CN109631928B - Non-motor vehicle navigation method integrating comfort level and travel distance - Google Patents
Non-motor vehicle navigation method integrating comfort level and travel distance Download PDFInfo
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- CN109631928B CN109631928B CN201910095697.8A CN201910095697A CN109631928B CN 109631928 B CN109631928 B CN 109631928B CN 201910095697 A CN201910095697 A CN 201910095697A CN 109631928 B CN109631928 B CN 109631928B
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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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
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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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention provides a non-motor vehicle navigation method integrating comfort level and travel distance, which comprehensively considers various indexes influencing the comfort level of a non-motor vehicle, solves the relation between the integrated comfort level and the travel distance, and can recommend a non-motor vehicle navigation route with the overall relatively optimal comfort level and travel distance. The method comprises the following steps: firstly, determining alternative routes between starting and ending points; determining comfort level indexes and weights of all road sections forming each route according to a certain comfort level evaluation standard, and calculating the comfort level q of each road section; calculating the comfort level P of each route according to the comfort level q of each route and the percentage of the length of each route in the total length of each route; and (4) taking the product of the comfort level P of each route and the length S of the route as the impedance of each route, and deducing and selecting the optimal non-motor vehicle travel route with the minimum impedance value.
Description
Technical Field
The invention relates to a method for determining an optimal travel route of a non-motor vehicle according to different comfort levels and travel distances of different routes, belonging to the technical field of navigation.
Background
The existing non-motor vehicle navigation tools are more, and navigation software such as a high-grade map and a Baidu map can provide the non-motor vehicle navigation function. However, the existing navigation mode basically takes the shortest travel distance, the shortest travel time or the lowest travel expense as a navigation target, and does not consider the comfort degree of the travel route of the non-motor vehicle. This drawback may result in that the navigation recommended route for achieving the same trip purpose is the shortest travel distance, the shortest travel time, or the shortest travel cost, but the comfort level is very poor, and other routes with slightly higher travel distance, travel time, or travel cost are not recommended even if the comfort level is very high. Therefore, the invention provides a non-motor vehicle navigation method based on comprehensive comfort and travel distance.
Disclosure of Invention
The invention provides a non-motor vehicle navigation method integrating comfort level and travel distance, which takes the non-motor vehicle navigation method as a research object, comprehensively considers various indexes influencing the comfort level of the non-motor vehicle, solves the relation between the integration comfort level and the travel distance, and can recommend a non-motor vehicle navigation route with the overall relatively optimal comfort level and travel distance.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a method of non-motor vehicle navigation integrating comfort and travel distance, comprising the steps of:
a. firstly, determining alternative routes between starting and ending points;
b. determining comfort level indexes and weights of all road sections forming each route according to a certain comfort level evaluation standard, and calculating the comfort level q of each road section;
c. calculating the comfort level P of each route according to the comfort level q of each route and the percentage of the length of each route in the total length of each route;
d. and (4) taking the product of the comfort level P of each route and the length S of the route as the impedance of each route, and deducing and selecting the optimal non-motor vehicle travel route with the minimum impedance value.
The invention has the beneficial effects that: the method not only takes the route length as the selection standard of the travel route, but also considers the comfort level index and the weight of each route forming each route and the percentage of each route length in each route length, and takes the comfort level index and the weight as the specific basis for judging and calculating the comfort level P of each route, has strong starting performance, and can recommend the route with comprehensive comfort level and travel distance for the travel of the non-motor vehicle.
Meanwhile, according to public travel habits, if the travel comfort level is high, the sensed travel distance will be shorter than the actual travel distance, whereas if the travel comfort level is low, the sensed travel distance will be longer than the actual travel distance. Therefore, as a further improvement to the above method for navigating a non-motor vehicle, after step c and before step d, there is a step d 0: determining a distance adjustment coefficient eta according to the comfort level P pair of each route; the better the comfort level is, the smaller the distance adjustment coefficient is, the worse the comfort level is, and the larger the distance adjustment coefficient is;
the step d is as follows: and (4) taking the product of the distance adjustment coefficient eta of each route and the length S of the route as the comprehensive impedance of each route, and selecting the optimal non-motor vehicle travel route with the minimum comprehensive impedance value.
