CN108225338A - Navigation method and device for accurate matching of high-speed area - Google Patents
Navigation method and device for accurate matching of high-speed area Download PDFInfo
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- CN108225338A CN108225338A CN201611154114.7A CN201611154114A CN108225338A CN 108225338 A CN108225338 A CN 108225338A CN 201611154114 A CN201611154114 A CN 201611154114A CN 108225338 A CN108225338 A CN 108225338A
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- Prior art keywords
- terminal
- road
- current location
- speed
- position relationship
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Abstract
The invention discloses a navigation method and a navigation device for accurate matching of a high-speed area, which are used for determining the current position of a terminal; extracting high-speed area data in a preset area range of the current position, matching the current position of the terminal with the high-speed area data, and determining a position relation; acquiring state information of the terminal according to the position relation; judging a road where the current position of the terminal is located; and displaying the mark of the terminal on the determined road. By adopting the method, the specific position of the current text of the terminal in a high-speed area, such as a high-speed main road or a branch road entering a service area, can be accurately judged, the current position can be more accurately displayed on a map, the matching precision is improved, the moving trend of the terminal can be determined, the guidance can be better provided for a user, and the driving safety is improved.
Description
Technical field
The present invention relates to field of navigation systems, specifically include a kind of high velocity accurately matched air navigation aid and device.
Background technology
It is all more worried for the logo matching on small fork on the road road in existing navigation matching technique, substantially have
Following several situations：First, in the case where there is guiding route, if vehicle it is practical according to guiding route when driving, it is general to navigate
It can match on correct road；But if vehicle it is practical not according to guiding route when driving, general navigation is all according to drawing
Guide passage line is matched, and without carrying out programme path again, that is, is navigated the phenomenon that will appear erroneous matching；2nd, in no guiding
In the case of route, general navigation can all match the best candidate road in navigation algorithm, and screen best candidate road master
Vertical range of the vehicle location point of hardware offer apart from candidate roads, the vehicle side that road direction is provided with hardware can be provided
To angle, and due to road data in itself can there are certain error, hardware provide vehicle position information can also exist
Certain error, so, the optimal rear benefit in navigation algorithm may not be the actual travel road of vehicle, i.e. navigation matching is wrong
Accidentally.
When vehicle is when running at high speed, the erroneous matching of navigation can not only cause some bad user experiences, such as：Vehicle
When traveling is near service area, when the main road entrance ramp of vehicle from expressway either through street enters service area or stops
During vehicle area, navigate and matched also along the main road of expressway or through street；Navigation vehicle is parked in service area or parking area, navigates
Logo is stopped on the main road of expressway or through street, it is impossible to the physical location of true representation vehicle；But also user can be given
The guide of mistake is brought, increases the risk of driving, for example, when vehicle sails out of service area or parking area, is entered at a high speed from ring road
During the main road of road or through street, vehicle can be collaborated on the right side of alerting, and actual vehicle driver should pay attention to collaborating
Cheng Zhong, it should be noted that the wagon flow on main road.
Invention content
In view of technological deficiency in the prior art and technology drawback, offer of the embodiment of the present invention overcome the above problem or
A kind of high velocity that person solves the above problems at least partly accurately matched air navigation aid and device.
As the one side of the embodiment of the present invention, the present invention provides a kind of accurate matched air navigation aid in high velocity,
The method includes,
Determine terminal current location；
The high-speed region data in the current location predetermined areas are extracted, match the terminal current location and the height
The position relationship of fast area data；
The status information of the terminal is obtained according to the position relationship；
Judge the road residing for the current location of the terminal；The label of the terminal is shown on determining road.
In one embodiment, the high velocity data in the extraction current location predetermined areas, including：
Determine the travel direction of the terminal；
Read the map datum of predetermined areas of the current location in travel direction；
The topological road in the map datum is extracted, the topology road includes main road and the branch road of expressway.
In one embodiment, the matching terminal current location and the position relationship of the high-speed region data,
Including：
Match the terminal current location and the topological road in the high-speed region data；
Determine that the terminal current location is in the position at the fork crossing of topological road.
