CN110411469A

CN110411469A - Navigation programming method, apparatus, equipment and medium

Info

Publication number: CN110411469A
Application number: CN201910690642.1A
Authority: CN
Inventors: 张昊; 侯文元; 张战友
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2019-07-29
Filing date: 2019-07-29
Publication date: 2019-11-05
Anticipated expiration: 2039-07-29
Also published as: CN110411469B

Abstract

The embodiment of the invention discloses a kind of navigation programming method, apparatus, equipment and media, are related to route guidance field.This method comprises: according to predicting road conditions information of the section in future time of not passing through in present running route, it is determined whether generate route refresh events；If detecting the route refresh events, new travel route is planned.The embodiment of the invention provides a kind of navigation programming method, apparatus, equipment and media, improve the determination accuracy rate that route refreshes trigger timing, it realizes triggering route in time to refresh to hide the section that will become stifled, and realizes the optimal route guidance to user.

Description

Navigation programming method, apparatus, equipment and medium

Technical field

The present embodiments relate to route guidance field more particularly to a kind of navigation programming method, apparatus, equipment and Jie Matter.

Background technique

Since the variation of road conditions causes the arrival time of navigation routine to be also dynamic change, and optimal navigation routine It is not unalterable.Even if different moments, the optimal route of different location planning are also different in same a trip, so It needs constantly to go to refresh route during the navigation process, has seen whether route more preferably than current main line.

Theoretically refreshing frequency is higher, can more accomplish to push more major path in real time, however is limited by real resource, can not Accomplish real-time update.Therefore, it must just go decision when to trigger using certain strategy and calculate road, to be provided in limited calculating Under source, realize that refreshing route is not only quasi- but also timely in navigation procedure, while reducing the ratio refreshed in vain.

Following route planning scheme is generallyd use at present:

Regularly update scheme.This method is judged as that some rules are sentenced every the fixed primary judgement of duration triggering, usually this It is disconnected.Such as must not be too far away with a distance from nearest disagreement mouth when refreshing, the distance between refreshing twice cannot too close, time interval It cannot be too short etc..Determined whether to trigger the refreshing to navigation routine according to judging result.

Above-mentioned route planning method mainly has the disadvantage that:

The judging result of triggering judgement based on simple rule is not accurate enough, the ratio that the route of recommendation is really adopted by user Example is not high, the problem of being wasted so as to cause a large amount of computing resource.

For stifled section will be become, it cannot predict and trigger in time in advance and refresh route to hide.

Congestion for current time distal end, may be when user really goes to distal end congested link, gathering around herein It is stifled to have changed into unimpeded state.If so current time triggers a route refreshing and goes to hide this section of distal end congestion to be must not It wants, and is also possible to user is mistakenly directed to other routes poorer than present running route up at this time.

Summary of the invention

The embodiment of the present invention provides a kind of navigation programming method, apparatus, equipment and medium, when refreshing triggering to improve route The determination accuracy rate of machine is realized that triggering route refreshes to hide the section that will become stifled in time, and is realized to the optimal of user Route guidance.

In a first aspect, the embodiment of the invention provides a kind of navigation programming methods, this method comprises:

According to predicting road conditions information of the section in future time of not passing through in present running route, it is determined whether generate route Refresh events；

If detecting the route refresh events, new travel route is planned.

Second aspect, the embodiment of the invention also provides a kind of navigation programming device, which includes:

Event generation module, for being believed according to section not current in present running route in the predicting road conditions of future time Breath, it is determined whether generate route refresh events；

Route planning module, if planning new travel route for detecting the route refresh events.

The third aspect, the embodiment of the invention also provides a kind of electronic equipment, the equipment includes:

One or more processors；

Storage device, for storing one or more programs,

When one or more of programs are executed by one or more of processors, so that one or more of processing Device realizes the navigation programming method as described in any one of embodiment of the present invention.

Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer Program realizes the navigation programming method as described in any one of embodiment of the present invention when the program is executed by processor.

The embodiment of the present invention by according to section not current in present running route future time predicting road conditions information, Determine whether to generate route refresh events, to trigger the planning of new travel route.Wherein by not passing through in present running route Section can determine become stifled section in the predicting road conditions information of future time, can also determine that congestion will dissipate Section.The determination accuracy rate that route refreshes trigger timing can be improved accordingly, realize triggering route planning in time to hide i.e. Stifled section will be become, and realize the guidance for carrying out optimal route to user always.

Detailed description of the invention

Fig. 1 is a kind of flow chart for navigation programming method that the embodiment of the present invention one provides；

Fig. 2 is a kind of flow chart of navigation programming method provided by Embodiment 2 of the present invention；

Fig. 3 is a kind of flow chart for navigation programming method that the embodiment of the present invention three provides；

Fig. 4 is a kind of flow chart for navigation programming method that the embodiment of the present invention four provides；

Fig. 5 a is a kind of flow chart for navigation programming method that the embodiment of the present invention five provides

Fig. 5 b is the seed route cutting schematic diagram that the embodiment of the present invention five provides；

Fig. 5 c is a kind of section cutting schematic diagram that the embodiment of the present invention five provides；

Fig. 5 d is the seed section cutting schematic diagram that the embodiment of the present invention five provides；

Fig. 5 e is that a kind of route triggering that the embodiment of the present invention five provides differentiates flow diagram；

Fig. 6 is a kind of structural schematic diagram for navigation programming device that the embodiment of the present invention six provides；

Fig. 7 is a kind of structural schematic diagram for equipment that the embodiment of the present invention seven provides.

Specific embodiment

Currently used route planning scheme, further includes:

Using disagreement mouth (be made of disagreement section, it is understood that be fork in the road) refresh mode more variation route.This Kind of mode passes by a disagreement mouth using the disagreement mouth between the main line and subordinate line recommended as key point every time, will have one it is auxiliary Line vanishing, and then new subordinate line is recommended on the primary road of calculating of triggering.Such mode can preferably guarantee have at least one to push away always Recommend route.

