CN108088460A - For the reference point extracting method and device of navigation - Google Patents
For the reference point extracting method and device of navigation Download PDFInfo
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- CN108088460A CN108088460A CN201611046854.9A CN201611046854A CN108088460A CN 108088460 A CN108088460 A CN 108088460A CN 201611046854 A CN201611046854 A CN 201611046854A CN 108088460 A CN108088460 A CN 108088460A
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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
- G01C21/3682—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities output of POI information on a road map
Abstract
The present invention provides a kind of reference point extracting method and device for navigation, wherein, this method includes：Obtain multiple points of interest in the preset range of intersection in path of navigation；The steering type of intersection is determined according to path of navigation；Candidate reference point is extracted from multiple points of interest according to type is turned to.It is solved by the present invention in the prior art during being extracted to candidate reference point, the problem of being only capable of determining by manually extraction, causing extraction reference point inefficient, so as to improve the efficiency of navigation data making.
Description
Technical field
The present invention relates to field of navigation technology, and in particular to a kind of reference point extracting method and device for navigation.
Background technology
In general, navigation system is to use artificial satellite as facilities for transport and communication, as the traveling of vehicle provides information
System.Navigation system stores the geodata of entire map and point of interest (Point of Interest, referred to as POI), POI
Including features atural objects such as building, various markets, convenience store, the gas stations on map.The geographical number that navigation system will be stored
It is used according to POI as route guidance information.
Navigation system using global positioning system (Global Positioning System, referred to as GPS) receiver from
The GPS satellite in earth overhead receives preset data, and the position of its own is calculated according to received data.Navigation
The location information that system can also calculate provides a user the information of current vehicle position, and can perform calculating and lead to expectation
The process of the route of destination, and the navigation of the route is provided.
Guidance information is the important component in navigation data, for providing prompting letter in real time to the user in driving
Breath, the operations such as help user is correctly slowed down, lane change, steering.Before generally there is difference crossing in prompt message, Huo Zhete
Before different warning mark.In conventional driving procedure, driver is inconvenient to watch the prompt message on navigator, so voice guide
Effect it is particularly important.It is identified in order to facilitate user, the feature atural object near guiding system combination crossing provides to the user simple
Voice messaging easy to identify, such as " crossing is turned right at forward fuel point ", this method are referred to as natural language guiding.
, it is necessary to which path of navigation and reference point are associated in conventional natural language guiding data, such reference point
Information, mostly at present is to use to gather on the spot, the method progress of artificial cognition and associating for path of navigation.
For in the prior art, during the reference point extraction to being used to navigate, it is only capable of coming by manually extraction true
It is fixed, cause to extract the problem of reference point is inefficient, do not propose effective solution also.
The content of the invention
An embodiment of the present invention provides a kind of reference point extracting method and device for navigation, to solve in the prior art
During being extracted to reference point, it is only capable of determining by manually extraction, causes to extract the problem of reference point is inefficient.
According on one side, an embodiment of the present invention provides it is a kind of for navigation reference point extracting method, including：It obtains
Multiple points of interest in path of navigation in the preset range of intersection；Turning for the intersection is determined according to the path of navigation
To type；Candidate reference point is extracted from the multiple point of interest according to the steering type.
Optionally, the preset range is using the intersection as the center of circle, is limited using the first predetermined threshold as radius
Scope, wherein, first predetermined threshold is less than the intersection to the distance of an any other intersection.
Optionally, when the candidate reference point is multiple, extracted according to the steering type from the multiple point of interest
After the candidate reference point, further include：Multiple candidate reference points are obtained to the beeline of the path of navigation；From institute
State the reference point that candidate reference point extraction beeline is less than the second predetermined threshold.
Optionally, when the candidate reference point is multiple, extracted according to the steering type from the multiple point of interest
After the candidate reference point, further include：Distance between the candidate reference point and the path of navigation is more than described the
During two predetermined thresholds, the reference point do not blocked by other buildings is extracted from the candidate reference point.
Optionally, when the candidate reference point is multiple, extracted according to the steering type from the multiple point of interest
After the candidate reference point, further include：Obtain the geographical location residing for the intersection；It is obtained according to the geographical location
Local traffic rules；According to the traffic rules reference point is extracted from the candidate reference point.
According on the other hand, the embodiment of the present invention additionally provides a kind of reference point extraction element for navigation, including：The
One acquisition module, for obtaining multiple points of interest in path of navigation in the preset range of intersection；Determining module, for basis
The path of navigation determines the steering type of the intersection；First extraction module, for according to the steering type from institute
State extraction candidate reference point in multiple points of interest.
