CN106931988A - Show the true three-dimensional navigation method and system of guideboard - Google Patents

Show the true three-dimensional navigation method and system of guideboard Download PDF

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Publication number
CN106931988A
CN106931988A CN201511026747.5A CN201511026747A CN106931988A CN 106931988 A CN106931988 A CN 106931988A CN 201511026747 A CN201511026747 A CN 201511026747A CN 106931988 A CN106931988 A CN 106931988A
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CN
China
Prior art keywords
guideboard
data
induction
mark
according
Prior art date
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CN201511026747.5A
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Chinese (zh)
Inventor
王志勋
刘秋平
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易图通科技(北京)有限公司
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Application filed by 易图通科技(北京)有限公司 filed Critical 易图通科技(北京)有限公司
Priority to CN201511026747.5A priority Critical patent/CN106931988A/en
Publication of CN106931988A publication Critical patent/CN106931988A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3626Details of the output of route guidance instructions
    • G01C21/3635Guidance using 3D or perspective road maps
    • G01C21/3638Guidance using 3D or perspective road maps including 3D objects and buildings

Abstract

The invention discloses a kind of true three-dimensional navigation method and system for showing guideboard.The method includes:True three-dimensional navigation database and outdoor scene guideboard database are provided, the true three-dimensional navigation database includes contextual data and induction data, and record has guideboard to mark in the contextual data or the induction data, and the outdoor scene guideboard database includes guideboard material data;It is determined that being navigated the exact position of object and receiving external command, induction data is extracted according to the exact position and external command, be calculated induction path;According to the exact position and the contextual data in induction path extraction front section, judge whether the induction data or contextual data in front section have recorded guideboard and marked, if record has guideboard to mark, guideboard material data is extracted according to guideboard mark, generate guideboard data;According to the induction data and contextual data and generation that extract or the guideboard Data Synthesis navigation picture not generated, for display.

Description

Show the true three-dimensional navigation method and system of guideboard

Technical field

The invention belongs to field of navigation technology, in particular it relates to a kind of show true the three of guideboard Dimension air navigation aid and system.

Background technology

The Was Used structure of modern GIS-Geographic Information System includes graphic file and corresponding attribute database. On two dimensional navigation electronic map, all geographic information datas all being abstracted are conceptualized as line in the street Bar additive attribute is expressed, and room exterior feature drawing is conceptualized as an additive attribute to express, for two-dimensional map number According to cannot expressed intact place, carry out supplementary table with realistic picture and ideograph and reach.

But Two-dimensional electron map is static and abstract expression cannot be provided and current road for user The more real navigation Service of road identical, for the urban road form that vivider expression is increasingly complicated, Those skilled in the art develop three-dimensional navigation electronic map.Three-dimensional navigation electronic map is real with its Navigation visual effect, can provide more accurately navigation information for user.

True three-dimensional navigation electronic map is based on independent three-dimensional navigation application database, uses high-precision three-dimensional Vector quantization data, have dynamically reproduced the three-dimensional scenic of navigation road in the way of true modeling.

Although the steering position that true three-dimensional navigation electronic map is currently located according to driver, intuitively, Dynamic continuously carries out real-time road scene navigation, and compensate for two dimensional navigation electronic map cannot be real The drawbacks of actual conditions on navigation path carry out correct Route guiding, but invention of the invention People has found, true three-dimensional navigation electronic map lack to the crossing in front of traveling, travel direction it is pre- in advance Accuse, cause driver in advance to know the situation of crossing or directional bridge, cannot also confirm correct row Sail direction.

Thus, it is necessary to develop a kind of new true three-dimensional navigation method or device, driven in driver During, using the teaching of the invention it is possible to provide crossing, the information of directional bridge, so as to driver's confirmation road conditions and correctly Travel direction.

The content of the invention

It is an object of the present invention to provide a kind of true three-dimensional navigation technical scheme for showing guideboard.

According to the first aspect of the invention, there is provided it is a kind of show guideboard true three-dimensional navigation method, its Include:

True three-dimensional navigation database and outdoor scene guideboard database, the true three-dimensional navigation database bag are provided Contextual data and induction data are included, record has guideboard to mark in the contextual data or the induction data, The outdoor scene guideboard database includes guideboard material data;

It is determined that be navigated the exact position of object and receive external command, according to the exact position and outward Induction data is extracted in portion's instruction, is calculated induction path;

According to the exact position and the contextual data in induction path extraction front section, and judge front Whether the induction data or contextual data in section have recorded guideboard marks;

If record has guideboard to mark, guideboard material data is extracted according to guideboard mark, generate guideboard Data, the guideboard data are used to generate guideboard image;

According to the induction data and contextual data and generation that extract or the guideboard data not generated Synthesis navigation picture, for display.

Preferably, there is direction matched indicia, the direction matched indicia and institute in the induction path Guideboard indicia matched is stated, pair guideboard material data corresponding with channeling direction carries out Special display treatment.

