred side
Case.
In addition, the specific type special lane includes at least left-hand rotation special lane, the special lane that turns around, public transportation lane, taxi
Vehicle special lane, non-motor vehicle special lane and changeable driveway etc. have the lane of special role.The crossing may include having friendship
The crossing of logical indicator light, the crossing for thering is direction instruction to identify, rotary island, expressway exit, expressway access, expressway exit
And through street entrance etc..
Navigation equipment provided by the invention can be it is diversified, on ordinary meaning, most visual navigation equipment
It can be used to carry the equipment such as navigation equipment of the present invention, such as automatic navigator, PND, tablet computer.
It is that true three-dimensional navigation provided by the invention turns to abductive approach and true three-dimensional reorientation induction navigation equipment above, it can
With in true three-dimensional navigation road scene, dynamically prompt user is driven to down from currently lane where crossing to be turned in advance
The true three-dimensional navigation picture in the correct lane that should be driven into before the continuous crossing in one front.Application range of the invention is not limited to above
The specific embodiment of description, those skilled in the art can be according to practical applications to the coordinates of trivector data, specific turn
To etc. features be adjusted.For the ordinary skill in the art, the principle and spirit of the invention can not departed from
In the case where a variety of change, modification, replacement and modification are carried out to these embodiments, appended claims of the present invention are intended to these
The structures such as modification, replacement are included in its protection scope.
Claims (10)
1. a kind of true three-dimensional navigation turns to abductive approach, it is characterised in that, include the following steps:
S1. true three-dimensional navigation database is provided for storing true three-dimensional navigation map datum, the true three-dimensional navigation map datum
For the trivector data comprising precise information, the database includes true scene data and very three-dimensional induction number
According to the very three-dimensional induction data record has specific steering special lane, specific steering area to be transferred and the specific type at each crossing
Special lane data information；
S2. it determines the exact position for being navigated object, the current road segment where being navigated object is determined according to the exact position
With traveling lane position；
S3. external command is received to calculate and three-dimensional induction path is provided；
S4. constantly extract and load current road segment and along the three-dimensional true three-dimensional navigation map number for inducing front first via mouth along path
According to the true three-dimensional navigation map datum loaded includes current road segment and induces true three of front first via mouth along path along three-dimensional
Tie up the very three-dimensional induction data of contextual data and respective paths；
S5. judge on current location the first crossing of front in the three-dimensional induction path induction behavior be specific steering or
It is common to turn to；
S6. if it is specific steering, spy currently whether there is in crossing to be turned according to the very three-dimensional induction data judgement loaded
Surely special lane and/or specific steering area to be transferred are turned to, if there is specific steering special lane and/or specific steering area to be transferred, then
Generate from current driving lane lead into it is specific turn to special lane and/or the specific induction scene for turning to area to be transferred, if not
There are specific steering special lane and/or specific steering areas to be transferred, then enter step S7；
It is turned to if it is common, is directly entered step S7；
S7. according to the induction behavior at the second crossing of front on the three-dimensional induction path, the current crossing and front to be turned the of analysis
The very three-dimensional induction data loaded in two sections between crossing, judges whether there is the special defects that induction behavior is had to enter into
Type special lane leads into specific type special lane wait turn lane position locating for crossing if it is present generating from currently
Induce scene；
Specific turn to includes at least one of turning of turning left and turn around；
Common turn to includes at least one of turning right and keeping straight on；
The specific type special lane includes left-hand rotation special lane, u-turn special lane, public transportation lane, hires out special lane, is non-maneuver
At least one of vehicle special lane.
2. the method according to claim 1, wherein step S7 further includes, according on the three-dimensional induction path
The very three-dimensional loaded in section between currently the second crossing of crossing and front to be turned is analyzed in the induction behavior at the second crossing of front
Induction data judges whether there is the specific type special lane that induction behavior is had to enter into, if it does not exist, then generating from working as
It is preceding wait turn lane position locating for crossing guidance avoid specific type special lane enter can through lane induction scene.
3. the method according to claim 1, wherein the specific steering includes: to turn left, turn around to turn；Institute
Stating common turn to includes: right-hand bend, straight trip；
The specific type special lane includes: left-hand rotation special lane, the special lane that turns around, public transportation lane, taxi special lane, non-machine
Motor-car special lane, changeable driveway；
The crossing are as follows: have the crossing of traffic light, the crossing for thering is direction instruction to identify, rotary island, expressway exit, high speed
Highway-entrance, expressway exit, through street entrance.
4. the method according to claim 1, wherein the true scene data include crossing contextual data and
Section contextual data, the very three-dimensional induction data include crossing induction layer data and section induction layer data, each crossing
Specific steering special lane, specific steering area to be transferred and specific type special lane data information memory section induce layer data
In.
5. method according to claim 1 or 2, which is characterized in that wherein: it includes knot that the generation, which induces the step of scene,
The three-dimensional induction scene of true scene data synthesis loaded is closed, addition induction line turns to induction arrow, and guide is navigated object
Body drives to the correct lane that should be driven into wait turn lane position locating for crossing from currently.
