CN105987702B - A kind of the section expansion method and its device of navigation routine - Google Patents
A kind of the section expansion method and its device of navigation routine Download PDFInfo
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- CN105987702B CN105987702B CN201510046962.5A CN201510046962A CN105987702B CN 105987702 B CN105987702 B CN 105987702B CN 201510046962 A CN201510046962 A CN 201510046962A CN 105987702 B CN105987702 B CN 105987702B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
Abstract
The application embodiment provides a kind of the section expansion method and device of navigation routine.The method includes：When the current road segment of navigation routine carries out lower a road section expansion, the initial right of way value in at least two alternative sections that there is connected relation with current road segment is obtained；For every alternative section, determine the matching degree of the road attribute of current road segment and the road attribute in the alternative section, and the initial right of way value in the alternative section is modified according to determining matching degree, wherein inheriting the degree of flatness between matching degree reflection current road segment and the alternative section；The cost in each alternative section is determined according to the length in each alternative section, initial right of way value and revised right of way value respectively；Lower a road section of current road segment of the alternative section as the navigation routine is chosen from the alternative section according to the cost in alternative section.The application embodiment can improve the accuracy of route guidance.
Description
Technical field
Presently filed embodiment is related to the section expansion method and its dress of navigation field more particularly to a kind of navigation routine
It sets.
Background technology
With the rapid development of economic society, road network structure becomes increasingly complex, road reliability is increasingly longer, identical start and end
Often there is the travel route of a plurality of connection source and terminal in point, user selects the experience that different routes brings, and there are larger
Difference, if certain travel route length is most short, certain route takes at least, certain route is the most smooth.In general, user is more willing to
Select the route of an economical rationality.Currently, in order to recommend the route of an economical rationality, user to utilize navigational tool to user
(equipment or navigator that are such as equipped with navigation software) cooks up one according to beginning and end input by user and meets user
It is required that navigation routine, and the navigation routine is recommended into user.
Navigational tool is after receiving beginning and end input by user, according to road network information (such as each section in road network
Length, section topological relation etc.) expansion that carries out one section in a section from the off, until be expanded to terminal, then
By in process of expansion after the navigation routine that is constituted of each section recommend user.
In the prior art, navigational tool realizes that a kind of technology of the section expansion of navigation routine is shortest path section expansion skill
Art.The technology utilizes DJ searching algorithms, when being expanded to next section by the current road segment of navigation routine, selection and current road
Section has the expansion section that the shortest section of distance of connected relation is extended as this section, until arriving at the destination.
However, the section expansion pattern of this navigation routine, only considers the length in section, without its of consideration section
His attribute, causes the navigation routine accuracy provided relatively low, reduces user experience.
Invention content
In order to solve problems in the prior art, the application embodiment provides a kind of section expansion method of navigation routine
And its device, to improve the accuracy of navigation routine.
The section expansion method of navigation routine that presently filed embodiment provides includes：
When the current road segment of navigation routine carries out lower a road section expansion, obtain has connected relation extremely with current road segment
The initial right of way value in few two alternative sections；
For every alternative section, the matching of the road attribute of current road segment and the road attribute in the alternative section is determined
Degree, and the initial right of way value in the alternative section is modified according to determining matching degree, wherein the matching degree
Reflect between current road segment and the alternative section and inherits the degree of flatness；
The generation in each alternative section is determined according to the length in each alternative section, initial right of way value and revised right of way value respectively
Valence；
An alternative section is chosen as the navigation routine from the alternative section according to the cost in alternative section
Lower a road section of current road segment.
Preferably, described that the initial right of way value in the alternative section is modified according to determining matching degree, specifically
Including：
The succession coefficient of current road segment and the alternative section is determined according to determining matching degree；
According to current road segment operation strategy corresponding with the matching degree in alternative section, the current road segment with
The succession coefficient in the alternative section is modified the initial right of way value in the alternative section.
Preferably, the road attribute is road type, and road type includes expressway, through street and other roads, really
Determine the matching degree of the road attribute of current road segment and the road attribute in the alternative section, specially：Judge the current road
Whether the road type of section is consistent with the road type in alternative section；
The succession coefficient that current road segment and the alternative section are determined according to determining matching degree, specifically includes：
If the current road segment is consistent with the road type in alternative section, and is expressway or through street, then hold
Row following steps：The section being continuously connected with current road segment and road type is consistent is determined from navigation routine, and is calculated true
The length and value in the section and the current road segment made；By the length and value and the preset road class with the current road segment
The corresponding length range of type is matched, and determines the length range that the length and value are fallen into；It is fallen according to the length and value
The corresponding calculative strategy of length range entered determines the succession coefficient of the current road segment and the alternative section；
If the road type in the current road segment and the alternative section is inconsistent or the current road segment with it is described standby
The road type of routing section is consistent and is not expressway or through street, then executes following steps：Preset succession coefficient is made
For the succession coefficient of the current road segment and alternative section.
Preferably, it is described determined according to length calculative strategy corresponding with the length range that value is fallen into it is described current
The succession coefficient in section and the alternative section, specifically includes：
It, will be preset when the length the first length range corresponding for the current road segment with the length range that value is fallen into
Succession coefficient of the first coefficient corresponding with the first length range as the current road segment and the alternative section；
When the length and length range that value is fallen into are corresponding second length range of the current road segment, then according to preset
Straight-line decline function determine the length and corresponding second coefficient of value, and using the second coefficient as the current road segment with
The succession coefficient in the alternative section；Wherein described second length range is more than first length range, and the second coefficient is less than
First coefficient；
It, then will be preset when the length and length range that value is fallen into are the corresponding third length range of the current road segment
Succession coefficient of the third coefficient corresponding with third length range as the current road segment and the alternative section；Wherein institute
It states third length range and is more than the second length range, third coefficient is less than the second coefficient.
Preferably, according to current road segment operation strategy corresponding with the matching degree in alternative section, described work as
The succession coefficient in preceding section and the alternative section is modified the initial right of way value in the alternative section, specifically includes：
If the current road segment is consistent with the road type in alternative section and is expressway or through street, by institute
The product for stating the initial right of way value and current road segment and the succession coefficient in alternative section in alternative section, is repaiied as the alternative section
Right of way value after just；
If the road type in the current road segment and the alternative section is inconsistent or the current road segment with it is described standby
The road type of routing section is consistent and is not expressway or through street, then by the initial right of way value in the alternative section with it is preset
Succession coefficient and value, as the alternative revised right of way value in section.