Optionally, the preset range is using the intersection as the center of circle, is limited using the first predetermined threshold as radius
Scope, wherein, first predetermined threshold is less than the intersection to the distance of an any other intersection.
Optionally, described device further includes：Second acquisition module, in first extraction module according to the steering
After type extracts the candidate reference point from the multiple point of interest, multiple candidate reference points are obtained to the guiding
The beeline in path；Second extraction module is less than the second predetermined threshold for extracting beeline from the candidate reference point
The reference point of value.
Optionally, described device further includes：3rd extraction module, in the candidate reference point and the path of navigation
The distance between be more than second predetermined threshold when, the ginseng do not blocked by other buildings is extracted from the candidate reference point
Examination point.
Optionally, described device further includes：3rd acquisition module, for the candidate reference point for it is multiple when, according to institute
It states and turns to after type extracts the candidate reference point from the multiple point of interest, obtain the geography residing for the intersection
Position；4th acquisition module, for obtaining local traffic rules according to the geographical location；4th extraction module, for root
According to the traffic rules reference point is extracted from the candidate reference point.
By the present invention, multiple points of interest in the preset range of intersection in path of navigation are obtained；According to path of navigation
Determine the steering type of intersection；Candidate reference point is extracted from multiple points of interest according to type is turned to, that is to say, that can be with
Candidate reference point is extracted from multiple points of interest by the steering type of path of navigation automatically, and then the time of extraction can be utilized
Reference point is selected to provide navigation information to the user.It solves in the prior art during being extracted to POI, is only capable of by manually carrying
The problem of fetching definite reference point, causing extraction efficiency not high, so as to improve the efficiency of navigation data making.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the flow chart of the reference point extracting method for navigation according to embodiments of the present invention；
Fig. 2 is the schematic diagram of the point of interest in extraction preset range according to embodiments of the present invention；
Fig. 3 is according to embodiments of the present invention when having physical isolation band in path of navigation, extracts the schematic diagram of point of interest；
Fig. 4 is that steering type according to embodiments of the present invention is that the schematic diagram of point of interest is extracted when turning right；
When Fig. 5 is that steering type according to embodiments of the present invention is turned for circle, the schematic diagram of point of interest is extracted；
When Fig. 6 is change lane according to embodiments of the present invention, the schematic diagram of point of interest is extracted；
Fig. 7 is a structure diagram of the reference point extraction element for navigation according to embodiments of the present invention；
Fig. 8 is another structure diagram of the reference point extraction element for navigation according to embodiments of the present invention；
Fig. 9 is another structure diagram of the reference point extraction element for navigation according to embodiments of the present invention；
Figure 10 is another structure diagram of the reference point extraction element for navigation according to embodiments of the present invention.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to the scope of protection of the invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, it can be with
It is the connection inside two elements, can is wireless connection or wired connection.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It can be combined with each other into conflict.
Embodiment 1
A kind of reference point extracting method for navigation is provided in the present embodiment, and Fig. 1 is according to embodiments of the present invention
For navigation reference point extracting method flow chart, as shown in Figure 1, the flow includes the following steps：
Step S11 obtains multiple points of interest in the preset range of intersection in path of navigation；Such as navigation can be passed through
Multiple points of interest of above-mentioned preset range are got in the geodata and POI of the entire map of system storage；
Step S12 determines steering type of the vehicle in intersection according to path of navigation；Turning to type can be included very much
Kind, such as can be straight trip, left-hand bend, right-hand bend, u-turn, p-shaped turning or circular turning；
Step S13 extracts candidate reference point, i.e. can pass through path of navigation according to type is turned to from multiple points of interest
Steering type extract candidate reference point from multiple points of interest automatically, and then the candidate reference point of extraction can be utilized to use
Family provides navigation information.
By above-mentioned steps, the point of interest of each intersection and each crossroad can be got by navigation system
Mouthful corresponding steering type is that candidate reference point is automatically extracted from multiple points of interest is that vehicle carries out to user according to type is turned to
Navigation, compared with being that reference point has existed to the premise that vehicle navigates in the prior art, the information of such reference point,
Mostly at present is to use to gather on the spot, the method progress of artificial cognition and associating for path of navigation.For natural language guiding function
The characteristics of, when can automatically extract near intersection most suitable point of interest by above-mentioned rule and being used as natural language indication
Reference point, the reference point extracted more meets the rule that user observes identification, user discrimination is more conducive to, so as to according to extraction
Foundation of the suitable reference point as navigation, has effectively dredged traffic pressure, has saved the running time of user.