Especially, the guideboard material data relevant with channeling direction includes rotation arrow data, text Digital data and tag mark data, each described guideboard material data have unique identifier ID, institute State the unique identifier ID of the guideboard material data that extraction in need is recorded during guideboard is marked.

More preferably, the rotation arrow data are made up of combination arrow graphical data assemblies, described in each Combination arrow graph data has internal identification marking ID, and extraction in need is recorded in the guideboard mark Combination arrow graph data inside identification marking ID, record in need in the direction matched indicia Carry out the unique identifier ID and/or internal identification marking of the guideboard material data of Special display treatment ID。

Alternatively, the guideboard material data includes:Background data, mat data, panel digital, Lteral data, rotation arrow data, tag mark data and graph data, each described guideboard element Material data have independent unique identifier ID, and extraction in need is recorded in the guideboard mark The unique identifier ID of guideboard material data.

Alternatively, the Special display treatment includes being highlighted treatment or flickering display treatment.

Preferably, the contextual data includes turn-around zone, the guideboard mark and the steering area Domain matches, and is judged according to the exact position, when being navigated turn-around zone of the object away from front section Distance when being less than or equal to predetermined display distance, display is marked according to the guideboard that match with turn-around zone The guideboard image of generation, after being navigated object and sailing out of the turn-around zone, stops display described Guideboard image.

Especially, the step of setting up the outdoor scene guideboard database includes:

Road sign is shot on the spot;

Road sign to shooting carries out disassembling analyzing and processing, generates guideboard material data;

For the guideboard material data adds unique identifier ID or internal identification markings ID;

Quality inspection is carried out to the guideboard material data.

Present invention also offers a kind of true three-dimension navigation system for showing guideboard, including:

True three-dimensional navigation database, the true three-dimensional navigation database purchase has contextual data and induction number According to record has guideboard to mark in the contextual data or the induction data;

Outdoor scene guideboard database, the outdoor scene guideboard database purchase has guideboard material data;

Locating module, the locating module is used for the exact position for determining to be navigated object;

Induction path planning module, the induction path planning module is according to the exact position and outside The induction data is extracted in instruction, is calculated induction path;

Contextual data extraction module, the contextual data extraction module is according to the exact position and described The contextual data in induction path extraction front section;

Outdoor scene guideboard computing module, before the outdoor scene guideboard computing module judges according to the induction path Whether the induction data or contextual data in square section have recorded guideboard marks, if record has guideboard Mark, then extract guideboard material data according to guideboard mark, generates guideboard data;

Navigation scenarios synthesis module, according to the induction data and contextual data and generation for extracting or The guideboard Data Synthesis navigation picture not generated;

Display module, the display module is used to show the navigation picture of synthesis.

Preferably, with direction matching in the induction path of the induction path planning module generation Mark, the outdoor scene guideboard computing module carries out the direction matched indicia and guideboard mark Match somebody with somebody, guideboard material data corresponding for channeling direction carries out Special display treatment.

Preferably, in the outdoor scene guideboard database, the guideboard material data relevant with channeling direction Including rotation arrow data, lteral data and tag mark data, each described guideboard material data tool There is unique identifier ID, record has the unique identifier ID, the reality in the guideboard mark The unique identifier ID that scape guideboard computing module is recorded in being marked according to the guideboard extracts phase The guideboard material data answered.

More preferably, the rotation arrow data are made up of combination arrow graphical data assemblies, described in each Combination arrow graph data has internal identification marking ID, and extraction in need is recorded in the guideboard mark Combination arrow graph data inside identification marking ID, record in need in the direction matched indicia Carry out the unique identifier ID and/or internal identification marking of the guideboard material data of Special display treatment ID。

It was found by the inventors of the present invention that in the state of the art, true three-dimensional navigation method has been most true Real, advanced air navigation aid, it can show that the identical image of the scene seen with driver, To provide intuitively navigation effect.

Those skilled in the art generally believe true three-dimensional navigation method in the absence of navigation adverse conditions, its The part that main needs are improved is the sense of reality of scene image.And it was found by the inventors of the present invention that exactly Because the image that true three-dimensional navigation method shows is identical with the visual angle of driver, just cannot be from figure Learn the road conditions of junction ahead, directional bridge in advance as in.Only when near crossing, driver The change on road surface can be observed, but still cannot integrally recognize the situation of crossing, directional bridge. Therefore, the technical assignment or technical problem to be solved that the present invention to be realized are art technologies It is that personnel never expect or it is not expected that, therefore the present invention is a kind of new technical scheme.

By referring to the drawings to the detailed description of exemplary embodiment of the invention, it is of the invention its Its feature and its advantage will be made apparent from.

Brief description of the drawings

The accompanying drawing for being combined in the description and constituting a part for specification shows reality of the invention Example is applied, and together with its explanation for explaining principle of the invention.

