CN106289296A - A kind of method and apparatus of road guide - Google Patents
A kind of method and apparatus of road guide Download PDFInfo
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- CN106289296A CN106289296A CN201610805499.2A CN201610805499A CN106289296A CN 106289296 A CN106289296 A CN 106289296A CN 201610805499 A CN201610805499 A CN 201610805499A CN 106289296 A CN106289296 A CN 106289296A
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- 238000000034 method Methods 0.000 title claims abstract description 49
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- 238000010586 diagram Methods 0.000 description 10
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- 239000004575 stone Substances 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 2
- 241001494479 Pecora Species 0.000 description 2
- 235000011941 Tilia x europaea Nutrition 0.000 description 2
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- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 244000144992 flock Species 0.000 description 2
- 239000004571 lime Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The embodiment of the present application provides the method and apparatus of a kind of road guide, and described method comprises determining that beginning and end；For described beginning and end, extracting target navigation data from preset target area track data, described target navigation data include target navigation path and path attribute information thereof；Use described target navigation path and path attribute information thereof, perform navigation operation such that it is able to for the navigation data of the road generation particular attribute of different road conditions so that when navigation, can carry out danger according to path attribute, points for attention prediction judges, improves the safety of driving.
Description
Technical field
The application relates to field of navigation technology, particularly relates to method and the dress of a kind of road guide of a kind of road guide
Put.
Background technology
Along with the development of agricultural science and technology, the newest technology is used in agricultural production.When agricultural technology is looked forward to
When industry provides service for peasant, it usually needs be deep into field, agriculture production modl is looked specifically at and analyzes.
Meanwhile, along with agriculture industrialization and the propelling of scale, the farmland area of some areas may be the broadest, it is generally difficult to distinguishes
Go out the ownership in farmland, the most also cannot know the particular location in farmland so that many time and efforts can be spent in pathfinding.
Therefore, professional of agriculture often uses the mode of navigation to search the farmland needing to arrive.
Navigation is to guide a certain equipment, from the method a little moving to another point of advertised route, is used for driving and drives
On.Common navigation system is typically made up of three parts: navigation map, navigation way and navigation hint.Driver can pass through
Arranging starting point and point of destination on navigation map, navigator generate the path from starting point to point of destination, vehicle is on edge
During navigation way travels, navigator can provide driving prompting.Generally, the information of prompting be vehicle travel track,
Road that direction and how entering will travel etc., by navigation map and navigation way, driver can be intuitively
Solve route plan.
Navigation map in existing navigator, all based on ordinary road, lacks farmland road data, carries in navigation
When showing the most visually with all bias toward the prompting relevant to ordinary road on voice, such as crossing, rotary island, speed limit etc..But
Being that it is the most smooth that the road on farmland is not as ordinary road, road soil property deflection silt, stone road, meanwhile, route topography is also
More complicated.Therefore, existing navigator is used often cannot to carry out efficient navigation on the road between farmland.
Summary of the invention
In view of the above problems, it is proposed that the embodiment of the present application is to provide one to overcome the problems referred to above or at least in part
Solve method and the device of corresponding a kind of road guide of a kind of road guide of the problems referred to above.
In order to solve the problems referred to above, the embodiment of the present application discloses a kind of method of road guide, including:
Determine beginning and end；
For described beginning and end, from preset target area track data, extract target navigation data, described
Target navigation data include target navigation path and path attribute information thereof；
Use described target navigation path and path attribute information thereof, perform navigation operation；
Wherein, described preset target area track data generates as follows:
Obtaining the satellite map of target area, described target area includes a plurality of road；
Gather the tracing point information of described a plurality of road；
For satellite map and the described tracing point information of described target area, generate target area track data.
In order to solve the problems referred to above, the embodiment of the present application also discloses the device of a kind of road guide, including:
Determine module, be used for determining beginning and end；
Acquisition module, for for described beginning and end, extracts target from preset target area track data
Navigation data, described target navigation data include target navigation path and path attribute information thereof；
Navigation module, is used for using described target navigation path and path attribute information thereof, performs navigation operation；
Wherein, described preset target area track data generates by calling lower module such as:
Satellite map acquisition module, for obtaining the satellite map of target area, described target area includes a plurality of road；
Tracing point information acquisition module, for gathering the tracing point information of described a plurality of road；
Track data generation module, is used for the satellite map for described target area and described tracing point information, generates
Target area track data.
Compared with background technology, the embodiment of the present application includes advantages below:
After determining beginning and end, can obtain target navigation data for described beginning and end, described target is led
Boat data can include target navigation path and path attribute information thereof, then uses described target navigation path and path thereof to belong to
Property information, perform navigation operation such that it is able to generate the navigation data of particular attribute for the road of different road conditions so that leading
During boat, it is possible to carry out danger according to path attribute, points for attention prediction judges, improves the safety of driving.
Accompanying drawing explanation
Fig. 1 is the flow chart of steps of the embodiment of the method one of a kind of road guide of the application；
Fig. 2 is the flow chart of steps of the embodiment of the method two of a kind of road guide of the application；
Fig. 3 is the schematic flow sheet of the road guide process of the application；
Fig. 4 A-4F is the structured flowchart of the device embodiment of a kind of road guide of the application.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the application, feature and advantage to become apparent from, real with concrete below in conjunction with the accompanying drawings
The application is described in further detail by mode of executing.
With reference to Fig. 1, it is shown that the flow chart of steps of the embodiment of the method one of a kind of road guide of the application, the most permissible
Comprise the steps:
Step 101, determines beginning and end；
In the embodiment of the present application, the position that described starting point can be user or vehicle is currently located, usually, starting point can
By by obtaining in the way of automatically current location being positioned by navigation system terminal, it is also possible to by user in navigation system eventually
The mode carrying out selecting on the navigation map of end obtains.
