CN113029186A

CN113029186A - Navigation method and device

Info

Publication number: CN113029186A
Application number: CN202110259128.XA
Authority: CN
Inventors: 邱堋星; 陈志洋
Original assignee: Alibaba China Co Ltd
Current assignee: Alibaba China Co Ltd
Priority date: 2015-08-12
Filing date: 2015-08-12
Publication date: 2021-06-25
Also published as: CN106441341B; CN106441341A

Abstract

The invention discloses a navigation method and a navigation device, wherein the method comprises the following steps: according to the topological relation of a starting point and an end point of a set stroke and a road, a guide path from the starting point to the end point is planned; acquiring a first turning intersection to be guided currently according to the guide path and the current positioning position; judging whether the first steering intersection reaches a broadcast condition preset by specific guide voice; determining the specific guiding voice with the broadcast condition being achieved as the specific guiding voice matched with the first turning intersection; and generating and broadcasting the voice text of the first turning intersection according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guide voice matched with the first turning intersection. The guiding voice in the navigation method is more intuitive and friendly, so that a user can make accurate judgment on the path, and the risk of walking by mistake is reduced.

Description

Navigation method and device

The application is a divisional application of an application with the application date of 2015, 8, 12 and the application number of 201510493436.3 and the name of 'a navigation method and a navigation device'.

Technical Field

The present invention relates to the field of navigation technologies, and in particular, to a navigation method and apparatus.

Background

Along with the improvement of living standard and the development of technology, the popularization of intelligent terminal, people's trip relies on navigation tool more and more. The navigation tool can guide the user how to walk by playing the guide voice. In the navigation guidance process of the existing navigation tool, the conventional guidance voice adopted at the intersection needing the user to turn to, such as 'the end of the road 500 meters ahead and the left turn, and the guidance is carried out towards the railway station'. It can be seen that the broadcast key points of the conventional guidance voice for the intersection are mainly the distance and the intersection turning action.

The existing navigation guidance mode has the following defects: first, the indication of the distance is not easily determinable by the user, particularly by a user who is not distance-sensitive, and is not intuitive. Secondly, due to the viewing angle, the distance is not accurately estimated for users with strange roads. Thirdly, the difference between the existing navigation guidance mode and the daily direction habit is too large, and the existing navigation guidance mode is not specific, visual and friendly. Therefore, the conventional navigation guidance mode cannot help a user to accurately judge the walking path, so that the user is at risk of walking by mistake.

Disclosure of Invention

In order to enable a user to accurately judge a walking path according to a guiding voice and reduce the probability of walking by mistake, the invention provides a navigation method and a navigation device.

In order to solve the technical problems, the invention adopts the following technical scheme:

a navigation method, comprising:

according to the topological relation of a starting point and an end point of a set stroke and a road, a guide path from the starting point to the end point is planned;

acquiring a first turning intersection to be guided currently according to the guide path and the current positioning position;

judging whether the first steering intersection reaches a broadcast condition preset by specific guide voice;

determining the specific guiding voice with the broadcast condition being achieved as the specific guiding voice matched with the first turning intersection;

generating and broadcasting a voice text of the first turning intersection according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guiding voice matched with the first turning intersection;

the specific guide voice is provided with a broadcast condition, voice broadcast contents and voice broadcast rules, and the broadcast condition, the voice broadcast contents and the voice broadcast rules of the specific guide voice correspond to each other.

A navigation method, characterized in that the navigation method comprises:

judging whether the first steering intersection reaches at least one broadcast condition preset by specific guide voice;

wherein the specific guide voice includes a plurality of types, each of the specific guide voices is provided with a broadcast condition, a voice broadcast content, and a voice broadcast rule, and the broadcast condition, the voice broadcast content, and the voice broadcast rule of each of the specific guide voices correspond to each other,

the specific guidance voice comprises T-shaped intersection voice, and then whether the first turning intersection reaches the preset broadcasting condition of the specific guidance voice is judged, and the specific guidance voice specifically comprises the following steps:

judging whether the first turning intersection meets the preset road connection relation and connection angle of the T-shaped intersection or not according to an intersection data model of the first turning intersection;

and when the judgment result is yes, the first turning intersection reaches the preset broadcasting condition of the voice of the T-shaped road.

A navigation device, comprising:

the guidance path planning unit is used for planning a guidance path from a starting point to an end point according to the topological relation of the starting point and the end point of the set travel and the road;

the acquisition unit is used for acquiring a first turning intersection to be guided currently according to the guide path and the current positioning position;

the judging unit is used for judging whether the first steering intersection reaches a broadcast condition preset by specific guide voice;

a determining unit, configured to determine a specific guidance voice for which the broadcast condition is met as a specific guidance voice matching the first steering intersection;

the specific guidance voice broadcasting unit is used for generating and broadcasting a voice text of the first turning intersection according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guidance voice matched with the first turning intersection;

A navigation device, comprising:

the judging unit is used for judging whether the first steering intersection reaches at least one broadcasting condition preset by specific guiding voice;

the specific guiding voice comprises T-shaped intersection voice, the judging unit comprises a T-shaped intersection voice judging unit, and the T-shaped intersection voice judging unit comprises:

the T-shaped intersection judging unit is used for judging whether the first turning intersection meets the preset road connection relation and the preset connection angle of the T-shaped intersection or not according to an intersection data model of the first turning intersection;

Compared with the prior art, the invention has the following beneficial effects:

according to the navigation method provided by the invention, after the first turning intersection to be guided at present is obtained, whether the first turning intersection reaches the preset broadcast condition of the specific guide voice or not needs to be judged, the specific guide voice with the broadcast condition reached is determined to be the specific guide voice matched with the first turning intersection, and when the first turning intersection is guided, the first turning intersection is broadcasted according to the matched specific guide voice.