6. a kind of true three-dimensional reorientation induces navigation equipment, comprising:
True three-dimensional navigation database (201), for storing true three-dimensional navigation map datum, the true three-dimensional navigation map datum is
Trivector data comprising precise information, the database include true scene data and very three-dimensional induction data,
The very three-dimensional induction data record has specific steering special lane, specific steering area to be transferred and the specific type at each crossing dedicated
Track data information；
Locating module (203) is navigated object according to exact position determination for determining the exact position for being navigated object
The current road segment at place and traveling lane position；
It induces path calculation module (212), receives external command and calculate and three-dimensional induction path is provided；
Navigation data management module (202) is constantly extracted from true three-dimensional navigation database (201) and loads current road segment and edge
The true three-dimensional navigation map datum of front first via mouth, the true three-dimensional navigation map datum loaded include on three-dimensional induction path
The current road segment and true scene data of front first via mouth and the very three-dimensional of respective paths lure along three-dimensional induction path
Derivative evidence；
It induces behavioural analysis module (204), for reading three-dimensional induction path, the three-dimensional induction road is judged on current location
The induction behavior at the first crossing of front is specific steering or common steering in diameter；
Specific steering runway analysis module (205), if the analysis result of induction behavioural analysis module (204) is specific turn
To then currently whether there is specific steering special lane and/or spy in crossing to be turned according to the very three-dimensional induction data judgement loaded
Surely area to be transferred is turned to；
Specific steering runway induces scene process module (206), if the judgement of specific steering runway analysis module (205) is deposited
In specific steering special lane and/or specific steering area to be transferred, then generate from current driving lane lead into it is specific turn to it is dedicated
Road and/or the specific induction scene for turning to area to be transferred；
Specific type special lane analysis module (207) is gone forward for reading three-dimensional induction path according to the three-dimensional induction path
The induction behavior at the second crossing of side, the very three-dimensional loaded for analyzing section between currently the second crossing of crossing and front to be turned lure
Derivative evidence judges whether there is the specific type special lane that induction behavior is had to enter into；
Specific type special lane induces scene process module (208), if specific type special lane analysis module (207) judgement is deposited
In the specific type special lane that induction behavior is had to enter into, then generates and be directed into from currently wait turn lane position locating for crossing
Enter the induction scene of specific type special lane；
Specific turn to includes at least one of turning of turning left and turn around；
Common turn to includes at least one of turning right and keeping straight on；
The specific type special lane includes left-hand rotation special lane, u-turn special lane, public transportation lane, hires out special lane, is non-maneuver
At least one of vehicle special lane.
7. equipment according to claim 6, which is characterized in that further include:
Ordinary lane induces scene process module (209), if there is no lure for specific type special lane analysis module (207) judgement
Leading is the specific type special lane being had to enter into, then generates from currently and avoid spy wait turn the guidance of lane position locating for crossing
Different type special lane enter can through lane induction scene.
8. equipment according to claim 6, which is characterized in that the specific steering includes: to turn left, turn around to turn；Institute
Stating common turn to includes: right-hand bend, straight trip；
The specific type special lane includes: left-hand rotation special lane, the special lane that turns around, public transportation lane, taxi special lane, non-machine
Motor-car special lane, changeable driveway；
The crossing are as follows: have the crossing of traffic light, the crossing for thering is direction instruction to identify, rotary island, expressway exit, high speed
Highway-entrance, expressway exit, through street entrance.
9. equipment according to claim 6, which is characterized in that the true scene data include crossing contextual data and
Section contextual data, the very three-dimensional induction data include crossing induction layer data and section induction layer data, each crossing
Specific steering special lane, specific steering area to be transferred and specific type special lane data information memory section induce layer data
In.
10. equipment according to claim 6, which is characterized in that further include:
It induces scene synthesis module (210), for induction scene addition induction line and turns to induction arrow, generate three-dimensional induction field
Scape, guide are navigated object and drive to the correct lane that should be driven into wait turn lane position locating for crossing from currently；
It induces scene display module (211), for playing the three-dimensional induction field generated with 1:500 meters to 1:1000 meters of scale bar
Scape.
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| CN110579222B (en) * | 2018-06-07 | 2022-03-15 | 百度在线网络技术（北京）有限公司 | Navigation route processing method, device and equipment |
| CA3027615A1 (en) * | 2018-10-25 | 2020-04-25 | Beijing Didi Infinity Technology And Development Co., Ltd. | A method and system for determining whether there is target road facility at intersection |
| CN111238508B (en) * | 2018-11-28 | 2022-12-02 | 沈阳美行科技股份有限公司 | Method, device and related equipment for determining and guiding special road type |
| CN111238509B (en) * | 2018-11-28 | 2022-09-13 | 沈阳美行科技股份有限公司 | Special road guiding method and device and related equipment |
| CN113744544B (en) * | 2020-05-29 | 2022-11-25 | 杭州海康威视数字技术股份有限公司 | Parameter configuration method, device and equipment |
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