CN107478242A - A kind of air navigation aid and system - Google Patents
A kind of air navigation aid and system Download PDFInfo
- Publication number
- CN107478242A CN107478242A CN201710772518.0A CN201710772518A CN107478242A CN 107478242 A CN107478242 A CN 107478242A CN 201710772518 A CN201710772518 A CN 201710772518A CN 107478242 A CN107478242 A CN 107478242A
- Authority
- CN
- China
- Prior art keywords
- closed area
- path planning
- information
- region
- original position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- 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
Abstract
The application provides a kind of air navigation aid and system, including：Obtain original position and the final position that user is set；Judge the original position and/or final position whether in closed area；If the original position and/or final position are located in closed area；According to the inlet and outlet position and the original position and final position of the closed area, path planning in region is carried out, obtains path planning information in region；Region outer pathway planning is carried out according to the entrance information in path planning information in the region and the original position and final position, obtains path planning information outside region；Navigated according to obtained path planning information for user.So as to reach the purpose for providing the user rational navigation directions.
Description
Technical field
The present invention relates to field of navigation technology, and in particular to a kind of to be used for the navigation of closed area on guidance path be present
Method and system.
Background technology
In general navigation software in initial calculation start and end Point matching, be all using match from when user current location most
The mode on shortcut road.But referring to Fig. 1, if user is located in a closed area, such as walled cell, it is existing
Navigation software can be directly through enclosure wall by the current location matches of user to the nearest closed area in the current location apart from user
On outer road, however, even if nearest from the road of user's matching, but due to there is enclosure wall to separate, user also cannot directly rush across
Enclosure wall, therefore, it is impossible to make rational navigation directions to user.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of air navigation aid and system, and closed area is provided a user to realize
The purpose of interior rational navigation directions.
To achieve the above object, the embodiment of the present invention provides following technical scheme：
A kind of air navigation aid, including：
Obtain original position and the final position that user is set；
Judge the original position and/or final position whether in closed area；
If the original position and/or final position are located in closed area；
According to the inlet and outlet position and the original position and final position of the closed area, path in region is carried out
Planning, obtains path planning information in region；
According to the entrance information in path planning information in the region and the original position and terminal position
Put and carry out region outer pathway planning, obtain path planning information outside region；
Navigated according to obtained path planning information for user.
Preferably, in above-mentioned air navigation aid, when the original position be located in closed area and final position not positioned at envelope
When in closed region, according to the inlet and outlet position and the original position and final position of the closed area, carry out in region
Path planning, obtain path planning information in region；According to the entrance information in path planning information in the region
And the original position and final position carry out region outer pathway planning, obtain path planning information outside region, are specially：
Obtain the exits location information of the closed area；
Path planning, the planning of generation first are carried out according to the exits location information of the closed area and the final position
Routing information, using the first path planning information as path planning information outside region；
Path adaptation is carried out to the original position, believed according to the outlet port of the original position and the closed area
Breath carries out path planning, generates path planning information in the first closed area, path planning in first closed area is believed
Breath is as path planning information in region.
Preferably, in above-mentioned air navigation aid, the exits location information of the closed area is obtained, including：
Judge whether the closed area includes multiple outlets, if it is, determining to go out apart from the original position is nearest
Mouthful, the exits location information of selected outlet is obtained, if the closed area only has sole outlet, obtains this only
The positional information of one outlet.
Preferably, in above-mentioned air navigation aid, the exits location information of the closed area is obtained, including：
Judge whether the closed area includes multiple outlets；
If the closed area only has sole outlet, the positional information of the sole outlet is obtained；
If the export volume of the closed area is multiple, original position is calculated to the difference of the distance of each outlet
Value, when all differences all be not more than a certain setting value, the nearest outlet in final position described in chosen distance, obtain selected by
The positional information of outlet；It is more than the outlet of a certain setting value if there is difference, original position described in chosen distance is nearest to be gone out
Mouth, obtain the positional information of selected outlet.
Preferably, in above-mentioned air navigation aid, the original position is matched in the closed area on road, including：
Judge to whether there is road network in the closed area, if it is, the original position is matched into the closing
The nearest road of original position described in distance in road network in region；
If road network is not present in the closed area, the original position is matched into going out for the closed area
Mouthful.
Preferably, in above-mentioned air navigation aid, when the original position is not in closed area and final position is located at
When in closed area, according to the inlet and outlet position and the original position and final position of the closed area, region is carried out
Interior path planning, obtain path planning information in region；According to the entrance letter in path planning information in the region
Breath and the original position and final position carry out region outer pathway planning, obtain path planning information outside region, are specially：
Obtain the entrance location information of the closed area；
Path planning, the planning of generation second are carried out according to the entrance location information of the closed area and the original position
Routing information, using the second path planning information as path planning information outside region；
Path planning is carried out according to the entrance location information of the closed area and the final position, generates the second envelope
Path planning information in closed region；Using path planning information in second closed area as path planning information in region.
Preferably, in above-mentioned air navigation aid, when the original position is located in the first closed area and final position is located at
When in the second closed area, according to the inlet and outlet position and the original position and final position of the closed area, carry out
Path planning in region, obtain path planning information in region；According to the gateway position in path planning information in the region
Confidence breath and the original position and final position planned outside region, obtain path planning information outside region, be specially：
Obtain the exits location information of first closed area；
Path planning, generation first are carried out according to the exits location information of the original position and first closed area
Path planning information in closed area；
Obtain the entrance location information of second closed area；
Path planning is carried out according to the entrance location information of second closed area and the final position, generation the
Path planning information in two closed areas；It will be planned in path planning information in first closed area and the second closed area
Routing information is as path planning information in region；
Enter walking along the street according to the exits location information of first closed area and the entrance location information of the second closed area
Footpath is planned, the 3rd path planning information is generated, using the 3rd path planning information as path planning information outside region.
Preferably, in above-mentioned air navigation aid, in addition to：
Judge whether the closed area is area of charge, if it is, when user coordinates position is located at the closed area
Inlet and outlet region in when, to user export for characterize the closed area be area of charge prompt message.