The step of Fig. 1 is the true three-dimensional navigation method of the display guideboard that the specific embodiment of the invention is provided frame Figure;

Fig. 2 is the schematic diagram of the guideboard image that the method provided by the specific embodiment of the invention is generated;

Fig. 3-4 is that the part of the guideboard image that the method provided by the specific embodiment of the invention is generated is shown It is intended to;

Fig. 5-7 is the signal of the guideboard image that the method provided by the specific embodiment of the invention is generated Figure;

Fig. 8 is the schematic diagram of the navigation picture that the method provided by the specific embodiment of the invention is generated;

Fig. 9 is block diagram the step of setting up outdoor scene guideboard database that the specific embodiment of the invention is provided;

Figure 10 is the structure of the true three-dimension navigation system of the display guideboard that the specific embodiment of the invention is provided Block diagram.

Specific embodiment

Describe various exemplary embodiments of the invention in detail now with reference to accompanying drawing.It should be noted that: Unless specifically stated otherwise, the part that otherwise illustrates in these embodiments and step it is positioned opposite, Numerical expression and numerical value are not limited the scope of the invention.

The description only actually at least one exemplary embodiment is illustrative below, is never made It is to the present invention and its application or any limitation for using.

May not make to beg in detail for technology, method and apparatus known to person of ordinary skill in the relevant By, but in the appropriate case, the technology, method and apparatus should be considered as a part for specification.

In all examples shown here and discussion, any occurrence should be construed as merely example Property, not as limitation.Therefore, other examples of exemplary embodiment can have different Value.

It should be noted that:Similar label and letter represents similar terms in following accompanying drawing, therefore, one It is defined in a certain Xiang Yi accompanying drawing of denier, then it need not be carried out further in subsequent accompanying drawing Discuss.

The invention provides a kind of true three-dimensional navigation method for showing guideboard, the method includes following step Suddenly, reference picture 1:

First, true three-dimensional navigation database and outdoor scene guideboard database, the true three-dimensional navigation should be provided Database includes contextual data and induction data.The contextual data essential record is cartographic information And information of road surface, the BUILDINGS MODELS of both sides of the road, landscape model, the contextual data can basis Different data types is divided into road scene data, BUILDINGS MODELS data etc..The induction data is main Record be traffic indicated number on road surface according to this and the induction related to generation induction line, induction arrow Information data, the induction data can be divided into section induction data, road according to different data types Mouthful induction data etc., at generation induction path, can according to induction data generation induction line, The data such as induction arrow.There is matching relationship, in map between the induction data and the contextual data Each section of information has corresponding induction data.Especially, the contextual data or induction number There is guideboard to mark according to middle record, the guideboard is marked to be had for which position represented in cartographic information There is which kind of guideboard.For example, should have the guideboard on A crossings in the section before A crossings is reached. That is, each guideboard mark represents a guideboard, guideboard mark represents position and the guideboard of guideboard In the inscape that should have.Turn-around zone with diversified forms in road, such as crossing, orientation Bridge, through street gateway etc..Generally, being set up near each turn-around zone has guideboard, so, The guideboard matches in being marked at cartographic information with the geographical position of the turn-around zone.Alternatively, In an embodiment of the present invention, the guideboard mark record is in the induction data.And it is described Outdoor scene guideboard database includes guideboard material data, and the guideboard material data is to constitute outdoor scene guideboard Data, although the guideboard of each turn-around zone is different, but because the design standard of guideboard is Identical, such as character script are identical, lines dimension scales and specification are identical.So, at this Invent in the method for providing, the various pieces of guideboard disassembled into material, namely guideboard material data, Stored as independent data, the content that can be recorded according to guideboard mark when needed will Required guideboard material takes out from outdoor scene guideboard database, and combination constitutes guideboard data.

Second, it is fixed by GPS after true three-dimensional navigation database and outdoor scene guideboard database are provided The localization methods such as position determine to be navigated the exact position of object.For example it is navigated the current road residing for vehicle The exact position such as section and traveling lane.User can set beginning and end, institute when using navigation equipment Induction data can be extracted with the external command according to user and the exact position, planned, calculated To induction path, i.e., predetermined vehicle running path.The external command of user is usually the starting point of setting And terminal.

3rd, according to the exact position and induction path, the scene in front of channeling direction can be extracted Data, at this time, it may be necessary to whether record guideboard in the induction data or contextual data in section in front of judging Mark, if record has guideboard to mark, shows that the front section of channeling direction there are guideboard and turn To region, it is necessary to generate guideboard image.The guideboard material for needing to extract is have recorded in the guideboard mark Data, and have recorded how to combine extracted guideboard material data.So, according to the guideboard mark Note extracts corresponding guideboard material data, and combination producing guideboard number from the outdoor scene guideboard database According to.The guideboard data are used to ultimately generate guideboard image.

