CN106940191A - Guider and its vehicle location display methods - Google Patents
Guider and its vehicle location display methods Download PDFInfo
- Publication number
- CN106940191A CN106940191A CN201610004888.5A CN201610004888A CN106940191A CN 106940191 A CN106940191 A CN 106940191A CN 201610004888 A CN201610004888 A CN 201610004888A CN 106940191 A CN106940191 A CN 106940191A
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- Prior art keywords
- data link
- parking stall
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- map
- guider
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Classifications
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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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
- G01C21/3685—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities the POI's being parking facilities
-
- 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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Abstract
Present invention offer is a kind of correctly can be positioned at vehicle location the guider and its vehicle location display methods on parking stall.Possess：Map information, cartographic information of the storage comprising road data link and parking stall relevant information；Current location test section, detects current vehicle position；Map match processing unit, the current vehicle position and road data link detected according to current location test section carries out map match correcting process to the current vehicle position detected；Display part；Data link preparing department, the parking stall relevant information stored according to the map in information storage part is fabricated to parking stall data link, and parking stall data link is carried out map match processing by map match processing unit as road data link.According to the present invention it is possible to which vehicle location is correctly displayed on parking stall, thus it is possible to make the vehicle location of guider show consistent with actual parking spot, the doubt that user shows for guider is released, the reliability of guider is improved.
Description
Technical field
The present invention relates to a kind of guider and its vehicle location display methods, more particularly to one kind the guider and its vehicle location display methods on parking stall can be shown in map denotation picture.
Background technology
In recent years, in the vehicle-mounted guider used, current vehicle position is detected using self-support boat method SCN (Self-Contained Navigation) sensors and GPS (Global Positioning System) receiver etc., on the corresponding location of map denotation picture, display represents the vehicle location icon from truck position, the position of the vehicle location icon in map denotation picture, overlapped with the actually located position of the vehicle, so, user can will readily recognize that vehicle present position.
In this guider, it is an essential step to determine current vehicle position, usually using the determination method (self-support boat method) that vehicle relative position is determined by range sensor and angular transducer mounted on a vehicle, and the electric wave sent by receiving multiple gps satellites carries out the processing of n dimensions measure to determine the determination method (satellite navigation) of vehicle absolute position.
The vehicle location determined according to self-support boat method and satellite navigation, the station-keeping mode positioned to current vehicle position referred to as car-parking model.This station-keeping mode is relatively cheap, and vehicle location can be positioned, but with the traveling of vehicle, can add up certain site error, the road for causing vehicle location positioning runout to go out in traveling.In this case, handled by map match, vehicle location and the road data of measure are checked, vehicle location is adapted on road if necessary.Road data is the node by representing multiple road intersection points such as crosspoint and crossroad, and the road data link for the vector representation being connected between adjacent node is constituted.Processing vehicle location being adapted on road is specifically referred to, and the vehicle location of measure is moved on road data link.The station-keeping mode of above-mentioned use map match processing is referred to as map match pattern.In guider of the prior art, between car-parking model and map match pattern, automatic conversion can be mutually carried out in the case where meeting rated condition.
When vehicle is travelled on road, generally all vehicle location is accurately positioned on road using correction means such as map match processing.As shown in figure 1, vehicle 11 along road 14 exercise when, the station-keeping mode of vehicle 11 is to be in map match pattern, so carrying out map match processing to vehicle location, vehicle location is moved to and shown on the road data link of road 14.But, as shown in the figure, when the parking stall 13 that vehicle 11 enters the side of road 14 is stopped, the condition of car-parking model is transformed into if be also not reaching to and map match pattern is still in this moment if, i.e., vehicle location proceeds map match processing, as illustrated, the vehicle location icon 12 for representing current vehicle position is corrected matching treatment, moved on the road 15 identical and nearest apart from vehicle 11 with the travel direction of vehicle 11.So, vehicle 11 is actually parked on parking stall 13, but vehicle location icon 12 is shown on road 15 on the map denotation picture of display screen, vehicle location icon 12 is not properly positioned on parking stall 13, therefore, user can not clearly recognize that from car present position can produce display error etc. for guider queries, and damages the reliability of product orientation.