Described terminal can be the place that user wishes to arrive, i.e. destination place, for the road of farmland, terminal can
To be concrete position in a certain piece of farmland etc..
In implementing, user can by the title of input person liable belonging to farmland in navigation system terminal,
The modes such as ownership unit, and then obtain the particular location of terminal, it is also possible to by directly selecting at navigation map, thus really
Determine the particular location of terminal.Certainly, those skilled in the art can also determine otherwise navigation way starting point and
Terminal, this is not construed as limiting by the embodiment of the present application.
Further, after determining the particular location of beginning and end of navigation way, can be by beginning and end
Particular location is converted to corresponding coordinate figure or longitude and latitude, in order to navigation system generates according to corresponding coordinate figure or longitude and latitude
Guidance path.
Step 102, for described beginning and end, extracts target navigation number from preset target area track data
According to, described target navigation data include target navigation path and path attribute information thereof；
In the embodiment of the present application, after determining beginning and end, can be by the coordinate figure of beginning and end or longitude and latitude
Degree sends to server, server generate the target navigation data from origin-to-destination according to the track data of target area,
Thus target navigation data are sent to navigation system terminal, after terminal receives target navigation data, can be by road of navigating
Footpath and attribute information show on navigation map.
In the another kind of example of the application, it is also possible to the track data of target area is preset at navigation system terminal
In, after determining beginning and end, directly generated the target navigation data from origin-to-destination by navigation system terminal, and will
Guidance path and attribute information show on navigation map.
In the embodiment of the present application, described preset target area track data can generate as follows:
S1, obtains the satellite map of target area, and described target area includes a plurality of road；
S2, gathers the tracing point information of described a plurality of road；
S3, for satellite map and the described tracing point information of described target area, generates target area track data.
In implementing, then target area track data will be able to gather by obtaining the satellite map in this region
The mode that in this region obtained, the tracing point information on a plurality of road is carried in this satellite map obtains.When receiving needs
Behind the position of the beginning and end of navigation, target navigation data can be extracted from the track data of described target area.
In the embodiment of the present application, described target navigation data can include target navigation path and path attribute letter thereof
Breath.
Target navigation path can be the optimal route from origin-to-destination chosen according to shortest path rule, such as,
Can be minimum route of turning in whole vehicle line, it is also possible to be road by property preferably, road that average speed per hour is higher
Line.Those skilled in the art by setting different weights, can obtain and meet corresponding requirements according to specific needs
Optimal route, this is not construed as limiting by the embodiment of the present application.
The path attribute information in target navigation path can be to include the road attribute letter of each bar road on guidance path
The point attribute information of each road waypoint on breath and each bar road.
Specifically, road attribute information can be the index value of each bar road, road type, length, road conditions, and, should
Farmland associated by bar road etc. information.Such as, for certain road that index value is 1, its road attribute information can wrap
Include road type: stone road；Length: 200.20 meters；Road conditions: jolt, muddy, narrow；Association farmland is the agriculture of numbered NT001
Field.
The point attribute information of each road waypoint can be the attribute information of the characteristic point needed to pay attention on every road, example
As, the risk point on road, points for attention point, culture point, and the beginning and end of road etc..The point attribute letter of road waypoint
Breath can include the information such as index value, latitude and longitude value, coordinate figure, attention content, speed restriction.Such as, it is 1 for index value
Certain road waypoint, its attribute information can include longitude: 22.0；Dimension: 113.0；Note content: equipment of pouring water, attention keep away
Allow；Speed limits: front hollow ground, slow down.
In implementing, road attribute information can be carried out according to the some attribute information of multiple roads waypoint on this road
Collect acquisition, it is also possible to be acquired obtaining by the direct various information to this road.Those skilled in the art can root
Border is it needs to be determined that the content of attribute information of selected road waypoint and road factually, and this is not limited by the embodiment of the present application
Fixed.
Step 103, uses described target navigation path and path attribute information thereof, performs navigation operation.
In the embodiment of the present application, navigation system terminal, can be by target navigation path after obtaining target navigation data
And path attribute information shows on the navigation map of terminal, and report navigation hint information by voice to user, described
Navigation hint information can include the essential information that the road attribute information according to this road generates, such as, voice broadcast
Content may is that current road segment 1 kilometer, stone road, jolts relatively strong, low speed please be kept to move ahead；Or: current road segment 500 meters, water
Road, flock of sheep activity section, it is noted that slow down.Carry accordingly further, it is also possible to the some attribute information according to road waypoint is generated
Showing information, such as: 100 meters of front, Lu Shangyou pours water equipment, it is noted that dodge.Certainly, those skilled in the art can be according to reality
Border needs, and selects different attribute informations to generate the content of information, and the embodiment of the present application is to the content of information not
It is construed as limiting.
In the embodiment of the present application, after determining beginning and end, target can be obtained lead for described beginning and end
Boat data, described target navigation data can include target navigation path and path attribute information thereof, then use described target
Guidance path and path attribute information thereof, perform navigation operation such that it is able to the road for different road conditions generates particular attribute
Navigation data so that navigation time, it is possible to according to path attribute carry out danger, points for attention prediction judge, improve driving
Safety.
With reference to Fig. 2, it is shown that the flow chart of steps of the embodiment of the method two of a kind of road guide of the application, the most permissible
Comprise the steps:
Step 201, obtains the satellite map of target area, and described target area includes a plurality of road；
In the embodiment of the present application, target area can be the region selected when generating track data, generally, this district
A plurality of road in territory is different from the ordinary road in cities and towns, and route topography is the most more complicated, and common navigation system often lacks this
The specifying information of road in region.Such as, for farmland, target area can be to include multiple farmland and road about
The region on road.