4th, according to the guideboard data of the induction data, contextual data and the generation extracted before Synthesize the true three-dimensional navigation image of Dynamic Announce.The induction data is used to generate induction path and induction The images such as arrow, the contextual data be used for generate road surface, bridge, pavement strip, road surface word and The images such as symbol, landscape, building, guideboard data are then used to generate road corresponding with current driving road segment Board image.

The present invention provide display guideboard true three-dimensional navigation method can with actual crossing, directional bridge It is allowing user can be in advance, intuitively etc. the position display guideboard image that turn-around zone matches Solution junction ahead, the road conditions of directional bridge, compensate for three-dimensional navigation cannot be to junction ahead, orientation The shortcoming that the surface conditions of bridge are predicted in advance.

Due to being that the travel direction of vehicle is carried out by inducing line in existing true three-dimensional navigation method Guiding, and visual angle is identical with the visual angle of driver.So, if not very close to steering position, Induction line will not produce bending or produce bending unobvious, and driver cannot in advance judge from induction line The information such as channeling direction, track.So, in further embodiment of the present invention, additionally provide Driver can be allowed to know the function of steering direction in advance.Preferably, also have in the induction path Direction matched indicia, the direction matched indicia is carried induction path in crossing, the guiding of directional bridge The information that direction is matched with guideboard data.For example, the induction path is drawn on a directional bridge The final section Turning travel to the right of guide-car, then the direction matched indicia is with by guideboard data The guideboard material data for turning to the right carries out the information of Special display treatment.

Afterwards, in the Part III of the method for the invention, when the contextual data along the induction path Or in induction data record when having guideboard to mark, the direction matched indicia is carried out with guideboard mark Matching, marks which guideboard material data needs to carry out Special display treatment.Afterwards, then to from reality The guideboard material data corresponding with induction path direction extracted in scape guideboard database carries out spy Different display processing, it is special to make to be shown with induction path direction identical part in the guideboard image of generation State.For example, the Special display treatment can be highlighted treatment or flickering display treatment, When the induction path guides vehicle section Turning travel to the right on a directional bridge, guideboard figure The part corresponding with Turning travel to the right can just produce highlighted or flicker effect as in, to carry in advance Show driver's travel direction.

In above-mentioned preferred embodiment of the invention, driver can be by flicker in guideboard image or high Bright part knows in advance should be to which direction running in front section.Compensate for three-dimensional navigation cannot carry It is preceding to predict the shortcoming how travelled in junction ahead.

Specifically, in order to improve the degree of accuracy of guideboard material data, composition can be combined existing Various guideboard images, the invention provides the classification of various elements on a kind of guideboard, disassemble mode, institute Stating guideboard material data can include:Background data, mat data, panel digital, lteral data, Rotation arrow data, tag mark data and graph data.By taking Fig. 2 as an example, the background data The features such as background 11, the shape 12, color of guideboard can be recorded;The mat data record has road The features such as the frame shape 21, color of board;The panel digital record has the figure being arranged in guideboard The features such as block 31;The lteral data then have recorded on guideboard Chinese 41, English, numeral and its The features such as position;The rotation arrow data record has the road driving direction schematic diagram 5 in guideboard Feature;The identifier data record has single traffic mark symbol;The graphic documentation There is the feature of the required shape such as other straight lines, rectangle.The present invention is not intended to limit the guideboard material data The data of above-mentioned several types can only be included, those skilled in the art can be according to actual conditions to described The type of guideboard material data, feature are designed.

For the ease of extracting guideboard material from the outdoor scene guideboard database according to guideboard mark Data, improve the degree of accuracy of the method for the invention, also for being easy to enter the guideboard material data Row management, in the preferred embodiment of the invention, each described guideboard material data has independent Unique identifier ID.So, the guideboard mark just can be by the unique identifier ID Recording the guideboard representated by it should be made up of which element.The method of the present invention is remembered in being marked according to guideboard Each described unique identifier ID of record extracts corresponding guideboard from the outdoor scene guideboard database Material data.The present invention is not intended to limit must use unique identifier ID as guideboard material data Identification feature, those skilled in the art can distinguish different guideboard material datas using other manner.

Especially, the present invention provide method in, the rotation arrow data, lteral data and Tag mark data are relevant with the steering in induction path, and the direction matched indicia is typically to this three class Guideboard material data is marked, and points out to make Special display treatment., it is preferable that the steering Arrow data, lteral data and tag mark data should have unique identifier ID, be easy to be directed to Property carries out Special display treatment.Wherein, lteral data generally requires entirety and carries out Special display treatment, And the rotation arrow data and tag mark data to be often a portion represent and this guiding Direction identical road, other parts are unrelated with this channeling direction.So, the rotation arrow number Need to carry out Special display treatment according to only partial content in the tag mark data.Fig. 3-4 shows Above-mentioned situation is gone out, when crossing is driven to, the channeling direction in rotation arrow to induction path is corresponding Part just need into line flicker, be highlighted.In order to realize the effect above, it is preferable that described turn Can be by combination arrow graph data and/or icon data to arrow data and the tag mark data Combination is constituted, and the combination arrow graph data and icon data can be extracted as independent unit Or carried out Special display treatment.