The content of the invention
The present invention correctly can be positioned at vehicle location the guider and its vehicle location display methods on parking stall for above-mentioned technical problem present in prior art there is provided a kind of.
In order to solve above-mentioned technical problem present in prior art, guider of the invention possesses：Map information, cartographic information of the storage comprising road data link and parking stall relevant information；Current location test section, detects current vehicle position；Map match processing unit, the current vehicle position and road data link detected according to current location test section carries out map match correcting process to the current vehicle position detected；Display part, the current vehicle position that show map matching treatment portion is corrected on map；Data link preparing department, the parking stall relevant information stored according to the map in information storage part is fabricated to parking stall data link, and parking stall data link is carried out map match processing by map match processing unit as road data link.
According to above-mentioned guider, it is fabricated to the parking stall data link as road data link, when vehicle traveling enters parking stall, vehicle location is carried out map match processing, it is adapted in the parking stall data link on the parking stall, vehicle location can be shown on the parking stall, so, vehicle location can be correctly shown in map denotation picture, make the vehicle location that guider is shown and actual vehicle position consistency, avoid user from producing display error etc. to guider to feel uncertain, improve the reliability of guider.
Further, in above-mentioned guider, judging part is preferably also equipped with, judges that vehicle is in car-parking model in map match pattern, when judging part judges that vehicle is in map match pattern, data link preparing department carries out parking stall data link making to parking stall.So, when vehicle from the road in traveling into parking stall moving process, due to the relation of rated condition, when vehicle is not from map match patten transformation to car-parking model, the making of parking stall data link is carried out to parking stall, map match processing is carried out to vehicle location, thus it is possible to reduce the treating capacity that data link preparing department carries out parking stall data link making.
Further, in above-mentioned guider, the parking stall in the current vehicle position periphery prescribed limit that data link preparing department can detect to current location test section carries out parking stall data link making.So, without being made to parking stall data link to all parking stalls being stored in map information, the making of parking stall data link is only carried out to the parking stall in the prescribed limit of current vehicle position periphery, the treating capacity that data link preparing department carries out parking stall data link making can be reduced.
Further, in above-mentioned guider, data link preparing department can carry out parking stall data link making to the parking stall in the range of the usual road of map match processing.So, it can either realize and the common of map match processing is carried out on usual road, the treating capacity that data link preparing department carries out parking stall data link making can also be reduced.
Further, in above-mentioned guider, data link preparing department is fabricated to polygon-shaped parking stall the parking stall data link of wire on backstage.
In addition, in order to solve above-mentioned technical problem present in prior art, present invention also offers a kind of vehicle location display methods of guider, including：Cartographic information storing step, cartographic information of the storage comprising road data link and parking stall relevant information；Current location detecting step, detects current vehicle position；Map match process step, the current vehicle position and road data link detected according to current location detecting step carries out map match correcting process to the current vehicle position detected；Step display, the current vehicle position of show map matching treatment step amendment on map；Data link making step, the parking stall relevant information stored according to the map in information storing step is fabricated to parking stall data link, and parking stall data link is carried out map match processing by map match process step as road data link.
According to the guider and its vehicle location display methods of the present invention, vehicle location can be correctly displayed on parking stall, the vehicle location that guider is shown and actual vehicle position consistency can be made, avoid user from producing display error etc. to guider to feel uncertain, improve the reliability of guider.
Brief description of the drawings
Fig. 1 is the display picture schematic diagram for representing guider in the prior art.
Fig. 2 is the block diagram for representing guider structure of the present invention.
Fig. 3 is the flow chart for representing the specific processing method of guider of the present invention.