In implementing, the satellite map of target area can use common commercial satellite map.
Step 202, gathers the tracing point information of described a plurality of road；
In the embodiment of the present application, described tracing point information can include the positional information of tracing point and put attribute information,
The tracing point information of a plurality of road can obtain by the way of recording on the spot on road, such as, by road
Travel, thus record position and the some attribute information thereof of different tracing points.
In a preferred embodiment of the present application, the step of the tracing point information of the described a plurality of road of described collection is concrete
Can include following sub-step:
Sub-step 2021, determines the multiple tracing points on every road respectively according to predetermined interval；
Sub-step 2022, obtains the positional information of the plurality of tracing point and puts attribute information.
In implementing, multiple tracing points that certain interval is determined on every road can be first according to, described
Interval can be distance, such as, every 5 meters or will be defined as tracing point every the location point of 10 meters on road；Described interval is also
Can be time interval, when the vehicle performing acquisition tasks travels on this road, vehicle can be travelled every 1 second or
Every being defined as tracing point for location point residing for 2 seconds, then by acquisition terminal record at the positional information of each collection point and
Point attribute information.The positional information of described tracing point can be longitude and latitude or the coordinate figure of this tracing point, described tracing point
Point attribute information can be this tracing point attention in perhaps speed limiting information etc..
Additionally, during acquisition trajectories point, it is also possible to position and the attribute to characteristic points various types of on road
Information carries out record, such as risk point, points for attention point, culture point etc., such that it is able to according to tracing point and characteristic point, shape
Becoming road waypoint, described road waypoint is the location point needing to give special heed to when navigation.As shown in Table 1, it is the road waypoint formed
A kind of example of attribute information.
Table one: road waypoint attribute information sample table
In Table 1, ID can be the index value according to the road waypoint set by the time order and function order gathered, and elevation can
With the height above sea level angle value of Shi Gai road waypoint, X, Y, Z are then that the longitude and latitude according to this road waypoint and height value are according to certain format
This road waypoint coordinate figure in target area that conversion obtains, lime light and speed limit then can Shi Gai road waypoint concrete
Description information.Certainly, those skilled in the art can select different attribute informations, the embodiment of the present application according to actual needs
This is not construed as limiting.
Step 203, for satellite map and the described tracing point information of described target area, generates target area track number
According to；
In the embodiment of the present application, after the information of the tracing point in obtaining target area, can be by tracing point and genus thereof
Property information is carried in the satellite map in this region, thus forms target area track data.
In a preferred embodiment of the present application, the described satellite map for described target area and described tracing point
Information, generates the step of target area track data and specifically can include following sub-step:
Sub-step 2031, according to the some attribute information of the plurality of tracing point, determines the road attribute of described a plurality of road
Information；
In the embodiment of the present application, when obtain multiple tracing points some attribute information after, can be together with the feature on road
The attribute information of point, determines the road attribute information of a plurality of road.
In implementing, the multiple tracing points obtained can be sequentially connected with, thus form a plurality of road, then basis
The point attribute information of multiple tracing points and the attribute information of characteristic point, it is thus achieved that the road attribute information of a plurality of road.Such as table two
Shown in, it is a kind of example of the road attribute information formed.
Table two: road attribute information sample table
In table two, line ID can be the index value of road, road type and road conditions can be the basic letter of this road
The description content of breath, relating dot can be on this road required for the index of road waypoint noticed, and points for attention and passing through
Speed per hours etc. are then to the description by the specific requirement of this road.Certainly, those skilled in the art can be according to actual needs
Selected different attribute information, this is not construed as limiting by the embodiment of the present application.
Sub-step 2032, loads the road attribute information of described a plurality of road in the satellite map of described target area,
Generate target area track data.
In implementing, after determining the road attribute information of a plurality of road of target area, road can be belonged to
Property information supplement and be carried in described satellite map, thus form target area track data.
Specifically, target area track data can be stored in spatial database, when receiving navigation system terminal
Route request time, such that it is able to according to the particular location of beginning and end, the data in track data are converted into appointment lattice
The target navigation data of formula, thus send to navigation system terminal.Described request can be by true on the navigation map of terminal
Determine beginning and end mode to trigger.
Another kind of example as the application, it is also possible to the track data of target area is preset at navigation system terminal
In, after determining beginning and end, directly converted the data into the target navigation data of specified format by navigation system terminal,
And guidance path and attribute information are shown on navigation map.
Step 204, determines beginning and end；
When user needs to use the target area track data obtained by step 201-step 204 to perform navigation operation,
First the position of beginning and end can be determined in navigation system terminal.
In implementing, can pass through directly to select on the navigation map of terminal, or by input starting point
The modes such as the information with terminal, it is thus achieved that the particular location of beginning and end.
Step 205, for described beginning and end, extracts target navigation number from preset target area track data
According to；
In the embodiment of the present application, after determining beginning and end, can be from preset target area track data
Extract target navigation data.Described target area track data can be preset in server i.e. spatial database, yet
Being preset in navigation system terminal, this is not construed as limiting by the embodiment of the present application.
In the embodiment of the present application, described target navigation data can include the mesh formed by the route of starting point to the end
The road attribute information of a plurality of road included on mark guidance path, and guidance path and the some attribute of each road waypoint
Information.Such as, for certain road that index value is 1, its road attribute information can include road type: stone road；Length:
200.20 rice；Road conditions: jolt, muddy, narrow；Association farmland is the farmland of numbered NT001.And for index value is 1 certain
Individual road waypoint, its attribute information then can include longitude: 22.0；Dimension: 113.0；Note content: equipment of pouring water, attention keep away
Allow；Speed limits: front hollow ground, slow down.