In an embodiment of the present invention, by taking the rotation arrow as an example, the rotation arrow data It is made up of combination arrow graphical data assemblies, the image formed by the combination arrow graph data is usual It is closed polygon, or irregular figure.For example, the combination arrow graph data can be wrapped Straight trip graph data and left-hand graph data are included, straight trip graph data and left-hand graphical data assemblies are constituted One rotation arrow data, the rotation arrow data can generate combination arrow image as shown in Figure 3, The wherein corresponding left-hand graph data of left-hand arrow 51, the straight trip correspondence straight trip graph data of arrow 52.It is special Not, induction path is navigated object and travels to the left in crossing guiding, so left-hand graph data Special display treatment is done, accordingly, left-hand arrow 51 produces flicker or highlighted and other effects;Or, The combination arrow graph data can include straight trip graph data, left-hand rotation graph data, right-hand rotation figure Data and current road segment data, above-mentioned four kinds of data combination constitute a rotation arrow data, this turn Combination arrow image as shown in Figure 4 can be generated to arrow data, the wherein correspondence of left-hand rotation arrow 53 is left Turn graph data, the straight trip correspondence straight trip graph data of arrow 52, the corresponding right-hand rotation figure of right-hand rotation arrow 54 Data, the corresponding current road segment data of current road segment 55.Especially, current road segment data have been done special aobvious Show treatment, so current road segment 55 generates flicker or highlight effect.The rotation arrow data can be with With overall unique identifier ID, and the combination arrow graph data can have internal identification ID is identified, the internal identification marking ID may be embodied in the unique identifier ID.Carrying When taking the guideboard material data, the rotation arrow data needed for the guideboard is described uniquely are known Do not identify ID, and the direction matched indicia then describe in the rotation arrow data with induction path The inside identification marking ID of the combination arrow graph data of channeling direction matching.Combination of the present invention Arrow graph data is not limited to above-described several features, directional bridge according to actual guideboard Shape, can there is multiple combination arrow graph data, to be combined into all possible rotation arrow number According to the rotation arrow 5 in such as Fig. 3 represents the structure of directional bridge, then should be by the portion of all directions Divide and formed respectively combination arrow graph data.In addition, every kind of tag mark data can also be used Form above, is divided into multiple icon datas, and each icon data has internal identification marking ID, Individually to carry out Special display treatment.

Fig. 5-7 and Fig. 8 show the effect of the guideboard image that the method for the invention shows.Fig. 5-7 It is the asynchronous situation of channeling direction in the induction path at same crossing.First, according to the road The unique identifier ID that guideboard mark at mouthful is recorded, extracts corresponding guideboard material data combination Guideboard data are constituted, and generates the guideboard image at the crossing.If travelled to the left, the induction Direction matched indicia in path is then recorded the unique identifier ID of the word for representing left-hand rotation and is turned To the inside identification marking ID that the combination arrow figure for turning left is represented in arrow, the guideboard image for showing As shown in figure 5, wherein left-hand rotation arrow 53 and current road segment 55 produce flicker or highlight effect, turn left Chinese 41 and English also produce flicker or highlight effect;If straight trip, the direction matching mark Note records the unique identifier ID or internal identification marks of the word and combination arrow figure for representing straight trip Know ID, the image of display is as shown in fig. 6, wherein straight trip arrow 52 and current road segment 55 produces flicker Or highlight effect, the Chinese 41 and English of straight trip also produce flicker or highlight effect;If turned right, Then the direction matched indicia records word, the unique identifier of combination arrow figure for representing and turning right ID or internal identification marking ID, the image of display are as shown in fig. 7, wherein right-hand rotation arrow 54 and current Section 55 produces the Chinese 41 and English of flicker or highlight effect, right-hand rotation also to produce flicker or highlighted Effect.User can in advance learn the guiding at junction ahead by the direction of prompting in guideboard image Direction and information of road surface.Fig. 8 shows the complete navigation image that the method for the invention shows, its In include the scene images such as road surface, building, the induced map picture such as road surface instruction line, induction line, and Guideboard image, user by scene image and induced map picture can interpolate that surface conditions, traveling lane with And geographical position, can then shift to an earlier date by guideboard image channeling direction and the crossing of anticipation junction ahead Surface conditions.

