CN108279017B - Method for calculating and adding via points in real time in navigation process - Google Patents
Method for calculating and adding via points in real time in navigation process Download PDFInfo
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- CN108279017B CN108279017B CN201810085655.1A CN201810085655A CN108279017B CN 108279017 B CN108279017 B CN 108279017B CN 201810085655 A CN201810085655 A CN 201810085655A CN 108279017 B CN108279017 B CN 108279017B
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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
- G01C21/3407—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
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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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The invention discloses a method for calculating and adding a passing point in real time in a navigation process. The method specifically comprises five steps, namely step 1, judging whether a route point adding algorithm is started or not, step 2, determining an alternative route point set, step 3, calculating the selection probability of each alternative route point, step 4, pushing the route points to a driver, step 5, adding the selected route points, and re-planning a navigation route. The method of the invention calculates and recommends the route point in real time after detecting that the vehicle deviates from the navigation route, and recalculates the navigation route after adding the route point, thereby solving the problems that the prior navigation equipment and software can not add the route point in the navigation process and needs the driver to stop in the midway to manually input the route point, saving the time of manual input and improving the driving safety and the driving efficiency.
Description
Technical Field
The invention relates to the field of navigation algorithm development, in particular to a method for calculating and adding a via point in real time in a navigation process.
Background
With the popularization and application of vehicle-mounted navigation equipment and mobile phone navigation software, residents drive cars to go out more and more depending on navigation. At the present stage, when a driver adds a passing point in the navigation process, the driver needs to temporarily stop midway to manually input the passing point, and then a navigation route is recalculated by the system, so that certain influences are caused on travel efficiency and traffic safety. It is urgently needed to develop a method for calculating and adding a passing point in real time in a navigation process, implant the method into vehicle-mounted navigation equipment or mobile phone navigation software, calculate and push the passing point in real time after detecting that a vehicle deviates from a navigation route, select the passing point from a dialog box by a driver, and then recalculate the navigation route, so that the time manually input by the driver can be saved, and the driving safety and the driving efficiency are improved.
In past studies, some scholars have calculated navigation destinations based on historical GPS track point data stored by navigation software, such as patent 201610443062.9. The invention patent 201410211462.8 studies a method of monitoring deviation of a vehicle from a navigation route. Some scholars study the algorithm of the optimal navigation route, such as patent 201510330213.5 and document [1] zhengzhuyjing, optimal route navigation planning from one place to many places, Nanjing: Nanjing post and telecommunication university Master academic paper, 2016. None of these research results relate to how to calculate and add waypoints during navigation.
Based on the above background, it is desirable to design a method for calculating and adding a passing point in real time during a navigation process, to calculate and recommend the passing point in real time after detecting that a vehicle deviates from a navigation route, and to recalculate the navigation route after adding the passing point. Therefore, the problem that the conventional navigation equipment or software cannot add the passing point in the navigation process and needs the driver to stop midway to manually input the passing point is solved, the manual input time is saved, and the driving safety and the driving efficiency are improved. Through searching, relevant reports of algorithms for adding the passing points in the navigation process at home and abroad are not available.