Step 206, obtains current location information；
In implementing, GPS (Global Positioning System, global positioning system) location can be passed through
Or the mode of other location obtains current location information.
In the embodiment of the present application, after the step of described acquisition current location information, it is also possible to determine whether to judge
Whether current location is positioned on described target navigation path.If current location is not on target navigation path, then can to
Family sends prompting message, to point out user to deviate from guidance path, if it is determined that current location is positioned on guidance path, the most permissible
Perform step 207, perform navigation operation.
It should be noted that judging current location whether to be positioned on target navigation path is not limited in starting navigation
Time, but can be in navigation procedure, according to certain time interval, such as 1 second, current location is repeatedly judged, from
And guarantee that the travel route of user or vehicle can be consistent with target navigation path all the time.
In implementing, the GPS location coordinate points of current location can be got from navigation system terminal, and at GPS
Carry out mating search with target navigation path in the range of location point trueness error, if calculating location point and do not leading for continuous 3 times
In bit path, then it is believed that current location deviate from target navigation path.
Step 207, for described current location information, determines navigation road；
In the embodiment of the present application, navigation road can be the road residing for current location, i.e. current to user or vehicle
The information of road travelled is pointed out, additionally, navigation road can also is that the road that user or vehicle will enter, i.e. to
The information of family or next section of vehicle road to be travelled is pointed out.
In a preferred embodiment of the present application, during the road that road is user or vehicle will enter when navigating, institute
State for described current location information, determine that the step of navigation road specifically can include following sub-step:
Sub-step 2071, with current location as the center of circle, default positioning precision is radius, generates navigation road Identification district
Territory；
Sub-step 2072, one or more target road comprised in extracting described navigation road Identification region；
Sub-step 2073, calculates the described current location vertical dimension to described one or more target road respectively；
Sub-step 2074, screens the shortest target road of described vertical dimension for navigation road.
In implementing, centered by current anchor point, a circle can be drawn as leading using positioning accurate angle value for radius
Identification region, navigation channel road, if circle and certain road have intersection point, then can extract the road of intersection point as target road, then
Calculate the vertical dimension of current anchor point and the target road filtered out respectively, filter out the target track that wherein vertical dimension is minimum
Road, then the road that the target road that this vertical dimension is minimum will be able to be entered as user or vehicle.
Step 208, extracts the road attribute of described navigation road from the path attribute information in described target navigation path
Information；
Step 209, for the road attribute information of described navigation road, generates navigation hint information.
In the embodiment of the present application, after determining navigation road, can be further according to road attribute information, generation is led
Boat information.
Specifically, the road attribute information of the navigation road that can be extracted according to step 208, in conjunction with preset prompting letter
Breath template, replenishes road attribute information in described template, thus forms navigation hint information.
Such as, the navigation hint information for present road may is that current road segment 1 kilometer, stone road, jolts relatively strong,
Low speed please be keep to move ahead.Navigation hint information for next road may is that 300 meters of front turns left to enter road link
2, cement road, flock of sheep activity section, it is noted that slow down.The particular content of navigation hint information is not limited by the embodiment of the present application
Fixed.
In a preferred embodiment of the present application, the described road attribute information for described navigation road, generation is led
The step of boat information specifically can include following sub-step:
Sub-step 2091, calculates the distance of current location and terminal；
In implementing, the distance of current location and terminal can be calculated in real time.
As a kind of example of the application, after the step with the distance of terminal of the described calculating current location, it is also possible to bag
Include following steps:
S11, obtains the multiple roads waypoint in preset range, and described road waypoint has the some attribute information of correspondence；
S12, for the multiple roads waypoint in described preset range, generates navigation hint information.
Generally, the road waypoint on road is to need user or vehicle to need the place that gives special heed in travelling way, therefore,
In the embodiment of the present application, navigation hint information can be generated respectively for the multiple roads waypoint on road.
In implementing, can be with current location as the center of circle, with positioning precision (such as 10 meters) with searching threshold (such as 100
Rice) sum is that radius draws circle as identifying region, extracts the whole roads waypoint in the range of this identification region, then according to approach
The sequencing of described whole roads waypoint, points out each road point respectively.
For example, it is possible to the substance of road waypoint is highlighted in navigation system terminal under the essential information of this road
Side, persistently flicker is until by this point range, and uses voice broadcast information successively within the display time, and suggestion content can
To be: 100 meters of front, Lu Shangyou pours water equipment, it is noted that dodge.
Sub-step 2092, when the distance of described current location with terminal is less than predetermined threshold value, determines residue road quantity；
Sub-step 2093, according to described residue road quantity, generates navigation hint information；
Generally, when calculating the distance obtaining current location and terminal less than predetermined threshold value, it is believed that end will be arrived
Point, at this point it is possible to first determine the road quantity of remainder stroke, then according to residue road quantity, generates and points out letter accordingly
Breath.Described residue road quantity may refer to the road quantity with present road non-equal that statistics obtains.Such as, if eventually
Point on present road, then it is believed that residue road quantity be 0, and if terminal is not on present road, i.e. user or
Vehicle is reached home the turning driving also needed to through for several times, at this point it is possible to think that residue road quantity is not 0.This area skill
Art personnel according to practical situation, can determine the concrete numerical values recited of predetermined threshold value, and this is not construed as limiting by the embodiment of the present application.
In a preferred embodiment of the present application, described according to described residue road quantity, generate navigation hint information
Sub-step may further include:
S21, when described present road is the last item road, prompts the user with in the residue road of described present road
Journey；
S22, when described present road is not the last item road, determines the turning angle of present road and next road
Degree information, and, the distance of current location and next road, prompt the user with turning of described present road and next road
Bending angle information, and, current location and the distance of next road.