A kind of navigation system, including：
Start-stop position collecting unit, for obtaining original position and the final position of user's setting；
Judging unit, for judging the original position and/or final position whether in closed area, if described
When original position and/or final position are located in closed area, to the first planning unit and the second planning unit output triggering letter
Number；
First planning unit, for when getting the trigger signal, the inlet and outlet position according to the closed area
And the original position and final position, path planning in region is carried out, obtains path planning information in region；
Second planning unit, during for getting the trigger signal, according in path planning information in the region
Entrance information and the original position and final position carry out region outer pathway planning, obtain path planning outside region
Information；
Navigation information output unit, for being navigated according to obtained path planning information for user.
Preferably, in above-mentioned navigation system, the judging unit is specifically used for：Closed when judging that the original position is located at
When in region and final position is not in closed area, to the first planning unit and the triggering of the second planning unit output first
Signal；
First planning unit is specifically used for：When getting first trigger signal, trade is entered to the original position
Road matches, and obtains the exits location information of the closed area；Exits location information and the end according to the closed area
Point position carries out path planning, generates the first path planning information, is planned using the first path planning information as outside region
Routing information；
Second planning unit is specifically used for：When getting first trigger signal, the original position is entered
Row path adaptation, path planning, generation first are carried out according to the exits location information of the original position and the closed area
Path planning information in closed area, path planning information in first closed area is believed as path planning in region
Breath.
Preferably, in above-mentioned navigation system, in addition to：
First outlet position selecting unit, for when judging that the original position is located in closed area, described in judgement
Whether closed area includes multiple outlets, if it is, determine the outlet nearest apart from the original position, obtains selected to go out
The exits location information of mouth, if the closed area only has sole outlet, obtains the positional information of the sole outlet.
Preferably, in above-mentioned navigation system, in addition to：
Second outlet position selecting unit, for when judging that the original position is located in closed area, described in judgement
Whether closed area includes multiple outlets；If the export volume of the closed area is multiple, original position is calculated to respectively
The difference of the distance of individual outlet, when all differences are all not more than a certain setting value, final position described in chosen distance is nearest
Outlet, obtain the positional information of selected outlet；It is more than the outlet of a certain setting value if there is difference, described in chosen distance
The nearest outlet of original position, obtain the positional information of selected outlet.
Preferably, in above-mentioned navigation system, it is configured with the second planning unit when getting first trigger signal,
Path adaptation unit in the region of path adaptation is carried out for carrying out original position；
Path adaptation unit is used in the region：Judge to whether there is road network in the closed area, if it is, will
The original position matches in the closed area the nearest road of original position described in distance in road network；If the envelope
Road network is not present in closed region, then the original position is matched to the outlet of the closed area.
Preferably, in above-mentioned navigation system, the judging unit is specifically used for：Sealed when judging that the original position is not located at
When in closed region and final position is located in closed area, to the first planning unit and the triggering of the second planning unit output second
Signal；
First planning unit is specifically used for：When getting second trigger signal, entering for the closed area is obtained
Mouth positional information；Path planning, generation second are carried out according to the entrance location information of the closed area and the original position
Path planning information, using the second path planning information as path planning information outside region；
Second planning unit is specifically used for：When getting second trigger signal, according to the closed area
Entrance location information and the final position carry out path planning, generate the second closed area in path planning information；Will
Path planning information is as path planning information in region in second closed area.
Preferably, in above-mentioned navigation system, the judging unit is specifically used for：When the judgement original position is located at first
When in closed area and final position is located in the second closed area, to the first planning unit and the second planning unit output the 3rd
Trigger signal；
Second planning unit is specifically used for：When getting three trigger signal, first closing is obtained
The exits location information in region；Obtain the entrance location information of second closed area；According to the original position and described
The exits location information of first closed area carries out path planning, generates path planning information in the first closed area；According to institute
The entrance location information and the final position for stating the second closed area carry out path planning, generate in the second closed area and advise
Draw routing information；Using path planning information in path planning information in first closed area and the second closed area as area
Path planning information in domain；
First planning unit is specifically used for：When getting three trigger signal, according to first closed area
Exits location information and the second closed area entrance location information carry out path planning, generate the 3rd path planning information,
Using the 3rd path planning information as path planning information outside region.
Preferably, in above-mentioned navigation system, in addition to：Pay imformation Tip element, for judging that the closed area is
No is area of charge, if it is, when user coordinates position is located in the inlet and outlet region of the closed area, is exported to user
For characterizing the prompt message that the closed area is area of charge.
Based on above-mentioned technical proposal, in such scheme provided in an embodiment of the present invention, when user is navigated, when detecting
When the original position of user's input or final position are located at closed area, path planning and region in closed area are carried out to user
Outer pathway is planned, and then obtains the path planning information outside path planning information and closed area in closed area, foundation
The path planning information outside path planning information and closed area in the closed area acquired provides the user navigation clothes
Business, so as to reach the purpose for providing the user rational navigation directions.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the schematic diagram of a scenario navigated in the prior art；
Fig. 2 is a kind of schematic flow sheet of air navigation aid disclosed in the embodiment of the present application；
Fig. 3 is the schematic diagram that road is spliced outside road and region in a kind of region disclosed in the embodiment of the present application；
Fig. 4 is a kind of schematic flow sheet of air navigation aid disclosed in another embodiment of the application；
Fig. 5 is the schematic diagram in the closed area progress original position matching for having road that the embodiment of the present application provides；
Fig. 6 is the schematic diagram in the progress original position matching of way less closed area that the embodiment of the present application provides；
Fig. 7 is a kind of course schematic diagram of air navigation aid disclosed in another embodiment of the application；
Fig. 8 is a kind of course schematic diagram of air navigation aid disclosed in another embodiment of the application；
Fig. 9 is a kind of structural representation of navigation system disclosed in the embodiment of the present application.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
This application discloses a kind of air navigation aid, it is necessary to enter before air navigation aid disclosed in performing the embodiment of the present application
Row data acquisition, the road within the information gathering stage, the positional information of the related to closed area of collection and closed area
Road information, and unique ID is associated to the closed area and identified.In data preprocessing phase, the space of database can be passed through
Inquiring technology, inquire about the road inside closed area and determine a certain positional information whether within closed area, and it is attached
The ID in upper closed area face, judge whether it belongs to the attributes such as area of charge by its ID.