The specific guiding voice for guiding the turning intersection is matched with the intersection attribute road attribute and the intersection shape of the turning intersection, and the user can observe the intersection attribute of the turning intersection in the advancing process, so that the specific guiding voice is more visual, more specific and friendly, the user can judge the walking path more accurately and quickly according to the guidance of the specific guiding voice, and the risk of the user walking by mistake can be reduced.

Drawings

In order to clearly understand the technical solution of the present invention, the drawings used in describing the embodiments of the present invention will be briefly described. It is obvious that these drawings are only some embodiments of the invention, and that a person skilled in the art will be able to obtain further drawings without any inventive step.

FIG. 1 is an exemplary diagram of a steering intersection according to an embodiment of the present invention;

FIG. 2 is a simplified model schematic of an intersection according to an embodiment of the present invention;

FIG. 3 is a simplified model diagram of a T-junction according to an embodiment of the present invention;

FIG. 4 is a flowchart illustrating a navigation method according to an embodiment of the present invention;

fig. 5 is a schematic flowchart of step S403 according to a first embodiment of the present invention;

FIG. 6 is a schematic diagram of an ipsilateral crossing and a non-ipsilateral crossing according to one embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a navigation device according to a second embodiment of the present invention;

fig. 8 is a schematic structural diagram of a determining unit according to a second embodiment of the present invention;

fig. 9 is a schematic structural diagram of a determining unit according to a second embodiment of the present invention.

Detailed Description

The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the invention, and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

In order to make the technical solution of the present invention more clearly understood by those skilled in the art, before describing the specific implementation of the navigation method provided by the present invention, a specific guiding voice in the embodiment of the present invention is first described.

First, the guidance voice refers to various prompting voices in the process of guiding the user by the navigation device. In the navigation method provided by the embodiment of the invention, the used guidance voice comprises a conventional turning voice, a one-time voice and a specific guidance voice.

Wherein, the conventional voice of turning to is the voice that the suggestion turned to, and this kind of voice's broadcast mode often uses the distance as the reference, for example: "turn left 500 meters ahead, go to the railway station, please pay attention to lane change".

Disposable speech refers to speech that is prompted once, for example: please keep going straight "," pass through a bridge "," enter a tunnel ".

The specific guidance voice is the voice defined by the embodiment of the invention according to the daily guidance habit from the perspective of the user. The specific guiding voice defined by the embodiment of the invention comprises a plurality of types. These different types of specific guidance voice contents have not only distance and turning action information but also intersection shape, landmark data, and the like corresponding to the intersection model data. That is, the specific guidance voice according to the embodiment of the present invention corresponds to the intersection model data, which can reflect the intersection model data, compared to the conventional turn voice. For example, when a landmark building exists at an intersection, the landmark building is included in the specific guidance voice content corresponding to the intersection. The specific guiding voices are more in line with the daily guiding habits of people, fully reflect the humanized characteristic and can achieve a better guiding effect. Moreover, the contents of the specific guiding voices can reflect intersection model data, so that the specific guiding voices are more specific, more visual and more friendly than information provided by conventional turning voices, a navigation user can make a judgment more accurately, quickly and intuitively after hearing the guiding voices, and the probability of the user walking by mistake can be reduced.

In the embodiment of the present invention, the specific guidance voice includes the following types:

(1) traffic light voice: the situation that the current turning intersection to be guided is a traffic light intersection and the turning intersection is analyzed to meet certain conditions is indicated. The broadcasting mode of this kind of pronunciation does: "front [ \\ D ] [ the th \ N ] traffic light intersection \ A [, to \ R ] [, \ L ]" or "front [ \ D ] [ the th \ N ] traffic light intersection \ A [, to \ S direction ] [, \\ L ]"; for example, "turn left at the 1 st traffic light intersection 500 meters ahead, go to the railway station, please pay attention to lane change".

(2) And reference to traffic light voice: the situation refers to the situation that the current turning intersection to be guided is not a traffic light intersection, but the next intersection of the intersection is a traffic light intersection and meets certain conditions. The voice type broadcasting mode is as follows: "the first crossing \ A [, to \ S direction ]" after passing the traffic light ahead or "the first crossing \ A [, to \ R ]" after passing the traffic light ahead, as follows: "the first crossing turns left after passing the traffic light in front, and turns to the railway station direction". It should be noted that, in the embodiment of the present invention, the directional words "front" and "rear" are defined according to the traveling direction. The direction along the direction of travel is "forward" and the direction opposite the direction of travel is "aft".

(3) T-word-path spoken language: the situation that the current turning intersection to be signaled is a T-shaped intersection is indicated, and the voice broadcasting mode is as follows: "front [ \ D ] road end \ A [, forward \ S direction ] [, \\ L ]" or "front [ \ D ] road end \ A [, to \ R ] [, \\ L ]", such as: "the road end 500 m ahead turns left, toward the train station", etc.

(4) And crossroad voice: the situation that the current steering intersection to be guided is an intersection is indicated, and the voice broadcasting mode is as follows: "forward \ D crossroad \ A [, forward \ S direction ] [, \\ L ]" or "forward \ D crossroad \ A [, to \ R ] [, \\ L ]"; such as: "the crossroad of 500 meters ahead turns left, go to the railway station direction, please pay attention to the lane change".

(5) And multi-interface voice: this refers to a situation where there are multiple intersections in front and certain conditions are met. This kind of voice broadcast mode does: "front [ the/N crossing ] \\ A", such as "front 2 crossing left turn".

(6) And landmark voice: under the condition that the front, the back, the left and the right of a turning intersection have obvious marking markers, the broadcasting mode is as follows: "forward through \ P backward \ A", as follows: "turn left after passing through Changan building in front", etc.

In order to better guide the road, the embodiment of the invention also sets the broadcast content, broadcast conditions, priority and voice broadcast rules of specific guide voice. And, for each specific guiding voice, the broadcast content, the broadcast condition, the priority and the voice broadcast rule are corresponding to each other, more precisely, they are in a one-to-one correspondence relationship.