Preferably, in step d0, the route comfort levels P are respectively 0.2, 0.4, 0.6, 0.8 and 1, and the corresponding distance adjustment coefficients η are respectively 1.4, 1.2, 1, 0.8 and 0.6.
That is to say, a distance adjustment coefficient eta is determined according to the comfort level P pair of each route, and the method of taking the magnitude of the comprehensive impedance as the optimal non-motor vehicle traveling route is adopted, so that the actual feeling of the non-motor vehicle traveling can be better met.
As a further improvement to the above method for navigating a non-motor vehicle, the method for calculating the road comfort level in step b is as follows:
road section comfort level q is equal to road self factor multiplied by 0.6+ road environment factor multiplied by 0.4
(road surface mass × 0.25+ road surface characteristic × 0.25+ lane grade × 0.25+ lane width × 0.25) × 0.6+ (non-motor vehicle flow × 0.6+ landscape × 0.4) × 0.4,
the pavement quality is divided into four grades, namely grade I, and the pavement is high in flatness and free of damage; level II, the road surface is flat and slightly damaged, but the driving is not influenced; grade III, the road surface is damaged more and uneven, and the driving comfort is influenced; grade IV, the road surface is seriously damaged and cannot normally pass; the pavement quality is I, II, III and IV grades, and the pavement quality values in the formula are 1, 0.6, 0.4 and 0 respectively;
for asphalt pavement, cement pavement and mud pavement, the pavement characteristic values in the formula are respectively 0.8, 0.6 and 0.4;
for the independent lane and the non-independent lane, the lane grade values in the formula are 0.8 and 0.2 respectively;
the lane widths are respectively 0.2, 0.6 and 0.9 under the condition that the lane widths are less than 1.5m, 1.5-3.0m and more than 3.0 m;
the flow saturation of the non-motor vehicles is 0-0.3, 0.3-0.6 and 0.6-1.0, and the flow values of the non-motor vehicles in the formula are 1, 0.5 and 0.1 respectively;
the landscape along the way is very rich, the landscape is along the way but not much, the landscape is along the way with little or no landscape, and the values of the landscape along the way in the formula are respectively 0.9, 0.6 and 0.4.
As a further improvement to the above-mentioned method for navigating a non-motor vehicle, in step c, the comfort level P of the route composed of n road segments is calculated as follows:
P＝q 1 ×β 1 +q 2 ×β 2 +q 3 ×β 3 +···+q n ×β n ；
q i for the comfort of the ith road segment,
β i for the length S of the ith road section i The ratio in the path length S, i.e. beta i ＝S i /S；
S＝S 1 +S 2 +S 3 +···+S n
i＝1，2，3，···，n。
When the comfort level of the road section is calculated, the road self factors such as the road surface quality, the road surface characteristic, the lane grade, the lane width and the like are considered, the road environment factors such as the flow of non-motor vehicles, the landscape along the way and the like are also considered, the weight among different factors is further considered, the calculation of the comfort level of the road section is convenient, the method can be applied in practice, the comfort level evaluation is comprehensive, and the practical feeling of the travel of the non-motor vehicles is met.
Drawings
FIG. 1 is a schematic diagram of an alternative route;
FIG. 2 is a system of influencing non-motor vehicle navigation comfort indicators;
FIG. 3 is a travel route diagram of an embodiment;
FIG. 4 is a flowchart
Detailed Description
The present invention is further illustrated in the present section by way of examples, which are intended to be purely exemplary of the invention and are not intended to limit the scope of the invention, which is to be given the full breadth of the appended claims and any and all modifications thereof which may occur to one skilled in the art upon reading the present specification and which fall within the broad scope and range of equivalents of the claims appended hereto.