Referring to Fig. 2, air navigation aid disclosed in the embodiment of the application one can include：
Step S101：Obtain original position and the final position that user is set；
The current location for the user that the position or system detectio that the original position can input for user are arrived, the end
Point position is the coordinate position for the target location that user wants arrival；
Step S102：The original position and/or final position are judged whether in closed area, if it is, performing
Step S103 and S104；
In this step, after getting start position information and end point location information, according to the enclosed area prestored
The positional information in domain is inquired about, and judges whether the original position and/or final position are located within closed area；
When judging that the original position and/or final position are located in closed area, step S103 and S104 are performed, is entered
Path planning and the planning of closed area outer pathway in row closed area.
Step S103：According to the inlet and outlet position and the original position and final position of the closed area, carry out
Path planning in region, path planning information in region is obtained, wherein, when the original position is located in closed area, terminal
When position is not in closed area, path planning information only includes the closed area that original position is located in the region
Path planning information in interior region.When the original position is not in closed area, final position is located at closed area
When interior, path planning information only includes path planning letter in the region in the closed area that final position is located in the region
Breath.When the original position and final position are all located in closed area, path planning information includes starting in the region
The area in closed area that path planning information and final position are located in the region in closed area that position is located at
Path planning information in domain；
In this step, when the original position or final position are located in closed area, closed area Nei Lu is carried out
Footpath is planned, obtains driving path of the user in the closed area, wherein, the user can be vehicle user, Hang Renhuo
Bicycle user etc.；
Step S104：According to the entrance in path planning information in the region and the original position and end
Point position carries out region outer pathway planning, obtains path planning information outside region；
In this step, when the original position or final position are located in closed area, according to the closed area
Import and export position, carry out path planning, obtain path planning information of the user outside the closed area；
Step S105：Navigated according to obtained path planning information for user；
In this step, planned because resulting path planning information is divided into region outside path planning information and region
Routing information, therefore, when being navigated for user, it can be selected current for what is navigated according to the current location of user
Path planning information, the path planning information according to selection provides a user navigation Service, for example, when the original position is located at
When in closed area, first according to path planning information in the region navigation Service is provided a user, when detecting that user is located at
When on the path planning outside closed area, navigation Service is provided a user according to path planning information outside the closed area.When
So in order to preferably provide navigation Service to user, in technical scheme disclosed in the embodiment of the present application, when obtaining the region
, can also be to path planning information and region in the region in outer path planning information and region after path planning information
Outer path planning information is spliced, and obtains a complete path planning information, then according to the complete path planning information
Provide a user navigation Service.In technical scheme disclosed in the embodiment of the present application, by the starting point of user's setting when being navigated
Original position is defined as, the terminal for the required arrival that user when being navigated is set is defined as final position, will plan
The starting point of each section of path planning is defined as start position in journey, and the terminal of each section of path planning is defined as final position.Referring to figure
3, in embodiment illustrated in fig. 3, the original position and final position are respectively positioned in closed area, to area corresponding to original position
When path planning information is spliced outside path planning information and the region in domain, by corresponding to the original position in region
The final position of path planning information and the start position of path planning information outside the region are spliced, to final position
It is when path planning information is spliced with path planning information outside the region in corresponding region, the final position is corresponding
Region in path planning information start position and the final position of path planning information outside the region spliced, so as to
The splicing of path planning and path planning outside the region in region corresponding to the original position and final position is realized, will
Three sections of path plannings are spliced into a path planning.
It is visible by method disclosed in the above embodiments of the present application, when using the above method to be navigated for user, work as inspection
Original position or final position when be located at closed area of user's input are measured, in progress closed area outside path planning and region
Path planning, obtains the path planning information outside path planning information and the closed area in closed area, and foundation acquires
Closed area in path planning information and the path planning information outside closed area provide the user navigation Service, so as to
Reach the purpose for providing the user rational navigation directions.
In technical scheme disclosed in the above embodiments of the present application, when judge the original position be located in closed area and
, it is necessary to first carry out path planning in closed area for user when final position is not in closed area, and in path planning
Need to use road information in closed area, in closed area path planning start position and final position, wherein, user
The original position of input can be as the start position of path planning in region, because the purpose of path planning in closed area is
The outlet port of the closed area is directed the user to, therefore, can be according to the position for the one outlet for selecting the closed area
Put as the final position in progress region during path planning.
Specifically, when judging that the original position is located in closed area and final position is not in closed area,
Referring to Fig. 4, S103-S104 can specifically include in method disclosed in the above embodiments of the present application：
Step S200：Path adaptation is carried out to the original position；
In this application, before path planning is carried out, it is necessary to carry out path adaptation to original position and final position, with
Exemplified by carrying out path adaptation to original position, in this step, when the original position is located in closed area, first closed
Area road matches, and when being matched, first determines whether either with or without road in closed area,, will referring to Fig. 5 if road
Original position is matched on road nearest from the original position in closed area.If there is no road in closed area, ginseng
See Fig. 6, then the original position is matched to the outlet port of closed area.
Step S201：Obtain the exits location information of the closed area；
Certainly, when selecting outlet port, if there is multiple, the optional closed area nearest apart from user the outlet
Final position of either nearest apart from the final position of the user's input outlet in outlet as path planning in region；Specifically
, obtaining the exits location information of the closed area can include：Judge whether the closed area includes multiple outlets, such as
Fruit is, it is determined that the outlet nearest apart from the original position, the exits location information of selected outlet is obtained, if the envelope
Closed region only has sole outlet, then obtains the positional information of the sole outlet.