However the above method has following defects that

The triggering of disagreement mouth or fixed duration triggering, fixed location triggered are either crossed, all there is the blank phase refreshed.In There is refresh interval between refreshing twice, and within this interval, the refreshing opportunity of some keys may be missed.

The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.

Embodiment one

Fig. 1 is a kind of flow chart for navigation programming method that the embodiment of the present invention one provides.The present embodiment is applicable to lead The case where determining trigger timing during boat, navigation routine planned again with triggering.This method can be by a kind of navigation Device for planning executes, which can be realized by the mode of software and/or hardware.Referring to Fig. 1, navigation rule provided by the embodiment Draw method include:

S110, according to section not current in present running route future time predicting road conditions information, it is determined whether it is raw At route refresh events.

Wherein, present running route refers to the currently selected programme path of user, is shown as on map with road conditions And the deeper route of color.

Not current section refers in present running route, in present running route in addition to the section for having travelled process The section not travelled in section namely present running route.

Future time can be time point, be also possible to the period.

If future time is time point, future time can be set according to actual needs, specifically can be 6th point following Clock is also possible to the 11st minute future, can also be 8th minute following.

That is, the acquisition time interval of the predicting road conditions information of future time can according to need determination.If necessary to pre- The determination accuracy rate for surveying traffic information is higher, then can be spaced smaller by acquisition time.

The predicting road conditions information of future time section can be believed by the predicting road conditions at least one time point in future time section Breath determines.

Not current section refers in the predicting road conditions information of future time in present running route, the current driving road of prediction Traffic information of the not current section in future time in line.

So-called event is exactly the message issued by some object.For example user presses some button, some file occurs Change, has data arrival on socket.

Route refresh events are the events for triggering route and refreshing, which specifically can be changing for numerical value in some marker Become.

Specifically, determination of the not current section in the predicting road conditions information of future time in present running route, comprising:

According to user's travel speed and real-time road condition information, estimates user and travel to when the estimated arrival in not current section Between；

Arrival time on the estimation searches current driving from section in road network in the predicting road conditions information of future time Predicting road conditions information of the not current section in E.T.A in route.

According to predicting road conditions information of the section in future time of not passing through in present running route, it is determined whether generate route Refresh events, comprising:

According to section not current in present running route in the predicting road conditions information of future time, determine that user travels to institute When stating as current section, the prevailing state in the section；

If congestion status, then route refresh events are generated.

If S120, detecting the route refresh events, new travel route is planned.

Specifically, if detecting the route refresh events, new travel route is planned, comprising:

When detecting the route refresh events, then the program operation of new travel route is executed, also i.e. by current time The opportunity refreshed as triggering route.

The present embodiment is to the method for new traveling route planning not as restriction.It is alternatively possible to be existed according to section in road network In the predicting road conditions information of future time, road network in the real-time road condition information and road network in section in the history traffic information in section At least one carries out the planning of new travel route.

The technical solution of the embodiment of the present invention, by according to section not current in present running route in the pre- of future time Survey traffic information, it is determined whether route refresh events are generated, to trigger the planning of new travel route.Wherein pass through current driving road Not current section can determine become stifled section, can also determine and gather around in the predicting road conditions information of future time in line The stifled section that will be dissipated.The determination accuracy rate that route refreshes trigger timing can be improved accordingly, realize triggering route rule in time It draws to hide the section that will become stifled, and realizes the guidance for carrying out optimal route to user.

The understanding of the new travel route of planning is advised if described detect the route refresh events for the convenience of the user After drawing new travel route, the method also includes:

If the new travel route of planning is still present running route, and according to section arrival time in present running route Crossing predictive information, when determining that user reaches congested link on present running route, the congestion of the congested link is dissipated, then is generated The dissipation of the congested link is reminded, the switching reason as the present running route；Or

If planning new travel route still do not include present running route, and according in present running route section reach when Between crossing predictive information, determine user reach present running route on unimpeded section when, the unimpeded section congestion, then generate should Congestion is reminded in unimpeded section, the switching reason as present running route.

Specifically, determination of the section in the predicting road conditions information of future time in road network, comprising:

According to the reality of the road information in section, history same period traffic information, real-time road condition information and adjacent segments in road network When at least one of traffic information, determine that section is in the predicting road conditions information of future time in road network.

Further, it is described according to the road information in section in road network, history same period traffic information, real-time road condition information and At least one of real-time road condition information of adjacent segments determines predicting road conditions information of the section in future time, packet in road network It includes:

According to the road information in section in road network, roadway characteristic is determined；

According to the objective time interval car flow information in the section, the objective time interval car flow information in other sections being connect with the section With at least one in the objective time interval car flow information of geographic area described in the section, determine the section in the time of objective time interval Sequence signature；

According to the time series feature and the roadway characteristic, determine that the section is believed in the road condition predicting of objective time interval Breath.

Further, in the road network section road information, comprising: it is adjacent with section in road network and the section can be driven into Section quantity, it is adjacent with the section and can be driven out to the section quantity in the section, the number of track-lines which includes and category of roads, At least one of in the waiting time of traffic lights number and red light.

To solve between refreshing twice to be had in refresh interval, asking for the refreshing opportunity of some keys may be missed Topic, it is described according to predicting road conditions information of the section in future time of not passing through in present running route, it is determined whether to generate route Before refresh events, the method also includes:

Every setting refresh interval, triggering executes the prediction according to section not current in present running route in future time Traffic information, it is determined whether the step of generating route refresh events；

Wherein the setting refresh interval is less than setting interval threshold.

Because can be by the smaller of refresh interval setting, so as to avoid missing the feelings for refreshing opportunitys of some keys Condition.Also, because the method for the present embodiment can carry out accurate judgement to trigger timing is refreshed, even if refresh interval is arranged It is smaller, but in entire navigation procedure execute route refresh number will not therefore and be significantly increased.