A non-motor vehicle navigation method integrating comfort level and travel distance comprises the steps of firstly determining alternative routes between starting and ending points, determining comfort level indexes and weights of all routes according to certain comfort level evaluation criteria so as to determine the comfort level, then determining the travel distance of each road section, secondly integrating the comfort level and the travel distance to form integrated impedance of each route, and finally selecting the optimal non-motor vehicle travel route according to the integrated impedance value.
The method comprises the following specific steps:
1. determining alternate routes between start and end points
Determining a plurality of alternative routes with the shortest travel distance from the starting point A to the end point B, and analyzing by taking two alternative routes, namely a selected route a and a selected route B as an example. Wherein the route a is represented by a 1 、a 2 、a 3 Three road sections, the route b is composed of b 1 、b 2 、b 3 、b 4 、b 5 Five road segments as shown in figure 1.
2. Determining comfort indicators and weights
And selecting indexes influencing the navigation comfort of the non-motor vehicle, and determining the weight of the indexes.
Four-level indexes in the pavement quality: grade I, the pavement is very high in flatness and free of damage; level II, the road surface is flat and slightly damaged, but the driving is not influenced; grade III, the road surface is damaged more and uneven, and the driving comfort is influenced; grade IV, the road surface is seriously damaged, and the vehicle cannot normally pass.
Three-level indexes in road surface characteristics: the comfort level of the asphalt pavement is high; the comfort level of the cement pavement is moderate; the dirt road surface has poor comfort.
The secondary indexes in the independent lane have the indexes of the independent lane, so that the comfort level is high; the comfort level is poor because of no independent lane.
Three-level indexes in lane width: below 1.5m, two non-motor vehicles have difficulty in running in parallel, and the driving comfort is influenced; 1.5-3.0m, the non-motor vehicle can normally pass through, and the comfort level is moderate; more than 3.0m, a plurality of non-motor vehicles can run in parallel, and the comfort level is high.
Three-level indexes in the flow of the non-motor vehicle: the non-motor vehicle with the flow saturation between 0 and 0.3 is in the open state; the non-motor vehicle slowly moves, and the non-motor vehicle slowly moves when the flow saturation degree is between 0.3 and 0.6; and congestion is realized when the saturation degree of the flow of the non-motor vehicles is between 0.6 and 1.0.
Three-level indexes in the landscape along the way: level I, the landscape along the way is very rich; level II, landscape exists along the way, but not much; class III, with little or no landscape along the way.
Specific indicator selection and weight assignment are shown in fig. 2.
Thus, the road comfort q
Road self factor x 0.6+ road environment factor x 0.4
Road quality × 0.25+ road characteristics × 0.25+ lane grade × 0.25+ lane width × 0.25) × 0.6+ (non-motor vehicle flow × 0.6+ landscape × 0.4) × 0.4 (1)
Wherein the comfort level of each road section in the route a is q a1 、q a2 、q a3 ；
Comfort degree of each road section in the route b is q b1 、q b2 、q b3 、q b4 、q b5 。
3. Determining the length of each line and each road segment
The length of each road segment and the entire route can be determined by measurement, as shown in fig. 1.
Length S of route a a ＝S a1 +S a2 +S a3
Length S of route b b ＝S b1 +S b2 +S b3 +S b4 +S b5 (2)
4. The comprehensive comfort degree and the travel distance obtain the comprehensive impedance of each route
In order to comprehensively consider the comfort and the travel distance, the comfort and the travel distance need to be converted into values of the same dimension.