More preferably, present invention also offers the side that the display to guideboard image, disappearance opportunity are controlled Method step.In the true three-dimensional navigation database, the contextual data includes turn-around zone, described Turn-around zone can be combined by various roads, bridge data and formed.The guideboard mark and the steering Position of the region in cartographic information is mutually matched, so, if the induction in front section In data or contextual data record there is guideboard to mark, then represents front section contextual data in exist turn To region.Especially, predetermined display distance can be preset, when being navigated object away from front section Turn-around zone distance be equal to or less than the predetermined display distance when, should show according to and the steering area The guideboard image of the guideboard mark generation that domain matches.For example, the predetermined display distance is 500 meters, Then when be navigated object travel to tool front section turn-around zone also have 500 meters when, start display with The related guideboard image of front turn-around zone.Further, the steering area is sailed out of when being navigated object Behind domain, can both stop showing the guideboard image.For example, being navigated directional bridge of the object in front section Turn right, shown in guideboard image and bent to right, be navigated object completion right-hand rotation, sailing out of directional bridge Afterwards, the guideboard image no longer shows.The above-mentioned distance for being navigated object away from turn-around zone is by described What exact position judged, need to be held to being navigated the step of object is positioned by positioning methods such as GPS It is continuous to carry out.The present invention is not intended to limit the occurrence of the predetermined display distance, and those skilled in the art can It is adjusted with according to practical application, it is also possible to which the travel speed according to object is navigated suitably is increased Subtract.

Further, present invention also offers method the step of setting up the outdoor scene guideboard database, such as Shown in Fig. 9, including:(1) road sign is shot on the spot, and those skilled in the art can lead to Cross field data acquisition car to shoot the guideboard on road, to obtain real guideboard information.(2) it is right Shooting, collecting to road sign disassembled, analyzed and processed, the various pieces of guideboard are divided into Independent material, generates guideboard material data.In this step, in order to coordinate true three-dimensional navigation method, The guideboard material data is preferably vector quantization data.(3) for guideboard material data addition is unique Identification marking ID or internal identification marking ID, for example, lteral data, rotation arrow data, the back of the body The guideboard such as scape data material data can be added unique identifier ID, accurately to extract this Class data.And the multiple combination arrow graph datas included in the rotation arrow data can then be added Upper internal identification marking ID, so that direction matched indicia is matched, carries out Special display treatment.It is special Not, as shown in figure 4, such as one rotation arrow data can be by straight trip graph data, left-hand rotation figure Graphic data, right-hand rotation graph data and current road segment data composition, and current road segment data and left-hand rotation figure Data combine to represent and travel to the left, need to record above-mentioned two respectively in the direction matched indicia The inside identification marking ID of data can realize that the part travelled to the left on guideboard is highlighted, it is aobvious to flash Show.So, in order to reduce the recorded amounts of the internal identification marking ID, optimize the method for the present invention, Can be by left-hand rotation graph data and the combination packing of current road segment data, with an internal identification marking ID table Show, so, direction matched indicia need to only match an internal identification marking ID.Equally, straight trip figure Data can combine packing with current road segment data, be represented with an internal identification marking ID, figure of turning right Graphic data can combine packing with current road segment data, be represented with an internal identification marking ID.(4) In order to ensure the quality of the guideboard material data, can by simulate to the guideboard material data with And unique identifier ID, inside identification marking ID carry out quality inspection, finally, set up complete outdoor scene Guideboard database.Those skilled in the art are according to actual conditions, the side to setting up outdoor scene guideboard database Method is adjusted, for example, the graphics standard of each material of guideboard is achieved other ways, and the present invention is right This is not limited.

More than, be the present invention provide display guideboard true three-dimensional navigation method, this method by using Trivector data and outdoor scene guideboard vector quantization data, can generate it is being matched with real scene and Navigation picture with outdoor scene guideboard Real time dynamic display, particularly, can be with dynamic flicker, highlighted Etc. the channeling direction that form clearly indicates advance, to driver with clear, visual indication, help Driver learns correct travel direction in advance before crossing is reached.Formed using the method for the present invention Outdoor scene guideboard data, vector format allows stepless zooming, amplification, diminution that can be unlimited, adapts to not With the resolution ratio of equipment, display quality free of losses during constant rate.

Further, present invention also offers a kind of true three-dimension navigation system for showing guideboard, the system The method that can be used for realizing present invention offer.As shown in Figure 10, the system includes true three-dimensional navigation Database 61, outdoor scene guideboard database 62, locating module 71, induction path planning module 72, field Scape data extraction module 73, outdoor scene guideboard computing module 8, navigation scenarios synthesis module 91 and display Module 92.