Preferably, described respectively according to the length in each alternative section, initial right of way value and revised right of way value, it determines each
The cost in alternative section, obtains with specific reference to following formula：
PCost=[(1-p) × QBefore amendment+p×QAfter amendment]×L；
Wherein：PCostFor the cost in alternative section, QAfter amendmentFor the revised right of way value in alternative section, QBefore amendmentFor alternative section
Initial right of way value, L be alternative section length, p be preset initial right of way value and revised right of way value weight ratio, p
Value range be (0,0.5]；
According to the cost in alternative section, an alternative section is chosen from the alternative section as the navigation routine
Lower a road section of current road segment, specially：
Using the alternative section of Least-cost as lower a road section of the current road segment of the navigation routine.
Presently filed embodiment additionally provides a kind of section extension fixture of navigation routine.The device includes：Right of way value
Module is expanded in acquisition module, matching degree determining module, right of way value correcting module, cost determining module and section, wherein：
The right of way value acquisition module, for when the current road segment of navigation routine carries out the expansion of lower a road section, obtain with
Current road segment has the initial right of way value at least two alternative sections of connected relation；
The matching degree determining module, for being directed to every alternative section, determine the road attribute of current road segment with it is described
The matching degree of the road attribute in alternative section, wherein between matching degree reflection current road segment and the alternative section after
The degree of peaceful slip；
The right of way value correcting module, for according to determining matching degree to the initial right of way value in the alternative section into
Row is corrected；
The cost determining module, for respectively according to the length in each alternative section, initial right of way value and revised road
Weights determine the cost in each alternative section；
Module is expanded in the section, for choosing an alternative road from the alternative section according to the cost in alternative section
Lower a road section of the current road segment of navigation routine described in Duan Zuowei.
Preferably, the right of way value correcting module includes factor determination unit and right of way value amending unit, wherein：
The factor determination unit, for according to determining matching degree determine current road segment and the alternative section after
Hold coefficient；
The right of way value amending unit, for corresponding with the matching degree in alternative section according to the current road segment
The succession coefficient of operation strategy, the current road segment and the alternative section carries out the initial right of way value in the alternative section
It corrects.
Preferably, the road attribute is road type, and the road type includes expressway, through street and other roads
Road, the matching degree determining module are specifically used for：Judge the road type of the road type and alternative section of the current road segment
It is whether consistent；
The factor determination unit, specifically includes：
Trigger element, the road of road type and alternative section for judging the current road segment in matching degree determining module
Road type is consistent, and when being expressway or through street, and trigger coefficient determines first unit；And in matching degree determining module
The road type in the road type for judging the current road segment and alternative section is inconsistent or the current road segment with it is described standby
The road type of routing section is consistent and when not being expressway or through street, trigger coefficient determines second unit；
Coefficient determines that first unit includes that section determination subelement, length and computation subunit, coupling subelement, coefficient are true
Stator unit, wherein：Section determination subelement, for determining continuously to be connected with current road segment from navigation routine and road class
The consistent section of type；The length and computation subunit, length and value for calculating the section determined and the current road segment；
The coupling subelement is used for the length and value and preset length model corresponding with the road type of the current road segment
It encloses and is matched, determine the length range that the length and value are fallen into；The coefficient determination subelement, for according to the length
The corresponding calculative strategy of length range that degree and value are fallen into determines the succession coefficient of the current road segment and the alternative section；
Coefficient determines second unit, for using preset succession coefficient as the succession of the current road segment and alternative section
Coefficient.
Preferably, the coefficient determination subelement, is specifically used for：
It, will be preset when the length the first length range corresponding for the current road segment with the length range that value is fallen into
Succession coefficient of the first coefficient corresponding with the first length range as the current road segment and the alternative section；
When the length the second length range corresponding for the current road segment with the length range that value is fallen into, according to preset
Straight-line decline function determine the length and corresponding second coefficient of value, and using the second coefficient as the current road segment with
The succession coefficient in the alternative section；Wherein described second length range is more than first length range, and the second coefficient is less than
First coefficient；
It, will be preset when length third length range corresponding for the current road segment with the length range that value is fallen into
Succession coefficient of the third coefficient corresponding with third length range as the current road segment and the alternative section；Wherein institute
It states third length range and is more than the second length range, third coefficient is less than the second coefficient.
Preferably, the right of way value amending unit includes quadrature operation subelement and summation operation subelement, wherein：
The quadrature operation subelement, for consistent with the road type in alternative section in the current road segment, and
When being expressway or through street, by the succession coefficient of the initial right of way value and current road segment and alternative section in the alternative section
Quadrature operation is carried out, using the result of quadrature operation as the alternative revised right of way value in section；
The summation operation subelement, for inconsistent in the current road segment and the road type in the alternative section,
Or the current road segment it is consistent with the road type in alternative section and be expressway or through street when, will be described standby
The initial right of way value of routing section carries out summation operation with preset succession coefficient, and summation operation is obtained and value is as described standby
The revised right of way value of routing section.
Preferably, the cost determining module is respectively according to the length in each alternative section, initial right of way value and revised
Right of way value determines the cost in each alternative section, is obtained with specific reference to following formula：
PCost=[(1-p) × QBefore amendment+p×QAfter amendment]×L；
Wherein：PCostFor the cost in alternative section, QAfter amendmentFor the revised right of way value in alternative section, QBefore amendmentFor alternative section
Initial right of way value, L be alternative section length, p be preset initial right of way value and revised right of way value weight ratio, p
Value range be (0,0.5]；
The section expansion module is specifically used for：Using the alternative section of Least-cost as the current road of the navigation routine
Lower a road section of section.
Presently filed embodiment is in carrying out section process of expansion, first, determines the road attribute difference of current road segment
There is matching degree (the current road of matching degree reflection between the road attribute in the alternative section of connected relation with the current road segment
The degree of flatness is inherited between section and the alternative section)；Secondly, according to determining matching degree to the first of each alternative section
Beginning right of way value is modified；Again, it is determined according to the length in each alternative section, initial right of way value and revised right of way value each standby
The cost of routing section；Finally, it is chosen from the alternative section according to the cost in alternative section described in an alternative section conduct
Lower a road section of the current road segment of navigation routine.Technical solution provided by the present application expands navigation routine from alternative section
When lower a road section, the initial right of way value in alternative section is not only only accounted for, it is also contemplated that alternatively between section and current road segment
With degree (inheriting flatness), the succession flatness in the navigation routine to make between adjacent segments is as big as possible,
Largely meet the user's demand of traveling in inheriting the preferable section of flatness in primary navigation, and then improves
The accuracy of route guidance.