Firstly, the ratio of each path length in the whole trip line needs to be calculated:
in the route a and the route b, the proportion of each road section is respectively as follows:
β 3 ＝S a3 /(S a1 +S a2 +S a3 )；
γ 1 ＝S b1 /(S b1 +S b2 +S b3 +S b4 +S b5 )；
γ 2 ＝S b2 /(S b1 +S b2 +S b3 +S b4 +S b5 )；
γ 3 ＝S b3 /(S b1 +S b2 +S b3 +S b4 +S b5 )；
γ 4 ＝S b4 /(S b1 +S b2 +S b3 +S b4 +S b5 )；
γ 5 ＝S b5 /(S b1 +S b2 +S b3 +S b4 +S b5 )；
secondly, according to the comfort level of each section determined in the formula (1), the comfort level of the whole route is obtained as follows:
comfort Pa ═ q for route a a1 ×β 1 +q a2 ×β 2 +q a3 ×β 3 ；
Comfort Pb ═ q for route b b1 ×γ 1 +q b2 ×γ 2 +q b3 ×γ 3 +q b4 ×γ 4 +q b5 ×γ 5 ； (4)
According to public trip habits, if the trip comfort level is high, the sensed trip distance is shorter than the actual trip distance, otherwise, if the trip comfort level is low, the sensed trip distance is longer than the actual trip distance. Therefore, the present invention proposes a distance adjustment coefficient η based on the comfort level of travel, which is smaller as the comfort level is higher, and which is shown in table 1.
TABLE 1 distance adjustment coefficient criteria
| Comfort level | 0.2 | 0.4 | 0.6 | 0.8 | 1 |
| Coefficient of distance adjustment | 1.4 | 1.2 | 1 | 0.8 | 0.6 |
When the public goes out, the public feels that the distance of the trip is the comprehensive impedance M of the route, and the calculation formula of the comprehensive impedance is as follows:
M a ＝S a ×η
M b ＝S b ×η (5)
5. determining optimal route for non-motor vehicle navigation
And according to the magnitude of the comprehensive impedance of the line a and the line b, selecting the line with the minimum comprehensive impedance value as a recommended line for the non-motor vehicle navigation.
A specific example is given below for further explanation.
1. Determining alternate routes between start and end points
Determining two alternative routes with the shortest travel distance from the starting point A to the end point B: route a and route b are analyzed as examples. The route a is composed of three links of a 1-300 m, a 2-100 m and a 3-100 m, and the route b is composed of five links of b 1-150 m, b 2-150 m, b 3-50 m, b 4-50 m and b 5-100 m, as shown in fig. 3.
2. Determining comfort indicators and weights
First, the comfort index and the weight are determined according to the above detailed step 2, see fig. 2.
Secondly, according to the basic conditions of the links of the route a and the route b obtained by measurement and observation, the corresponding weights are converted into the following values according to a comparison chart 2:
road segment a 1: road surface quality, grade ii (0.6); pavement properties, asphalt pavement (0.8); lane grade, with independent lanes (0.8); lane width, 1.5-3.0m (0.9); the flow of the non-motor vehicle is smooth (1); landscape along the way, level II (0.6);
road segment a 2: road surface quality, grade iii (0.4); pavement properties, cement pavement (0.6); lane grade, with independent lanes (0.8); lane width, 1.5m or less (0.2); non-motor vehicle flow, creep (0.5); landscape along the way, level II (0.6);
road segment a 3: pavement quality, grade i (1); pavement properties, cement pavement (0.6); lane grade, with independent lanes (0.8); lane width, 1.5-3.0m (0.9); the flow of the non-motor vehicle is smooth (1); landscape along the way, level II (0.6);
road segment b 1: road surface quality, grade ii (0.6); pavement properties, cement pavement (0.6); lane grade, no independent lane (0.2); lane width, 1.5m or less (0.2); non-motor traffic, congestion (0.1); landscape along the way, class iii (0.4);
section b 2: pavement quality, grade i (1); pavement properties, asphalt pavement (0.8); lane grade, with independent lanes (0.8); lane width, 3.0m or more (0.9); the flow of the non-motor vehicle is smooth (1); landscape along the way, level II (0.6);
section b 3: pavement quality, grade i (1); pavement properties, asphalt pavement (0.8); lane grade, with independent lanes (0.8); lane width, 1.5-3.0m (0.9); the flow of the non-motor vehicle is smooth (1); landscape along the way, level I (0.9);
section b 4: road surface quality, grade ii (0.6); pavement properties, cement pavement (0.6); lane grade, with independent lanes (0.8); lane width, 1.5-3.0m (0.9); non-motor traffic, congestion (0.1); landscape along the way, level II (0.6);
road segment b 5: road surface quality, grade iii (0.4); pavement properties, cement pavement (0.6); lane grade, no independent lane (0.2); lane width, 1.5-3.0m (0.9); non-motor traffic, congestion (0.1); landscape along the way, class iii (0.4);
finally, the comfort q of each section of the route a and the route b is determined as follows:
road section comfort level q is road self factor multiplied by 0.6+ road environment factor multiplied by 0.4
(road surface mass × 0.25+ road surface characteristic × 0.25+ lane grade × 0.25+ lane width × 0.25) × 0.6+ (non-motor vehicle flow × 0.6+ landscape along × 0.4) × 0.4 ×
Comfort q of route section a1 a1 ＝((0.6+0.8+0.8+0.9)×0.25)×0.6+((1×0.6+0.6×0.4))×0.4＝0.801
Comfort q of route a2 a2＝ ((0.4+0.6+0.8+0.2)×0.25)×0.6+((0.5×0.6+0.6×0.4))×0.4＝0.516
The following calculation methods are the same and no specific calculation formula is listed.