The premise for getting multiple points of interest in the preset range of intersection is to get guiding vehicle first to reach mesh
Ground path of navigation, it is necessary to explanation, above-mentioned path of navigation can be got in several ways.This is lifted below
Example explanation.In one alternate embodiment, geodata is obtained by navigation equipment, according to geographical data acquisition to guiding road
Footpath.Since navigation system stores the geodata and POI information of entire map, can conveniently be obtained by this method
To above-mentioned path of navigation.Search reaches the path of navigation of intended destination, intersection is obtained from path of navigation, further
Ground obtains the point of interest in the intersection preset range by the intersection got.
In order to ensure navigation correctness, in one alternate embodiment, preset range be using intersection as the center of circle, with
First predetermined threshold is the scope that radius limits, wherein, the first predetermined threshold is less than intersection to any other one intersection
The distance at crossing does not include other intersections in addition to the intersection in that is, above-mentioned preset range, mixed to avoid generating
Confuse, the first predetermined threshold is different according to each crossing situation.In a specific embodiment, there is nature for one
The crossing of language guidance information will extract point of interest to a given path of navigation, and centered on intersection, search is given
All POI for belonging to candidate categories in radius, by the candidate POI outside screening and filtering scope, obtain institute possible as
The POI candidate collections (hereinafter referred to as candidate's interest point set) of point of interest.As shown in fig. 2, solid triangle and broken line triangle
Represent the point of interest for navigation, wherein, solid triangle belongs to the point of interest in the intersection preset range, crossroad
Distance of the mouth apart from broken line triangle is more than intersection to the distance of other intersections, therefore is selecting to lead for vehicle
During the point of interest of boat, the point of interest represented with broken line triangle can be foreclosed, the interest that selection is represented with solid triangle
Point is as the point of interest for automobile navigation.In Fig. 2, Node represents (crossing) node, concept and reality in map of navigation electronic
The crossing in the world corresponds to, and is the digital expression at real crossing usually with a single point coordinate representation；Link represents road (road
Footpath), the road between two crossings of concept and real world in map of navigation electronic corresponds to, and is usually identified with single line, line
Two endpoints of section are the crossings of road both ends connection, are the digital expressions of real road.
Candidate reference point is got according to type is turned to by above-mentioned steps, in order to provide preferably navigation letter for vehicle
Breath from candidate reference point, it is necessary to further extract more suitably reference point.In one alternate embodiment, in candidate reference point
Including multiple reference points, after extracting candidate reference point from multiple points of interest according to steering type, multiple candidate references are obtained
Point extracts beeline and is less than the reference point of the second predetermined threshold as the ginseng for automobile navigation to the beeline of path of navigation
Examination point.For example, along path of navigation, candidate reference point is checked to the distance in roadside, according to the distance of candidate reference point to roadside
It is screened, filters the distant unsuitable candidate reference point apart from roadside.If candidate reference point is close to roadside, together
When illustrate that it will not be blocked by other buildings, so the candidate reference point, which can retain, provides navigation information to the user.Another
In a alternative embodiment, when the distance between candidate reference point and path of navigation is more than the second predetermined threshold, from candidate reference
In point, the reference point do not blocked by other buildings is extracted, in order to be navigated by visible reference point for vehicle.
Since the traffic rules of various regions are different, such as CONTINENTAL AREA OF CHINA is travels on the right side, Hong Kong be by
Left driving, therefore, in one alternate embodiment, above-mentioned candidate reference point is multiple, according to turning to type from the multiple
After the candidate reference point is extracted in point of interest, the geographical location residing for intersection is obtained, is obtained according to the geographical location
Local traffic rules are taken, reference point is extracted from multiple candidate reference points according to traffic rules and provides navigation for vehicle.For example,
Keep left the regional candidate reference point for only retaining left side；Map of keeping to the right only retains the candidate reference point on right side.
In addition, if there are physics isolation strip on path of navigation, as shown in figure 3, (such as：Greenbelt, high-speed isolated band), then
According to local left and right sides passing rules, only the candidate reference point of reservation respective side is as a reference point provides navigation information to the user
(area that keeps left only retains the candidate reference point in left side；Map of keeping to the right only retains the candidate reference point on right side).
Above-mentioned steps S13 is related to extracting candidate reference point from multiple points of interest according to steering type.It is specific at one
Alternative embodiment in, with reference to crossing and path of navigation, determine the steering type of path of navigation, that is, determine that path of navigation is straight
Row, left-hand rotation, right-hand rotation, lane change or approach rotary island (compared with above-mentioned circular turning), and candidate is carried out according to position relationship again
The screening of reference point.This is illustrated below.