Embodiment two

Fig. 2 is a kind of flow chart of navigation programming method provided by Embodiment 2 of the present invention.The present embodiment is in above-mentioned reality Apply a kind of optinal plan proposed on the basis of example.Referring to fig. 2, navigation programming method provided in this embodiment includes:

S210, according in the present running route do not pass through predicting road conditions information of the section in future time, Yi Jisuo State the real-time road condition information in not current section in present running route, it is determined whether generate route refresh events.

Wherein, the real-time road condition information in not current section refers in the present running route, the present running route In current section current time traffic information.

Specifically, it is described according to section not current in the present running route future time predicting road conditions information, And the real-time road condition information in section of not passing through in the present running route, it is determined whether generate route refresh events, comprising:

If determining and existing in not current section according to the real-time road condition information in section not current in the present running route Congested link, it is determined that the target range between user current location and the congested link；

If the target range is greater than distance threshold, not current section is in future time from the present running route Predicting road conditions information in obtain the congested link in the predicting road conditions information of future time；

If determining in the predicting road conditions information of future time according to the congested link and reaching the congested link in user When, the congestion of the congested link is not dissipated, then generates route refresh events.

Following effect may be implemented in this method:

According to predicting road conditions information of the section in future time of not passing through in present running route, to positioned at current driving road The not current section of line distal end running region carries out congestion prediction, carries out route according to prediction result and refreshes triggering.

If S220, detecting the route refresh events, new travel route is planned.

The technical solution of the embodiment of the present invention, by according to section not current in the present running route in future time Predicting road conditions information and the present running route in current section real-time road condition information, it is determined whether generate road Line refresh events, to improve the determination accuracy rate for refreshing trigger timing to route.

Optionally, it is described according to section not current in the present running route future time predicting road conditions information, And the real-time road condition information in section of not passing through in the present running route, it is determined whether generate route refresh events, comprising:

According to the real-time road condition information in section not current in present running route, judge to whether there is in the not current section Congested link；

If it exists, then judge whether the congested link is located at proximal end running region or distal end running region, wherein institute It states proximal end running region to refer on the present running route, the running region of distance threshold is less than apart from user current location, The distal end running region refers on the present running route, is greater than or equal to the distance threshold apart from user current location Running region；

If the congested link is located at proximal end running region, route refreshing is triggered；

If the congested link is located at distal end running region, when judging that user travels to the congested link, the congestion Whether the congestion in section dissipates；

If user travels to the congested link, the congestion of the congested link is not dissipated, then triggers route refreshing.

Following effect may be implemented in the above method:

According to section not current in present running route in the real-time road condition information of current time, determines and be located at current driving The congestion information in the not current section of route proximal end running region.

Because the not current section of present running route proximal end running region is in the real-time road condition information of current time, It can reflect the congestion prediction case of proximal end running region.So being not necessarily to according to section not current in present running route not The predicting road conditions information for carrying out the time carries out congestion prediction to the not current section for being located at present running route proximal end running region, To save computing resource.

Optionally, it is described according to section not current in the present running route future time predicting road conditions information, And the real-time road condition information in section of not passing through in the present running route, it is determined whether before generating route refresh events, The method also includes:

According to the user's real-time positioning information got, judge whether user is in driving status；

If user is in driving status, judge that whether there is or not traffic events in the remaining section of current driving navigation routine；

If there are traffic events in the remaining section of present running route, route refresh events are generated；

If without traffic events in the remaining section of present running route, execution is not led to according in the present running route The real-time road letter in walking along the street section not current section in the predicting road conditions information of future time and the present running route Breath, it is determined whether the step of generating route refresh events.

Embodiment three

Fig. 3 is a kind of flow chart for navigation programming method that the embodiment of the present invention three provides.The present embodiment is in above-mentioned reality Apply a kind of optinal plan proposed on the basis of example.Referring to Fig. 3, navigation programming method provided in this embodiment includes:

S310, the predicting road conditions information by section not current in the present running route in future time, input route Refresh identification model, to determine whether to generate route refresh events.

Specifically, the sample that the route refreshes identification model determines, comprising:

It obtains and is travelled by present running route starting point to present running route terminal, and the history of the history same period travels road Line；

Determine that the amendment traveling of the history travel route is time-consuming；

Time-consuming is travelled according to the amendment of the history travel route, from the history travel route of the history same period, really Determine positive sample history travel route and negative sample history travel route.

Wherein, the history same period refers to period identical with target time period in historical time.For example, if target time period is modern Its morning 7:00, then the history same period can be yesterday morning 7:00 or morning day before yesterday 7:00.If target time period is week this week A whole morning 7:00, then the history same period can be the week the last week a whole morning 7:00 of week last week a whole morning 7:00 or last week.

The amendment traveling time-consuming can be actual travel time-consuming, be also possible to the time-consuming of the traveling after correcting process.

It is alternatively possible to by the route brush of the time-consuming shortest history travel route of amendment traveling of the history travel route New trigger timing is as positive sample history travel route, by the time-consuming longest history row of amendment traveling of the history travel route The route for sailing route refreshes trigger timing as negative sample history travel route.

Since the driving habit of each user is different, the speed of driving of some users is fast, some users' drives to go Sail that speed is slow, to avoid its influence to samples selection, the amendment of the determination history travel route travels time-consuming, packet It includes:

Determine that the actual travel of the history travel route is time-consuming；

Determine average overall travel speed of the history travel route under unimpeded state；

According to following formula, determine that the amendment traveling of the history travel route is time-consuming:

Wherein, t '_iIt is the amendment traveling time-consuming of the history travel route, t_iIt is the actual travel consumption of history travel route When, V_iIt is average overall travel speed of the history travel route under unimpeded state, V_maxIt is that history travel route is integrated into unimpeded state The maximum value of lower average overall travel speed, the different history travel routes of i mark.

If S320, detecting the route refresh events, new travel route is planned.