Disclosure of Invention
1. A method for calculating and adding a passing point in real time in a navigation process is characterized by comprising the following steps:
Step 1.1 calculating the value of the deviation parameter of the route, i.e. the parameter value of the deviation of the GPS track point from the navigation planning route
Three route deviation parameters are set, which are respectively: 1. at any time t, GPS track point GtTo navigation planningShortest distance d of route LL(ii) a 2. Deviation angle sigma, i.e. GPS track point GtDirection of link to navigation destination D
And Gt-3、GtDirection of the connecting line between
The included angle between the two is more than or equal to 0 degrees and less than or equal to 180 degrees; 3. time of departure T, i.e. GPS track point from departure planned L to GtThe time of (d); the GPS track point data is called in real time, and the GPS track point G at each moment is calculated in real time according to the values of the longitude and the latitude of the GPS track point contained in the GPS track point datatCorresponding dLThe values of σ and T;
step 1.2 comparing with the starting standard to judge whether to start the via point adding algorithm
When one of the following two starting criteria is reached, it is regarded that the driver needs to add a route point before reaching the navigation destination D in the traveling process, and a route point adding algorithm is started:
start-up criteria 1:
start-up criteria 2:
Taking a common destination, all actual destinations, searched destinations and actual passing points stored by a driver in a navigation software history record as a destination set, removing a destination D of the navigation, combining the same points in the four common destination, actual destination, searched destination and actual passing points stored by the driver, and taking the obtained destination set as an alternative passing point set { Inter } InterhH is 1,2,3,. H }, and H is the total number of the alternative route points;
Calculating the distance between each alternative route point and the current GPS track point GtIs a spatial linear distance of
Recording the common destinations stored by all drivers in the navigation software historical record, namely the common destinations, as Dh in the sequence from near to far according to timeoO is 1,2,3 …, O is the total number of the common destinations, the frequency of the appearance of each common destination is counted and recorded as
Recording all actual destinations in navigation software history as Dr in the sequence from near to far in timeiI is 1,2,3 …, I is the total number of actual destinations, and the frequency of occurrence of each actual destination is counted and recorded as
Recording all searched destinations in navigation software history record, abbreviated as search destinations, as Ds from near to far in timejJ is 1,2,3 …, J is the total number of search destinations, the frequency of occurrence of each search destination is counted and recorded as
Recording all actual passing points in the navigation software historical record as Inter according to the sequence of time from near to farkK is 1,2,3 …, K is the total number of the actual passing points, the frequency of the appearance of each actual passing point is counted and recorded as
Calculating utility of alternative route points
The probability that each alternative route point is selected is:
step 4, pushing the passing points to the driver
And issuing a query message to the driver on a navigation software interface to query whether the driver adds a passing point:
1. if the driver selects not to add the via point, an inquiry message is issued to the driver on a navigation software interface to inquire whether the driver closes the functions of real-time calculation and adding the via point, if so, the functions of real-time calculation and adding the via point are closed, and the method of real-time calculation and adding the via point is started again in the next navigation; if the driver selects no, returning to the step 1 again, starting to continuously judge whether to start the passing point adding algorithm from the next GPS track point, and recording the issuing time of the inquiry message, canceling the issuing of the next inquiry message if the interval between the next inquiry message and the current inquiry message is within 3 minutes, returning to the step 1 again, and starting to continuously judge whether to start the passing point adding algorithm from the next GPS track point;
2. if the driver selects to add the route points, pushing no more than 5 groups of alternative route points to the driver on a navigation software interface according to a group of 10 alternative route points with the probability from high to low, and selecting to add one of the alternative route points by the driver; the navigation interface displays a via point name input dialog box, when the driver does not select any alternative via point, the driver manually inputs the via point, and when the driver does not operate within 20s, the step 1 is returned;
step 5, adding the selected route points and re-planning the navigation route
And adding the selected route point before the navigation destination D, recalculating the navigation route from the position of the vehicle to the navigation destination D after passing through the selected route point, and recommending the navigation route to the driver for route navigation.
Compared with the prior art, the invention has the beneficial effects that:
the method for calculating and adding the passing points in real time in the navigation process carries out real-time calculation and recommendation on the passing points after detecting that the vehicle deviates from the navigation route, and recalculates the navigation route after adding the passing points, thereby solving the problems that the passing points cannot be added in the navigation process by the existing navigation equipment and software, and a driver needs to stop in the midway and manually input the passing points, saving the time of manual input, and improving the driving safety and the driving efficiency.
Drawings
FIG. 1 is a general flow diagram of the invention for calculating and adding waypoints in real time during navigation;
FIG. 2 is G of the present inventiontClosest distance d to the navigation plan route LLA schematic diagram;
FIG. 3 is a schematic view of the travel deviation angle σ of the present invention;
fig. 4 is a schematic diagram of a via point push interface of the present invention.
Detailed Description
One, GPS track point data format
The navigation software acquires the GPS track point data in real time, and the data format is shown in table 1.