Fig. 4 is the display picture schematic diagram in the embodiment of guider of the present invention.
Fig. 5 is the display picture schematic diagram in the embodiment of guider of the present invention.
Fig. 6 a, 6b are the embodiment schematic diagrames of guider of the present invention.
Fig. 7 is the display picture schematic diagram in the other embodiment of guider of the present invention.
Embodiment
Hereinafter, with reference to accompanying drawing, by taking the vehicle-mounted guider used as an example, embodiments of the present invention are described in detail.
Fig. 2 is the block diagram for representing structure of the present invention.As illustrated, the vehicle-mounted use guider of present embodiment possesses：Map information 1, current location test section 2, map match processing unit 3, display part 4, judging part 5, data link preparing department 6 and control unit 7.
Map information 1 be the volatile storage as the non-volatile memories such as flash memory or RAM (Random Access Memory) or both combination and constitute, it can also be and be made up of or be made up of storage card, hard disk of magnetism storage media etc. the DVD-ROM of optic storage medium.The information of the storage map correlation of map information 1 of the present invention.For example, store that map is drawn, circuit is explored, circuit guiding relevant information, enter row line the programming of processing such as explore, enter row line guiding needed for display output control, the programming of voice output control needed for voice guide and necessary data, also stored for the display information data needed for circuit guiding and map denotation.The map information 1 of present embodiment also stored for the parking stall such as parking stall present position and area shape relevant information.
Current location test section 2 is used for the current location for detecting vehicle.For example, the operating range that current location test section 2 is determined by vehicle speed sensor, and by the orientation of the measure such as angular-rate sensor and aspect sensor, detect current vehicle position.Operating range is to be multiplied by certain coefficient by the pulse of tire rotation output to calculate, and orientation is calculated by accumulative gyroscope constant angular velocity sensor output data.
Map match processing unit 3 is the current vehicle position detected based on the road data and current location test section 2 being stored in map information 1, vehicle often travels certain distance, map match processing is carried out, being adapted to from car position on the road of map datum.For example, using sciagraphy of the prior art, the current location that current location test section 2 is detected is adjusted to be maked corrections on road data link.The parking stall data link then to be illustrated is also to carry out map match processing as road data link.
Display part 4 can have both operating portion (not shown), with display screen and touch-screen.Display screen can be made up of display devices such as LCD (Liquid Crystal Display), organic EL (Organic Electro-Lum Inescence Panel), or PDP displays.
Further, the touch-screen of display part 4 can be condenser type, resistance-type, infrared-type and cutting load testing formula etc. it is therein any one.Option of operation is touched by finger, writing pencil etc. on a display panel, it is possible to which the option is manipulated.
In addition, the display part 4 of the present invention can also be not provided with touch-screen, can only have display screen.Display part 4 is used to showing in parking lot, city map road, and from truck position.
Judging part 5 is by application specific integrated circuit, or cpu function module composition.Map match processing unit 3 carries out calculating measure using multiple sensors and map datum to travelled by vehicle state, to determine that current station-keeping mode is car-parking model or map match pattern, for current vehicle position, carry out map match processing or handled without map match, so, judging part 5, by obtaining the current station-keeping mode of vehicle that map match processing unit 3 is determined, is to be in map match pattern in car-parking model to judge to vehicle.
Here, the switching condition between car-parking model and map match pattern is carried out as map match processing unit 3, with a variety of establishing methods.For example, under car-parking model, vehicle along road distance travelled exceed specified value when, be switched to map match pattern.The current location of vehicle is obtained by gyroscope etc., the distance with the nearest road of current vehicle position is obtained by map datum, when the distance is when beyond prescribed limit, car-parking model is switched to.Or detect that vehicle current vehicle speed is combined with other conditions by velocity sensor, the switching etc. between car-parking model and map match pattern can also be carried out.