Comfort q of route a3 a3 ＝0.831
Comfort q of road section b1 b1 ＝0.328
Comfort q of road section b2 b2 ＝0.861
Comfort q of road section b3 b3 ＝0.909
Comfort q of road section b4 b4 ＝0.555
Comfort q of road section b5 b5 ＝0.403
3. Determining distance per road segment
The a in the route a can be obtained by measurement 1 ＝300m、a 2 ＝100m、a 3 100m, route b 1 ＝150m、b 2 ＝150m、b 3 ＝50m、b 4 ＝50m、b 5 100m as shown in fig. 3.
4. Obtaining the evaluation standard of the navigation comfort of the non-motor vehicle by integrating the comfort and the travel distance
Firstly, calculating the ratio of the lengths of the routes a and b in the whole travel route:
β 1 ＝S a1 /(S a1 +S a2 +S a3 )＝0.6；
β 2 ＝S a2 /(S a1 +S a2 +S a3 )＝0.2；
β 3 ＝S a3 /(S a1 +S a2 +S a3 )＝0.2；
γ 1 ＝S b1 /(S b1 +S b2 +S b3 +S b4 +S b5 )＝0.3；
γ 2 ＝S b2 /(S b1 +S b2 +S b3 +S b4 +S b5 )＝0.3；
γ 3 ＝S b3 /(S b1 +S b2 +S b3 +S b4 +S b5 )＝0.1；
γ 4 ＝S b4 /(S b1 +S b2 +S b3 +S b4 +S b5 )＝0.1；
γ 5 ＝S b5 /(S b1 +S b2 +S b3 +S b4 +S b5 )＝0.2；
secondly, the comfort of the whole route is obtained according to the formula (4), as follows:
comfort Pa ═ q for route a a1 ×β 1 +q a2 ×β 2 +q a3 ×β 3
＝0.801×0.6+0.516×0.2+0.831×0.2＝0.75；
Comfort Pb of route b q b1 ×γ 1 +q b2 ×γ 2 +q b3 ×γ 3 +q b4 ×γ 4 +q b5 ×γ 5
＝0.328×0.3+0.861×0.3+0.909×0.1+0.555×0.1+0.403×0.2＝0.5837；
Finally, the distance adjustment coefficient η and the comprehensive impedance M are determined according to table 1:
the adjustment coefficient eta of the route a can be found by interpolation from Table 1 a ＝0.85
Adjustment coefficient eta of route b b ＝1.0163
Calculating the integrated impedance according to equation (5):
M a ＝S a ×η＝(300+100+100)×0.85＝425
M b ＝S b ×η＝(150+150+50+50+100)×1.0163＝508.15
5. determining optimal non-motor vehicle navigation route
And according to the magnitude of the comprehensive impedance of the line a and the line b, selecting the line with the minimum comprehensive impedance value as a recommended line for the non-motor vehicle navigation.
M a ＝425<M b ＝508.15
Thus, the recommended route for non-motor vehicle navigation is route a.