TABLE 1GPS trace point data Format
| Serial number | Date | Recording time of day | Longitude (E) | Latitude (N) |
| … | … | … | … | … |
| 241 | 2017/12/20 | 7:32:30 | 39.82394 | 116.4484 |
| 242 | 2017/12/20 | 7:32:35 | 39.82394 | 116.4486 |
| 243 | 2017/12/20 | 7:32:40 | 39.82394 | 116.4489 |
| 244 | 2017/12/20 | 7:32:45 | 39.82394 | 116.4491 |
| 245 | 2017/12/20 | 7:32:50 | 39.82401 | 116.4491 |
| 246 | 2017/12/20 | 7:32:55 | 39.82406 | 116.4491 |
| 247 | 2017/12/20 | 7:33:00 | 39.82409 | 116.4491 |
| 248 | 2017/12/20 | 7:33:05 | 39.82418 | 116.4491 |
| 249 | 2017/12/20 | 7:33:10 | 39.82426 | 116.4491 |
| 250 | 2017/12/20 | 7:33:15 | 39.82434 | 116.4491 |
| … | … | … | … | … |
Second, calculation method and step
Referring to fig. 1, the method for calculating and adding the route points in real time during the navigation process of the present invention comprises the following five steps:
Step 1.1, calculating the value of the route deviation parameter, namely the parameter value of the deviation of the GPS track point from the navigation planning route. Calculating the GPS track point G at any time t in real time according to the recorded GPS track point datat(latitude and longitude. alpha.)t,βt) Perpendicular distance d to the planned routeLAngle of departure σ, and time of departure T.
dLThe calculation method comprises the following steps: with GtTaking r as radius to draw a circle as the center of the circle, starting from 0.1 meter, gradually increasing by taking 0.1 meter as step length until finding a circle tangent to the planned route L, wherein the radius of the circle is dL. Sigma pass vector
And
the cosine law or the tangent law. And calculating the deviation time T according to the GPS track point recording time. Will dLσ and T are used as parameters for whether to start the passing point adding algorithm.
Step 1.2 comparing with the starting standard to judge whether to start the via point adding algorithm
When one of the two starting standards is reached, the driver is regarded as needing to add the passing point before reaching the navigation destination D in the navigation process, and a passing point adding algorithm is started.
Calculating the distance between each alternative route point and the current GPS track point GtIs a spatial linear distance of
Recording the common destinations in the navigation software historical record as Dh in the sequence from near to far according to timeoO1, 2,3 …, O, counting the frequency of occurrence of each actual destination, and recording the frequency as
Recording all actual destinations in navigation software history as Dr in chronological orderiI is 1,2,3 …, I, counting the frequency of occurrence of each actual destination and recording the frequency as
All search destinations in the navigation software history are recorded as Ds in chronological order from near to farjJ is 1,2,3 …, J, the frequency of occurrence of each search destination is counted and recorded as
Recording all actual passing points in the navigation software historical record as Inter according to the sequence of time from near to farkK is 1,2,3 …, K, counting the frequency of occurrence of each actual passing point and recording the frequency as
Calculating utility of alternative route points using equation 1
And calculating the probability of each alternative route point being selected by applying the formula 2.
Step 4, pushing the passing points to the driver
And issuing a query message to the driver on a navigation software interface to query whether the driver adds a passing point:
(1) if the driver selects not to add the via point, an inquiry message is issued to the driver on a navigation software interface to inquire whether the driver closes the functions of real-time calculation and adding the via point, if so, the functions of real-time calculation and adding the via point are closed, and the method of real-time calculation and adding the via point is started again in the next navigation; and if the driver selects no, returning to the step 1 again, starting to continuously judge whether to start the passing point adding algorithm from the next GPS track point, and recording the issuing time of the inquiry message, canceling the issuing of the next inquiry message if the interval between the next inquiry message and the current inquiry message is within 3 minutes, returning to the step 1 again, and starting to continuously judge whether to start the passing point adding algorithm from the next GPS track point.
(2) If the driver selects to add the route points, pushing no more than 5 groups of alternative route points to the driver on a navigation software interface according to a group of 10 alternative route points with the probability from high to low, and selecting to add one of the alternative route points by the driver; and the navigation interface displays a route point name input dialog box, when the driver does not select any alternative route point, the driver manually inputs the route point, and when the driver does not operate within 20s, the step 1 is returned.