According to the results of questionnaire survey and actual experience, the priority of each type of guide voice is sequentially as follows: landmark voice, traffic light voice, T-shaped intersection voice, reference traffic light voice, multi-intersection voice, conventional steering voice and disposable voice.

The priority of the guidance voice indicates that when intersection model data of a certain turning intersection reaches the broadcast conditions of a plurality of guidance voices, guidance voices with higher priorities are preferably used for guiding the turning intersection.

In addition, broadcast rules of various types of guide voice are formulated, and the broadcast rules are mainly specified according to the voice broadcast times divided by the grade and the composition attribute of the road entering the intersection, the grade and the composition attribute of the road exiting the intersection, the broadcast distance and the broadcast content, and the broadcast content form of the guide voice. In an embodiment of the present invention, the voice rules of one type of guidance voice may be made in the form of a table. Table 1 is an example table of speech rules.

TABLE 1

It should be noted that the specific guiding voice types provided by the embodiment of the present invention are not limited to the types described above. Other types of specific guidance voices are also within the scope of the present invention without departing from the inventive concept thereof.

Intersection model data described in the following embodiments of the present invention are described below. In the embodiment of the invention, the intersection model data is data required to be used in the guiding process obtained by analyzing the turning intersection according to the source road data. Specifically, the turning intersections are determined according to the road topological relation in the source road data, and then each turning intersection is analyzed to obtain data which may be needed in the guiding process. The source road data refers to manually collected road related data.

The intersection model data may specifically include one or more of the number of passable roads, intersection road attributes, intersection shapes, intersection traffic light information, and intersection landmark information. Further, the attribute of the road at the intersection comprises one or more of the grade and the composition attribute of the road entering the intersection, the grade and the composition attribute of the road exiting the intersection, and the angle, the relative direction and the gradient of the road exiting the intersection. Wherein the intersection entrance road and the intersection exit road are determined according to the planned guide path.

The intersection model data according to the embodiment of the present invention will be described one by one.

Firstly, the number of roads that can be passed by the intersection:

and analyzing whether the road connected with the road entering the intersection can pass or not according to the topological relation of the road, whether the road can pass or not, whether the road is restricted or not and the like, and counting the number of the passable exit roads entering the road at the intersection. Fig. 1 is an exemplary diagram of an intersection a, and the roads connected to the intersection include four roads, which are a road 1, a road 2, a road 3, and a road 4 in this order. In the figure, the direction indicated by the arrow is the direction of travel. As shown in fig. 1, the entering road at intersection a is road 1, and at intersection a, there are 3 passable exiting roads connected to road 1, which are road 2, road 3, and road 4, respectively.

Secondly, the attribute of the road at the intersection:

the attribute of the road at the intersection mainly comprises road grade and road composition attribute, wherein the road composition attribute represents the additional attribute of the road and represents the additional type of the road, such as an isolation road, a connecting line and the like.

The respective rank attributes of the road are listed in table 2, and the respective additional attributes of the road are listed in table 3. Table 4 lists the angles of the road 2, the road 3, and the road 4 with respect to the road 1 in the intersection a shown in fig. 1, wherein the angles of the road 2, the road 3, and the road 4 with respect to the road 1 are calculated in such a manner that the direction in which the road 1 extends from the intersection a is zero degrees and the angle is calculated in the counterclockwise direction.

TABLE 2

TABLE 3

Serial number	Composition attributes
		1	Isolation channel
2	Interior road
		3	Connecting wire
4	Roundabout route
		5	Service area road
6	Approach path
		7	Auxiliary road
8	Connecting wire
		9	An outlet
10	Inlet port
		11	Flow-dividing channel
12	Others

TABLE 4

Road	Angle (Unit:degree)
		Road 1	0
Road 2	270
		Road 3	180
Road 4	90

The direction of the exit road is divided mainly according to the planned guide path, and other exit roads are divided into a left road and/or a right road by taking the current exit road as a reference. As shown in fig. 1, if the currently planned guidance route is road 1- > road 3, the position of road 2 is the left side road, and the position of road 4 is the right side road.

Third, crossing shape

And analyzing the shape of the intersection according to the obtained intersection road attribute data and the source road data. The embodiment of the invention takes crossroads and T-shaped intersections as examples for explanation.

A simplified model of an intersection is shown in fig. 2, which includes the passing roads in 4 directions, and the number of lanes of the road in each direction is substantially the same. (ii) a In addition, the passing roads in 4 directions of the road need to meet the angle condition.

As an example, intersection a is determined to be an intersection when the angle of a passing road in the intersection meets one of the following situations:

the extending direction of the road 1 from the intersection A is set to be zero, and the angle is calculated according to the anticlockwise direction.

In case one, when the direction angle of the road 2 extending from the diversion intersection is 245 to 295 °, the direction angle of the road 3 extending from the intersection a is 180 ± 25 °, and the direction angle of the road 4 extending from the diversion intersection is 65 to 115 °, the intersection a is an intersection.

In case two, when the included angle between the road 2 and the road 4 is 175 to 185 °, the direction angle of the road 3 extending from the turning intersection is 180 ± 10 °, the included angle between the road 2 and the road 1 is greater than 50 °, and the included angle between the road 4 and the road 1 is greater than 50 °, the intersection a is an intersection.

And in the third situation, when the included angle between the road 2 and the road 4 is 175-185 degrees, the angle between the road 3 is 180 +/-30 degrees, the included angle between the road 2 and the road 1 is more than 80 degrees, and the included angle between the road 4 and the road 1 is more than 80 degrees, the intersection a is an intersection.

A simplified model of a T-junction is shown in fig. 3, which includes only roads in three directions, and the angles of the roads in the three directions need to satisfy certain conditions.