In one embodiment, the status information that the terminal is obtained according to the position relationship, including：
When terminal current location is in the fork crossing of topological road, accumulated change angle and the traveling for obtaining the terminal are fast
Degree；
When terminal current location has been subjected to fork crossing, the travel speed and/or gear information of the terminal are obtained.
In one embodiment, the road residing for the current location of the judgement terminal, including：
When the differential seat angle of accumulated change angle and main road and turnout angle is in the range of given threshold, and travels default less than first
Value, in the variation tendency continuously successively decreased, then judges that vehicle comes into the branch road for leading to service area or parking area；
When travel speed is less than the second preset value, in the variation tendency continuously successively decreased or astern signal is received, then judges the end
The branch road of service area or parking area is driven at end；
When travel speed is more than third preset value, and in the variation tendency being increased continuously, then judge that the terminal is in parking area
Branch road, and transport condition is is driven out to service area.
As the embodiment of the present invention in another aspect, providing a kind of high velocity accurately matched navigation device, the dress
Put including,
Determining module, for determining the current location of terminal；
Extraction module, for extracting the high-speed region data in the predetermined areas of the current location；
Matching module, for matching the position relationship of the current location of the terminal and the high-speed region data；
Acquisition module, for obtaining the status information of the terminal according to the position relationship；
Determination module, for judging the road residing for the current location of the terminal；
Display module, for showing the label of the terminal on the road of judgement.
In one embodiment, the extraction module includes：
First determination subelement：For determining the travel direction of the terminal；
Reading subunit：For reading the map datum of predetermined areas of the current location in travel direction；
Extract subelement：For extracting the topological road in the map datum, the topology road includes the main road of expressway
And branch road.
In one embodiment, the matching module includes：
Coupling subelement：For matching the terminal current location and topological road；
Second determination subelement：For determining that the terminal current location is in the position relationship at the fork crossing of topological road.
In one embodiment, the acquisition module includes：
Receiving subelement：For receiving the position relationship that the second determination subelement is sent；
First acquisition unit：For obtaining the angle changing of the accumulation of the terminal；
Second acquisition unit, for obtaining the travel speed of the terminal；
Third acquiring unit, for obtaining the gear information of the terminal.
In one embodiment, the determination module includes：
Speed determining unit：For judging the correspondence range of travel speed；
Trend judgement unit：For judging the variation tendency of travel speed；
Walking direction unit：For judging the forward direction of the terminal or swinging to traveling；
Position judgment unit：For receiving the data information of speed determining unit, Trend judgement unit and walking direction unit, root
Position and the trend of high-speed region are according to preset rules judgement terminal.
The embodiment of the present invention at least realizes following technique effect：
A kind of high velocity provided in an embodiment of the present invention accurately matched air navigation aid and device determine the current location of terminal；
The high-speed region data in the predetermined areas of the current location are extracted, by the current location of the terminal and the high speed
Area data matches, and determines position relationship；The status information of the terminal is acquired according to the position relationship；Judge the end
Road residing for the current location at end；The label of the terminal is shown on determining road..Using the above method, Ke Yijing
True judgement terminal current character is in the specific location of high-speed region, the main road such as high speed or the branch road into service area, more
Current position is accurately shown on map, improves matched precision, but also can determine the mobile trend of terminal, more preferably
The safety for providing guiding to the user, improving driving.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that being understood by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write
Recorded structure is realized and is obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention is described in further detail.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Example is applied together for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the flow chart of air navigation aid of the present invention；
Fig. 2 is identification step flow chart of the present invention；
Fig. 3 is the flow chart of the state near present invention identification high-speed service area；
Fig. 4 is flow chart of the present invention by angle recognition high-speed service area matching status；
Fig. 5 is the flow chart that the present invention identifies high-speed service area matching status by speed trend；
Fig. 6 is the flow chart that the present invention identifies high-speed service area matching status by gear；
Fig. 7 is the flow chart that the present invention is driven out to high-speed service area matching status by speed and trend identification；
Fig. 8 is the structure diagram of navigation device of the present invention.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Accurately matched air navigation aid and device can be applied to arbitrary intelligence for a kind of high velocity provided in an embodiment of the present invention
Energy equipment, is embedded among navigation software, such as vehicle mounted guidance, mobile phone, rearview mirror, tablet computer etc., end of the present invention
End, which can be assembled on each vehicle, to be used.