The technical solution of the embodiment of the present invention, by the section that will not pass through in the present running route in future time Predicting road conditions information, input route refresh identification model, to determine whether to generate route refresh events.To realize to route brush New events trigger timing automatically determines.

Example IV

Fig. 4 is a kind of flow chart for navigation programming method that the embodiment of the present invention four provides.The present embodiment is in above-mentioned reality Apply a kind of optinal plan proposed on the basis of example.Referring to fig. 4, navigation programming method provided in this embodiment includes:

If S410, according to section not current in present running route in the predicting road conditions information of future time, determine current There are congestions in not current section in travel route, it is determined that with the presence or absence of crucial disagreement between user current location and congestion position Section.

Rate is adopted to improve user to the crucial disagreement section of recommendation, between the user current location and congestion position With the presence or absence of the determination in crucial disagreement section, comprising:

By the base in the history travel route and/or planning travel route of user current location described in approach and congestion position Plinth disagreement section, as candidate disagreement section；Wherein, basic disagreement section is connected at least two downlink sections；

Determine the temperature in the candidate disagreement section；

According to the temperature in the candidate disagreement section, crucial disagreement section is determined from the candidate disagreement section.

Specifically, the temperature in the determination candidate disagreement section, comprising:

If the matching tracking quantity of the affiliated history travel route in the candidate disagreement section is equal to or more than tracking quantity threshold Value determines the candidate disagreement section then according to the matching tracking quantity of the affiliated history travel route in the candidate disagreement section Temperature；

If the matching tracking quantity of the affiliated history travel route in the candidate disagreement section is less than tracking quantity threshold value, root It is located at the situation in the planning travel route according to the candidate disagreement section, determines the temperature in the candidate disagreement section；

If the historical track positioning point tolerance of the affiliated history travel route in the candidate disagreement section is greater than error threshold, According to the distance between historical track anchor point to the affiliated history travel route in the candidate disagreement section, described candidate point is determined The temperature of branch road section.

Specifically, it is described according to historical track anchor point between the candidate affiliated history travel route in disagreement section Distance determines the temperature in the candidate disagreement section, comprising:

The historical track anchor point in the affiliated area of the candidate disagreement section is traversed, if any historical track anchor point arrives The distance between affiliated history travel route in any candidate disagreement section is less than the historical track anchor point to other candidate disagreements The distance between affiliated history travel route in section, it is determined that the historical track anchor point and any candidate disagreement section institute Belong to the association of history travel route；

According to associated historical track anchor point quantity, the selection target from the affiliated history travel route in candidate disagreement section Travel route；

It is located at the situation in the target travel route according to the candidate disagreement section, determines the candidate disagreement section Temperature.

S420, if it is determined that there is no crucial disagreement section, then refuse to generate route refresh events；Otherwise route is generated to refresh Event.

If S430, detecting the route refresh events, new travel route is planned.

The technical solution of the embodiment of the present invention, if by according to section not current in present running route in future time Predicting road conditions information determines that there are congestions in not current section in present running route, it is determined that user current location and congestion position With the presence or absence of crucial disagreement section between setting；If it is determined that then refusing to generate route refresh events there is no crucial disagreement section；It is no Then generate route refresh events.To further increase the Trigger Efficiency of route refreshing, useless route is avoided to refresh.

Embodiment five

Fig. 5 a is a kind of flow chart for navigation programming method that the embodiment of the present invention five provides.The present embodiment is in above-mentioned reality Apply a kind of optinal plan proposed on the basis of example.Referring to Fig. 5 a, a kind of navigation programming method provided in this embodiment includes:

Road condition predicting:

Firstly, it is necessary to which a route is cut at least one sub- section, predicting road conditions are gone with the granularity of sub- section rank Variation.Here is to divide the process in sub- section:

Referring to Fig. 5 b, a route is made of starting point, 0 or multiple approach point and terminal.It is known as a strip between two o'clock Route.

Referring to Fig. 5 c, every strip route is made of multiple sections, and cutting section is maneuver point.Meet following 4 kinds of situations In any one can be divided into a maneuver point:

1) from all directions to

2) bifurcated, three bifurcateds (i.e. branch road, interflow)

3) rotary island

4) road name replacement (from the main road A -> main road B)

Referring to Fig. 5 d, each section is made of multiple sub- sections, can be cut using crossing as cut-off to each section Get a plurality of sub- section.

Secondly, being predicted using road conditions of the RNN model to every strip section:

Route is numbered from the sub- section sequence of origin-to-destination are as follows: L₁、L₂、…、L_n；

Follow first 10 minutes to this period for estimating arrival time to user, the time was carried out for interval with 10 minutes Segmentation are as follows: t₁、t₂、…、t_m；

The average road conditions that every strip section history same period is taken by historical data, are denoted as H_i.For example, to predict L₁Monday Morning 7:30 road conditions, then the average value for the road conditions of 7:30 in morning Monday that take this strip section nearest one month weekly is as going through History road conditions.

Define the in-degree and out-degree in sub- section.In-degree refers to and L_iIt is adjacent and L can be driven into_iSub- section number, out-degree Refer to and L_iIt is adjacent and L can be driven out to_iSub- section number.L is calculated by static road net data_iIn-degree, be denoted as α_iWith go out Degree, is denoted as β_i。

Inquiry road network obtains L_iNumber of track-lines, be denoted as γ_iAnd category of roads, it is denoted as θ_j。

The traffic lights number for including on every strip section is recorded, M is denoted as_iAnd the waiting time of red light, it is denoted as N_i。

Obtain L_iReal-time road S_iAnd and L_iThe real-time road S in 2 adjacent strip sections_i-1And S_i+1。

Embeding layer is carried out to the basic information (in-degree, category of roads, number of track-lines, traffic lights etc. out) in sub- section to handle to obtain Roadway characteristic vector V.