The true storehouse of three-dimensional navigation data 61 is used to store high accuracy three-dimensional vector quantization data, wherein Including contextual data, induction data and cartographic information etc..In order to store different pieces of information, described true three Dimension navigational route database 61 can be divided into different piece, for example, scene database and induction number can be divided into According to storehouse, the contextual data that is stored with the scene database, BUILDINGS MODELS data etc., the induction number Section induction data, crossing induction data etc. are contained according to stock, the present invention is to the true three-dimensional navigation number It is not limited according to the classification in storehouse 61, those skilled in the art can be divided according to actual conditions Class.Particularly, be also stored with guideboard mark, the guideboard mark in the very three-dimensional induction data storehouse in the field Note can be recorded in the contextual data or the induction data, be used to show the guideboard representated by it Residing geographical position and required guideboard material data.Preferably, in an embodiment of the present invention, The guideboard mark record is in the induction data.In addition, in the true three-dimensional navigation database 61 Can also be stored with for the induction information data for generating the images such as induction line, induction arrow.

Be stored with guideboard material data, the guideboard material data in the outdoor scene guideboard database 62 Preferably vector quantization data.The guideboard material data can include background data, mat data, embedding Plate data, lteral data, rotation arrow data, tag mark data and graph data etc., this hair The bright type not to the guideboard material data is limited, and those skilled in the art can be according to right The disassembling of guideboard, analysis situation, classify to guideboard material data.Preferably, each guideboard element Material data have independent unique identifier ID, can be extracted exactly so as to guideboard material data, Combination, record has the unique identifier ID of the guideboard material data in the guideboard mark.Institute State in outdoor scene guideboard database 62, the guideboard material data relevant with channeling direction at least includes turning to arrow Head data, lteral data and tag mark data, for the ease of being dodged to the different directions on guideboard Sparkle, be highlighted, more preferably, the rotation arrow data can be by multiple combination arrow graph data Combination is constituted, and each described combination arrow graph data can have internal identification marking ID.The mark Will symbol data can be combined by multiple icon datas and constituted, and each described icon data can have interior Portion identification marking ID.The present invention is not intended to limit the guideboard material data must have unique identifier ID or internal identification marking ID, in other embodiments of the invention, can also be by guideboard material number According to upper further feature as mark, those skilled in the art can be according to practical situations to each Material data is identified.

The locating module 71 is used for the exact position for determining to be navigated object, for example, can be GPS Locating module 71, the present invention is not limited to this.The induction path planning module 72 is used for root According to the exact position and external command the induction is extracted from the true three-dimensional navigation database 61 Data, and calculate, plan obtain induce path, the external command be typically user setting starting point And terminal.Direction matched indicia can be included in the induction path.The contextual data extraction module 73 are used for according to the exact position and induction path, constantly from the true three-dimensional navigation database 61 The contextual data in middle extraction front section.

Especially, the outdoor scene guideboard computing module 8 is used to judge front road according to the induction path Whether guideboard is recorded in the induction data or contextual data of section to mark.Of the invention a kind of real Apply in example, the guideboard mark is recorded in the induction data, then the outdoor scene guideboard computing module 8 judge that whether having recorded guideboard in induction data marks.If guideboard mark, then according to guideboard mark The content of note extracts guideboard material data, combination producing guideboard number from the outdoor scene guideboard database 62 According to.Preferably, as it was previously stated, the guideboard material data can have unique identifier ID, institute State the unique identifier of the guideboard material data that record during guideboard is marked has its guideboard for representing to have ID, the unique identifier ID during the outdoor scene guideboard computing module 8 is marked according to guideboard extracts guideboard Material data.More preferably, direction matched indicia, the direction matching mark are included in the induction path Note corresponding with the direction in the induction path guideboard material data in card mark that satisfies the need is marked, and carries Show that these data need to carry out Special display treatment.Guideboard can have been recorded in the direction matched indicia The unique identifier ID of material data and/or internal identification marking ID, so, marks when direction matches When note is with guideboard indicia matched, the ID in correspondence is to represent to need to carry out the data of Special display treatment.

The navigation scenarios synthesis module 91 is used for induction data and the contextual data extracted according to more than, Generation induced map picture and scene image, if outdoor scene guideboard computing module 8 generates guideboard data, According to the guideboard data genaration guideboard image.If the part guideboard material data warp in guideboard data Special display treatment is crossed, then part corresponding with channeling direction presents and dodges in the guideboard image for generating Bright, highlighted feature.Navigation scenarios synthesis module 91 further by induced map picture, scene image and Guideboard image synthesizes navigation picture.

The display module 92 is used to show the navigation picture of synthesis, and the present invention is not intended to limit described aobvious Show the type of module 92, it can be all kinds of conventional displays.The present invention does not also limit the system Carrier, can be the electronic equipments such as mobile phone, panel computer, automatic navigator.

Although being described in detail to some specific embodiments of the invention by example, It should be appreciated by those skilled in the art, example above merely to illustrating, rather than in order to limit The scope of the present invention processed.It should be appreciated by those skilled in the art the scope of the present invention can not departed from In the case of spirit, various changes, modification, replacement and modification are carried out to above example, for example The features such as the classification of guideboard material data, the electronic equipment for using can be adjusted.It is of the invention Scope is defined by the following claims.