Separately below to the various of a kind of high velocity provided in an embodiment of the present invention accurately matched air navigation aid and device
Specific embodiment is described in detail.
A kind of high velocity provided in this embodiment accurately matched air navigation aid, such as Fig. 1, include the following steps,
S101 determines terminal current location；
S102 extracts the high-speed region data in the predetermined areas of the current location；
The current location of the terminal and the high-speed region data match are determined position relationship by S103；
S104 obtains the status information of the terminal according to the position relationship；
S105 judges the road residing for the current location of the terminal；
S106 shows the label of the terminal on determining road.
Heretofore described high-speed region refers to the data for including expressway or through street and fork in the road, due to terminal
Movement speed is especially fast, and the error of very little is likely to bring the loss that can not be retrieved, especially when not seeing crossing at night,
The safety of user can significantly be provided by providing accurately guiding.
The present invention is believed using GNSS data, gyro data, the speed of map datum and the hardware offer of navigation system
Breath, reversing information number, improve matching accuracy of the navigation near the expressway either service area of through street or parking area；Separately
Outside, the present invention can not only correct the incorrect matching of terminal, the icon of terminal be included on accurate road, Er Qieke
With the mobile status by judging terminal, the moving direction of terminal is judged, so as to carry out the indication of road for user.
In S102 steps, further include,
Determine the travel direction of the terminal；
Read the map datum of predetermined areas of the current location in travel direction；
The topological road in the map datum is extracted, the topology road includes main road and the branch road of expressway.
In S103 steps, further include,
Match the terminal current location and topological road；
Determine that the terminal current location is in the position of topological road fork in the road.
In S104 steps, further include,
When terminal current location is in the fork crossing of topological road（It closes on, unsanctioned state）, obtain the tired of the terminal
Long-pending angle changing and travel speed；
When terminal current location has already passed through fork crossing, the travel speed or gear information of the terminal are obtained.
In S105 steps, further include,
When the angle changing and main road of accumulation and the differential seat angle of turnout angle are in the range of given threshold, and travel and be less than first in advance
If value, in the variation tendency continuously successively decreased, then judges that vehicle comes into the branch road for leading to service area or parking area；
When travel speed is less than the second preset value, in the variation tendency continuously successively decreased or astern signal is received, then judges the end
The branch road of service area or parking area is driven at end；
When reading is more than third preset value, and in the variation tendency being increased continuously, then judge that the terminal is in and be driven out to service area
Or the branch road of parking area.
In one embodiment, the present invention can also be divided into 3 steps, and such as Fig. 2 is specific as follows：
S201：Identify the state near high-speed service area, specifically such as Fig. 3, step S301 ~ S307,
Method：When vehicle on expressway either through street when driving and 1 kilometer range of vehicle traveling direction have service area or
Parking area starts to collect the accumulated change angle and speed of vehicle, that is, judges vehicle near service area or parking area
State.
S202：Identify high-speed service area matching status, which includes following three kinds of situations：
The first situation, such as Fig. 4, step S401 ~ S407, when vehicle drives to the fork road of service area or the ring road of parking area
Mouthful place, if the angle changing accumulated of vehicle with the differential seat angle of main road and the angle of ring road in a threshold range, and speed
Less than 80km/h, there are one the variation tendencies continuously successively decreased, you can to judge that vehicle comes into service area or parking area.
The second situation, such as Fig. 5, step S501 ~ S505, when vehicle has already passed through the main road from expressway or through street
Driving into service area, either parking area navigation or matching on the main road of expressway or through street, then continue to collect speed letter
Breath, if speed in 40km/h hereinafter, there are one the trend continuously successively decreased, you can with judge vehicle driven into service area or
Parking area.