By the history same period car flow information in section, the history same period car flow information in other sections being connect with the section and it is somebody's turn to do The feature in the history same period car flow information region of the affiliated geographic area in section lines up sequence inputting to RNN model sequentially in time In, model output layer use tetra- classifier of full articulamentum and softmax, output valve 1,2,3,4, respectively represent it is unimpeded, Jogging, congestion, very four kinds of road conditions of congestion.L can be predicted by this model_iIn the road condition predicting value of moment t

Hereafter, it went to update every 10 minutes primaryWhen user is closer to L_iWhen, the road conditions value of prediction is more accurate.

It excavates offline in crucial disagreement section:

Using the track data of driving accumulated in history, matching driving trace is greater than track threshold value between excavating two positions point Route.If the anchor point between two positions point selects the route of setting ranking before the amount ranking of matching track, than comparatively dense with it Basic disagreement section as crucial disagreement section.

If the anchor point between two positions point leads to even without anchor point according to static road net data than sparse Cross the set that traditional pathfinding algorithm recalls reachable route.To basic disagreement section of the route calculation in set between them As crucial disagreement section.

The anchor point of user is matched to the difficulty on certain route to reduce, in the road network for having geographic area, The case where road network is complicated and route is intensive, and the position error of user is greater than error threshold, adopts and carries out route in the following method Matching.

Based on the minimum progress route matching of distance:

1) first according to static road net data, accessibility route set is recalled by traditional pathfinding algorithm.

2) nearest route with a distance from anchor point is looked for from route set, count is incremented by the route after finding.

3) all anchor points are traversed, step 2) is executed to the anchor point traversed, to realize that route matches.

To determine the route often walked of public users from route set, after having traversed all anchor points, to route set In the counting of each route be ranked up.The route of setting ranking measures most target travel routes as track before coming.

The triggering judgement that route refreshes:

The feature of step input is broadly divided into 3 classes: the first kind is the disagreement section feature of road, including is dug by track The disagreement section excavated and the disagreement section calculated according to static road network.Second class is the road conditions feature of road, mainly includes Real-time road and predicting road conditions.Third class is the real-time traffic events on the driving information and road of user.Step tool Body includes:

1) real time information obtains:

Specifically, real time information had both included some real time information of user, such as anchor point, the speed of user, also included Some real-time event informations, for example, traffic accident, temporary traffic restricted driving etc..

These information differentiate route triggering extremely important and uncertain.For example, working as the position location of user When long-term motionless, it may be possible to which user has been stopped rest halfway, is triggered calculation road again at this time and is not necessarily to.For seriously handing over The information such as interpreter's event and interim restricted driving can be got by the modes such as UGC or Department of Communications's bulletin, be uploaded to common data In library, then services and go to pull traffic event information in database at regular intervals.The real-time letter of user during the navigation process Breath can be obtained by following two mode:

A, short connection type:

Client is once linked every 15s and server-side foundation, transmits the information such as anchor point, the speed of user, server-side Triggering judgement is carried out immediately after receiving data, closes link after having judged immediately.Such scheme managed for server compared with To be simple, existing connection is all useful connection, does not need additional control means.But client's request is frequently, it will be in TCP Foundation and shutoff operation on waste more time and bandwidth.

B, long connection type:

After user enters navigation, server-side just establishes long connection with client, and every 15s, client is passed to server-side A defeated data, as long as user does not exit navigation, interface channel just not will disconnect, and such mode is relatively specific for navigation scenarios.

2) route refreshes triggering and differentiates:

After getting these above-mentioned features, next with regard to needing to carry out route triggering according to these features to differentiate.It can lead to It crosses rule and model two ways is differentiated, specific as follows referring to Fig. 5 e:

Scheme one: rule-based to carry out triggering differentiation:

A, firstly, judging whether user is in normal navigation procedure according to the user's real-time positioning information got, If user during the navigation process, is not judged to directly not counting road (namely refreshing without route).

B, judge that whether there is or not traffic events for current main line, if current main line has traffic events, the road of triggering calculation immediately (namely into Walking along the street line refreshes), it no longer needs to carry out subsequent judgement.

C, judge whether user is currently in congestion status then according to real-time road, if being currently at congestion status, Continuing judgement is proximal end congestion or distal end congestion.If it is proximal end congestion, judge user's present position and congestion section it Between whether have crucial disagreement section.If so, the road Ze Suan, no then not counting road；If it is distal end congestion, then make with unimpeded state Same treatment continues to walk following process together.

D, user is estimated in the anchor point of future time according to information such as the speed of user, real-time roads, combining road condition is pre- It surveys and judges traffic behavior locating for user's future.If following unimpeded, this moment not counting road；If the following congestion, and in step c Same treatment is done in proximal end congestion, judges whether there is crucial disagreement section between current point and the following congestion section, if so, the road Ze Suan； If nothing, not counting road.

E, it from primary triggering differentiation into navigating in the whole process for exiting navigation, is carried out at regular intervals, recycles and executes a The step of to d.

Above-mentioned rule-based scheme thinking than more visible, but many threshold values in rule it needs to be determined that, such as more Belong to proximal end congestion in few distance range.For another example, how long step e interval carries out once triggering and differentiate.Artificial setting fixation Value does not have universality, is difficult to optimize.And this problem can solve by model.

Scheme two: triggering differentiation is carried out based on disaggregated model:

Each element of triggering is differentiated in scheme one can be divided into 3 category features, the first kind be traffic information, including real-time road with And predicting road conditions.Second class is the attribute of road itself, such as road disagreement message breath, category of roads.Third class is to believe in real time Breath, speed, road traffic accident including user etc..The feature much tieed up, such as prediction road can be refined out to each category feature This feature of condition, can refine out road conditions in road conditions in 5km after five minutes, after five minutes 10km ..., road conditions, 10 in 5km after ten minutes The features such as road conditions in 10km, the feature finally needed is filtered out by Feature Engineering after minute.