As an example, intersection a is determined to be a T-junction when the angle of a passing road in the intersection meets the following condition: the intersection only comprises a road 1, a road 2 and a road 4 which are arranged in a clockwise manner, the included angle between the road 1 and the road 2 is 70-110 degrees, and the included angle between the road 1 and the road 3 is 70-110 degrees.

It should be noted that the angles of the roads at the intersection and the T-junction are not limited to the above example, and may be other values according to the specific situation.

Fourth, intersection information

The intersection information mainly comprises intersection traffic light information and intersection landmark information, whether the intersection is a traffic light intersection is read and judged through the identification made by the source data, whether the intersection is landmark data is judged through the source data, and if the intersection has the landmark data, the direction of the landmark at the intersection and the visible distance of the landmark are saved. The visible distance of the landmark refers to the farthest distance from the position where the landmark can be seen to the intersection without the obstruction. According to the visible distance of the landmark, the position of the landmark can be judged to be guided by the voice of the landmark.

Before navigation is carried out by using the navigation equipment, the intersection model data are stored in the navigation equipment in advance. It should be noted that the intersection model data may be stored in the navigation device before the navigation device leaves the factory, and in addition, the intersection model data may also be uploaded to the navigation device through technical means such as network communication, and in the embodiment of the present invention, it is preferable that the intersection model data may be updated in time.

The intersection model data can be obtained by the following method:

firstly, determining a turning intersection according to a road topological relation in source road data, wherein the source road data comprises a plurality of turning intersections under a normal condition;

for each of the number of the turn-around intersections,

extracting the grade and the composition attribute of all possible entering roads, and extracting the road grade and the composition attribute of all exit roads corresponding to each possible entering road;

analyzing the number of passable roads of the turning intersection and analyzing the angle and the direction of the passable roads of the turning intersection according to each possible entering road and all exit roads corresponding to the possible entering road;

determining the shape of the turning intersection according to the angle and the direction of the passable road of the turning intersection;

analyzing whether a traffic light exists at the turning intersection or not according to the source road data, and if so, determining that the turning intersection is the traffic light intersection;

analyzing whether landmark data exist at a turning intersection or not according to the source road data, and if so, extracting the landmark data of the turning intersection;

and storing the obtained grade and the composition attribute of all the possible entering roads of each turning intersection, the grade and the composition attribute of all the possible entering roads, the number of the passable roads, the shape of the intersection, the intersection traffic light information and the intersection landmark data into a file, thereby forming intersection model data.

It should be noted that, the sequence for acquiring different intersection model data is not limited in the embodiments of the present invention, and therefore, the sequence for acquiring different intersection model data may be interchanged, and it is within the scope of the present invention as long as the intersection model data desired to be acquired can be finally obtained.

Based on the specific guiding voice and the intersection model data, the embodiment of the invention provides a navigation method. See first embodiment.

Example one

Fig. 4 is a flowchart illustrating a navigation method according to an embodiment of the present invention. As shown in fig. 4, the navigation method includes the steps of:

s401, according to the topological relation of the starting point, the end point and the road of the set stroke, a guide path from the starting point to the end point is planned.

S402, acquiring a current first turning intersection to be guided according to the guide path and the current positioning position.

S403, judging whether the first turning intersection meets at least one preset broadcast condition of specific guidance voice:

as described above, in the embodiment of the present invention, there are various types of specific guidance voices, which specifically include, as an example: landmark voice, traffic light voice, T-junction voice, multi-junction voice, reference traffic light voice, and intersection voice. When the first steering intersection reaches the broadcast condition preset by at least one specific guidance voice, step S404 is executed, and when the first steering intersection does not reach the broadcast condition preset by any specific guidance voice, step S407 is executed.

The first specific implementation manner of step S403 may be as follows:

and respectively judging whether the first steering intersection meets the broadcasting conditions preset by various types of specific guide voices. More specifically, whether the first turning intersection reaches a broadcasting condition preset by landmark voice is judged, whether the first turning intersection reaches a broadcasting condition preset by traffic light voice is judged, whether the first turning intersection reaches a broadcasting condition preset by T-shaped road voice is judged, whether the first turning intersection reaches a broadcasting condition preset by multi-road voice is judged, whether the first turning intersection reaches a broadcasting condition preset by reference traffic light voice is judged, and whether the first turning intersection reaches a broadcasting condition preset by cross voice is judged.

It should be noted that, in the first implementation manner of step S403, the order of the first steering intersection and the preset broadcast conditions of the different types of specific guidance voices may not be limited, as long as the first steering intersection and all the preset broadcast conditions of the specific guidance voices are respectively determined to be completed.

In addition, in the embodiment of the present invention, each type of the specific guidance voice is also provided with a priority, and the priorities of the different types of the specific guidance voices are set to be different from each other. As an example, the priority of each specific guidance voice described above is, in order from high to low: landmark voice, traffic light voice, T-junction voice, multi-junction voice, reference traffic light voice, and intersection voice.

In order to quickly find the specific guidance voice type with the highest priority matching the first steering intersection, the second implementation manner of the step S403 may specifically be:

and respectively judging whether the first turning intersection reaches the preset broadcast condition of the corresponding specific guidance voice according to the sequence from high priority to low priority of the specific guidance voice, and finishing the judgment of whether the first turning intersection reaches the preset broadcast condition of the specific guidance voice when the preset broadcast condition of one type of specific voice is reached.