In technical scheme disclosed in another embodiment of the application, the exits location information for obtaining the closed area may be used also
To be specially：
Judge whether the closed area includes multiple outlets；
If the closed area only has sole outlet, the positional information of the sole outlet is obtained；
If the outlet of the closed area has multiple, the difference of calculating original position to the distance of each outlet, when
When all differences are all not more than a certain setting value, the distance between user to each outlet is more or less the same, then now, chosen distance
The nearest outlet in the final position, obtain the positional information of selected outlet.It is more than a certain setting value if there is difference
Outlet, then now, the nearest outlet of original position described in chosen distance, obtain the positional information of selected outlet.
Step S202：Exits location information and end point location information according to the closed area carry out path planning, raw
Into the first path planning information, using the first path planning information as path planning information outside region；
Step S203：Path planning is carried out according to start position information and the exits location information of the closed area, it is raw
Path planning information in into the first closed area, using path planning information in first closed area as planning road in region
Footpath information；
, can be according to the closed area when road be present in the closed area when carrying out path planning in region
Interior road carries out path planning, when road is not present in the closed area, can directly direct the user to selected by
The outlet port of closed area.
In technical scheme disclosed in another embodiment of the application, it is located in the original position in closed area and terminal
When position is not in closed area, the step S103-S104 is specifically as follows：
The exits location information of each outlet is first determined, then planning obtains the first envelope corresponding to each exits location information
Path planning information and corresponding first path planning information in closed region, wherein, path planning is believed in the first closed area
Cease and be：When in the closed area that only original position is located at, by the original position to the path planning each outlet
Information, the first path planning information are by each path planning information exported between the final position.Count respectively
Calculate corresponding to each exits location information path planning in the first closed area and the first path planning length and/or the used time
Sum, using the first closed area that length is most short or the used time is most short in path planning and the first planning road as the area
Path planning outside path planning and region in domain.
Certainly, it is directed to that the original position is located in closed area and final position is not at the feelings in closed area
Condition, when the closed area has multiple outlets, the first path planning information also can be first determined, then foundation determines
The first path planning information determine exits location information, specifically：
When the judgement original position is located in closed area and final position is not in closed area in the above method
When, S103-S104 can specifically include：
Judge whether the closed area only has one outlet, if it is, obtaining the exits location information of the outlet；Foundation
The exits location information and start position information got carries out path planning, generates the first path planning information；According to described in
Start position information and the exits location information of the closed area got carry out path planning, generate the first closed area
Interior path planning information；
When the export volume of the closed area is more than one, the exits location information of each outlet is obtained, according to each
The exits location information and start position information of individual outlet carry out path planning, according to user instruction or preset rules, from rule
One planning routing information of selection in the result of routing information is drawn, as the first path planning information, according to the described first planning
The positional information of outlet carries out path planning corresponding to routing information, generates path planning information in the first closed area.
If the final position is located in closed area, the choosing of the entrance location of the closed area residing for final position
The mode of selecting can use for reference the selection mode of outlet port, then this not tired is stated.
In technical scheme disclosed in another embodiment of the application, be not in closed area when the original position and
Final position is located at when in closed area, it is necessary to carry out path planning in the closed area in final position to user, and path is advised
Draw when need to use road information in closed area, in closed area path planning start position and final position, wherein,
The final position of user's input can be as the final position of path planning in this sub-region, and the entrance location of the closed area can
Using the start position as path planning in this sub-region, you can according to the start position in the closed area determined, end
Road information carries out path planning in the closed area at final position in point position and the closed area；Specifically, this
When, referring to Fig. 7, the S103-S104 can include：
Step S300：Path adaptation in closed area is carried out to the final position；
Step S301：Obtain the entrance location information of the closed area；
Specifically, can be the positional information for obtaining the import nearest apart from the final position of user's input.
Step S302：Entrance location information and start position information according to the closed area carry out path planning, raw
Into the second path planning information, using the second path planning information as path planning information outside region；
Step S303：Path rule are carried out according to the entrance location information of the closed area and the end point location information
Draw, generate path planning information in the second closed area；Using path planning information in second closed area as in region
Path planning information.
In technical scheme disclosed in another embodiment of the application, be located in the first closed area when the original position and
When final position is located in the second closed area, referring to Fig. 8, step S103-S104 can include：
Step S400：Path adaptation in closed area is carried out to the original position and final position respectively；
Step S401：Obtain the exits location information of first closed area；
Step S402：Path is carried out according to the start position information and the exits location information of first closed area
Planning, generate path planning information in the first closed area；
Step S403：Obtain the entrance location information of second closed area；
Step S404：Enter walking along the street according to the entrance location information of second closed area and the end point location information
Footpath is planned, generates path planning information in the second closed area；By path planning information and second in first closed area
Path planning information is as path planning information in region in closed area.
Step S405：According to the exits location information of first closed area and the entrance location letter of the second closed area
Breath carries out path planning, the 3rd path planning information is generated, using the 3rd path planning information as path planning outside region
Information.
In summary, technical scheme disclosed in the above embodiments of the present application, when being navigated, original position is first judged
And/or whether final position is in closed area；If the original position and/or final position are located in closed area
When；According to the inlet and outlet position and the original position and final position of the closed area, path planning in region is carried out,
Obtain path planning information in region；According to the entrance information in path planning information in the region and described
Beginning position and end point location information carry out region outside planning, obtain path planning information outside region；According to obtained path planning
Information is that user is navigated.So as to reach the purpose for providing the user rational navigation directions.
In real life, some closed areas are area of charge, and user needs to collect Parking Fee when passing in and out the region
Or other fees, and some closed areas are free region, without paying when user passes in and out the region.Therefore, in order to
User provides more intimate service, to remind user to be ready in advance, in technical scheme disclosed in the above embodiments of the present application,
When determining the original position or final position is fallen within closed area, judge whether the closed area is toll zone
Domain, if it is, when user coordinates position is located in the inlet and outlet region of the closed area, prompt message is exported to user,
The prompt message is used to show that the region that user enters or sailed out of is area of charge.The inlet and outlet region also refers to distance
Region within the scope of the inlet and outlet pre-determined distance of position one.