Description of the drawings
Detailed description below, above-mentioned and other mesh of exemplary embodiment of the invention are read by reference to attached drawing
, feature and advantage will become prone to understand.In the accompanying drawings, if showing the present invention's by way of example rather than limitation
Dry embodiment, wherein：
Fig. 1 is a kind of schematic diagram in section in road network structure；
Fig. 2 is the flow chart of one embodiment of the section expansion method of the navigation routine of the application；
Fig. 3 is to determine a kind of schematic diagram for inheriting coefficient；
Fig. 4 a are to match when road type is expressway to determine the example schematic for inheriting coefficient；
Fig. 4 b are to match when road type is through street to determine the example schematic for inheriting coefficient；
Fig. 5 is the structural schematic diagram of one embodiment of the section extension fixture of the navigation routine of the application.
Specific implementation mode
The principle and spirit of the invention are described below with reference to several illustrative embodiments.It should be appreciated that providing this
A little embodiments are used for the purpose of making those skilled in the art can better understand that realizing the present invention in turn, and be not with any
Mode limits the scope of the invention.On the contrary, these embodiments are provided so that the application is more thorough and complete, and energy
It is enough that scope of the present application is completely communicated to those skilled in the art.
Understanding for ease of those skilled in the art to technical solution herein says the concept of " section expansion " as follows
It is bright：During navigation software carries out navigation route planning according to beginning and end input by user, need by one section
Stretch section is selected and is done step-by-step, that is, after the section (being subsequently known as current road segment) for determining navigation routine,
A section is chosen as navigation routine from the section (being subsequently known as alternative section) with the current road segment with connected relation
Lower a road section, which is the embodiment of section process of expansion.Referring to Fig. 1, it is assumed that the current road segment of navigation routine is ac, then
It includes ce1, ce2, ce3 to have the alternative section of connected relation with current road segment ac, is chosen wherein from this three alternative sections
It is presented as that section is expanded as lower a road section of navigation routine in one alternative section.
Illustrate the technical solution of the application embodiment below.Referring to Fig. 2, which is the section of the navigation routine of the application
The flow of one embodiment of expansion method, the flow include：
Step S21：When the current road segment of navigation routine carries out lower a road section expansion, acquisition has with current road segment to be connected to
The initial right of way value at least two alternative sections of relationship；
In the embodiment of the present application, refer to and current road segment with section of the current road segment with connected relation in step S21
Terminal connects, and has the section of connected relation with the current road segment.
As previously mentioned, the terminal (i.e. the distal point of current road segment) in current road segment may be connected with a plurality of and current road segment
Alternative section with connected relation, to which being expanded to next section by current road segment progress section, there are a variety of sections to select
The possibility selected.Preferably, to determine a more reasonably navigation routine, the application embodiment can be first obtain with it is current
Section has at least one of the connection relation (note for leading to destination direction：Here it refers to being eventually leading to lead to destination direction
The direction of destination in some cases may be in local appearance " turning back " phenomenon, and still, this " turns back " section finally
It is that can lead to destination) (in the embodiment of the present application, initial right of way value can be to set in advance for the initial right of way value in alternative section
The value set, right of way value are an attribute in section, the superiority-inferiority for characterizing section, if the right of way value can be to road section length
The value obtained later is normalized, alternatively, the right of way value is according to the road grade of road section length, section, section institute
The value that the COMPREHENSIVE CALCULATINGs such as the category of roads of category obtain).
In the embodiment of the present application, in step S21, at least two alternative sections that there is connected relation with current road segment are obtained
Initial right of way value can obtain the initial right of way values in all alternative sections with current road segment with connected relation.It is preferred that
Ground in the embodiment of the present application, in step S21, is obtained with current road segment with being connected to pass to further increase section efficiency
The initial right of way value at least two alternative sections of system, considered critical is not to obtain all and current road segment to have connected relation
Alternative section right of way value, but can be with the right of way value in the preferably alternative section of fetching portion.For example, in actual application
In, with current road segment there is the alternative section of connected relation there are 3, and wherein have 1 alternative section apparent poor (such as this is alternatively
The length in section is too long or too congestion), then the alternative section of this is excluded, and using remaining 2 alternative sections as subsequent operation
Object.
Step S22：For every alternative section, the road category of the road attribute and the alternative section of current road segment is determined
Property matching degree, wherein the matching degree reflection current road segment and the alternative section between inherit flatness degree；
In the embodiment of the present application, the road attribute in section can be road type, can usually be divided into road type
Expressway, through street and other roads etc..Road attribute can also be road grade, and road grade can be divided into national highway, save
Road, backroad etc..Road attribute can also be that pavement quality, pavement quality can be divided into first-class, medium, inferior.
In the embodiment of the present application, the matching degree of the road attribute of current road segment and the road attribute in alternative section is determined,
Specifically it may include：The road attribute of current road segment is compared with the road attribute in alternative section, if identical, it is determined that the two
Matching degree be consistent, if differing determine both matching degree be it is inconsistent.Alternatively, in the embodiment of the present application, really
The matching degree for determining the road attribute of current road segment and the road attribute in alternative section, specifically may include：Calculate current road segment
The similarity being calculated is determined as the matching degree of the two by the similarity of road attribute and the road attribute in alternative section；
Alternatively, the similarity being calculated is compared with preset similarity dimensions, judge what the similarity being calculated was fallen into
Similarity dimensions, and determine the similarity pair being calculated from the correspondence of preset similarity dimensions and matching degree
The matching degree answered.
In the embodiment of the present application, matching degree reflects the degree that flatness is inherited between current road segment and alternative section.
I.e. matching degree indicates that the difference degree of the road attribute value of current road segment and the road attribute value in alternative section, matching degree are got over
High then the two difference is smaller, on the contrary, the difference of the more low then the two of matching degree is bigger.