In addition to selected characteristic, it is also necessary to mark positive sample and negative sample.Here the thinking used is when being completed with navigating Between as mark trigger timing quality foundation.Concrete thought is:

A, it travels from A point to the set I of all navigation users of B point, and calculates within the same period firstly, selecting The navigation deadline t of each user_i。

B, average overall travel speed V of the user i under unimpeded state is calculated_iAs speed weight.In the complete phase of other factors With under conditions of, the drive speed of user itself also will affect the navigation deadline, and the slow-footed navigation deadline is with regard to president. So influencing to remove user driving behavior bring itself, the navigation deadline of user will be converted by speed ratio. The navigation deadline after conversion are as follows:

Wherein, V_maxIt is the maximum value in set V.

C, user is found out in set I to navigate deadline shortest user i, using the trigger timing in its navigation procedure as The positive sample of route triggering.Navigation deadline longest user j is found out, using the trigger timing in its navigation procedure as route The negative sample of triggering.

After the above process gets sample, XGboost model or SVM model is selected to be modeled to obtain one two Disaggregated model be used to navigate in route triggering differentiation.

3) explanation of trigger timing:

Need to do corresponding explanation for the preposition calculation road based on road condition predicting, to facilitate user to understand.

The explanation is mainly divided to two classes: one kind is to become unimpeded by congestion, such to need from the brightness of route, voice broadcast, mark Label displaying etc. prompt user's congestion will dissipate, and not have to switching route.Another kind of is route by unimpeded change congestion, it is such not It only needs to trigger and calculates road, it is also necessary to prompt user to switch route in time, main line is gradually becoming stifled.

The above method can be summarized as follows:

The route of recommendation is cut into length not equal section according to the attribute of road, each section of road conditions are carried out respectively Prediction.Here road condition predicting is done by machine learning model, with history same period road conditions, the road conditions of short time interval in past, real-time road Condition, category of roads, traffic lights number and average waiting duration etc., which are characterized, to be established four disaggregated models and carrys out predicting road conditions.Model Unimpeded, jogging, congestion, very four class prediction result of congestion can be provided.

In addition it is also necessary to the disagreement message breath of road be got, firstly, the beginning and end to a large number of users track carries out Cluster, finds out the track with identical beginning and end.The route of ranking is set before selecting track amount ranking, and finds out these roads The crucial disagreement section of line.It is also desirable to recall reachable road by traditional pathfinding algorithm in conjunction with dominant road net data The set of line, to crucial disagreement section of the route calculation in set between them.It will finally be obtained by both modes Crucial disagreement section is combined together as the important evidence that triggering differentiates.

After having predicting road conditions and road disagreement mouth these two types important feature, in conjunction with real-time road, rule, user is handed over to travel The features such as speed and Distance Remaining establish a triggering discrimination model, it is two disaggregated models, judging result be refresh or Do not refresh.Finally, the feedback such as line efficiency, yaw rate, manual refreshing rate, manual switching rate, route completion rate is gone out by user Index carrys out the quality of scoring model.

The specific innovative point of the present embodiment can be summarized as at following 2 points:

(1) route triggers in the navigation based on road condition predicting

Route triggering method in navigation different from the past, this algorithm is based on history road conditions and Real-time Road feature establishes road Condition prediction model predicts the variation of road conditions in following a period of time, determines to refresh route as key factor or not brush Variation route.

Compared to traditional route triggering method for only depending on real-time road, route is touched in the navigation based on road condition predicting Forwarding method, which has the advantage that, gradually becomes this situation of congestion by unimpeded firstly, for present running route, pre- by road conditions Survey can triggering earlier calculate road, more keep away stifled opportunity to possess.Secondly, gradually being become for present running route by congestion At unimpeded this situation, when foreseeing the congested link before user goes in advance, here may no longer congestion, then just not Road being calculated in triggering before and recommending other routes to user, user is caused to be switched to the new traveling road not as good as former travel route The case where line gets on.

(2) it is based on user trajectory data mining key disagreement section

By excavating to a large amount of user trajectory, crucial disagreement section is found out.Because only by static road network number Be according to analysis it is incomplete, some crucial disagreement sections may be missed, but also can exist much to trigger route and differentiate meaning The small basic disagreement section of justice.

The technical solution of the embodiment of the present invention is entered from user by Accurate Prediction and navigates to this period for exiting navigation The road condition change of interior institute's recommended route., as a key factor of route triggering in navigation, pass through user for predicting road conditions The information predictions such as speed, real-time road go out the location point in user's future, when judging that user is one section following in conjunction with predicting road conditions Between locating traffic behavior, not only considered the current state in which of user in this way, but can ahead of time precognition user's future may meet To congestion so that hide in advance.

In addition, these disagreement sections will differentiate as route triggering by excavating crucial disagreement section according to user trajectory Important evidence, obtained new travel route is drawn to route trigger gauge to improve user and adopts rate.

The present embodiment combines real-time road, predicting road conditions, road net data and individual subscriber driving behavior, group drives The information such as behavior realize that the route of intelligence refreshes by establishing machine learning model.

It should be noted that by the technical teaching of the present embodiment, those skilled in the art have motivation by above-described embodiment Described in any embodiment carry out the combination of scheme and realized with improving the determination accuracy rate that route refreshes trigger timing Triggering route planning in time is to hide the section that will become stifled, and realizes the guidance that optimal route is carried out to user.

Embodiment six

Fig. 6 is a kind of structural schematic diagram for navigation programming device that the embodiment of the present invention six provides.Referring to Fig. 6, this implementation The navigation programming device that example provides, comprising: event generation module 10 and route planning module 20.

Wherein, event generation module 10, for according to prediction of the section in future time of not passing through in present running route Traffic information, it is determined whether generate route refresh events；

Route planning module 20, if planning new travel route for detecting the route refresh events.

Further, the event generation module, comprising: first event generation unit.

Wherein, first event generation unit is used for according to section not current in the present running route in future time Predicting road conditions information and the present running route in current section real-time road condition information, it is determined whether generate road Line refresh events.