Corresponding to the above method, disclosed herein as well is a kind of navigation system, the system can apply in server, should
System can be used for reference mutually with the technical characteristic in the above method, therefore when to System describe, description process is more simple, tool
Body detailed process describes referring to method.
Referring to Fig. 9, said system can include：
Start-stop position collecting unit 100, for obtaining original position and the final position of user's setting；
Judging unit 200, for judging the original position and/or final position whether in closed area, if
When the original position and/or final position are located in closed area, export and touch to the first planning unit and the second planning unit
Signal；
First planning unit 300, for when getting the trigger signal, the inlet and outlet position according to the closed area
Put and the original position and final position, carry out path planning in region, obtain path planning information in region；
Second planning unit 400, during for getting the trigger signal, according in path planning information in the region
Entrance information and the start position information and end point location information carry out region outer pathway planning, obtain region
Outer path planning information；
Navigation information output unit 500, for being navigated according to obtained path planning information for user.
Corresponding to the above method, a concatenation unit is also configured with said system, for path planning in the region
Path planning information is spliced outside information and region, obtains a complete path planning information, and navigation information output is single
Member 500 provides a user navigation Service according to the complete path planning information again.When path planning splices, if splicing
Object is in region in the closed area residing for final position outside path planning information and region during path planning, by the area
The final position of path planning information and the start position of path planning information outside the region are spliced in domain, if splicing
Object be in region in the closed area residing for original position outside path planning information and region during path planning, will described in
The start position of path planning information and the final position of path planning information outside the region are spliced in region.
Corresponding with the above method, when the original position is located in closed area and final position is not located at closed area
When interior：
The judging unit 200 is specifically used for：When judging that the original position is located in closed area and final position
When not in closed area, the first trigger signal is exported to the first planning unit and the second planning unit；
First planning unit 300 is specifically used for：When getting first trigger signal, the closed area is obtained
Exits location information；Path planning is carried out according to the exits location information of the closed area and the end point location information, it is raw
Into the first path planning information, using the first path planning information as path planning information outside region；
Second planning unit 400 is specifically used for：When getting first trigger signal, to the original position
Path adaptation is carried out, path planning is carried out according to the start position information and the exits location information of the closed area, it is raw
Path planning information in into the first closed area, using path planning information in first closed area as planning road in region
Footpath information.
, can be according to setting rule certainly when the closed area that the original position of user's input is located at has multiple outlets
Dynamic selection one outlet position, it is of course also possible to use following proposal determines outlet port：
In technical scheme disclosed in the embodiment of the application one, said system can also include：First outlet position selects
Unit, second outlet position selecting unit or the 3rd outlet port selecting unit.
First outlet position selecting unit, for when judging that the original position is located in closed area, judging
Whether the closed area includes multiple outlets, if it is, the outlet nearest apart from the original position is determined, selected by acquisition
Outlet exits location information, if the closed area only has sole outlet, obtain the position of the sole outlet
Information.
Second outlet position selecting unit, for when judging that the original position is located in closed area, judging
Whether the closed area includes multiple outlets；If the closed area only has sole outlet, the sole outlet is obtained
Positional information；If the export volume of the closed area is multiple, original position is calculated to the distance of each outlet
Difference, when all differences are all not more than a certain setting value, the nearest outlet in final position described in chosen distance, selected by acquisition
Outlet positional information；It is more than the outlet of a certain setting value if there is difference, original position described in chosen distance is nearest
Outlet, obtain the positional information of selected outlet.
The 3rd outlet port selecting unit, for when judging that the original position is located in closed area, elder generation to be really
The exits location information of fixed each outlet, carry out path planning according to obtained each exits location information and obtain each outlet position
Path planning information and corresponding first path planning information in first closed area corresponding to confidence breath, calculate each outlet
Corresponding to positional information in the first closed area path planning and the first path planning length and/or used time sum, by length
Outlet port corresponding to path planning information and the first path planning information in most short or used time most short the first closed area
Exits location information as this selection.
It is corresponding with the above method, path adaptation unit in region is configured with the second planning unit；It is used for when acquisition
During to first trigger signal, path adaptation unit in the region of path adaptation is carried out for carrying out original position；Now, institute
Path adaptation unit in region is stated to be used for：Judge to whether there is road network in the closed area, if it is, by the start bit
Put and match in the closed area the nearest road of original position described in distance in road network；If in the closed area not
Road network be present, then the original position is matched to the outlet of the closed area.When path adaptation unit obtains in region
During to first trigger signal, original position carries out path adaptation in closed area, when three trigger signal, to institute
State original position and final position carries out path adaptation in closed area.
It is described to judge list when the original position is not in closed area and when final position is located in closed area
Member 200 is specifically used for：When judging the original position not in closed area and when final position is located in closed area,
The second trigger signal is exported to the first planning unit and the second planning unit；
First planning unit 300 is specifically used for：When getting second trigger signal, the closed area is obtained
Entrance location information；Path planning is carried out according to the entrance location information of the closed area and the start position information, it is raw
Into the second path planning information, using the second path planning information as path planning information outside region；
Second planning unit 400 is specifically used for：When getting second trigger signal, according to the enclosed area
The entrance location information in domain and the end point location information carry out path planning, generate path planning letter in the second closed area
Breath；Using path planning information in second closed area as path planning information in region.