More specifically, as shown in fig. 5, the second implementation manner of step S403 is specifically as follows:

s4031, judging whether a first steering intersection reaches a landmark voice broadcasting condition or not, and finishing the judgment of whether the first steering intersection reaches the preset broadcasting condition of specific guide voice or not when the first steering intersection reaches the landmark voice broadcasting condition;

s4032, when the first turning intersection does not reach the landmark voice broadcasting condition, judging whether the first turning intersection reaches the preset broadcasting condition of the voice of the traffic light, and when the first turning intersection reaches the preset broadcasting condition of the voice of the traffic light, finishing judging whether the first turning intersection reaches the preset broadcasting condition of the specific guide voice;

s4033, when the first steering intersection does not reach the voice broadcasting condition of the traffic light, judging whether the first steering intersection reaches the preset broadcasting condition of the voice of the T-shaped road, and when the first steering intersection reaches the voice broadcasting condition of the T-shaped road, finishing judging whether the first steering intersection reaches the preset broadcasting condition of the specific guide voice;

s4034, when the first turning intersection does not reach the voice broadcast condition of the T-shaped intersection, judging whether the first turning intersection reaches the preset broadcast condition of the multi-intersection voice, and when the first turning intersection reaches the preset broadcast condition of the multi-intersection voice, finishing judging whether the first turning intersection reaches the preset broadcast condition of the specific guide voice;

s4035, when the first turning intersection does not reach the multi-intersection voice broadcasting condition, judging whether the first turning intersection reaches the broadcasting condition preset by reference traffic light voice, and when the first turning intersection reaches the reference traffic light voice broadcasting condition, finishing judging whether the first turning intersection reaches the broadcasting condition preset by specific guide voice;

s4036, when the first turning intersection does not reach the voice broadcast condition of the reference traffic light, judging whether the first turning intersection reaches the preset voice broadcast condition of the crossroad or not, and when the first turning intersection reaches the preset voice broadcast condition of the crossroad, finishing judging whether the first turning intersection reaches the preset voice broadcast condition of the specific guide voice or not.

The specific process of determining the broadcast condition preset by the first steering intersection and each specific guidance voice of the same type is described below.

As an example, the current positioning location may be a current positioning GPS location, and the determining whether the first steering intersection meets the preset reporting condition of the landmark voice specifically includes:

a1, judging whether the GPS time carried in the current positioning GPS position is within the preset sight line visible time period:

for example, the preset sight-line visible time period is a time period corresponding to daytime, because the sight line during daytime is good. The step a1 specifically includes: it is determined whether the GPS time carried in the current position-location GPS location is within the daytime time period.

A2, judging whether a landmark building exists at a first steering intersection according to intersection model data of the first steering intersection:

it should be noted that the intersection model data of the first steering intersection may be extracted from the source road model data. Because the source road model data comprises model data of each intersection, the model data comprises one or more of the number of passable roads, the attributes of the intersections, the shapes of the intersections, intersection traffic light information and intersection landmark information. Therefore, the intersection model data of the first steering intersection extracted from the source road model data also includes the above-mentioned respective pieces of information, including landmark information.

Therefore, it can be determined whether the first steering intersection has a landmark building according to the intersection model data of the first steering intersection. As an example, the landmark building may be an XX building.

A3, judging whether the user can see the landmark building at the current positioning GPS position according to the guide path:

if the judgment result of the above a2 is yes, that is, the first turning intersection has a landmark building, the position of the landmark building relative to the current positioning GPS position is determined, for example: "left side before crossing", "right side before crossing", "left side opposite crossing", "right side opposite crossing", "on crossing";

then, whether the landmark buildings can be seen by the user at the current positioning GPS position is judged according to the guide path.

And when the three judgment results are yes, the first steering intersection reaches the preset reporting condition of the landmark voice. And when one of the three judgment results is negative, the first turning intersection does not reach the preset reporting condition of the landmark voice.

As an example, the determining whether the first steering intersection meets the preset reporting condition of the traffic light voice specifically includes:

and B1, judging whether the first turning intersection is a traffic light intersection or not according to the intersection model data of the first turning intersection.

B2, according to the intersection data model of the intersection on the first guiding segment, judging whether the number of the traffic light intersections on the first guiding segment is not more than a first preset value, wherein the first guiding segment is the guiding segment from the current positioning position to the first steering intersection on the guiding path:

it should be noted that, if the number of the traffic light intersections on the first guidance segment is too large, the user may not remember clearly, and if the guidance broadcast is still performed according to the voice of the traffic light intersections, a good guidance effect may not be achieved. Therefore, in the embodiment of the present invention, the condition that the number of the traffic light intersections on the first guidance segment does not exceed the first preset value is taken as a condition of the traffic light voice broadcasting condition. Generally, the first preset value may be 3.

It should be noted that, when the number of the traffic light intersections on the first guidance segment is calculated, the first turning intersection may be included, or the first turning intersection may not be included, which has no influence on the implementation of the technical scheme, and the difference is only in the value range of the first preset value.

And when the two judgment results are yes, the first steering intersection reaches the preset broadcasting condition of the traffic light voice.

As an example, whether the first steering intersection reaches the preset broadcasting condition of the voice of the T-shaped road or not is judged, and the method specifically includes:

C. judging whether the first turning intersection meets the preset road connection relation and connection angle of the T-shaped intersection according to an intersection data model of the first turning intersection:

it should be noted that the preset connection relationship and connection angle of the large road at the T-shaped intersection are shown in fig. 3.

As an example, whether judging first turn to the crossing and reaching the preset report condition of reference traffic lights pronunciation specifically includes:

d1, judging whether the first turning intersection is a non-traffic light intersection or not according to the intersection model data of the first turning intersection.

D2, according to the intersection data model of the intersection on the first guiding segment, determining whether there is at least one same-side intersection as the traffic light intersection on the first guiding segment, and whether the distance between the same-side intersection and the first turning intersection is less than a preset distance, where the first guiding segment is the guiding segment from the current positioning position to the first turning intersection on the guiding path:

for a clear understanding of ipsilateral and non-ipsilateral intersections, please see fig. 6. FIG. 6 is a schematic diagram of an ipsilateral crossing and a non-ipsilateral crossing. As shown in fig. 6, when the current walking direction is the direction indicated by the arrow and intersection a is the first turning intersection to be guided currently, intersection b is the same-side intersection, intersection b is the traffic light intersection, and intersection c is the non-same-side intersection. That is, the extending direction of the branched road at the same side intersection b is the same as the extending direction of the road to be steered at the first turning intersection a to be guided.