In the case where above-mentioned steering type includes turning left, turn right：
In the presence of having candidate reference point (including both sides immediately ahead of crossing) in path of navigation both sides, the choosing of candidate reference point
Select priority reduces successively according to following：
1. the candidate reference point before retaining arrival intersection with turn direction one side；
2. after retaining intersection and the candidate reference of turn direction one side point；
3. after retaining intersection and the candidate reference point of turn direction not homonymy；
4. retain and reach before intersection and the candidate reference point of turn direction not homonymy；
As shown in figure 4, when turning right, screening reference point is carried out according to order 1. 2. 3. 4..
In the case where above-mentioned steering type is straight trip：
During straight trip, when candidate reference point in the left and right sides can refer to, according to local left and right sides passing rules, prioritizing selection
(keep left the candidate reference point of respective side area, the candidate reference point on the left of prioritizing selection road；It keeps to the right area,
Candidate reference point on the right side of prioritizing selection).
In the case where above-mentioned steering type is circular turns：
As shown in figure 5, without considering the candidate reference point of entrance, only selection rotary island near exit, according to local left and right
Side passing rules, only (keep left the candidate reference point of selection respective side area, the candidate reference on the left of prioritizing selection road
Point；It keeps to the right area, the candidate reference point on the right side of prioritizing selection).
In the case of change lane, as shown in fig. 6, according to local left and right sides passing rules, intersection is only extracted
(keep left the candidate reference point of neighbouring respective side area, the candidate reference point on the left of prioritizing selection road；Keep to the right ground
Area, the candidate reference point on the right side of prioritizing selection).
After step, several candidate reference points are obtained, these candidate reference points are all theoretically available natural languages
It says reference point, in specifically used, suitable extracting rule can be defined according to actual needs, candidate's ginseng of a routine is provided below
Test sites choice order：
1. city terrestrial reference (fountain, statue, street central park, square etc.)；
2. characteristic POI (the high public interest point of cognition degree, such as KFC, Wangfujing)；
3. only POI (building for having independent nameplate).
Embodiment 2
A kind of reference point extraction element for navigation is additionally provided in the present embodiment, which is used to implement above-mentioned reality
Example and preferred embodiment are applied, had carried out repeating no more for explanation.As used below, term " module " can be realized
The combination of the software and/or hardware of predetermined function.Although following embodiment described device is preferably realized with software,
The realization for being the combination of hardware or software and hardware is also that may and be contemplated.
Fig. 7 is a structure diagram of the reference point extraction element for navigation according to embodiments of the present invention, such as Fig. 7 institutes
Show, which includes：First acquisition module 71, for obtaining multiple interest in path of navigation in the preset range of intersection
Point；Determining module 72, for determining steering type of the vehicle in the intersection according to the path of navigation；First extraction module
73, for extracting candidate reference point from the plurality of point of interest according to the steering type.
By above device, the point of interest of each intersection and each crossroad can be got by navigation system
Mouthful corresponding steering type, according to turn to type be user selected from multiple points of interest suitable candidate reference point for vehicle into
Row navigation, compared with being that reference point has existed to the premise that vehicle navigates in the prior art, the letter of such reference point
Breath, mostly at present is to use to gather on the spot, the method progress of artificial cognition and associating for path of navigation.Work(is guided for natural language
The characteristics of energy, can automatically extract most suitable point of interest near intersection by above-mentioned rule and be used as natural language indication
When reference point, the reference point extracted more meets the rule that user observes identification, user discrimination is more conducive to, so as to according to extraction
Suitable reference point as navigation foundation, effectively dredged traffic pressure, saved the running time of user.
In one alternate embodiment, above-mentioned preset range be using the intersection as the center of circle, using the first predetermined threshold as
The scope that radius limits, wherein, which is less than the intersection to the distance of an any other intersection.
Fig. 8 is according to embodiments of the present invention for another structure diagram of the reference point extraction element to navigate, such as Fig. 8
Shown, which further includes：Second acquisition module 81, for the first extraction module according to turn to type from multiple points of interest
After extracting candidate reference point, multiple candidate reference points are obtained to the beeline of path of navigation；Second extraction module 82, is used for
The reference point that beeline is less than the second predetermined threshold is extracted from multiple candidate reference points.
Fig. 9 is according to embodiments of the present invention for another structure diagram of the reference point extraction element to navigate, such as Fig. 9
Shown, which further includes：3rd extraction module 91 is more than for the distance between the candidate reference point and path of navigation
During the second predetermined threshold, the reference point do not blocked by other buildings is extracted from candidate reference point.