When selecting outlet port, the outlet nearest apart from the original position of user's input may be selected as the outlet port
Information, it is of course also possible to use following proposal carries out the selection of outlet port：
The planning unit 400 of first planning unit 300 and second is specifically used for：Determine the outlet port letter of each outlet
Breath, carry out path planning according to obtained each exits location information and obtain the second enclosed area corresponding to each exits location information
Path planning information and corresponding second path planning information in domain；
Such scheme also includes：Path determining unit, for calculating the second enclosed area corresponding to each exits location information
In domain path planning and the second path planning length and/or used time sum, by two enclosed areas that length is most short or the used time is most short
The entrance location information that entrance location corresponding to path planning information and the second path planning information selects as this in domain,
And determine to make path planning information in the length is most short or the used time is most short two closed areas and the second path planning information
The path planning used when being navigated for this.
It is described to sentence when the original position is located in the first closed area and final position is located in the second closed area
Disconnected unit 200 is specifically used for：When judging that the original position be located in the first closed area and final position is closed positioned at second
When in region, the 3rd trigger signal is exported to the first planning unit and the second planning unit；
Second planning unit 300 is specifically used for：When getting three trigger signal, first envelope is obtained
The exits location information of closed region；Obtain the entrance location information of second closed area；According to the start position information
Path planning is carried out with the exits location information of first closed area, generates path planning information in the first closed area；
Path planning is carried out according to the entrance location information of second closed area and the end point location information, generates the second envelope
Path planning information in closed region；By path planning in path planning information in first closed area and the second closed area
Information is as path planning information in region；
First planning unit 400 is specifically used for：When getting three trigger signal, according to first enclosed area
The entrance location information of the exits location information in domain and the second closed area carries out path planning, generation the 3rd path planning letter
Breath, using the 3rd path planning information as path planning information outside region.
It is corresponding with the above method, in order to remind whether region that user passed in and out is area of charge, in said system, also
It can include：
Pay imformation Tip element, for judging whether the closed area is area of charge, if it is, working as user coordinates
When position is located in the inlet and outlet region of the closed area, it is area of charge to be exported to user for characterizing the closed area
Prompt message.
For convenience of description, it is divided into various modules during description system above with function to describe respectively.Certainly, this is being implemented
The function of each module can be realized in same or multiple softwares and/or hardware during application.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.Especially for system or
For system embodiment, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to method
The part explanation of embodiment.System and system embodiment described above is only schematical, wherein the conduct
The unit that separating component illustrates can be or may not be it is physically separate, can be as the part that unit is shown or
Person may not be physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Can root
Factually border needs to select some or all of module therein realize the purpose of this embodiment scheme.Ordinary skill
Personnel are without creative efforts, you can to understand and implement.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, the composition and step of each example are generally described according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.Specialty
Technical staff can realize described function using distinct methods to each specific application, but this realization should not
Think beyond the scope of this invention.
Directly it can be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
It should also be noted that, herein, such as first and second or the like relational terms are used merely to one
Entity or operation make a distinction with another entity or operation, and not necessarily require or imply between these entities or operation
Any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant are intended to contain
Lid nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (16)
- A kind of 1. air navigation aid, it is characterised in that including：Obtain original position and the final position that user is set；Judge the original position and/or final position whether in closed area；If the original position and/or final position are located in closed area；According to the inlet and outlet position and the original position and final position of the closed area, path rule in region are carried out Draw, obtain path planning information in region；Enter according to the entrance information in path planning information in the region and the original position and final position The outer pathway planning of row region, obtains path planning information outside region；Navigated according to obtained path planning information for user.
- 2. air navigation aid according to claim 1, it is characterised in that when the original position be located in closed area and eventually When point position is not in closed area, according to the inlet and outlet position of the closed area and the original position and terminal position Put, carry out path planning in region, obtain path planning information in region；According to going out in path planning information in the region Entry location information and the original position and final position carry out region outer pathway planning, obtain path planning outside region and believe Breath, it is specially：Obtain the exits location information of the closed area；Path planning is carried out according to the exits location information of the closed area and the final position, generates the first path planning Information, using the first path planning information as path planning information outside region；Path adaptation is carried out to the original position, the exits location information according to the original position and the closed area enters Row path planning, path planning information in the first closed area is generated, path planning information in first closed area is made For path planning information in region.
- 3. air navigation aid according to claim 2, it is characterised in that the exits location information of the closed area is obtained, Including：Judge whether the closed area includes multiple outlets, if it is, determining the outlet nearest apart from the original position, obtain The exits location information of selected outlet is taken, if the closed area only has sole outlet, this is obtained and uniquely goes out The positional information of mouth.
- 4. air navigation aid according to claim 2, it is characterised in that the exits location information of the closed area is obtained, Including：Judge whether the closed area includes multiple outlets；If the closed area only has sole outlet, the positional information of the sole outlet is obtained；If the export volume of the closed area is multiple, the difference of calculating original position to the distance of each outlet, when When all differences are all not more than a certain setting value, the nearest outlet in final position described in chosen distance, selected outlet is obtained Positional information；It is more than the outlet of a certain setting value if there is difference, the nearest outlet of original position described in chosen distance, obtains Take the positional information of selected outlet.
- 5. air navigation aid according to claim 2, it is characterised in that the original position is matched into the closed area On interior road, including：Judge to whether there is road network in the closed area, if it is, the original position is matched into the closed area The nearest road of original position described in distance in interior road network；If road network is not present in the closed area, the original position is matched to the outlet of the closed area.
- 6. air navigation aid according to claim 1, it is characterised in that when the original position in the closed area and When final position is located in closed area, according to the inlet and outlet position of the closed area and the original position and terminal position Put, carry out path planning in region, obtain path planning information in region；According to going out in path planning information in the region Entry location information and the original position and final position carry out region outer pathway planning, obtain path planning outside region and believe Breath, it is specially：Obtain the entrance location information of the closed area；Path planning is carried out according to the entrance location information of the closed area and the original position, generates the second path planning Information, using the second path planning information as path planning information outside region；Path planning is carried out according to the entrance location information of the closed area and the final position, generates the second enclosed area Path planning information in domain；Using path planning information in second closed area as path planning information in region.
