CN110411468A - A kind of quick heavy planing method in navigation - Google Patents
A kind of quick heavy planing method in navigation Download PDFInfo
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- CN110411468A CN110411468A CN201910565210.8A CN201910565210A CN110411468A CN 110411468 A CN110411468 A CN 110411468A CN 201910565210 A CN201910565210 A CN 201910565210A CN 110411468 A CN110411468 A CN 110411468A
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- quick heavy
- planing method
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The present invention provides the quick heavy planing methods in a kind of navigation, comprising the following steps: step 101: normal planning and navigation after the completion of planning in the buffer by the storage of route relevant information are navigated according to location information；Step 102: judging whether to meet planning condition again；Step 103: judging whether to meet quickly weight planning condition；Step 104: weight-normality draws expanding method.By above step, one kind is realized in navigation traveling process, after identifying deviation route, can quickly cook up the route towards destination again.
Description
Technical field
The present invention relates to field of navigation technology, and in particular to the quick heavy planing method in a kind of navigation.
Background technique
With the continuous development of science and technology, the navigation system with automobile navigation function is come into being.Navigation system can be use
Family programme path, and motion track is obtained in real time using global positioning system (GPS) chip, and then determines that vehicle is sweared in traffic
Position on quantity map road.At present navigation system in programme path there are many navigation strategy, such as the time is most fast, path most
It is short, do not walk high speed and avoid congestion etc., once user selects certain navigation strategy, in this navigation procedure, navigation system
It can be always user's programme path based on the selected navigation strategy of user.But if user in use, for leading
The set route that navigates deviates, and based on current existing technology is planned completely if identifying deviation.Rule completely
The resource for drawing consuming is more, and inefficient, especially in the equipment of some low configurations, user experience is poor.
Summary of the invention
Technical problems to be solved: the object of the present invention is to provide the quick heavy planing methods in a kind of navigation, improve rule
Guarantee optimality while drawing efficiency.
A kind of technical solution: the quick heavy planing method in navigation, comprising the following steps: step 101: normally planning and lead
Boat after the completion of planning in the buffer by the storage of route relevant information is navigated according to location information；
Step 102: judging whether to meet planning condition again；
Step 103: judging whether to meet quickly weight planning condition；
Step 104: weight-normality draws expanding method.
Further, in the step 102 again planning condition be current location apart from last time match point be greater than certain distance threshold
Value deviates any one for being more than certain frequency threshold value or being greater than in certain distance threshold value apart from last time planning starting point distance.
Further, it is that planning origin-to-destination is greater than certain threshold value that planning condition is quickly weighed in the step 103.
Further, expanding method is to expand before node P every time in the step 104, judges whether returned at node P
To last optimal road, expansion can be terminated in advance.If cannot terminate, continue to expand；If can terminate, terminate planning.
Further, algorithm uses hierarchical block A* algorithm in expanding method in the step 104.The utility model has the advantages that of the invention
Quick heavy planing method in navigation has the advantage that
1, by above step, one kind is realized in navigation traveling process, after identifying deviation route, can quickly be advised again
Mark the route towards destination；
2, it using step 102, can identify during traveling, if need to plan again, on the one hand can ensure that quickly
Identify deviating road；On the other hand it can avoid caused invalid identification when signal drift；
3, using step 103, by setting quickly weight planning condition, it can effectively remove and be not suitable for the feelings that quick weight-normality is drawn
Condition；
4, using step 104, first is that can quickly expand out optimal route by utilizing last time program results；Second is that imitating
On the basis of rate, guarantee optimality.
Detailed description of the invention:
The drawings herein are incorporated into the specification and forms part of this specification, and illustrates embodiments consistent with the invention,
And it is used to explain the principle of the present invention together with specification.
Fig. 1 is a kind of block diagram of quick heavy planing method shown according to an exemplary embodiment；
Fig. 2 is a kind of flow chart of quick heavy planing method shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to attached drawing
When, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Institute in following exemplary embodiment
The embodiment of description does not represent all embodiments consistented with the present invention.On the contrary, they are only and such as appended right
The example of device and method being described in detail in claim, some aspects of the invention are consistent.
Fig. 1 is a kind of block diagram of quick heavy planing method shown according to an exemplary embodiment, as shown in Figure 1, the quick weight
Planing method can be applied on the terminal devices such as mobile phone, navigator, include the following steps 101-104:
Step 101: normal planning and navigation, after the completion of planning in the buffer by the storage of route relevant information, according to location information
It navigates；
Step 102: judge whether to meet planning condition again, again any one during it is necessary to meet following condition of planning, a,
Current location is greater than certain distance threshold value (calibration) apart from last time match point, b, deviate more than certain frequency threshold value (calibration) or c,
It is greater than certain distance threshold value (calibration) apart from last time planning starting point distance；
Step 103: judge whether to meet quickly weight planning condition, quickly planning needs to meet again: planning origin-to-destination is big
In certain threshold value (calibration), because planning for middle and long distance, the result that theoretically weight-normality is drawn has with last time route programming result
It is greatly overlapping；
Step 104: weight-normality draws expanding method, wherein expandable algorithm that use hierarchical block A* algorithm, expanding method can refer to figure
2, wherein stain represents a crossing, and oriented arrow represents a section.S, T is respectively the starting point and end that user plans for the first time
Point；The oriented arrow sequence of solid line is the optimal path of user's planning for the first time；When user travels to crossing M, deviate optimal road
Line；Weight-normality being carried out when V point position is arrived in walking after deviation optimal path to draw, dashed arrow sequence is the optimal path after weight-normality stroke,
Some is to be overlapped in the second half section for weight program results and last time program results.