Figure 10 is another structure diagram of the reference point extraction element for navigation according to embodiments of the present invention, is such as schemed
Shown in 10, which further includes：3rd acquisition module 101, for the candidate reference point for it is multiple when, according to the steering type from
After the candidate reference point is extracted in the plurality of point of interest, the geographical location residing for the intersection is obtained；4th acquisition module
102, for obtaining local traffic rules according to the geographical location；4th extraction module 103, for according to the traffic rules from
Reference point is extracted in the candidate reference point.
The further function description of above-mentioned modules is identical with above-mentioned corresponding embodiment, and details are not described herein.
In conclusion by a kind of navigational reference point extracting method provided by the invention and device, extracted by automating
Process, improves the efficiency of data creating, and the reference point of extraction more meets user and observes feature, can effectively be identified.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the present invention
Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the present invention
The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or
The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, the above embodiments are merely examples for clarifying the description, and is not intended to limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And the obvious variation thus extended out or
Among changing still in the protection domain of the invention.
Claims (10)
1. a kind of reference point extracting method for navigation, which is characterized in that including：
Obtain multiple points of interest in the preset range of intersection in path of navigation；
The steering type of the intersection is determined according to the path of navigation；
Candidate reference point is extracted from the multiple point of interest according to the steering type.
2. according to the method described in claim 1, it is characterized in that, the preset range is using the intersection as the center of circle,
Using the scope that the first predetermined threshold is limited as radius, wherein, first predetermined threshold be less than the intersection to other
The distance of one intersection of meaning.
3. according to the method described in claim 1, it is characterized in that, candidate reference point for it is multiple when, according to the steering
After type extracts the candidate reference point from the multiple point of interest, further include：
Multiple candidate reference points are obtained to the beeline of the path of navigation；
The reference point that beeline is less than the second predetermined threshold is extracted from the candidate reference point.
4. according to the method described in claim 3, it is characterized in that, candidate reference point for it is multiple when, according to the steering
After type extracts the candidate reference point from the multiple point of interest, further include：
When distance between the candidate reference point and the path of navigation is more than second predetermined threshold, from the candidate
The reference point do not blocked by other buildings is extracted in reference point.
5. according to any method in Claims 1-4, which is characterized in that when the candidate reference point is multiple, according to
After the steering type extracts the candidate reference point from the multiple point of interest, further include：
Obtain the geographical location residing for the intersection；
Local traffic rules are obtained according to the geographical location；
According to the traffic rules reference point is extracted from the candidate reference point.
6. a kind of reference point extraction element for navigation, which is characterized in that including：
First acquisition module, for obtaining multiple points of interest in path of navigation in the preset range of intersection；
Determining module, for determining the steering type of the intersection according to the path of navigation；
First extraction module, for extracting candidate reference point from the multiple point of interest according to the steering type.
7. device according to claim 6, which is characterized in that the preset range be using the intersection as the center of circle,
Using the scope that the first predetermined threshold is limited as radius, wherein, first predetermined threshold be less than the intersection to other
The distance of one intersection of meaning.
8. device according to claim 6, which is characterized in that described device further includes：
Second acquisition module, for being extracted in first extraction module according to the steering type from the multiple point of interest
After the candidate reference point, multiple candidate reference points are obtained to the beeline of the path of navigation；
Second extraction module, for extracting the reference point that beeline is less than the second predetermined threshold from the candidate reference point.
9. device according to claim 8, which is characterized in that described device further includes：
It is predetermined to be more than described second for the distance between the candidate reference point and the path of navigation for 3rd extraction module
During threshold value, the reference point do not blocked by other buildings is extracted from the candidate reference point.
10. according to any device in claim 6 to 9, which is characterized in that described device further includes：
3rd acquisition module, for the candidate reference point for it is multiple when, according to the steering type from the multiple point of interest
After the middle extraction candidate reference point, the geographical location residing for the intersection is obtained；
4th acquisition module, for obtaining local traffic rules according to the geographical location；
4th extraction module, for extracting reference point from the candidate reference point according to the traffic rules.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111143488A (en) * | 2018-11-06 | 2020-05-12 | 阿里巴巴集团控股有限公司 | POI position determining method and device |
| CN111189461A (en) * | 2018-11-14 | 2020-05-22 | 沈阳美行科技有限公司 | Navigation method and device for main road and auxiliary road and related equipment |
| CN112052269A (en) * | 2020-08-24 | 2020-12-08 | 腾讯科技（深圳）有限公司 | Position recommending method and device |
| CN116564111A (en) * | 2023-07-10 | 2023-08-08 | 中国电建集团昆明勘测设计研究院有限公司 | Vehicle early warning method, device and equipment for intersection and storage medium |
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