In implementing, can first determine whether whether present road is the last item road, i.e. judge residue road way
Whether amount is 0, the most then can prompt the user with the distance of current location and terminal, and such as, information may is that front
Reach home for 300 meters, please keep keeping straight on；And when present road is not the last item road, then can calculate current location with
The distance of next road, and the angle of turn information of present road and next road.
In the embodiment of the present application, described present road can be by following step with the angle of turn information of next road
Rapid calculating determines:
S231, determines the N number of tracing point on present road and next road；
S232, calculates each tracing point on described present road and next road, and present road respectively
And the angle value of the angle formed between the joint of next road；
S233, according to described angle angle value, determines described angle of turn information.
In implementing, two tracks can be chosen on present road and next road respectively according to travel direction
Point, if two tracing points on present road are respectively Xe2 and Xe1, two tracing points on next road be respectively Xs1 and
Xs2, and the joint of present road Yu next road is set to an X, calculate the most respectively (Xe1, Xe, Xs1) and (Xe2, X,
The angle value of the angle between Xs2), and the angle value of two angles is averaged as present road and next road it
Between angle of turn.
Specifically, the angle value obtained can be carried out classification, press 0-30 degree, 31-90 degree, three kinds of levels of 91-180 degree respectively
Other navigation direction figure makes a distinction and points out, such as, when determining next road for turning left, corresponding to 0-30
Degree, 31-90 degree, the information of 91-180 degree can be that left front travels respectively, turns left, racing to the left.
In the embodiment of the present application, present road can determine as follows with the turn direction of next road:
S234, determines the azimuth information between the N number of tracing point on described present road and next road；
S235, according to described azimuth information, determines the turn direction of described present road and next road.
In implementing, can be the rightest in the left of present road by judging the tracing point on next road
Side, so that it is determined that go out the turn direction of present road and next road.
Determining the angle of turn information of described present road and next road, and, current location with next
After the distance of road, above-mentioned information can be prompted the user with.
Such as, be 46 degree when calculating the angle of turn obtaining present road and next road, current location and next
The distance of road is 300 meters, and the tracing point of next road, when the left of present road, can prompt the user with following letter
Breath: turn left in front 300.It is updated at the same time it can also be adjust the distance to count according to certain frequency (such as 1 second).
Sub-step 2094, when the distance of described current location with terminal is more than or equal to predetermined threshold value, determines residue road
Mileage；
Sub-step 2095, prompts the user with described residue mileages of transport route.
In the embodiment of the present application, when the distance of current location with terminal is more than or equal to predetermined threshold value, can be only to surplus
Remaining mileages of transport route is pointed out, such as: travel (residue mileages of transport route) rice continuing with along present road.It is also possible to according to one
Residue mileages of transport route is updated by fixed frequency (such as 1 second).
The embodiment of the present application passes through acquisition trajectories dot information, and combines after satellite map carries out editing and processing, the mesh of generation
Mark region track data, is different from the navigation data of navigation system in prior art, using the teaching of the invention it is possible to provide more accurately more effectively navigation
Service.
For being directed to farmland road, the farmland road data that the embodiment of the present application is generated, its distinctive road attribute
Location finding and the data supporting of route searching can be provided for follow-up navigation, it is possible to instruct user with the agricultural land information associated
Carry out steering direction prediction, the Back ground Information display reminding of road and lime light, points for attention, Risk Content are provided simultaneously
Display and alarm, help user more safely to carry out the driving path between farmland.
In order to make it easy to understand, below with a concrete example, the method for road guide provided herein is made one
Introduce.
With reference to Fig. 3, it it is the schematic flow sheet of the road guide process of the application.Determine beginning and end user, and obtain
After obtaining target navigation data, starting to perform navigation operation.
It is possible, firstly, to judge that current location, whether on target navigation path, is believed if it is not, then can prompt the user with deviation
Breath, the most then can be determined by the index value of road residing for current location, it is thus achieved that the essential information of present road, and to
User points out, and such as: current road segment 1 kilometer, stone road, jolts relatively strong, low speed please be kept to move ahead.
It is then possible to calculate in real time the distance of current location and terminal and nearest in the range of searching for 100 meters, current location
Road waypoint, if this road waypoint exists points for attention, then can prompt the user with the points for attention of this road waypoint, such as: front 100
Rice, Lu Shangyou pours water equipment, it is noted that dodge.
After calculating the distance obtaining current location and terminal in real time, the size of this distance and predetermined threshold value can be compared,
Thus make different navigation hints.Generally, this predetermined threshold value can be 500 meters；
If current location is more than or equal to 500 meters with the distance of terminal, then can prompt the user with remaining mileage number, such as: when
Front position distance terminal also has 1500 meters, and present road please be kept to travel.Meanwhile, can be according to certain frequency (such as 5 seconds)
Update remaining mileage number and point out.
If current location is less than 500 meters with the distance of terminal, then can first determine whether whether present road is the last item
Road, if it is not, then turning to of next road can be determined whether, and turns to content, such as with user's prompting: front
300 meters of left-hand rotations, simultaneously real-time update remaining mileage numbers；If present road is the last item road, then can only carry to user
Show remaining mileage number, such as: reach home in 300 meters of front, present road please be keep to travel.
It should be noted that for embodiment of the method, in order to be briefly described, therefore it is all expressed as a series of action group
Closing, but those skilled in the art should know, the embodiment of the present application is not limited by described sequence of movement, because depending on
According to the embodiment of the present application, some step can use other orders or carry out simultaneously.Secondly, those skilled in the art also should
Knowing, embodiment described in this description belongs to preferred embodiment, and involved action not necessarily the application implements
Necessary to example.