Step 5, adding the selected route points and re-planning the navigation route
And adding the selected route point before the navigation destination D, recalculating the navigation route from the position of the vehicle to the navigation destination D after the selected route point, recommending the navigation route to the driver, and performing route navigation again.
Third, example
The embodiment of the method for calculating and adding the passing point in real time in the navigation process disclosed by the patent of the invention gives the implementation process and the inspection result, but the protection scope of the invention is not limited to the following embodiment.
For Changchun cityA citizen driving a car to go out carries out vehicle navigation GPS track point data acquisition. The driver navigated this time to destination D, which is the southern mountain school district of the university of Jilin (43.86005 ° E, 125.3342 ° N). Processing the GPS track point data, starting from leaving the navigation route, and processing each subsequent GPS track point GtCalculating a route deviation parameter dLσ and T. The processed GPS trace point data is shown in table 2.
In the data shown in table 2, starting from the GPS track point corresponding to the serial number 45, the route deviation parameter meets the start criterion (1), and at this time, the method of calculating and adding the passing point in real time is started.
And taking the common destination, all actual destinations, searched destinations and actual passing points stored by the driver in the navigation software history record as a destination set, removing the navigation destination D, combining the same points in the four common destination, actual destination, searched destination and actual passing points stored by the driver, and taking the obtained destination set as an alternative passing point set { Inter }. And calculating the frequency of each alternative passing point in the { Inter } according to the navigation software historical record, and calculating the utility and the selected probability of each alternative passing point by applying a formula 1 and a formula 2. And then issuing a query message to the driver at the navigation software interface to inquire whether the driver adds the alternative passing point. In the present embodiment, the driver selects to add an alternative route point. And pushing 5 groups of alternative via points to the driver on the navigation software interface according to the sequence of the probability from large to small and one group of every 10 alternative via points. The arrangement of the route points and the selected probabilities of the 1 st group of candidates according to the selection probabilities is shown in table 3, and the push interface is shown in fig. 4.
Table 2 embodiment GPS track point processing data
TABLE 3 example first set of alternative route points and selected probabilities
| Serial number | {Inter} | Probability of being selected |
| 1 | Three areas of Changchun development area | 0.821 |
| 2 | North color Crystal group Co Ltd | 0.806 |
| 3 | China petroleum | 0.743 |
| 4 | All-grass of Wanke golden region Changchun | 0.729 |
| 5 | Jilin province tax office | 0.634 |
| 6 | World sculpture park | 0.410 |
| 7 | Jilin province people inspection yard | 0.392 |
| 8 | Jilin university center school district | 0.351 |
| 9 | China telecom | 0.136 |
| 10 | Light rail satellite station | 0.064 |
The driver selects northern colorcrystal group, ltd, with a probability of selection ranking of 2, from the set 1 of alternative route points. The navigation software adds the victoria catharanthus as a passing point before the navigation destination D (the south ridge school district of the Jilin university), and recalculates the navigation route from the position of the vehicle to the navigation destination D (the south ridge school district of the Jilin university) through the northern Colorcon group limited company, and recommends the navigation route to the driver for route navigation again.