The general flow of the method is shown in fig. 4.
The comfort level index and the weight of each route are determined according to a certain comfort level evaluation standard, so that the comfort level of a road section is determined, an index system influencing the navigation comfort level of the non-motor vehicle is established, a first-level index is divided into factors of the road and factors of the road environment, a second-level index is divided into road surface quality, road surface characteristics, lane grade, lane width, non-motor vehicle flow and landscape along the way, and a third-level index is divided into indexes which can be quantized and are convenient to measure and calculate. And determining a distance adjustment coefficient according to the comfort level of the route, calculating the comprehensive impedance of different routes, and selecting the route with the minimum comprehensive impedance value as a recommended route for the navigation of the non-motor vehicle.
Claims (4)
1. A method for non-motor vehicle navigation integrating comfort and travel distance is characterized in that: the method comprises the following steps:
a. firstly, determining alternative routes between starting and ending points;
b. determining comfort level indexes and weights of all road sections forming each route according to a certain comfort level evaluation standard, and calculating the comfort level q of each road section;
c. calculating the comfort level P of each route according to the comfort level q of each route and the percentage of the length of each route in the length of each route;
d 0: determining a distance adjustment coefficient eta according to the comfort level P pair of each route; the better the comfort level is, the smaller the distance adjustment coefficient is, the worse the comfort level is, and the larger the distance adjustment coefficient is;
d. and (4) taking the product of the distance adjustment coefficient eta of each route and the length S of the route as the comprehensive impedance of each route, and selecting the optimal non-motor vehicle travel route with the minimum comprehensive impedance value.
2. The method of non-motor vehicle navigation according to claim 1, wherein: in step d0, the route comfort levels P are respectively 0.2, 0.4, 0.6, 0.8, and 1, and the corresponding distance adjustment coefficients η are respectively 1.4, 1.2, 1, 0.8, and 0.6.
3. A method of navigating a non-motor vehicle according to claim 1 or 2, wherein: the road section comfort degree calculation method in the step b is as follows:
road section comfort level q is equal to road self factor multiplied by 0.6+ road environment factor multiplied by 0.4
(road surface mass × 0.25+ road surface characteristic × 0.25+ lane grade × 0.25+ lane width × 0.25) × 0.6+ (non-motor vehicle flow × 0.6+ landscape × 0.4) × 0.4,
the pavement quality is divided into four grades, namely grade I, and the pavement is high in flatness and free of damage; level II, the road surface is smooth and has little damage, but the driving is not influenced; grade III, the road surface is damaged more and uneven, and the driving comfort is influenced; grade IV, the road surface is seriously damaged and cannot pass normally; the pavement quality is I, II, III and IV grades, and the pavement quality values in the formula are 1, 0.6, 0.4 and 0 respectively;
for asphalt pavement, cement pavement and dirt pavement, the values of the pavement characteristics in the formula are respectively 0.8, 0.6 and 0.4;
for the independent lane and the non-independent lane, the lane grade values in the formula are 0.8 and 0.2 respectively;
the lane widths are respectively 0.2, 0.6 and 0.9 for the lane widths below 1.5m, 1.5-3.0m and above 3.0 m;
the flow saturation of the non-motor vehicles is 0-0.3, 0.3-0.6 and 0.6-1.0, and the flow values of the non-motor vehicles in the formula are 1, 0.5 and 0.1 respectively;
the landscape along the way is very rich, the landscape is not much but not much along the way, and the landscape along the way has little or no landscape, and the values of the landscape along the way in the formula are respectively 0.9, 0.6 and 0.4.
4. The method of non-motor vehicle navigation according to claim 3, wherein: in step c, the comfort level P of the route composed of n road segments is calculated as follows:
P＝q 1 ×β 1 +q 2 ×β 2 +q 3 ×β 3 +···+q n ×β n ；
q i for the comfort of the ith road segment,
β i for the length S of the ith road section i The ratio in the path length S, i.e. beta i ＝S i /S；
S＝S 1 +S 2 +S 3 +···+S n
i＝1，2，3，···，n。
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