- 7. air navigation aid according to claim 1, it is characterised in that when the original position is located in the first closed area And final position is when being located in the second closed area, according to the inlet and outlet position of the closed area and the original position and Final position, path planning in region is carried out, obtains path planning information in region；According to path planning information in the region In entrance information and the original position and final position carry out region outer pathway planning, obtain planning region outside Routing information, it is specially：Obtain the exits location information of first closed area；Path planning, the closing of generation first are carried out according to the exits location information of the original position and first closed area Path planning information in region；Obtain the entrance location information of second closed area；Path planning is carried out according to the entrance location information of second closed area and the final position, generates the second envelope Path planning information in closed region；By path planning in path planning information in first closed area and the second closed area Information is as path planning information in region；Path rule are carried out according to the exits location information of first closed area and the entrance location information of the second closed area Draw, the 3rd path planning information is generated, using the 3rd path planning information as path planning information outside region.
- 8. air navigation aid according to claim 1, it is characterised in that also include：Judge whether the closed area is area of charge, if it is, when user coordinates position is located at entering for the closed area When in exit region, exported to user for characterizing the prompt message that the closed area is area of charge.
- A kind of 9. navigation system, it is characterised in that including：Start-stop position collecting unit, for obtaining original position and the final position of user's setting；Judging unit, for judging the original position and/or final position whether in closed area, if the starting When position and/or final position are located in closed area, trigger signal is exported to the first planning unit and the second planning unit；First planning unit, for when getting the trigger signal, according to the closed area inlet and outlet position and The original position and final position, path planning in region is carried out, obtains path planning information in region；Second planning unit, during for getting the trigger signal, according to the discrepancy in path planning information in the region Mouth positional information and the original position and final position carry out region outer pathway planning, obtain path planning outside region and believe Breath；Navigation information output unit, for being navigated according to obtained path planning information for user.
- 10. navigation system according to claim 9, it is characterised in thatThe judging unit is specifically used for：When judging that the original position is located in closed area and final position is not positioned at envelope When in closed region, the first trigger signal is exported to the first planning unit and the second planning unit；First planning unit is specifically used for：When getting first trigger signal, the outlet position of the closed area is obtained Confidence ceases；Path planning, the planning of generation first are carried out according to the exits location information of the closed area and the final position Routing information, using the first path planning information as path planning information outside region；Second planning unit is specifically used for：When getting first trigger signal, trade is entered to the original position Road is matched, and path planning, the closing of generation first are carried out according to the exits location information of the original position and the closed area Path planning information in region, using path planning information in first closed area as path planning information in region.
- 11. navigation system according to claim 10, it is characterised in that also include：First outlet position selecting unit, for when judging that the original position is located in closed area, judging the closing Whether region includes multiple outlets, if it is, determining the outlet nearest apart from the original position, obtains selected outlet Exits location information, if the closed area only has sole outlet, obtain the positional information of the sole outlet.
- 12. navigation system according to claim 10, it is characterised in that also include：Second outlet position selecting unit, for when judging that the original position is located in closed area, judging the closing Whether region includes multiple outlets；If the export volume of the closed area for it is multiple, calculate original position to it is each go out The difference of the distance of mouth, when all differences are all not more than a certain setting value, the nearest outlet in final position described in chosen distance, Obtain the positional information of selected outlet；It is more than the outlet of a certain setting value, starting described in chosen distance if there is difference The nearest outlet in position, obtain the positional information of selected outlet.
- 13. navigation system according to claim 10, it is characterised in that institute ought be got by being configured with the second planning unit When stating the first trigger signal, path adaptation unit in the region of path adaptation is carried out for carrying out original position；Path adaptation unit is used in the region：Judge to whether there is road network in the closed area, if it is, by described in Original position matches in the closed area the nearest road of original position described in distance in road network；If the enclosed area Road network is not present in domain, then the original position is matched to the outlet of the closed area.
- 14. navigation system according to claim 9, it is characterised in thatThe judging unit is specifically used for：When judging the original position not in closed area and final position is positioned at envelope When in closed region, the second trigger signal is exported to the first planning unit and the second planning unit；First planning unit is specifically used for：When getting second trigger signal, the import position of the closed area is obtained Confidence ceases；Path planning, the planning of generation second are carried out according to the entrance location information of the closed area and the original position Routing information, using the second path planning information as path planning information outside region；Second planning unit is specifically used for：When getting second trigger signal, according to entering for the closed area Mouth positional information and the final position carry out path planning, generate path planning information in the second closed area；By described in Path planning information is as path planning information in region in second closed area.
- 15. navigation system according to claim 9, it is characterised in thatThe judging unit is specifically used for：When judging that the original position be located in the first closed area and final position is located at the When in two closed areas, the 3rd trigger signal is exported to the first planning unit and the second planning unit；Second planning unit is specifically used for：When getting three trigger signal, first closed area is obtained Exits location information；Obtain the entrance location information of second closed area；According to the original position and described first The exits location information of closed area carries out path planning, generates path planning information in the first closed area；According to described The entrance location information of two closed areas and the final position carry out path planning, generate and road is planned in the second closed area Footpath information；Using path planning information in path planning information in first closed area and the second closed area as in region Path planning information；First planning unit is specifically used for：When getting three trigger signal, according to going out for first closed area Mouth positional information and the entrance location information of the second closed area carry out path planning, the 3rd path planning information are generated, by institute The 3rd path planning information is stated as path planning information outside region.