With reference to Fig. 4 A, it is shown that one of structured flowchart of device embodiment of a kind of road guide of the application, specifically may be used
To include such as lower module:
Determine module 401, be used for determining beginning and end；
Acquisition module 402, for for described beginning and end, extracts mesh from preset target area track data
Mark navigation data, described target navigation data can include target navigation path and path attribute information thereof；
Navigation module 403, is used for using described target navigation path and path attribute information thereof, performs navigation operation.
With reference to Fig. 4 B, be the device embodiment of a kind of road guide of the application structured flowchart two, described preset
Target area track data can generate by calling lower module such as:
Satellite map acquisition module 404, for obtaining the satellite map of target area, described target area includes a plurality of road
Road；
Tracing point information acquisition module 405, for gathering the tracing point information of described a plurality of road；
Track data generation module 406, is used for the satellite map for described target area and described tracing point information, raw
Become target area track data.
In the embodiment of the present application, described tracing point information can include the positional information of tracing point and put attribute information,
Described tracing point information acquisition module 405 specifically can include following submodule:
Tracing point determines submodule 4051, for determining the multiple tracing points on every road respectively according to predetermined interval；
Tracing point acquisition of information submodule 4052, for obtaining positional information and the some attribute letter of the plurality of tracing point
Breath.
In the embodiment of the present application, described track data generation module 406 specifically can include following submodule:
Road attribute information determines submodule 4061, for the some attribute information according to the plurality of tracing point, determines institute
State the road attribute information of a plurality of road；
Track data generates submodule 4062, for loading described a plurality of road in the satellite map of described target area
Road attribute information, generate target area track data.
In the embodiment of the present application, described navigation module 403 specifically can include following submodule:
Current location obtains submodule 4031, is used for obtaining current location information；
Navigation road determines submodule 4032, for for described current location information, determines navigation road；
Road attribute information extracts submodule 4033, for extracting from the path attribute information in described target navigation path
The road attribute information of described navigation road；
Navigation hint information generates submodule 4034, and for the road attribute information for described navigation road, generation is led
Boat information.
In the embodiment of the present application, described navigation module can also include following submodule:
Judge submodule 4035, be used for judging whether current location is positioned at described target navigation path；
If it is not, then issue the user with prompting message；
The most then call described navigation road and determine submodule 4032.
Alternatively, on the basis of Fig. 4 A, with reference to Fig. 4 C, it is the knot of the device embodiment of a kind of road guide of the application
The three of structure block diagram, described navigation road determines that submodule 4032 specifically can include such as lower unit:
Identifying region signal generating unit 321, for current location as the center of circle, default positioning precision is radius, and generation is led
Identification region, navigation channel road；
Target road extraction unit 322, one or more comprised in extracting described navigation road Identification region
Target road；
Vertical dimension computing unit 323, for calculating described current location to described one or more target road respectively
Vertical dimension；
Navigation road screening unit 324, for screening the shortest target road of described vertical dimension for navigation road.
Alternatively, on the basis of Fig. 4 A, with reference to Fig. 4 D, it is the knot of the device embodiment of a kind of road guide of the application
The four of structure block diagram, described navigation hint information generates submodule 4034 and specifically can include such as lower unit:
Terminal metrics calculation unit 341, for calculating the distance of current location and terminal；
Residue road quantity determines unit 342, when the distance in described current location and terminal is less than predetermined threshold value,
Determine residue road quantity；
Navigation hint information generating unit 343, for according to described residue road quantity, generates navigation hint information；
Residue mileages of transport route determines unit 344, for being more than or equal to preset threshold in the distance of described current location with terminal
During value, determine residue mileages of transport route；
Mileages of transport route Tip element 345, is used for prompting the user with described residue mileages of transport route.
Alternatively, on the basis of Fig. 4 D, with reference to Fig. 4 E, it is the knot of the device embodiment of a kind of road guide of the application
The five of structure block diagram, described navigation hint information generating unit 343 specifically can include following subelement:
First prompting subelement 3431, for when present road is the last item road, prompt the user with described currently
The residue mileages of transport route of road；
Second prompting subelement 3432, for when present road be not the last item road, determine present road and under
Article one, the angle of turn information of road, and, current location and the distance of next road, and prompt the user with described current road
Road and the angle of turn information of next road, and, current location and the distance of next road.
Alternatively, on the basis of Fig. 4 E, with reference to Fig. 4 F, it is the knot of the device embodiment of a kind of road guide of the application
The six of structure block diagram, described second prompting subelement 3432 specifically can include following assembly:
Tracing point determines assembly 4321, for determining the N number of tracing point on present road and next road；
Angle value computation module 4322, for calculating each rail on described present road and next road respectively
Mark point, and the angle value of the angle formed between present road and the joint of next road；
Angle of turn information determines assembly 4323, for according to described angle angle value, determines described angle of turn information.
In the embodiment of the present application, described second prompting subelement 3432 can also include following assembly:
Azimuth information determines assembly 4324, for determining the N number of tracing point on described present road and next road
Between azimuth information；
Turn direction determines assembly 4335, for according to described azimuth information, determines described present road and next road
The turn direction on road.
In the embodiment of the present application, described navigation hint information generation submodule 4034 specifically can include such as lower unit:
Road waypoint acquiring unit 346, for obtaining the multiple roads waypoint in preset range, described road waypoint has correspondence
Point attribute information；
Road waypoint information signal generating unit 347, for for the multiple roads waypoint in described preset range, generates navigation
Information.
For device embodiment, due to itself and embodiment of the method basic simlarity, so describe is fairly simple, relevant
Part sees the part of embodiment of the method and illustrates.