In order to reduce the memory burden of the user, the distance between the ipsilateral intersection and the first turning intersection is also required to be less than a preset distance, for example, the preset distance is an additional 200 meters.

And when the two judgment results are yes, the first turning intersection reaches the preset broadcast condition of the reference traffic light voice.

As an example, the determining whether the first steering intersection meets the preset broadcast condition of the multi-intersection voice specifically includes:

e1, judging whether an ipsilateral intersection not larger than a second preset value exists on the first guiding section and whether a non-ipsilateral intersection does not exist between the ipsilateral intersections according to intersection model data of a first turning intersection:

in order to reduce the memory burden of the user, the number of the same-side intersections on the first guide section is not greater than a second preset value, and the second preset value can be 3.

E2, judging that no smaller intersection exists in the plurality of homonymous intersections according to the intersection model data of the homonymous intersections, wherein the smaller intersection is a garden or a district internal road:

since the smaller crossing is not easy to be found in the process of traveling, it is necessary to determine that the smaller crossing does not exist in the multiple same-side crossings.

And when the two judgment results are yes, the first turning intersection reaches the preset broadcasting condition of the multi-intersection voice.

As an example, the determining whether the first steering intersection reaches the preset reporting condition of the intersection voice specifically includes:

f1, judging whether the first turning intersection meets the preset road connection relation and the preset road connection angle of the intersection according to the intersection model data of the first turning intersection:

it should be noted that the preset road connection relationship and connection angle at the intersection are shown in fig. 2.

F2, judging whether a crossroad which is not easy to distinguish does not exist on the first guide section and whether the number of crossroads in the first guide section is not more than a third preset value according to a crossroad data model of the crossroad on the first guide section:

the crossroads which are not well distinguished are crossroads of which the road connection angle meets the angle condition of the crossroads, but the difference value between the number of lanes of the road in at least one direction and the number of lanes of the road in other directions is not less than the preset difference value. For example, at an intersection, if there are roads in three directions as ordinary roads and the other road in the other direction as a road entering a cell, the intersection is a poorly distinguishable intersection.

And when the judgment results are yes, the first turning intersection reaches the preset broadcasting condition of the voice of the crossroad.

It should be noted that, in the embodiment of the present invention, when the broadcast condition preset by each specific voice is reached by the first steering intersection, the determination sequence of each sub-condition is not limited.

S404, determining the specific guiding voice with the broadcast condition being achieved as the specific guiding voice matched with the first steering intersection:

it should be noted that, according to the first implementation manner of the step S403, the first turning intersection may reach the preset broadcast condition of multiple types of specific guidance voices. In the embodiment of the present invention, the specific guidance voices, for which the plurality of broadcast conditions are met, may be determined as the specific guidance voice matching the first steering intersection.

However, according to the above description, in order to better guide the road, these different types of specific guidance voices have different priorities according to the results of the questionnaire survey and the actual experience, and when the specific guidance voice to which the broadcast condition is fulfilled is plural, it is preferable to adopt the specific guidance voice of which priority is the highest as the specific guidance voice matching the first steering intersection.

To achieve the purpose, the step S404 may specifically include: and comparing the priorities of the specific guide voices with the achieved broadcast conditions, and determining the specific guide voice with the achieved broadcast condition with the highest priority as the specific guide voice matched with the first steering intersection. For example, if the specific guidance voices for which the broadcast conditions are met are the landmark voices and the intersection voices, the landmark voices are used as the specific guidance voices matched with the first diversion intersection because the priority of the landmark voices is higher than that of the intersection voices.

It should be noted that, in the second implementation manner of step S403, whether the first turning intersection reaches the preset broadcast condition of the corresponding specific guidance voice is respectively determined according to the order from high priority to low priority of the specific guidance voice, and when the preset broadcast condition of one type of specific voice is reached, the determination of whether the first turning intersection reaches the preset broadcast condition of the specific guidance voice is finished. Therefore, the specific guidance voice in which the broadcast condition obtained by this second implementation is achieved is the specific guidance voice in which the broadcast condition with the highest priority is achieved.

In addition, in general, there is a one-time voice in the guiding process of the guiding path, such as "please keep going straight", "pass through a bridge", "enter a tunnel", and so on. When there is a one-time voice in the process of guiding the guide path, the navigation method may further include:

s405, judge that the broadcast of the disposable pronunciation of configuration can cause the interference to the broadcast of the pronunciation text at first diversion crossing, if not, broadcast before broadcasting the pronunciation text at first diversion crossing the disposable pronunciation, otherwise, forbid broadcasting the disposable pronunciation:

specifically, whether the distance from the broadcast point of the one-time voice to the current first steering intersection to be guided is greater than the distance S of the first broadcast voice point configured at the current first steering intersection to be guided or not is judged, when the distance from the broadcast point of the one-time voice to the current first turning intersection to be guided is greater than the distance S of the first broadcast voice point configured at the current first turning intersection to be guided, the one-time voice broadcast does not interfere with the broadcast of the guidance voice of the first steering intersection, inserting one-time voice, when the distance from the broadcast point of the one-time voice to the current first turning intersection to be guided is not more than the distance S of the first broadcast voice point configured at the current first turning intersection to be guided, the broadcast of the one-time voice can interfere with the broadcast of the guidance voice of the first steering intersection, and at the moment, the one-time voice is prohibited from being inserted.

As an embodiment of the present invention, the distance S of the first broadcast voice point configured at the first steering intersection to be currently guided may be 2200 meters.

S406, generating and broadcasting a voice text of the first turning intersection according to the voice broadcast content and the voice broadcast rule corresponding to the specific guide voice matched with the first turning intersection;

it should be noted that, when only one specific guidance voice is matched with the first steering intersection, step S406 specifically includes: and generating a voice text of the first turning intersection and broadcasting voice according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guiding voice matched with the first turning intersection.