The third situation, such as Fig. 6, step S601 ~ S605, when vehicle has pulled up service area or parking area, navigation is also
It is to match on the main road of expressway or through street, can continues to monitor the astern signal of vehicle, if navigation receives reversing
Signal can also judge that vehicle comes into service area or parking area.
S203：High-speed service zone state is exited in identification, specific such as Fig. 7, step S701 ~ S704,
When speed is more than 60km/h, there are one the trend being increased continuously, then exit high-speed service zone state.
Exit high-speed service zone state and refer to that terminal is just having branch road to drive towards main road, then at this time can in terminal coupling to branch road,
And terminal icon is shown on branch road, corresponding indication can also be provided.
Wherein, velocity amplitude provided above is only a reference value, and specific velocity amplitude can be according to the specific of road
Situation and attribute are adjusted.
When travel speed is continued above 80 km/h for a period of time, then judge that terminal is on expressway or through street, it will be eventually
Corresponding icon matches is held to be shown at a high speed or on through street.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of high velocity accurately matched navigation device, by
In the principle that the device solves the problems, such as, accurately matched air navigation aid is similar, therefore the device to the high velocity of previous embodiment
Implementation may refer to previous embodiment method implementation, overlaps will not be repeated.
Following is a kind of high velocity provided in an embodiment of the present invention accurately matched navigation device, can be used for performing above-mentioned
The accurate matched air navigation aid embodiment in high velocity.
With reference to shown in Fig. 8, above device includes,
Determining module 11,
Determining module 11, for determining the current location of terminal；
Extraction module 12, for extracting the high-speed region data in the predetermined areas of the current location；
Matching module 13, for matching the position relationship of the current location of the terminal and the high-speed region data；
Acquisition module 14, for obtaining the status information of the terminal according to the position relationship；
Determination module 15, for judging the road residing for the current location of the terminal；
Display module 16, for showing the label of the terminal on the road of judgement.
In one embodiment, the extraction module 12 includes：
First determination subelement：For determining the travel direction of the terminal；
Reading subunit：For reading the map datum of predetermined areas of the current location in travel direction；
Extract subelement：For extracting the topological road in the map datum, the topology road includes the main road of expressway
And branch road.
In one embodiment, the matching module 13 includes：
Coupling subelement：For matching the terminal current location and topological road；
Second determination subelement：For determining that the terminal current location is in the position relationship at the fork crossing of topological road.
In one embodiment, the acquisition module 14 includes：
Receiving subelement：For receiving the position relationship that the second determination subelement is sent；
First acquisition unit：For obtaining the angle changing of the accumulation of the terminal；
Second acquisition unit, for obtaining the travel speed of the terminal；
Third acquiring unit, for obtaining the gear information of the terminal.
In one embodiment, the determination module 15 includes：
Speed determining unit：For judging the correspondence range of travel speed；
Trend judgement unit：For judging the variation tendency of travel speed；
Walking direction unit：For judging the forward direction of the terminal or swinging to traveling；
Position judgment unit：For receiving the data information of speed determining unit, Trend judgement unit and walking direction unit, root
Position and the trend of high-speed region are according to preset rules judgement terminal.
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
Usable storage medium（Including but not limited to magnetic disk storage and optical memory etc.）The shape of the computer program product of upper implementation
Formula.
The present invention be with reference to according to the method for the embodiment of the present invention, equipment（System）And the flow of 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 of function 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
Enable 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 are 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, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of accurate matched air navigation aid in high velocity, which is characterized in that
Determine terminal current location；
The high-speed region data in the current location predetermined areas are extracted, match the terminal current location and the height
The position relationship of fast area data；
The status information of the terminal is obtained according to the position relationship；
Judge the road residing for the current location of the terminal；The label of the terminal is shown on determining road.
2. the method as described in claim 1, which is characterized in that the height in the extraction current location predetermined areas
Fast area's data, including：
Determine the travel direction of the terminal；
Read the map datum of predetermined areas of the current location in travel direction；
The topological road in the map datum is extracted, the topology road includes main road and the branch road of expressway.