According to the above feature, specific expanding method are as follows: expand before node P every time, judge whether have returned at node P
Can primary optimal road terminate expansion in advance.If cannot terminate, continue to expand；If can terminate, terminate planning.Weight-normality
The planning of attaching most importance to of check off fruit is extended to P point optimal path plus the path sections after P.When user deviates optimal road at the M of crossing
Afterwards, V point triggering weight-normality is driven to draw.When being extended to crossing N, enter last optimal road for the first time；Continue to expand, be extended to
When the P of crossing, judge whether to need to stop to expand, need to meet two conditions: the length between a, N and P is greater than threshold values V (calibration)；
B, dis (VN)+dis (NP)+edis (PT) concentrates cost minimum in entire expand, wherein the reality of dis (VN) expression V point to N point
Border cost, the actual cost of dis (NP) expression N point to P point, edis (PT) indicate that P point estimates cost to T point.
Those skilled in the art will readily occur to other realities of the disclosure after considering specification and practicing disclosure disclosed herein
Apply scheme.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or suitable
The variation of answering property follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure or used
Use technological means.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following right
It is required that pointing out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and can
To carry out various modifications and change without departing from the scope.The scope of the present disclosure is only limited by the accompanying claims.
Claims (5)
1. the quick heavy planing method in a kind of navigation, which comprises the following steps:
Step 101: normal planning and navigation, after the completion of planning in the buffer by the storage of route relevant information, according to location information
It navigates；
Step 102: judging whether to meet planning condition again；
Step 103: judging whether to meet quickly weight planning condition；
Step 104: weight-normality draws expanding method.
2. the quick heavy planing method in a kind of navigation according to claim 1, it is characterised in that: in the step 102
Again planning condition be current location apart from last time match point be greater than certain distance threshold value, deviate be more than certain frequency threshold value or away from
From any one of last time planning starting point distance greater than with a certain distance from threshold value.
3. the quick heavy planing method in a kind of navigation according to claim 1, it is characterised in that: in the step 103
Quickly weight planning condition is that planning origin-to-destination is greater than certain threshold value.
4. the quick heavy planing method in a kind of navigation according to claim 1, it is characterised in that: in the step 104
Can expanding method be to expand before node P every time, judge whether had returned on upper primary optimal road at node P, mention
Preceding termination is expanded.If cannot terminate, continue to expand；If can terminate, terminate planning.
5. the quick heavy planing method in a kind of navigation according to claim 1, it is characterised in that: in the step 104
Algorithm uses hierarchical block A* algorithm in expanding method.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910565210.8A CN110411468A (en) | 2019-06-27 | 2019-06-27 | A kind of quick heavy planing method in navigation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910565210.8A CN110411468A (en) | 2019-06-27 | 2019-06-27 | A kind of quick heavy planing method in navigation |
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| CN110411468A true CN110411468A (en) | 2019-11-05 |
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| EP2647958A1 (en) * | 2010-12-02 | 2013-10-09 | NTT DoCoMo, Inc. | Mobile terminal, system and method |
| US20140207366A1 (en) * | 2012-03-14 | 2014-07-24 | Lockheed Martin Corporation | Route re-planning using enemy force lethality projection |
| CN105651290A (en) * | 2015-07-21 | 2016-06-08 | 上海趣驾信息科技有限公司 | Navigation engine rapid route re-planning method |
| CN106096782A (en) * | 2016-06-15 | 2016-11-09 | 苏州清研捷运信息科技有限公司 | A kind of vehicle path planning method based on experience route |
| CN106595683A (en) * | 2015-10-19 | 2017-04-26 | 高德软件有限公司 | Navigation method and device |
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| EP2647958A1 (en) * | 2010-12-02 | 2013-10-09 | NTT DoCoMo, Inc. | Mobile terminal, system and method |
| US20140207366A1 (en) * | 2012-03-14 | 2014-07-24 | Lockheed Martin Corporation | Route re-planning using enemy force lethality projection |
| CN103323017A (en) * | 2013-06-17 | 2013-09-25 | 深圳市凯立德欣软件技术有限公司 | Navigation method and device |
| CN105651290A (en) * | 2015-07-21 | 2016-06-08 | 上海趣驾信息科技有限公司 | Navigation engine rapid route re-planning method |
| CN106595683A (en) * | 2015-10-19 | 2017-04-26 | 高德软件有限公司 | Navigation method and device |
| CN106096782A (en) * | 2016-06-15 | 2016-11-09 | 苏州清研捷运信息科技有限公司 | A kind of vehicle path planning method based on experience route |
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Application publication date: 20191105 |