Each embodiment in this specification all uses the mode gone forward one by one to describe, what each embodiment stressed is with
The difference of other embodiments, between each embodiment, identical similar part sees mutually.
Those skilled in the art are it should be appreciated that the embodiment of the embodiment of the present application can be provided as method, device or calculate
Machine program product.Therefore, the embodiment of the present application can use complete hardware embodiment, complete software implementation or combine software and
The form of the embodiment of hardware aspect.And, the embodiment of the present application can use one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) of program code
The form of the computer program implemented.
The embodiment of the present application is with reference to method, terminal unit (system) and the computer program according to the embodiment of the present application
The flow chart of product and/or block diagram describe.It should be understood that can be by computer program instructions flowchart and/or block diagram
In each flow process and/or the flow process in square frame and flow chart and/or block diagram and/or the combination of square frame.These can be provided
Computer program instructions sets to general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to produce a machine so that held by the processor of computer or other programmable data processing terminal equipment
The instruction of row produces for realizing in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame
The device of the function specified.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing terminal equipment
In the computer-readable memory worked in a specific way so that the instruction being stored in this computer-readable memory produces bag
Including the manufacture of command device, this command device realizes in one flow process of flow chart or multiple flow process and/or one side of block diagram
The function specified in frame or multiple square frame.
These computer program instructions also can be loaded on computer or other programmable data processing terminal equipment so that
On computer or other programmable terminal equipment, execution sequence of operations step is to produce computer implemented process, thus
The instruction performed on computer or other programmable terminal equipment provides for realizing in one flow process of flow chart or multiple flow process
And/or the step of the function specified in one square frame of block diagram or multiple square frame.
Although having been described for the preferred embodiment of the embodiment of the present application, but those skilled in the art once knowing base
This creativeness concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to
The all changes including preferred embodiment and falling into the embodiment of the present application scope and amendment.
Finally, in addition it is also necessary to explanation, in this article, the relational terms of such as first and second or the like be used merely to by
One entity or operation separate with another entity or operating space, and not necessarily require or imply these entities or operation
Between exist any this reality relation or order.And, term " includes ", " comprising " or its any other variant meaning
Containing comprising of nonexcludability, so that include that the process of a series of key element, method, article or terminal unit not only wrap
Include those key elements, but also include other key elements being not expressly set out, or also include for this process, method, article
Or the key element that terminal unit is intrinsic.In the case of there is no more restriction, by wanting that statement " including ... " limits
Element, it is not excluded that there is also other identical element in including the process of described key element, method, article or terminal unit.
Method and the device of a kind of road guide to a kind of road guide provided herein above, has been carried out in detail
Introducing, principle and the embodiment of the application are set forth by specific case used herein, the explanation of above example
It is only intended to help and understands the present processes and core concept thereof；Simultaneously for one of ordinary skill in the art, according to this
The thought of application, the most all will change, and in sum, this specification content should not
It is interpreted as the restriction to the application.
Claims (22)
1. the method for a road guide, it is characterised in that including:
Determine beginning and end；
For described beginning and end, from preset target area track data, extract target navigation data, described target
Navigation data includes target navigation path and path attribute information thereof；
Use described target navigation path and path attribute information thereof, perform navigation operation；
Wherein, described preset target area track data generates as follows:
Obtaining the satellite map of target area, described target area includes a plurality of road；
Gather the tracing point information of described a plurality of road；
For satellite map and the described tracing point information of described target area, generate target area track data.
Method the most according to claim 1, it is characterised in that described tracing point information include tracing point positional information and
Point attribute information, the step of the tracing point information of the described a plurality of road of described collection includes:
The multiple tracing points on every road are determined respectively according to predetermined interval；
Obtain the positional information of the plurality of tracing point and put attribute information.
Method the most according to claim 2, it is characterised in that the described satellite map for described target area and described
Tracing point information, the step generating target area track data includes:
Point attribute information according to the plurality of tracing point, determines the road attribute information of described a plurality of road；
The satellite map of described target area loads the road attribute information of described a plurality of road, generates target area track
Data.
4. according to the arbitrary described method of claim 1-3, it is characterised in that described employing described target navigation path and road thereof
Footpath attribute information, the step performing navigation operation includes:
Obtain current location information；
For described current location information, determine navigation road；
The road attribute information of described navigation road is extracted from the path attribute information in described target navigation path；
For the road attribute information of described navigation road, generate navigation hint information.
Method the most according to claim 4, it is characterised in that after the step of described acquisition current location information, also wrap
Include:
Judge whether current location is positioned on described target navigation path；
If it is not, then issue the user with prompting message；
The most then perform, for described current location information, to determine the step of navigation road.
Method the most according to claim 4, it is characterised in that described for described current location information, determines navigation road
The step on road includes:
With current location as the center of circle, default positioning precision is radius, generates navigation road Identification region；
One or more target road comprised in extracting described navigation road Identification region；
Calculate the described current location vertical dimension to described one or more target road respectively；
Screen the shortest target road of described vertical dimension for navigation road.
Method the most according to claim 4, it is characterised in that the described road attribute information for described navigation road,
The step generating navigation hint information includes:
Calculate the distance of current location and terminal；
When the distance of described current location with terminal is less than predetermined threshold value, determine residue road quantity；
According to described residue road quantity, generate navigation hint information；
When the distance of described current location with terminal is more than or equal to predetermined threshold value, determine residue mileages of transport route；
Prompt the user with described residue mileages of transport route.
Method the most according to claim 7, it is characterised in that described according to described residue road quantity, generates navigation and carries
Show that the step of information includes:
When described present road is the last item road, prompt the user with the residue mileages of transport route of described present road；
When described present road is not the last item road, determine the angle of turn information of present road and next road,
And, current location and the distance of next road, and prompt the user with the turning angle of described present road and next road
Degree information, and, current location and the distance of next road.