For example, by taking road attribute is road type as an example, it is assumed that current road segment is expressway.If alternative section is height
Fast road, since the standard that the road of same type is established is more consistent (for example, in road width, road driving speed, road surface matter
Amount etc. is almost the same), therefore, user drives into from current road segment to the alternative section consistent with the road type of current road segment
When, for a user, diversity factor is simultaneously little, and the succession flatness that this alternative section is transitioned by current road segment is higher, this
Show the matching degree highest of alternative section and current road segment.If alternative section is through street, since through street and expressway are built
Vertical standard difference is less (usually big for example, in road width, road driving speed, pavement quality etc. difference and little
Partial standard is more consistent), therefore, when user is driven into from the current road segment of expressway to the alternative section of through street, for
For user, though have certain difference, diversity factor be not it is very big, by current road segment be transitioned into this alternative section after
Peaceful slip is opposite it is also possible that this shows that the matching degree of alternative section and current road segment is better-than-average.If alternative section is other
Road (narrower, remote dirt road), since other roads differ larger with the standard that expressway is established, Yong Hucong
When the current road segment of expressway is driven into alternative section with other roads, for a user, diversity factor is larger, by current road
The succession flatness that section is transitioned into this alternative section is relatively low, this shows that the matching degree of alternative section and current road segment is relatively low.
It can be seen that in the embodiment of the present invention, the matching degree highest between the identical section of road type, expressway and through street it
Between matching degree higher than matching degree between expressway and other roads, the matching degree between through street and other roads
Higher than the matching degree between expressway and other roads.
Step S23：The initial right of way value in the alternative section is modified according to determining matching degree；
Step S24：It is determined respectively according to the length in each alternative section, initial right of way value and revised right of way value each alternative
The cost in section；
Step S25：It is chosen from the alternative section according to the cost in alternative section and is led described in an alternative section conduct
Lower a road section of the current road segment of air route line.
In above-mentioned steps S23, the initial right of way value in the alternative section is modified according to determining matching degree,
Specific implementation can be as follows：The succession coefficient of current road segment and alternative section is determined according to the matching degree determined；Further according to institute
State current road segment operation strategy corresponding with the matching degree in alternative section, the current road segment and the alternative section
Coefficient is inherited, the initial right of way value in the alternative section is modified.
In the embodiment of the present application, matching degree can be reflected by inheriting coefficient, that is to say, that the succession coefficient is and matches journey
Spend an associated amount, this incidence relation can be presented as various concrete forms, can allow in this application inherit coefficient with
There are following relationships between matching degree：
If the matching degree of an alternative section and current road segment is higher, the succession coefficient determined should
Enable to the alternative section of this that there is the current road segment that the probability of bigger is selected as navigation routine relative to other alternative sections
Lower a road section.For example, it is assumed that the length in a plurality of alternative section is identical, if in certain alternative section and current road segment
It is higher with degree, then according to succession current road segment operation strategy corresponding with the matching degree in alternative section and determined
Obtained amendment right of way value should be smaller after coefficient corrects the initial right of way value in the alternative section, i.e., in this case, matching
Degree and the amendment inversely proportional relationship of way of escape weights.
Understanding for ease of those skilled in the art to this programme, be given below two kinds illustrate it is true according to matching degree
Surely coefficient is inherited.
One of exemplary approach：By taking road attribute is road type as an example.In step S23, according to determining matching journey
Degree determines the succession coefficient of current road segment and the alternative section, can specifically include：
If 1) current road segment is consistent with the road type in alternative section and is expressway or through street, hold
Row following steps A to step C：
Step A：The section being continuously connected with current road segment and road type is consistent is determined from navigation routine, and is calculated
The length and value in the section and the current road segment determined；Such as：Assuming that navigation routine from the off successively include ab, bc,
The length in tri- sections cd, three sections is respectively d1, d2, d3, and the road type in three sections is followed successively by through street, high speed
Road, expressway, wherein：Cd is current road segment, it is determined that is gone out and the continuous sections being connected and road type is consistent current road segment cd
For bc, then it is d2+d3 to calculate the length of section bc and cd and value.
Step B：By the length and value and preset length range corresponding with the road type of the current road segment into
The length range that the length and value are fallen into is determined in row matching；Such as：Road type is expressway, then preset length model
Enclose may include [0,10km], (10km, 25km), [25km ,+∞)；Road type is through street, then preset length range can wrap
Include [0,2km], (2km, 4km), [4km ,+∞).
Step C：The current road segment is determined according to length calculative strategy corresponding with the length range that value is fallen into
With the succession coefficient in the alternative section；Specific implementation can be as follows：When the length range that the length and value are fallen into is described works as
When corresponding first length range in preceding section, using preset the first coefficient corresponding with the first length range as the current road
The succession coefficient of section and the alternative section；When the length is the current road segment corresponding second with the length range that value is fallen into
Length range then determines the length and corresponding second coefficient of value according to preset straight-line decline function, and by the second system
Succession coefficient of the number as the current road segment and the alternative section, slope that such as can be according to Fig.3, for negative value straight line
Decreasing function determines corresponding second coefficient；Wherein described second length range is more than first length range, the second system
Number is less than the first coefficient；When the length and length range that value is fallen into are the corresponding third length range of the current road segment,
Then using preset third coefficient corresponding with third length range as the succession system of the current road segment and the alternative section
Number；The wherein described third length range is more than the second length range, and third coefficient is less than the second coefficient.
Referring to Fig. 4 a, 4b, they show two examples for determining inherit coefficient in the manner described above.Shown in Fig. 4 a
One example is that current road segment is expressway, and alternative section is expressway, and the first length range is 0~10km, the second length model
It encloses for 10~25km, third length range is 25km or more, and corresponding first coefficient is 1.2, third coefficient is 0.6, the second system
Number is the number between 1.2~0.6.Second example shown in Fig. 4 b is that current road segment is through street, and alternative section is through street,
First length range is 0~2km, and the second length range is 2~4km, and third length range is 4km or more, corresponding first system
Number is 1.0, third coefficient is 0.8, and the second coefficient is the number between 1.0~0.8.