3. method as claimed in claim 2, which is characterized in that the matching terminal current location and the high-speed region
The position relationship of data, including：
Match the terminal current location and the topological road in the high-speed region data；
Determine that the terminal current location is in the position at the fork crossing of topological road.
4. method as claimed in claim 3, which is characterized in that the state that the terminal is obtained according to the position relationship
Information, including：
When terminal current location is in the fork crossing of topological road, accumulated change angle and the traveling for obtaining the terminal are fast
Degree；
When terminal current location has been subjected to fork crossing, the travel speed and/or gear information of the terminal are obtained.
5. the method as described in claim 1-4 any one, which is characterized in that the current location institute of the judgement terminal
The road at place, including：
When the differential seat angle of accumulated change angle and main road and turnout angle is in the range of given threshold, and travels default less than first
Value, in the variation tendency continuously successively decreased, then judges that vehicle comes into the branch road for leading to service area or parking area；
When travel speed is less than the second preset value, in the variation tendency continuously successively decreased or astern signal is received, then judges the end
The branch road of service area or parking area is driven at end；
When travel speed is more than third preset value, and in the variation tendency being increased continuously, then judge that the terminal is in parking area
Branch road, and transport condition is is driven out to service area.
6. the accurate matched navigation device in a kind of high velocity, which is characterized in that described device includes：
Determining module, for determining the current location of terminal；
Extraction module, for extracting the high-speed region data in the predetermined areas of the current location；
Matching module, for matching the position relationship of the current location of the terminal and the high-speed region data；
Acquisition module, for obtaining the status information of the terminal according to the position relationship；
Determination module, for judging the road residing for the current location of the terminal；
Display module, for showing the label of the terminal on the road of judgement.
7. device as claimed in claim 6, which is characterized in that the extraction module includes：
First determination subelement：For determining the travel direction of the terminal；
Reading subunit：For reading the map datum of predetermined areas of the current location in travel direction；
Extract subelement：For extracting the topological road in the map datum, the topology road includes the main road of expressway
And branch road.
8. device as claimed in claim 7, which is characterized in that the matching module includes：
Coupling subelement：For matching the terminal current location and topological road；
Second determination subelement：For determining that the terminal current location is in the position relationship at the fork crossing of topological road.
9. device as claimed in claim 6, which is characterized in that the acquisition module includes：
Receiving subelement：For receiving the position relationship that the second determination subelement is sent；
First acquisition unit：For obtaining the angle changing of the accumulation of the terminal；
Second acquisition unit, for obtaining the travel speed of the terminal；
Third acquiring unit, for obtaining the gear information of the terminal.
10. the device as described in claim 6-9 any one, which is characterized in that the determination module includes：
Speed determining unit：For judging the correspondence range of travel speed；
Trend judgement unit：For judging the variation tendency of travel speed；
Walking direction unit：For judging the forward direction of the terminal or swinging to traveling；
Position judgment unit：For receiving the data information of speed determining unit, Trend judgement unit and walking direction unit, root
Position and the trend of high-speed region are according to preset rules judgement terminal.
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| CN201611154114.7A CN108225338B (en) | 2016-12-14 | 2016-12-14 | Navigation method and device for high-speed area accurate matching |
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| CN201611154114.7A CN108225338B (en) | 2016-12-14 | 2016-12-14 | Navigation method and device for high-speed area accurate matching |
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| CN109631925A (en) * | 2018-12-21 | 2019-04-16 | 斑马网络技术有限公司 | Main and side road determines method, apparatus, storage medium and electronic equipment |
| CN110633425A (en) * | 2018-09-30 | 2019-12-31 | 北京奇虎科技有限公司 | Method and device for searching moving target |
| CN111366164A (en) * | 2018-12-26 | 2020-07-03 | 华为技术有限公司 | Positioning method and electronic equipment |
| CN111414903A (en) * | 2019-01-04 | 2020-07-14 | 阿里巴巴集团控股有限公司 | Method, device and equipment for identifying content of indicator |
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