Method the most according to claim 8, it is characterised in that the described turning angle determining present road and next road
The step of degree information includes:
Determine the N number of tracing point on present road and next road；
Calculate each tracing point on described present road and next road respectively, and present road and next road
The angle value of the angle formed between the joint on road；
According to described angle angle value, determine described angle of turn information.
Method the most according to claim 9, it is characterised in that also include:
Determine the azimuth information between the N number of tracing point on described present road and next road；
According to described azimuth information, determine the turn direction of described present road and next road.
11. methods according to claim 7, it is characterised in that be respectively provided with multiple roads waypoint on described a plurality of road,
After the step of the distance of described calculating current location and terminal, also include:
Obtaining the multiple roads waypoint in preset range, described road waypoint has the some attribute information of correspondence；
For the multiple roads waypoint in described preset range, generate navigation hint information.
The device of 12. 1 kinds of road guides, it is characterised in that including:
Determine module, be used for determining beginning and end；
Acquisition module, for for described beginning and end, extracts target navigation from preset target area track data
Data, described target navigation data include target navigation path and path attribute information thereof；
Navigation module, is used for using described target navigation path and path attribute information thereof, performs navigation operation；
Wherein, described preset target area track data generates by calling lower module such as:
Satellite map acquisition module, for obtaining the satellite map of target area, described target area includes a plurality of road；
Tracing point information acquisition module, for gathering the tracing point information of described a plurality of road；
Track data generation module, is used for the satellite map for described target area and described tracing point information, generates target
Region track data.
13. devices according to claim 12, it is characterised in that described tracing point information includes the positional information of tracing point
With an attribute information, described tracing point information acquisition module includes:
Tracing point determines submodule, for determining the multiple tracing points on every road respectively according to predetermined interval；
Tracing point acquisition of information submodule, for obtaining the positional information of the plurality of tracing point and putting attribute information.
14. devices according to claim 13, it is characterised in that described track data generation module includes:
Road attribute information determines submodule, for the some attribute information according to the plurality of tracing point, determines described a plurality of road
The road attribute information on road；
Track data generates submodule, belongs to for loading the road of described a plurality of road in the satellite map of described target area
Property information, generate target area track data.
15. according to the arbitrary described device of claim 12-14, it is characterised in that described navigation module includes:
Current location obtains submodule, is used for obtaining current location information；
Navigation road determines submodule, for for described current location information, determines navigation road；
Road attribute information extracts submodule, for extracting described navigation from the path attribute information in described target navigation path
The road attribute information of road；
Navigation hint information generates submodule, for the road attribute information for described navigation road, generates navigation hint letter
Breath.
16. devices according to claim 15, it is characterised in that described navigation module also includes:
Judge submodule, be used for judging whether current location is positioned at described target navigation path；
If it is not, then issue the user with prompting message；
The most then call described navigation road and determine submodule.
17. devices according to claim 15, it is characterised in that described navigation road determines that submodule includes:
Identifying region signal generating unit, for current location as the center of circle, default positioning precision is radius, generates navigation road and knows
Other region；
Target road extraction unit, one or more target track comprised in extracting described navigation road Identification region
Road；
Vertical dimension computing unit, for calculate respectively described current location to described one or more target road vertical away from
From；
Navigation road screening unit, for screening the shortest target road of described vertical dimension for navigation road.
18. devices according to claim 15, it is characterised in that described navigation hint information generates submodule and includes:
Terminal metrics calculation unit, for calculating the distance of current location and terminal；
Residue road quantity determines unit, for when the distance of described current location with terminal is less than predetermined threshold value, determining surplus
Remaining road quantity；
Navigation hint information generating unit, for according to described residue road quantity, generates navigation hint information；
Residue mileages of transport route determines unit, when the distance in described current location and terminal is more than or equal to predetermined threshold value, really
Surely mileages of transport route is remained；
Mileages of transport route Tip element, is used for prompting the user with described residue mileages of transport route.
19. devices according to claim 18, it is characterised in that described navigation hint information generating unit includes:
First prompting subelement, for when present road is the last item road, prompts the user with the surplus of described present road
Remaining mileages of transport route；
Second prompting subelement, for when present road is not the last item road, determines present road and next road
Angle of turn information, and, the distance of current location and next road, and prompt the user with described present road and next
The angle of turn information of bar road, and, current location and the distance of next road.
20. devices according to claim 19, it is characterised in that described second prompting subelement includes:
Tracing point determines assembly, for determining the N number of tracing point on present road and next road；
Angle value computation module, for calculating each tracing point on described present road and next road respectively, with
And the angle value of the angle formed between present road and the joint of next road；
Angle of turn information determines assembly, for according to described angle angle value, determines described angle of turn information.
21. devices according to claim 20, it is characterised in that described second prompting subelement also includes:
Azimuth information determines assembly, for determining the side between the N number of tracing point on described present road and next road
Position information；
Turn direction determines assembly, for according to described azimuth information, determines the turning of described present road and next road
Direction.
22. devices according to claim 18, it is characterised in that described navigation hint information generates submodule and also includes:
Road waypoint acquiring unit, for obtaining the multiple roads waypoint in preset range, described road waypoint has the some attribute of correspondence
Information；
Road waypoint information signal generating unit, for for the multiple roads waypoint in described preset range, generates navigation hint letter
Breath.
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| CN201610805499.2A CN106289296B (en) | 2016-09-05 | 2016-09-05 | Road navigation method and device |
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| CN201610805499.2A CN106289296B (en) | 2016-09-05 | 2016-09-05 | Road navigation method and device |
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