If 2) road type in the current road segment and the alternative section is inconsistent or the current road segment with it is described
The road type in alternative section is consistent and is not expressway or through street, then executes following steps：By preset succession coefficient
Succession coefficient as the current road segment and alternative section.Under normal circumstances, the more high corresponding preset succession of matching degree
Coefficient is lower, and the more high corresponding preset succession coefficient of matching degree is higher.Such as：If current road segment is expressway, alternative road
Section is that then preset succession coefficient is 0.2 for through street；If preceding section be expressway, alternative section be other roads it is preset after
It is 0.8 to hold coefficient；If current road segment is through street, alternative section is that the preset succession coefficient in expressway is 0.2；If current road
Section is through street, and alternative section is that then preset succession coefficient is 0.3 to other roads；If current road segment is other roads, alternatively
Section is that then preset succession coefficient is 1.0 for expressway；If current road segment is other roads, alternative section is that through street is preset
Succession coefficient be 0.5.
In the embodiment of the present application, abovementioned steps S23 is according to the matching degree pair of the current road segment and the alternative section
The succession coefficient of the operation strategy, the current road segment and the alternative section answered, to the initial right of way value in the alternative section
It is modified, specific implementation can be as follows：
If the current road segment is consistent with the road type in alternative section and is expressway or through street, by institute
The product for stating the initial right of way value and current road segment and the succession coefficient in alternative section in alternative section, is repaiied as the alternative section
Right of way value after just；
If the road type in the current road segment and the alternative section is inconsistent or the current road segment with it is described standby
The road type of routing section is consistent and is not expressway or through street, then by the initial right of way value in the alternative section with it is preset
Succession coefficient and value, as the alternative revised right of way value in section.
The two of exemplary approach：By road attribute be pavement quality for, pavement quality can be divided into it is first-class, medium and under
Deng.The height of pavement quality is used for the height of evaluation path evenness of road surface degree, for example, road surface is more smooth, under normal conditions
Vehicle drives more smooth on the road surface, and difficulty is relatively low, then it is believed that pavement quality is preferable；Road surface is rugged, then vehicle
Driving difficulty is higher on the road surface, then it is believed that pavement quality is poor.Assuming that the pavement quality of current road segment is " first-class ", from
There are the alternative section of two equal lengths, an alternative sections with lead to destination direction of the current road segment with connected relation
Pavement quality be " medium " (be known as the first alternative section), the pavement quality in another article of alternative section is " inferior " (referred to as the
Two alternative sections).When the matching degree of the alternative section of determination and the road attribute of current road segment, current road segment and first are obtained
The matching degree in alternative section is higher than the matching degree in current road segment and the second alternative section (because by first-class pavement quality transition
To medium pavement quality obviously than more smooth, i.e., the road category before and after transition that is transitioned into inferior pavement quality by first-class pavement quality
Property otherness smaller), therefore, should allow determining succession coefficient meet it is following require it is " corresponding according to the first alternative section
The right of way value that the initial right of way value in the first alternative section of succession coefficient pair is modified is less than according to the second alternative section pair
The right of way value that the initial right of way value in the second alternative section of succession coefficient pair answered obtains after being modified ", in the first alternative section
In the case of equal with the initial right of way value in the second alternative section, it is required that the succession coefficient in the first alternative section is less than second
The succession coefficient in alternative section.In general, this mode so that the alternative section of final choice is medium pavement quality first is standby
Routing section.For example, if the initial right of way value in the first alternative section is 1.2, the initial right of way value in the second alternative section is
1.5, if setting the succession coefficient in the first alternative section as 0.8, the succession coefficient in the second alternative section is x, then should be according to
Formula in this way determines the value of x：1.2 × 0.8 1.5 × x of <, i.e. x should be more than 0.64.Certainly, in actual application, may be used
With determine the first alternative section succession coefficient setting rule, may further specify that the second alternative section succession coefficient up and down
Limit range.In the embodiment of the present invention, the matching degree highest between the consistent section of pavement quality grade, pavement quality is first-class
Section and pavement quality be matching degree between medium section higher than pavement quality be first-class section and pavement quality
For the matching degree between inferior section, pavement quality is that medium section and pavement quality are between inferior section
With degree higher than pavement quality be first-class section and pavement quality it is matching degree between inferior section.
In the embodiment of the present application, step S24 is respectively according to the length in each alternative section, initial right of way value and revised road
Weights determine the cost in each alternative section, are carried out with specific reference to following formula (1)：
PCost=[(1-p) × QBefore amendment+p×QAfter amendment]×L；Formula (1)
Wherein：PCostFor the cost in alternative section, QAfter amendmentFor the revised right of way value in alternative section, QBefore amendmentFor alternative section
Initial right of way value, L be alternative section length, p be preset initial right of way value and revised right of way value weight ratio, p
Value range be (0,0.5].
In the embodiment of the present application, step S25 chooses one alternatively according to the cost in alternative section from the alternative section
The lower a road section of section as the current road segment of the navigation routine, specific implementation can be as follows：
Using the alternative section of Least-cost as lower a road section of the current road segment of the navigation routine.
Presently filed embodiment is in carrying out section process of expansion, first, determines the road attribute difference of current road segment
There is matching degree (the current road of matching degree reflection between the road attribute in the alternative section of connected relation with the current road segment
The degree of flatness is inherited between section and the alternative section)；Secondly, according to determining matching degree to the first of each alternative section
Beginning right of way value is modified；Thirdly, it is determined according to the length in each alternative section, initial right of way value and revised right of way value each
The cost in alternative section；Finally, an alternative section is chosen from the alternative section according to the cost in alternative section as institute
State lower a road section of the current road segment of navigation routine.Technical solution provided by the present application expands navigation routine from alternative section
Lower a road section when, not only only account for the initial right of way value in alternative section, it is also contemplated that alternatively between section and current road segment
Matching degree (inherits flatness), the succession flatness in the navigation routine to make between adjacent segments as far as possible compared with
Greatly, largely meet user demand of the traveling in inheriting the preferable section of flatness, Jin Erti in primary navigation
The high accuracy of route guidance.