Further, the first event generation unit is specifically used for:

Further, the event generation module, comprising: second event generation unit.

Wherein, second event generation unit, for the section that will not pass through in the present running route in future time Predicting road conditions information, input route refresh identification model, to determine whether to generate route refresh events.

Further, described device further include: route acquiring module corrects time-consuming determining module and sample determining module.

Wherein, route acquiring module, for prediction of the section in future time that will not pass through in the present running route Traffic information, input route refresh before identification model, obtain and are travelled by present running route starting point to present running route end Point, and the history travel route of the history same period；

Time-consuming determining module is corrected, for determining that it is time-consuming that the amendment of the history travel route travels；

Sample determining module, it is time-consuming for being travelled according to the amendment of the history travel route, from the history same period In history travel route, positive sample history travel route and negative sample history travel route are determined.

Further, the time-consuming determining module of the amendment, comprising: practical time-consuming determination unit, travel speed determination unit With the time-consuming determination unit of amendment.

Wherein, practical time-consuming determination unit, the actual travel for determining the history travel route are time-consuming；

Travel speed determination unit, for determining average overall travel speed of the history travel route under unimpeded state；

Time-consuming determination unit is corrected, for determining that the amendment traveling of the history travel route is time-consuming according to following formula:

Further, the event generation module, comprising: disagreement section determination unit and refusal refresh unit.

Wherein, disagreement section determination unit, if for according to section not current in present running route in future time Predicting road conditions information determines that there are congestions in not current section in present running route, it is determined that user current location and congestion position With the presence or absence of crucial disagreement section between setting；

Refuse refresh unit, is used for if it is determined that then refusing to generate route refresh events there is no crucial disagreement section.

Further, institute's disagreement section determination unit includes: that candidate determines that subelement, temperature determine that subelement and section are true Stator unit.

Wherein, candidate to determine subelement, for the history of user current location described in approach and congestion position to be travelled road Basic disagreement section in line and/or planning travel route, as candidate disagreement section；Wherein, basic disagreement section is connected with At least two downlink sections；

Temperature determines subelement, for determining the temperature in the candidate disagreement section；

Section determines subelement, for the temperature according to the candidate disagreement section, from the candidate disagreement section really Fixed key disagreement section.

Further, the temperature determines that subelement is specifically used for:

Further, it is described according to historical track anchor point between the candidate affiliated history travel route in disagreement section Distance, determine the temperature in the candidate disagreement section, comprising:

Navigation rule provided by any embodiment of the invention can be performed in navigation programming device provided by the embodiment of the present invention The method of drawing, has the corresponding functional module of execution method and beneficial effect.

Embodiment seven

Fig. 7 is a kind of structural schematic diagram for equipment that the embodiment of the present invention seven provides.Fig. 7, which is shown, to be suitable for being used to realizing this The block diagram of the example devices 12 of invention embodiment.The equipment 12 that Fig. 7 is shown is only an example, should not be to of the invention real The function and use scope for applying example bring any restrictions.

As shown in fig. 7, equipment 12 is showed in the form of universal computing device.The component of equipment 12 may include but unlimited In one or more processor or processing unit 16, system storage 28, connecting different system components, (including system is deposited Reservoir 28 and processing unit 16) bus 18.

Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller, Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC) Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.

Equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be by equipment 12 The usable medium of access, including volatile and non-volatile media, moveable and immovable medium.

System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access Memory (RAM) 30 and/or cache memory 32.Equipment 12 may further include it is other it is removable/nonremovable, Volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for reading and writing irremovable , non-volatile magnetic media (Fig. 7 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 7, use can be provided In the disc driver read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to removable anonvolatile optical disk The CD drive of (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver can To be connected by one or more data media interfaces with bus 18.Memory 28 may include at least one program product, The program product has one group of (for example, at least one) program module, these program modules are configured to perform each implementation of the invention The function of example.

Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28 In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and It may include the realization of network environment in program data, each of these examples or certain combination.Program module 42 is usual Execute the function and/or method in embodiment described in the invention.

Equipment 12 can also be communicated with one or more external equipments 14 (such as keyboard, sensing equipment, display 24 etc.), Can also be enabled a user to one or more equipment interacted with the equipment 12 communication, and/or with enable the equipment 12 with One or more of the other any equipment (such as network interface card, modem etc.) communication for calculating equipment and being communicated.It is this logical Letter can be carried out by input/output (I/O) interface 22.Also, equipment 12 can also by network adapter 20 and one or The multiple networks of person (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.As shown, Network adapter 20 is communicated by bus 18 with other modules of equipment 12.It should be understood that although not shown in the drawings, can combine Equipment 12 use other hardware and/or software module, including but not limited to: microcode, device driver, redundant processing unit, External disk drive array, RAID system, tape drive and data backup storage system etc..

Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and Data processing, such as realize navigation programming method provided by the embodiment of the present invention.

Embodiment eight

The embodiment of the present invention eight additionally provides a kind of computer readable storage medium, is stored thereon with computer program, should The navigation programming method as described in any one of embodiment of the present invention is realized when program is executed by processor, this method comprises:

If detecting the route refresh events, new travel route is planned.

The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD- ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device Using or it is in connection.

Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for By the use of instruction execution system, device or device or program in connection.

The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.

The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++, It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.In Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service It is connected for quotient by internet).

Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation, It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.

Claims

1. a kind of navigation programming method characterized by comprising

According to predicting road conditions information of the section in future time of not passing through in present running route, it is determined whether generate route and refresh Event；

If detecting the route refresh events, new travel route is planned.

2. the method according to claim 1, wherein it is described according to section not current in present running route not Carry out the predicting road conditions information of time, it is determined whether generate route refresh events, comprising:

According to predicting road conditions information and the current driving of the section in future time of not passing through in the present running route The real-time road condition information in not current section in route, it is determined whether generate route refresh events.