Claims (1)
1. A method for calculating and adding a passing point in real time in a navigation process is characterized by comprising the following steps:
step 1, judging whether a via point adding algorithm is started or not;
step 1.1, calculating the value of a route deviation parameter, namely the parameter value of the deviation of a GPS track point from a navigation planning route;
three route deviation parameters are set, which are respectively: 1. at any time t, GPS track point GtClosest distance d to the navigation plan route LL(ii) a 2. Deviation angle sigma, i.e. GPS track point GtDirection of link to navigation destination D
And Gt-3、GtDirection of the connecting line between
The included angle between the two is more than or equal to 0 degrees and less than or equal to 180 degrees; 3. time of departure T, i.e. GPS track point from departure planned L to GtThe time of (d); the GPS track point data is called in real time, and the GPS track point G at each moment is calculated in real time according to the values of the longitude and the latitude of the GPS track point contained in the GPS track point datatCorresponding dLThe values of σ and T;
step 1.2, comparing with a starting standard, and judging whether a via point adding algorithm is started or not;
when one of the following two starting criteria is reached, it is regarded that the driver needs to add a route point before reaching the navigation destination D in the traveling process, and a route point adding algorithm is started:
start-up criteria 1:
start-up criteria 2:
step 2, determining an alternative route point set;
taking a common destination, all actual destinations, searched destinations and actual passing points stored by a driver in a navigation software history record as a destination set, removing a destination D of the navigation, combining the same points in the four common destination, actual destination, searched destination and actual passing points stored by the driver, and taking the obtained destination set as an alternative passing point set { Inter } InterhH is 1,2,3,. H }, and H is the total number of the alternative route points;
step 3, calculating the selection probability of each alternative route point;
calculating the distance between each alternative route point and the current GPS track point GtIs a spatial linear distance of
Recording the common destinations stored by all drivers in the navigation software historical record, namely the common destinations, as Dh in the sequence from near to far according to timeoO is 1,2,3 …, O is the total number of the common destinations, the frequency of the appearance of each common destination is counted and recorded as
Recording all actual destinations in navigation software history as Dr in the sequence from near to far in timeiI is 1,2,3 …, I is the total number of actual destinations, and the frequency of occurrence of each actual destination is counted and recorded as
Recording all searched destinations in navigation software history record, abbreviated as search destinations, as Ds from near to far in timejJ is 1,2,3 …, J is the total number of search destinations, the frequency of occurrence of each search destination is counted and recorded as
Recording all actual passing points in the navigation software historical record as Inter according to the sequence of time from near to farkK is 1,2,3 …, K is the total number of the actual passing points, the frequency of the appearance of each actual passing point is counted and recorded as
Calculating utility of alternative route points
The probability that each alternative route point is selected is:
step 4, pushing the passing points to the driver;
and issuing a query message to the driver on a navigation software interface to query whether the driver adds a passing point:
(1) if the driver selects not to add the via point, an inquiry message is issued to the driver on a navigation software interface to inquire whether the driver closes the functions of real-time calculation and adding the via point, if so, the functions of real-time calculation and adding the via point are closed, and the method of real-time calculation and adding the via point is started again in the next navigation; if the driver selects no, returning to the step 1 again, starting to continuously judge whether to start the passing point adding algorithm from the next GPS track point, and recording the issuing time of the inquiry message, canceling the issuing of the next inquiry message if the interval between the next inquiry message and the current inquiry message is within 3 minutes, returning to the step 1 again, and starting to continuously judge whether to start the passing point adding algorithm from the next GPS track point;
(2) if the driver selects to add the route points, according to the sequence of the probability from large to small, every 10 alternative route points form one group, no more than 5 groups of alternative route points are pushed to the driver on a navigation software interface, and the driver selects to add one of the alternative route points; the navigation interface displays a via point name input dialog box, when the driver does not select any alternative via point, the driver manually inputs the via point, and when the driver does not operate within 20s, the step 1 is returned;
step 5, adding the selected route points, and re-planning the navigation route;
and adding the selected route point before the navigation destination D, recalculating the navigation route from the position of the vehicle to the navigation destination D after passing through the selected route point, and recommending the navigation route to the driver for route navigation.
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| CN109978442A (en) * | 2019-02-22 | 2019-07-05 | 天津五八到家科技有限公司 | Ordering method, equipment and storage medium |
| CN109813329A (en) * | 2019-02-22 | 2019-05-28 | 百度在线网络技术（北京）有限公司 | Automobile navigation method, device and terminal |
| CN110160549A (en) * | 2019-04-02 | 2019-08-23 | 福建省汽车工业集团云度新能源汽车股份有限公司 | A kind of vehicle intelligent air navigation aid and system |
| CN111141303A (en) * | 2019-12-30 | 2020-05-12 | 华人运通(上海)云计算科技有限公司 | Route query method, device, system, equipment and computer readable storage medium |
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