The embodiment of the section expansion method of the navigation routine of the application is described in detail in the above, corresponding to this
Ground, present invention also provides the embodiments of the section extension fixture of navigation routine.Referring to Fig. 5, the figure shows navigation routines
Section extension fixture one embodiment composed structure.The device includes：Right of way value acquisition module 51, matching degree determine mould
Module 55 is expanded in block 52, right of way value correcting module 53, cost determining module 54 and section, wherein：
Right of way value acquisition module 51, for when the current road segment of navigation routine carries out lower a road section expansion, obtaining and working as
Preceding section has the initial right of way value at least two alternative sections of connected relation；
Matching degree determining module 52, for being directed to every alternative section, determine the road attribute of current road segment with it is described standby
The matching degree of the road attribute of routing section, wherein being inherited between matching degree reflection current road segment and the alternative section
The degree of flatness；
Right of way value correcting module 53, for being carried out to the initial right of way value in the alternative section according to determining matching degree
It corrects；
Cost determining module 54, for respectively according to the length in each alternative section, initial right of way value and revised right of way
Value determines the cost in each alternative section；
Module 55 is expanded in section, for choosing an alternative section from the alternative section according to the cost in alternative section
Lower a road section of current road segment as the navigation routine.
The course of work of above-mentioned apparatus embodiment is：First, current road segment of the right of way value acquisition module 51 in navigation routine
When carrying out lower a road section expansion, the initial right of way value in at least two alternative sections that there is connected relation with current road segment is obtained；
Then, matching degree determining module 52 is directed to every alternative section, determines the road attribute of current road segment and the alternative section
The matching degree of road attribute, then by right of way value correcting module 53 according to determining matching degree to the initial of the alternative section
Right of way value is modified；Secondly, cost determining module 54 is respectively according to the length in each alternative section, initial right of way value and after correcting
Right of way value determine the cost in each alternative section；Finally, section expansion module 55 according to the cost in alternative section from described alternative
Lower a road section of current road segment of the alternative section as the navigation routine is chosen in section.Present apparatus embodiment can take
With the same or similar technique effect of preceding method embodiment, to avoid repeating, no longer superfluous words here.
In above-mentioned apparatus embodiment, the mode of each its function of Implement of Function Module is different, and internal composed structure is then
There may be differences.For example, for right of way value correcting module 53, various modes may be used to realize to initial right of way value
It corrects, so as to different internal structures.Preferably, the application right of way value correcting module 53 can specifically include coefficient
Determination unit 531 and right of way value amending unit 532, wherein：
Factor determination unit 531, for according to determining matching degree determine current road segment and the alternative section after
Hold coefficient；
Right of way value amending unit 532, for corresponding with the matching degree in alternative section according to the current road segment
The succession coefficient of operation strategy, the current road segment and the alternative section carries out the initial right of way value in the alternative section
It corrects.
Preferably, the structure of above-mentioned right of way value correcting module 53 is also possible to matching degree determining module 52 which kind of take match
Mode is related.In a following exemplary scenarios, the factor determination unit 531 of above-mentioned right of way value correcting module 53 may packet
Include thinner structure.The scene is that road attribute is road type, and road type is divided into expressway, through street and other roads
Three kinds, matching degree determining module 52 can be specifically used for：Judge the road of the road type and alternative section of the current road segment
Whether type is consistent；
In this case, factor determination unit 531 can specifically include trigger element 531a, coefficient determines first unit
531b, coefficient determine second unit 531c, wherein：Trigger element 531a, for judging described work as in matching degree determining module 52
The road type in preceding section is consistent with the road type in alternative section, and when being expressway or through street, and trigger coefficient determines
First unit 531b；And the road of the road type and alternative section of the current road segment is judged in matching degree determining module 52
Road Type-Inconsistencies or the current road segment are consistent with the road type in alternative section, and are not expressway or fast
When fast road, trigger coefficient determines second unit 531c；Coefficient determines that first unit 531b may include：Section determination subelement
5311, length and computation subunit 5312, coupling subelement 5313, coefficient determination subelement 5314, wherein：
Section determination subelement 5311, for determining continuously to be connected with current road segment from navigation routine and road type
Consistent section；
Length and computation subunit 5312, length and value for calculating the section determined and the current road segment；
Coupling subelement 5313, for by the length and be worth with it is preset corresponding with the road type of the current road segment
Length range matched, determine the length and length range that value is fallen into；
Coefficient determination subelement 5314, for true according to length calculative strategy corresponding with the length range that value is fallen into
Make the succession coefficient of the current road segment and the alternative section.Coefficient determination subelement 5314 is fallen according to the length and value
The corresponding calculative strategy of length range entered determines the succession coefficient of the current road segment and the alternative section, specifically can be with
It realizes in the following manner：
It, will be preset when the length the first length range corresponding for the current road segment with the length range that value is fallen into
Succession coefficient of the first coefficient corresponding with the first length range as the current road segment and the alternative section；
When the length the second length range corresponding for the current road segment with the length range that value is fallen into, according to preset
Straight-line decline function determine the length and corresponding second coefficient of value, and using the second coefficient as the current road segment with
The succession coefficient in the alternative section；Wherein described second length range is more than first length range, and the second coefficient is less than
First coefficient；
It, will be preset when length third length range corresponding for the current road segment with the length range that value is fallen into
Succession coefficient of the third coefficient corresponding with third length range as the current road segment and the alternative section；Wherein institute
It states third length range and is more than the second length range, third coefficient is less than the second coefficient.
Coefficient determines that second unit 531c can be specifically used for：Using preset succession coefficient as the current road segment with it is standby
The succession coefficient of routing section.
In aforementioned different determining, right of way value amending unit 532 may further include quadrature in the case of inheriting coefficient
Operation subelement 5321 and summation operation subelement 5322, wherein：
Quadrature operation subelement 5321, for consistent with the road type in alternative section in the current road segment, and
When being expressway or through street, by the succession coefficient of the initial right of way value and current road segment and alternative section in the alternative section
Quadrature operation is carried out, using the result of quadrature operation as the alternative revised right of way value in section；
Summation operation subelement 5322, for inconsistent in the current road segment and the road type in the alternative section,
Or the current road segment is consistent with the road type in alternative section, and when not being expressway or through street, it will be described
The initial right of way value in alternative section carries out summation operation with preset succession coefficient, and summation operation is obtained and value is as described in
The revised right of way value in alternative section.