Claims (10)

1. it is a kind of show guideboard true three-dimensional navigation method, it is characterised in that including:
True three-dimensional navigation database and outdoor scene guideboard database, the true three-dimensional navigation database bag are provided Contextual data and induction data are included, record has guideboard to mark in the contextual data or the induction data, The outdoor scene guideboard database includes guideboard material data;
It is determined that be navigated the exact position of object and receive external command, according to the exact position and outward Induction data is extracted in portion's instruction, is calculated induction path;
According to the exact position and the contextual data in induction path extraction front section, and judge front Whether the induction data or contextual data in section have recorded guideboard marks;
If record has guideboard to mark, guideboard material data is extracted according to guideboard mark, generate guideboard Data, the guideboard data are used to generate guideboard image;
According to the induction data and contextual data and generation that extract or the guideboard data not generated Synthesis navigation picture, for display.
2. method according to claim 1, it is characterised in that have in the induction path Direction matched indicia, the direction matched indicia and the guideboard indicia matched, pair with channeling direction pair The guideboard material data answered carries out Special display treatment.
3. method according to claim 2, it is characterised in that the institute relevant with channeling direction Guideboard material data is stated including rotation arrow data, lteral data and tag mark data, described in each Guideboard material data has unique identifier ID, and the road of extraction in need is recorded in the guideboard mark The unique identifier ID of board material data.
4. method according to claim 3, it is characterised in that the rotation arrow data by Combination arrow graphical data assemblies are constituted, and each described combination arrow graph data has internal identification mark Know ID, the inside identification mark of the combination arrow graph data of extraction in need is recorded in the guideboard mark Know ID, the guideboard material data for carrying out Special display treatment in need is recorded in the direction matched indicia Unique identifier ID and/or internal identification marking ID.
5. method according to claim 1, it is characterised in that the contextual data includes Turn-around zone, the guideboard mark matches with the turn-around zone, is judged according to the exact position, When the distance for being navigated turn-around zone of the object away from front section is less than or equal to predetermined display distance, The guideboard image that display is generated according to guideboard mark match with turn-around zone, when being navigated object After sailing out of the turn-around zone, stop the display guideboard image.
6. method according to claim 1, it is characterised in that set up the outdoor scene guideboard number The step of according to storehouse, includes:
Road sign is shot on the spot;
Road sign to shooting carries out disassembling analyzing and processing, generates guideboard material data;
For the guideboard material data adds unique identifier ID or internal identification markings ID;
Quality inspection is carried out to the guideboard material data.
7. it is a kind of show guideboard true three-dimension navigation system, it is characterised in that including:
True three-dimensional navigation database (61), the true three-dimensional navigation database (61) is stored with scene Record has guideboard to mark in data and induction data, the contextual data or the induction data;
Outdoor scene guideboard database (62), the outdoor scene guideboard database (62) is stored with guideboard material Data;
Locating module (71), the locating module (71) is navigated the accurate position of object for determination Put;
Induction path planning module (72), induction path planning module (72) is according to the essence True position and external command extract the induction data, are calculated induction path;
Contextual data extraction module (73), the contextual data extraction module (73) is according to the essence True position and the contextual data in induction path extraction front section;
Outdoor scene guideboard computing module (8), the outdoor scene guideboard computing module (8) is according to the induction Path judges whether the induction data or contextual data in front section have recorded guideboard and marked, if Record has guideboard to mark, then extract guideboard material data according to guideboard mark, generates guideboard data;
Navigation scenarios synthesis module (91), according to extract the induction data and contextual data and Generation or the guideboard Data Synthesis navigation picture not generated;
Display module (92), the display module (92) is for showing the navigation picture for synthesizing.
8. system according to claim 7, it is characterised in that the induction path planning mould There is direction matched indicia, the outdoor scene guideboard calculates mould in the induction path of block (72) generation Block (8) is matched the direction matched indicia and the guideboard mark, for channeling direction pair The guideboard material data answered carries out Special display treatment.
9. system according to claim 8, it is characterised in that in the outdoor scene guideboard data In storehouse (62), the guideboard material data relevant with channeling direction includes rotation arrow data, word number According to tag mark data, each described guideboard material data has unique identifier ID, the road Record has the unique identifier ID, outdoor scene guideboard computing module (8) basis in card mark The unique identifier ID recorded in the guideboard mark extracts corresponding guideboard material data.
10. system according to claim 9, it is characterised in that the rotation arrow data by Combination arrow graphical data assemblies are constituted, and each described combination arrow graph data has internal identification mark Know ID, the inside identification mark of the combination arrow graph data of extraction in need is recorded in the guideboard mark Know ID, the guideboard material data for carrying out Special display treatment in need is recorded in the direction matched indicia Unique identifier ID and/or internal identification marking ID.
CN201511026747.5A 2015-12-30 2015-12-30 Show the true three-dimensional navigation method and system of guideboard CN106931988A (en)

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