When there are multiple specific guidance voice types matching the first steering intersection, step S406 may specifically be: and generating a voice text of the first turning intersection and broadcasting voice according to any voice broadcasting content and voice broadcasting rules corresponding to the specific guiding voice matched with the first turning intersection. As an alternative embodiment of the present invention, when there are a plurality of specific guidance voice types matching the first diversion intersection, a voice text of the first diversion intersection is generated and broadcasted according to the broadcast content and the voice broadcast rule corresponding to the specific guidance voice matching the first diversion intersection with the highest priority.

In the navigation method provided in the embodiment of the present invention, after step S403, the method may further include:

and S407, when the first turning intersection does not meet the broadcast condition corresponding to any specific guiding voice, broadcasting the first turning intersection according to the content of the conventional turning voice and the voice broadcast rule of the conventional turning voice.

The above is a specific implementation of the navigation method provided by the embodiment of the present invention. In the navigation method, after a first turning intersection to be guided currently is acquired, whether the first turning intersection reaches a broadcast condition preset by specific guide voice needs to be judged, the specific guide voice with the broadcast condition reached is determined to be the specific guide voice matched with the first turning intersection, and when the first turning intersection is guided, the first turning intersection is broadcasted according to the matched specific guide voice.

Based on the navigation method provided by the above embodiment, the present invention further provides a specific implementation of the navigation device, specifically referring to embodiment two.

Example two

Fig. 7 is a schematic structural diagram of a navigation device according to a second embodiment of the present invention. As shown in fig. 7, the navigation device includes the following units:

a guidance route planning unit 71, configured to plan a guidance route from a start point to an end point of a set route according to a topological relation between the start point and the end point and a road;

an obtaining unit 72, configured to obtain a current first turning intersection to be guided according to the guiding path and the current positioning position;

a judging unit 73, configured to judge whether the first steering intersection meets a broadcast condition preset by a specific guidance voice;

a determination unit 74 configured to determine a specific guidance voice for which the broadcast condition is met as a specific guidance voice matching the first steering intersection;

furthermore, the navigation device may further include:

a one-time voice broadcasting judging unit 75, configured to judge whether broadcasting of the configured one-time voice will interfere with broadcasting of the voice text of the first steering intersection, if not, broadcast the one-time voice before broadcasting the voice text of the first steering intersection, otherwise, prohibit broadcasting the one-time voice.

A specific guidance voice broadcasting unit 76, configured to generate and broadcast a voice text of the first diversion intersection according to the voice broadcasting content and the voice broadcasting rule corresponding to the specific guidance voice matched with the first diversion intersection;

The above is the main structure of the navigation device provided by the embodiment of the present invention. By the navigation device provided by the invention, after the first turning intersection to be guided is obtained, whether the first turning intersection reaches the preset broadcast condition of the specific guide voice or not needs to be judged, the specific guide voice with the broadcast condition reached is determined to be the specific guide voice matched with the first turning intersection, and when the first turning intersection is guided, the first turning intersection is broadcasted according to the matched specific guide voice. The specific guiding voice for guiding the turning intersection is matched with the intersection attribute road attribute and the intersection shape of the turning intersection, and the user can observe the intersection attribute of the turning intersection in the advancing process, so that the specific guiding voice is more visual, more specific and friendly, the user can judge the walking path more accurately and quickly according to the guidance of the specific guiding voice, and the risk of the user walking by mistake can be reduced.

As a specific embodiment of the present invention, the specific guidance voices include a plurality of types, each type of specific guidance voice is further provided with a priority, the priorities set by the different types of specific guidance voices are different from each other, and if the broadcast condition is met, the specific guidance voices are of a plurality of types; as shown in fig. 8, the determination unit 74 includes:

a comparison subunit 741 configured to compare the priority of the specific guidance voice at which the broadcast condition is reached;

a determining subunit 742, configured to determine the specific guidance voice with the highest priority, for which the playing condition is met, as the specific guidance voice matching the first steering intersection.

As another specific embodiment of the present invention, the specific guidance voice includes a plurality of types, each type of the specific guidance voice is provided with a different priority, and the priorities of the different types of the specific guidance voice are different from each other;

the judgment unit 73 includes:

and the judging subunit is used for respectively judging whether the first steering intersection reaches the preset broadcasting condition of the corresponding specific guidance voice according to the sequence from high priority to low priority of the specific guidance voice, and when the preset broadcasting condition of one type of specific voice is reached, finishing the judgment of whether the first steering intersection reaches the preset broadcasting condition of the specific guidance voice.

As another embodiment of the present invention, in order to enable the determining unit to determine whether the first diversion intersection reaches the preset broadcast condition of each different type of specific guidance voice, as shown in fig. 9, the determining unit 73 specifically includes:

a landmark voice determination unit 731, a traffic light voice determination unit 732, a T-intersection voice determination unit 733, a multi-intersection voice determination unit 734, a reference traffic light voice determination unit 735, and an intersection voice determination unit 736.

As a further specific embodiment of the present invention, the landmark voice determination unit 731 includes: :

the time period judging unit is used for judging whether the GPS time carried in the current positioning GPS position is within a preset sight line visible time period or not;

the landmark building judging unit is used for judging whether landmark buildings exist at the first turning intersection or not according to the intersection model data of the first turning intersection;

the landmark building visible judging unit is used for judging whether the user can see the landmark building at the current positioning GPS position according to the guide path;

and when the three judgment results are yes, the first steering intersection reaches the preset reporting condition of the landmark voice.