In addition, cost determining module 54 in above-mentioned apparatus embodiment can there are many modes for realizing its function, for example,
Cost determining module 54 determines each alternative road according to the length in each alternative section, initial right of way value and revised right of way value respectively
The cost of section, can carry out according to the following formula：
PCost=[(1-p) × QBefore amendment+p×QAfter amendment]×L；
Wherein：PCostFor the cost in alternative section, QAfter amendmentFor the revised right of way value in alternative section, QBefore amendmentFor alternative section
Initial right of way value, L be alternative section length, p be preset initial right of way value and revised right of way value weight ratio, p
Value range be (0,0.5]；
Section expansion module 55 can then be specifically used for：Using alternative section the working as the navigation routine of Least-cost
The lower a road section in preceding section.
It should be noted that although be referred in above-detailed several modules of the section extension fixture of navigation routine,
Unit, but this division is not enforceable.In fact, according to presently filed embodiment, above-described two or more
Multiunit feature and function can embody in one apparatus, can also be embodied in different devices.Also, it is opposite
Ground, the feature and function of an above-described unit can be further divided into be embodied by multiple subelements.
In addition, although the operation of the application method is described with particular order in the accompanying drawings, this do not require that or
Hint must execute these operations according to the particular order, or have to carry out shown in whole operation could realize it is desired
As a result.Additionally or alternatively, it is convenient to omit multiple steps are merged into a step and executed by certain steps, and/or by one
Step is decomposed into execution of multiple steps.
Although by reference to several spirit and principle that detailed description of the preferred embodimentsthe present invention has been described, it should be appreciated that, this
It is not limited to the specific embodiments disclosed for invention, does not also mean that the feature in these aspects cannot to the division of various aspects
Combination is this to divide the convenience merely to statement to be benefited.The present invention is directed to cover appended claims spirit and
Included various modifications and equivalent arrangements in range.
Claims (12)
1. a kind of section expansion method of navigation routine, which is characterized in that the method includes：
When the current road segment of navigation routine carries out lower a road section expansion, at least two that there is connected relation with current road segment are obtained
The initial right of way value in the alternative section of item；
For every alternative section, the matching journey of the road attribute of current road segment and the road attribute in the alternative section is determined
Degree, and the initial right of way value in the alternative section is modified according to determining matching degree, wherein the matching degree is anti-
It reflects between current road segment and the alternative section and inherits the degree of flatness；
The cost in each alternative section is determined according to the length in each alternative section, initial right of way value and revised right of way value respectively；
An alternative section is chosen as the current of the navigation routine from the alternative section according to the cost in alternative section
The lower a road section in section.
2. according to the method described in claim 1, it is characterized in that, it is described according to determining matching degree to the alternative section
Initial right of way value be modified, specifically include：
The succession coefficient of current road segment and the alternative section is determined according to determining matching degree；
According to current road segment operation strategy corresponding with the matching degree in alternative section, the current road segment with it is described
The succession coefficient in alternative section, is modified the initial right of way value in the alternative section.
3. according to the method described in claim 2, it is characterized in that, the road attribute is road type, road type includes
Expressway, through street and other roads determine the matching of the road attribute of current road segment and the road attribute in the alternative section
Degree, specially：Whether the road type for judging the current road segment is consistent with the road type in alternative section；
The succession coefficient that current road segment and the alternative section are determined according to determining matching degree, specifically includes：
If the current road segment is consistent with the road type in alternative section and is expressway or through street, execute following
Step：It determines continuously to be connected with current road segment from navigation routine and the consistent section of road type, and calculates and determine
The length and value in section and the current road segment；By the length and value with it is preset corresponding with the road type of the current road segment
Length range matched, determine the length and length range that value is fallen into；The length fallen into according to the length and value
The corresponding calculative strategy of degree range determines the succession coefficient of the current road segment and the alternative section；
If the road type in the current road segment and the alternative section is inconsistent or the current road segment and the alternative road
The road type of section is consistent and is not expressway or through street, then executes following steps：Using preset succession coefficient as institute
State the succession coefficient of current road segment and alternative section.
4. according to the method described in claim 3, it is characterized in that, the length range pair fallen into according to the length and value
The calculative strategy answered determines the succession coefficient of the current road segment and the alternative section, specifically includes：
When the length and length range that value is fallen into are corresponding first length range of the current road segment, by it is preset with
Succession coefficient of corresponding first coefficient of first length range as the current road segment and the alternative section；
When the length and length range that value is fallen into are corresponding second length range of the current road segment, then according to preset straight
Line decreasing function determines the length and corresponding second coefficient of value, and using the second coefficient as the current road segment with it is described
The succession coefficient in alternative section；Wherein described second length range is more than first length range, and the second coefficient is less than first
Coefficient；
When the length and length range that value is fallen into are the corresponding third length range of the current road segment, then by it is preset with
Succession coefficient of the corresponding third coefficient of third length range as the current road segment and the alternative section；Wherein described
Three length ranges are more than the second length range, and third coefficient is less than the second coefficient.
5. according to the method described in claim 3, it is characterized in that, according to the matching of the current road segment and the alternative section
The succession coefficient of the corresponding operation strategy of degree, the current road segment and the alternative section, to the initial of the alternative section
Right of way value is modified, and is specifically included：
It, then will be described if the current road segment is consistent with the road type in alternative section, and is expressway or through street
The product of the initial right of way value and current road segment and the succession coefficient in alternative section in alternative section, is corrected as the alternative section
Right of way value afterwards；
If the road type in the current road segment and the alternative section is inconsistent or the current road segment and the alternative road
The road type of section is consistent and is not expressway or through street, then by the initial right of way value in the alternative section with it is preset after
Hold coefficient and value, as the alternative revised right of way value in section.
6. the method according to any one of claim 1 to 5, which is characterized in that described respectively according to each alternative section
Length, initial right of way value and revised right of way value, determine the cost in each alternative section, obtained with specific reference to following formula：
PCost=[(1-p) × QBefore amendment+p×QAfter amendment]×L；
Wherein：PCostFor the cost in alternative section, QAfter amendmentFor the revised right of way value in alternative section, QBefore amendmentFor the first of alternative section
Beginning right of way value, L are the length in alternative section, and p is the weight ratio of preset initial right of way value and revised right of way value, p values
Ranging from (0,0.5]；
According to the cost in alternative section, an alternative section is chosen from the alternative section as the current of the navigation routine
The lower a road section in section, specially：
Using the alternative section of Least-cost as lower a road section of the current road segment of the navigation routine.