In addition, judging part 5 itself also when map match processing unit 3 is handled, is handled the judgement that map match pattern is in car-parking model.
Data link preparing department 6 is to draw functional module and computing function module composition by road.According to the parking stall area shape map datum being stored in map information 1, the parking stall data link of display wire as polygon-shaped parking stall is fabricated to road data link on the display section 4.
Control unit 7 is made up of common computer, its internal bus (not shown) for having such as CPU, ROM, EEPROM, RAM, I/O and connecting these compositions.
Alternatively, it is also possible to which map match processing unit 3, judging part 5, data link preparing department 6 and control unit 7 are monolithically fabricated as a processor.
Below, with reference to Fig. 3 to Fig. 7, action and specific embodiment to embodiments of the present invention are illustrated.
Fig. 3 is the flow chart for representing guider processing method of the present invention, and Fig. 4 to Fig. 7 is the schematic diagram for representing guider embodiment of the present invention.
First, as shown in Figure 4, the vehicle location icon 12 for representing current vehicle position, some parking stalls 13, road 14, road 15, road 16 and road 17 are shown on the map denotation picture of the vehicle-mounted guider used, vehicle location icon 12 is shown on road 17.Referring back to Fig. 3, to being judged (step S101) with the presence or absence of parking stall in the range of the map denotation picture of display part 4, i.e. in the map datum in map denotation picture, if there is parking space number evidence to be stored in map information 1.As shown in figure 4, when there is parking stall (step S101 "Yes"), entering step S102, otherwise (step S101 "No"), returning to step S101 and repeating processing.
It is to be in car-parking model in map match pattern to judge by the station-keeping mode current to vehicle 11 of judging part 5 next, in step S102, i.e. when there is parking stall in map display picture.When in map match pattern (step S102 "Yes"), step S103 is entered, when in car-parking model (step S102 "No"), step S104 is entered.
As shown in figure 4, vehicle location icon 12 is to have been carried out map match processing, moves to and shown on road 17, in map match pattern.Enter step S103, pass through data link preparing department 6, parking stall in the current location periphery prescribed limit (for example, centered on current location, within 20 meters of radius) of the current vehicle position detected comprising current location test section 2 is fabricated to parking stall data link.In the present embodiment, polygon-shaped parking stall is fabricated to the parking stall data link of wire as shown in phantom in Figure 4.Specifically, according to the parking stall relevant information being stored in map information 1, on two relative short sides (rectangular width) on rectangle parking stall, the center in sideline is taken respectively as node, the two nodes are connected, parking stall data link as being fabricated to road data link.As shown in figure 4, in the range of the map denotation picture of display part 4, parking stall is envisioned for parking stall data link presence.
In the present embodiment, in order to be illustrated to Fig. 4, parking stall data link is shown with dotted line, and parking stall data link is to carry out making processing on guider backstage, so, actually it is without display on the display section 4.
Here, in the guider of the present invention, data link preparing department 6 is not limited only to be fabricated to the parking stall data link of wire, according to parking stall relevant information, can also be fabricated to the parking stall data link of other forms.
In step S105, the parking stall data link that data link preparing department 6 is fabricated to carries out map match processing as the same process object of road data link.As shown in figure 5, when vehicle 11 enters parking stall 13, being handled by map match, vehicle location icon 12 being moved to and shown in the parking stall data link on parking stall 13.
Here, as shown in Fig. 6 a, 6b, the position relationship between parking stall and road is essentially divided into two kinds, and a kind of is parking stall species at a right angle vertical with road, and a kind of is the parking stall species parallel with road.Vehicle 11 comes out from route deviation, between parking stall be usually to travel certain distance, so, parking stall data link can extend out from parking stall, to vehicle enter parking stall and need to be near the place of route deviation.When parking stall data link of the vehicle 11 close to the extension, vehicle location icon 12 is pulled in the parking stall data link of the extension and shown.