3. according to the method described in claim 2, it is characterized in that, described according to section of not passing through in the present running route The real-time road condition information in not current section, determines in the predicting road conditions information of future time and the present running route Whether route refresh events are generated, comprising:

If determining that there are congestions in not current section according to the real-time road condition information in section not current in the present running route Section, it is determined that the target range between user current location and the congested link；

If the target range is greater than distance threshold, not current section is in the pre- of future time from the present running route It surveys in traffic information, obtains the congested link in the predicting road conditions information of future time；

If being determined in the predicting road conditions information of future time when user reaches the congested link according to the congested link, The congestion of the congested link is not dissipated, then generates route refresh events.

4. the method according to claim 1, wherein it is described according to section not current in present running route not Carry out the predicting road conditions information of time, it is determined whether generate route refresh events, comprising:

By section not current in the present running route in the predicting road conditions information of future time, input route, which refreshes, identifies mould Type, to determine whether to generate route refresh events.

5. according to the method described in claim 4, it is characterized in that, the sample that the route refreshes identification model determines, comprising:

Acquisition is travelled by present running route starting point to present running route terminal, and the history travel route of the history same period；

Time-consuming is travelled according to the amendment of the history travel route, from the history travel route of the history same period, is determined just Sample history travel route and negative sample history travel route.

6. according to the method described in claim 5, it is characterized in that, the amendment of the determination history travel route travels consumption When, comprising:

Wherein, t '_iIt is the amendment traveling time-consuming of the history travel route, t_iIt is the actual travel time-consuming of history travel route, V_i It is average overall travel speed of the history travel route under unimpeded state, V_maxBe history travel route be integrated under unimpeded state put down The maximum value of equal travel speed, the different history travel routes of i mark.

7. the method according to claim 1, wherein it is described according to section not current in present running route not Carry out the predicting road conditions information of time, it is determined whether generate route refresh events, comprising:

If being determined in present running route according to section not current in present running route in the predicting road conditions information of future time There are congestions in not current section, it is determined that with the presence or absence of crucial disagreement section between user current location and congestion position；

If it is determined that then refusing to generate route refresh events there is no crucial disagreement section.

8. the method according to the description of claim 7 is characterized in that whether being deposited between the user current location and congestion position Determination in crucial disagreement section, comprising:

By the basis point in the history travel route and/or planning travel route of user current location described in approach and congestion position Branch road section, as candidate disagreement section；Wherein, basic disagreement section is connected at least two downlink sections；

Determine the temperature in the candidate disagreement section；

9. according to the method described in claim 8, it is characterized in that, the temperature in the determination candidate disagreement section, comprising:

If the matching tracking quantity of the affiliated history travel route in the candidate disagreement section is equal to or more than tracking quantity threshold value, According to the matching tracking quantity of the affiliated history travel route in the candidate disagreement section, the heat in the candidate disagreement section is determined Degree；

If the matching tracking quantity of the affiliated history travel route in the candidate disagreement section is less than tracking quantity threshold value, according to institute The situation that candidate disagreement section is located in the planning travel route is stated, determines the temperature in the candidate disagreement section；

If the historical track positioning point tolerance of the affiliated history travel route in the candidate disagreement section is greater than error threshold, basis Historical track anchor point determines the candidate disagreement road the distance between to the candidate affiliated history travel route in disagreement section The temperature of section.

10. according to the method described in claim 9, it is characterized in that, described according to historical track anchor point to the candidate point The distance between history travel route belonging to the section of branch road determines the temperature in the candidate disagreement section, comprising:

The historical track anchor point in the candidate disagreement section affiliated area is traversed, if any historical track anchor point is to any The distance between candidate affiliated history travel route in disagreement section is less than the historical track anchor point to other candidate disagreement sections The distance between affiliated history travel route, it is determined that the historical track anchor point is gone through with belonging to any candidate disagreement section The association of history travel route；

According to associated historical track anchor point quantity, selection target is travelled from the affiliated history travel route in candidate disagreement section Route；

It is located at the situation in the target travel route according to the candidate disagreement section, determines the heat in the candidate disagreement section Degree.

11. a kind of navigation programming device characterized by comprising

Event generation module, for according to section not current in present running route future time predicting road conditions information, really It is fixed whether to generate route refresh events；

12. device according to claim 11, which is characterized in that the event generation module, comprising:

First event generation unit, for according to predicting road conditions of the section in future time that do not pass through in the present running route The real-time road condition information in not current section in information and the present running route, it is determined whether generate route refresh events.

13. device according to claim 12, which is characterized in that the first event generation unit is specifically used for:

14. device according to claim 11, which is characterized in that the event generation module, comprising:

Second event generation unit, for believing section not current in the present running route in the predicting road conditions of future time Breath, input route refresh identification model, to determine whether to generate route refresh events.

15. device according to claim 14, which is characterized in that described device further include:

Route acquiring module, for will in the present running route not current section future time predicting road conditions information, It inputs route to refresh before identification model, acquisition is travelled by present running route starting point to present running route terminal, and history The history travel route of the same period；

Sample determining module, it is time-consuming for being travelled according to the amendment of the history travel route, from the history of the history same period In travel route, positive sample history travel route and negative sample history travel route are determined.

16. device according to claim 15, which is characterized in that the time-consuming determining module of the amendment, comprising:

Practical time-consuming determination unit, the actual travel for determining the history travel route are time-consuming；

17. device according to claim 11, which is characterized in that the event generation module, comprising:

Disagreement section determination unit, if for being believed according to section not current in present running route in the predicting road conditions of future time Breath determines in present running route that there are congestions in current section, it is determined that between user current location and congestion position whether There are crucial disagreement sections；

18. a kind of electronic equipment, which is characterized in that the equipment includes:

One or more processors；

Storage device, for storing one or more programs,

When one or more of programs are executed by one or more of processors, so that one or more of processors are real Now such as navigation programming method of any of claims 1-11.

19. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor Such as navigation programming method of any of claims 1-11 is realized when execution.