The traffic light voice determination unit 732 includes:

the traffic light intersection judging unit is used for judging whether the first turning intersection is a traffic light intersection or not according to the intersection model data of the first turning intersection;

a traffic light intersection quantity judging unit, configured to judge whether the number of traffic light intersections on a first guidance section is not greater than a first preset value according to an intersection data model of an intersection on the first guidance section, where the first guidance section is a guidance section from the current positioning position to the first steering intersection on the guidance path;

The T-word-path spoken language determination unit 733 includes:

The multi-port voice determination unit 734 includes:

the non-traffic light intersection judging unit is used for judging whether the first turning intersection is a non-traffic light intersection or not according to the intersection model data of the first turning intersection;

the same-side intersection judging unit is used for judging whether at least one same-side intersection which is a traffic light intersection exists on a first guiding section according to an intersection data model of an intersection on the first guiding section, and whether the distance between the same-side intersection and a first turning intersection is smaller than a preset distance, wherein the first guiding section is a guiding section from the current positioning position to the first turning intersection on the guiding path;

and when the judgment results are yes, the first turning intersection reaches the preset broadcast condition of the reference traffic light voice.

The reference traffic light voice determination unit 735 includes:

the number judging unit of the same-side intersections is used for judging whether the first guide section has the same-side intersections which are not larger than a second preset value or not and whether non-same-side intersections exist between the same-side intersections or not according to the intersection model data of the first turning intersection;

a smaller intersection judging unit, configured to judge, according to the intersection model data of the same-side intersection, that there is no smaller intersection in the multiple same-side intersections, where the smaller intersection is a road inside a park or a community;

and when the judgment results are yes, the first turning intersection reaches the preset broadcasting condition of the multi-intersection voice.

The intersection voice determination unit 736 includes:

the crossroad judging unit is used for judging whether the first turning intersection meets the preset road connection relation and the preset road connection angle of the crossroad according to the intersection model data of the first turning intersection;

the device comprises a crossroad number and type judging unit, a first guiding section and a second guiding section, wherein the crossroad number and type judging unit is used for judging whether a crossroad which is not well distinguished exists on the first guiding section and whether the number of crossroads in the first guiding section is not more than a third preset value or not according to a crossroad data model of a crossroad on the first guiding section;

when the judgment results are yes, the first turning intersection reaches the preset broadcasting condition of the voice of the crossroad;

the crossroads which are not well distinguished are crossroads of which the road connection angle meets the angle condition of the crossroads, but the difference value between the number of lanes of the road in at least one direction and the number of lanes of the road in other directions is not less than the preset difference value.

In addition, the navigation device provided by the embodiment of the invention can be specifically a vehicle-mounted navigator, a PDA, a mobile phone and other equipment.

It should be noted that although in the above detailed description several units, sub-units of the navigation device are mentioned, this division is not mandatory. Indeed, the features and functions of two or more of the units described above may be embodied in one apparatus or in different apparatuses according to embodiments of the application. And conversely, features and functions of a unit described above may be further divided into embodiments by sub-units.

Further, while the operations of the methods of the present application are depicted in the drawings in a particular order, this does not require or imply that these operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.

While the spirit and principles of the invention have been described with reference to several particular embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, nor is the division of aspects, which is for convenience only as the features in such aspects may not be combined to benefit. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A navigation method, characterized in that the navigation method comprises:

2. The method according to claim 1, wherein each type of specific guidance voice is further provided with a priority, the priorities of the different types of specific guidance voice are different from each other, and if there are a plurality of types of specific guidance voices for which the broadcast condition is met, the determining the specific guidance voice for which the broadcast condition is met as the specific guidance voice matching the first steering intersection specifically comprises:

and comparing the priorities of the specific guide voices with the achieved broadcast conditions, and determining the specific guide voice with the achieved broadcast condition with the highest priority as the specific guide voice matched with the first steering intersection.

3. The method according to claim 1, wherein each type of specific guidance voice is provided with a different priority, and the priorities of different types of specific guidance voice are different from each other;

whether judge first turn to crossing and reach the preset condition of reporting of specific guide pronunciation specifically includes:

4. The method according to claim 3, wherein the specific guidance voice includes a landmark voice, a traffic light voice, a T-junction voice, a multi-junction voice, a reference traffic light voice, and an intersection voice;

the priority of the specific guide voice is sequentially from high to low: landmark voice, traffic light voice, T-junction voice, multi-junction voice, reference traffic light voice, and intersection voice.

5. The method of any of claims 1-4, wherein when a one-time voice is configured before the voice announcement point of the first steering intersection, the method further comprises:

judging whether the configured one-time voice broadcasting can interfere with the broadcasting of the voice text of the first turning intersection, if not, broadcasting the one-time voice before broadcasting the voice text of the first turning intersection, and if so, forbidding to broadcast the one-time voice.

6. A navigation device, comprising:

7. The apparatus according to claim 6, wherein each type of the specific guidance voice is further provided with a priority, the priorities of the different types of the specific guidance voice are different from each other, and there are a plurality of specific guidance voices if the broadcast condition is met;

the determination unit includes:

a comparison subunit, configured to compare priorities of the specific guidance voices, for which the broadcast conditions are met;

and the determining subunit is used for determining the specific guiding voice with the highest priority and the playing condition being reached as the specific guiding voice matched with the first steering intersection.

8. The apparatus according to claim 6, wherein each type of the specific guidance voice is provided with a different priority, and the priorities of the different types of the specific guidance voice are different from each other;

the judging unit includes:

9. The apparatus of claim 8, wherein the specific guidance voice includes a landmark voice, a traffic light voice, a T-junction voice, a multi-junction voice, a reference traffic light voice, and an intersection voice;

10. The device according to any one of claims 6-9, wherein when a one-time voice is configured before the voice announcement point of the first steering intersection, the device further comprises:

and the disposable voice broadcast judging unit is used for judging whether the broadcast of the configured disposable voice can cause interference to the broadcast of the voice text of the first steering intersection, if not, the disposable voice is broadcast before the voice text of the first steering intersection is broadcast, and if so, the broadcast of the disposable voice is forbidden.