- 16. navigation system according to claim 9, it is characterised in that also include：Pay imformation Tip element, for judging whether the closed area is area of charge, if it is, working as user coordinates position When in the inlet and outlet region of the closed area, exported to user for characterizing the closed area carrying for area of charge Show information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772518.0A CN107478242A (en) | 2017-08-31 | 2017-08-31 | A kind of air navigation aid and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772518.0A CN107478242A (en) | 2017-08-31 | 2017-08-31 | A kind of air navigation aid and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107478242A true CN107478242A (en) | 2017-12-15 |
Family
ID=60604227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710772518.0A Pending CN107478242A (en) | 2017-08-31 | 2017-08-31 | A kind of air navigation aid and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107478242A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110470303A (en) * | 2019-08-14 | 2019-11-19 | 新疆维吾尔自治区人民医院 | It goes to a doctor in a kind of hospital air navigation aid and device |
| CN111060108A (en) * | 2019-12-31 | 2020-04-24 | 江苏徐工工程机械研究院有限公司 | Path planning method and device and engineering vehicle |
| CN111735454A (en) * | 2019-10-31 | 2020-10-02 | 腾讯科技（深圳）有限公司 | Path planning method, device, electronic equipment, medium and path navigation method |
| CN111811528A (en) * | 2019-12-12 | 2020-10-23 | 北京嘀嘀无限科技发展有限公司 | Control area-based pick-up and delivery driving method and device, electronic equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020049533A1 (en) * | 2000-08-16 | 2002-04-25 | Manabu Kusano | Navigation device |
| CN1900659A (en) * | 2005-07-21 | 2007-01-24 | 株式会社电装 | Navigation system |
| CN1969170A (en) * | 2005-04-20 | 2007-05-23 | 株式会社日本耐美得 | Navigation system, route search server, route search method and route search program |
| CN101806598A (en) * | 2009-02-12 | 2010-08-18 | 神达电脑股份有限公司 | Method for providing recommended path to help pedestrians pass through open space |
| CN104215253A (en) * | 2013-05-30 | 2014-12-17 | 中国电信股份有限公司 | Indoor and outdoor navigation path calculation method and device thereof |
| CN104949670A (en) * | 2014-03-25 | 2015-09-30 | 高德信息技术有限公司 | Navigation method and equipment |
| CN105180925A (en) * | 2015-09-11 | 2015-12-23 | 百度在线网络技术（北京）有限公司 | Map navigation method and device |
-
2017
- 2017-08-31 CN CN201710772518.0A patent/CN107478242A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020049533A1 (en) * | 2000-08-16 | 2002-04-25 | Manabu Kusano | Navigation device |
| CN1969170A (en) * | 2005-04-20 | 2007-05-23 | 株式会社日本耐美得 | Navigation system, route search server, route search method and route search program |
| CN1900659A (en) * | 2005-07-21 | 2007-01-24 | 株式会社电装 | Navigation system |
| CN101806598A (en) * | 2009-02-12 | 2010-08-18 | 神达电脑股份有限公司 | Method for providing recommended path to help pedestrians pass through open space |
| CN104215253A (en) * | 2013-05-30 | 2014-12-17 | 中国电信股份有限公司 | Indoor and outdoor navigation path calculation method and device thereof |
| CN104949670A (en) * | 2014-03-25 | 2015-09-30 | 高德信息技术有限公司 | Navigation method and equipment |
| CN105180925A (en) * | 2015-09-11 | 2015-12-23 | 百度在线网络技术（北京）有限公司 | Map navigation method and device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110470303A (en) * | 2019-08-14 | 2019-11-19 | 新疆维吾尔自治区人民医院 | It goes to a doctor in a kind of hospital air navigation aid and device |
| CN111735454A (en) * | 2019-10-31 | 2020-10-02 | 腾讯科技（深圳）有限公司 | Path planning method, device, electronic equipment, medium and path navigation method |
| CN111811528A (en) * | 2019-12-12 | 2020-10-23 | 北京嘀嘀无限科技发展有限公司 | Control area-based pick-up and delivery driving method and device, electronic equipment and storage medium |
| CN111811528B (en) * | 2019-12-12 | 2022-04-29 | 北京嘀嘀无限科技发展有限公司 | Control area-based pick-up and delivery driving method and device, electronic equipment and storage medium |
| CN111060108A (en) * | 2019-12-31 | 2020-04-24 | 江苏徐工工程机械研究院有限公司 | Path planning method and device and engineering vehicle |
| CN111060108B (en) * | 2019-12-31 | 2021-10-12 | 江苏徐工工程机械研究院有限公司 | Path planning method and device and engineering vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107478242A (en) | A kind of air navigation aid and system | |
| Porter et al. | Forecasting bicycle and pedestrian travel: State of the practice and research needs | |
| CN1936503B (en) | Navigation device | |
| CN103542848B (en) | Method is recommended in destination commending system and destination | |
| US20120016578A1 (en) | Outdoor to indoor navigation system | |
| EP2348283A2 (en) | Map update data delivery method, map update data delivery device and terminal device | |
| CN107228677A (en) | Driftage recognition methods and device | |
| CN106679663A (en) | Two-dimensional code-based navigation method and server in hospital | |
| CN106062844A (en) | Road surface state measurement method, road surface deterioration site identification method, information processing device, and program | |
| JP2011502248A (en) | How to process positioning data | |
| CN108020238B (en) | Method and device for acquiring passing points and navigation equipment | |
| CN107588778A (en) | Map-matching method and device | |
| CN110531771A (en) | A kind of speed planning method and device, vehicle | |
| CN110189547A (en) | A kind of obstacle detection method, device and vehicle | |
| US20170131104A1 (en) | Automated Wayfinding of an Accessible Route | |
| CN106197335A (en) | A kind of control measuring method and system | |
| CN106441323A (en) | Route navigation prompting method and device | |
| CN109405844A (en) | One kind selling robot and cruises control method, device, equipment and medium | |
| CN107808217A (en) | A kind of Public Transport Transfer optimization method based on Big Dipper positioning with the volume of the flow of passengers | |
| CN107270914A (en) | Indoor paths planning method based on major trunk roads | |
| CN107909180A (en) | Processing method, equipment and the computer-readable recording medium of transit trip used time | |
| EP0835426A2 (en) | Determining routes in a network comprising nodes and links | |
| CN109657027A (en) | A kind of method, apparatus, storage medium and electronic equipment clustering addressing | |
| CN110362640A (en) | A kind of method for allocating tasks and device based on electronic map data | |
| CN110555432A (en) | Method, device, equipment and medium for processing interest points |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171215 |
|
| RJ01 | Rejection of invention patent application after publication |