On the other hand, in step S104, when judging part 5 judges to be in car-parking model, the current vehicle position detected according to current location test section 2 is on the display section 4 shown in vehicle location icon 12 on the place corresponding to the current location on map and detected.
The current location test section 2 of above-mentioned embodiment guider is detected by self-support boat method, can also be detected with reference to satellite navigation.
Also, if the guider of the present invention can obtain the road guide line of vehicle 11, for example, as shown in Figure 7, in map denotation picture, when the guide line of vehicle 11 contains road 17 and road 14, as illustrated, only carrying out parking stall data link making to the parking stall of road 17 and road 14 on the way side.
Further, with the traveling of vehicle 11, parking stall data link making can also be carried out to the parking stall carried out in common road in map match process range.
The present invention is not limited only to the vehicle-mounted guider used of present embodiment, applies also for mobile phone use, panel computer and use etc. that all guiders of parking stall map can be shown.
Claims (6)
1. a kind of guider, including：
Map information, ground of the storage comprising road data link and parking stall relevant information
Figure information；
Current location test section, detects current vehicle position；
Map match processing unit, the current vehicle position detected according to above-mentioned current location test section
And above-mentioned road data link, map match Corrections Division is carried out to the current vehicle position of detection
Reason；
Display part, shows the vehicle present bit of above-mentioned map match processing unit amendment on map
Put, it is characterised in that including：
Data link preparing department is related according to the parking stall stored in above-mentioned map information
Information, is fabricated to parking stall data link,
Above-mentioned parking stall data link is treated as above-mentioned road data by above-mentioned map match processing unit
Link carries out map match processing.
2. guider as claimed in claim 1, it is characterised in that also include：
Judging part, judges that vehicle is in car-parking model in map match pattern,
When above-mentioned judging part judges that vehicle is in map match pattern, above-mentioned data link preparing department pair
Above-mentioned parking stall carries out parking stall data link making.
3. guider as claimed in claim 1 or 2, it is characterised in that
The vehicle that above-mentioned data link preparing department detects to above-mentioned current location test section is current
Parking stall in the prescribed limit of position periphery carries out parking stall data link making.
4. guider as claimed in claim 1 or 2, it is characterised in that
Above-mentioned data link preparing department enters to the parking stall in the range of the usual road of map match processing
Row parking stall data link makes.
5. guider as claimed in claim 1, it is characterised in that
Above-mentioned data link preparing department is fabricated to polygon-shaped parking stall on the parking stall of wire on backstage
Data link.
6. a kind of vehicle location display methods of guider, including：
Cartographic information storing step, storage is comprising road data link and parking stall relevant information
Cartographic information；
Current location detecting step, detects current vehicle position；
Map match process step, the current vehicle position detected according to above-mentioned current location detecting step
And above-mentioned road data link, map match correcting process is carried out to the current vehicle position of detection；
Step display, shows the current vehicle position of above-mentioned map match process step amendment on map,
It is characterised in that it includes：
Data link making step is related according to the parking stall stored in above-mentioned cartographic information storing step
Information, is fabricated to parking stall data link,
Above-mentioned parking stall data link is treated as above-mentioned road data link by above-mentioned map match process step
Carry out map match processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610004888.5A CN106940191B (en) | 2016-01-04 | 2016-01-04 | Navigation device and vehicle position display method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610004888.5A CN106940191B (en) | 2016-01-04 | 2016-01-04 | Navigation device and vehicle position display method thereof |
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| CN106940191A true CN106940191A (en) | 2017-07-11 |
| CN106940191B CN106940191B (en) | 2021-06-11 |
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| CN201610004888.5A Active CN106940191B (en) | 2016-01-04 | 2016-01-04 | Navigation device and vehicle position display method thereof |
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| US20210116251A1 (en) * | 2017-12-07 | 2021-04-22 | International Business Machines Corporation | Location calibration based on movement path and map objects |
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