7. a kind of section extension fixture of navigation routine, which is characterized in that described device includes：Right of way value acquisition module, matching
It spends determining module, right of way value correcting module, cost determining module and section and expands module, wherein：
The right of way value acquisition module, for when the current road segment of navigation routine carries out lower a road section expansion, obtaining and current
Section has the initial right of way value at least two alternative sections of connected relation；
The matching degree determining module, for being directed to every alternative section, determine the road attribute of current road segment with it is described alternative
The matching degree of the road attribute in section, wherein after peaceful between matching degree reflection current road segment and the alternative section
The degree of slip；
The right of way value correcting module, for being repaiied to the initial right of way value in the alternative section according to determining matching degree
Just；
The cost determining module, for respectively according to the length in each alternative section, initial right of way value and revised right of way value
Determine the cost in each alternative section；
Module is expanded in the section, is made for choosing an alternative section from the alternative section according to the cost in alternative section
For lower a road section of the current road segment of the navigation routine.
8. device according to claim 7, which is characterized in that the right of way value correcting module include factor determination unit and
Right of way value amending unit, wherein：
The factor determination unit, the succession system for determining current road segment and the alternative section according to determining matching degree
Number；
The right of way value amending unit, for according to current road segment operation corresponding with the matching degree in alternative section
The succession coefficient of tactful, the described current road segment and the alternative section is modified the initial right of way value in the alternative section.
9. device according to claim 8, which is characterized in that the road attribute is road type, the road type
Including expressway, through street and other roads, the matching degree determining module is specifically used for：Judge the road of the current road segment
Whether type is consistent with the road type in alternative section；
The factor determination unit, specifically includes：
Trigger element, for judging the road type of the current road segment and the road class in alternative section in matching degree determining module
Type is consistent, and when being expressway or through street, and trigger coefficient determines first unit；And judge in matching degree determining module
The road type in the road type of the current road segment and alternative section is inconsistent or the current road segment and the alternative road
The road type of section is consistent and when not being expressway or through street, trigger coefficient determines second unit；
Coefficient determines that first unit includes section determination subelement, length and computation subunit, coupling subelement, coefficient determination
Unit, wherein：Section determination subelement, for determining continuously to be connected with current road segment from navigation routine and road type one
The section of cause；The length and computation subunit, length and value for calculating the section determined and the current road segment；It is described
Coupling subelement, for by the length and be worth and preset length range corresponding with the road type of the current road segment into
The length range that the length and value are fallen into is determined in row matching；The coefficient determination subelement, for according to the length and
The corresponding calculative strategy of length range that value is fallen into determines the succession coefficient of the current road segment and the alternative section；
Coefficient determines second unit, for using preset succession coefficient as the succession system of the current road segment and alternative section
Number.
10. device according to claim 9, which is characterized in that the coefficient determination subelement is specifically used for：
When the length and length range that value is fallen into are corresponding first length range of the current road segment, by it is preset with
Succession coefficient of corresponding first coefficient of first length range as the current road segment and the alternative section；
When the length and length range that value is fallen into are corresponding second length range of the current road segment, according to preset straight
Line decreasing function determines the length and corresponding second coefficient of value, and using the second coefficient as the current road segment with it is described
The succession coefficient in alternative section；Wherein described second length range is more than first length range, and the second coefficient is less than first
Coefficient；
When the length and length range that value is fallen into are the corresponding third length range of the current road segment, by it is preset with
Succession coefficient of the corresponding third coefficient of third length range as the current road segment and the alternative section；Wherein described
Three length ranges are more than the second length range, and third coefficient is less than the second coefficient.
11. device according to claim 8, which is characterized in that the right of way value amending unit includes quadrature operator list
Member and summation operation subelement, wherein：
The quadrature operation subelement and is for consistent with the road type in alternative section in the current road segment
When expressway or through street, the succession coefficient in the initial right of way value and current road segment in the alternative section and alternative section is carried out
Quadrature operation, using the result of quadrature operation as the alternative revised right of way value in section；
The summation operation subelement, in the current road segment and the road type in the alternative section it is inconsistent, or
The current road segment it is consistent with the road type in alternative section and be expressway or through street when, by the alternative road
The initial right of way value of section carries out summation operation with preset succession coefficient, and summation operation is obtained and value is as the alternative road
The revised right of way value of section.
12. the device according to any one of claim 7 to 11, which is characterized in that the cost determining module difference
The cost that each alternative section is determined according to the length in each alternative section, initial right of way value and revised right of way value, with specific reference to
Following formula obtains：
PCost=[(1-p) × QBefore amendment+p×QAfter amendment]×L；
Wherein：PCostFor the cost in alternative section, QAfter amendmentFor the revised right of way value in alternative section, QBefore amendmentFor the first of alternative section
Beginning right of way value, L are the length in alternative section, and p is the weight ratio of initial right of way value and revised right of way value, and p value ranges are
(0,0.5]；
The section expansion module is specifically used for：Using the alternative section of Least-cost as the current road segment of the navigation routine
Lower a road section.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510046962.5A CN105987702B (en) | 2015-01-29 | 2015-01-29 | A kind of the section expansion method and its device of navigation routine |
| PCT/CN2016/071453 WO2016119615A1 (en) | 2015-01-29 | 2016-01-20 | Navigation route road section expansion method and device thereof |
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| CN201510046962.5A CN105987702B (en) | 2015-01-29 | 2015-01-29 | A kind of the section expansion method and its device of navigation routine |
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| CN110631599A (en) * | 2019-08-29 | 2019-12-31 | 重庆长安汽车股份有限公司 | Navigation method, system, server and automobile based on air pollution |
| CN113048998B (en) * | 2021-04-16 | 2024-03-22 | 上海商汤临港智能科技有限公司 | Navigation method, navigation device, electronic equipment and storage medium |
| CN113701761B (en) * | 2021-10-28 | 2022-02-08 | 华清科盛(北京)信息技术有限公司 | Internal road path planning method and system |
| CN114047757B (en) * | 2021-11-05 | 2023-05-19 | 季华实验室 | Multi-AGV path evaluation planning method |
| CN117740021A (en) * | 2024-02-07 | 2024-03-22 | 深圳市捷易科技有限公司 | Park navigation task execution method and device, electronic equipment and readable storage medium |
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| CN101614551A (en) * | 2009-07-21 | 2009-12-30 | 中国科学院地理科学与资源研究所 | Sneakernet method for building up and device, method for searching path and device |
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