CN115707932A

CN115707932A - Navigation route deviation rectifying method, device, equipment and computer storage medium

Info

Publication number: CN115707932A
Application number: CN202110961357.6A
Authority: CN
Inventors: 沈辉; 孟俊; 程亚; 刘翩
Original assignee: Fengtu Technology Shenzhen Co Ltd
Current assignee: Fengtu Technology Shenzhen Co Ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2023-02-21

Abstract

The application provides a navigation route deviation rectifying method, a navigation route deviation rectifying device, navigation route deviation rectifying equipment and a computer storage medium. The navigation route deviation rectifying method comprises the following steps: acquiring at least two navigation positioning points of a navigation object; determining navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and each navigation positioning point; judging whether the navigation object deviates from the initial navigation route according to the navigation deviation information; and if the navigation object deviates from the initial navigation route, replanning the navigation route. Therefore, the method and the device for judging whether the navigation object deviates from the initial navigation route can judge whether the navigation object deviates from the initial navigation route according to the navigation deviation information of at least two navigation positioning points, and the judgment on whether the navigation object deviates from the initial navigation route cannot be influenced even if the navigation deviation information of one navigation positioning point fluctuates.

Description

Navigation route deviation rectifying method, device, equipment and computer storage medium

Technical Field

The application relates to the field of navigation, in particular to a navigation route deviation rectifying method, a navigation route deviation rectifying device, navigation route deviation rectifying equipment and a computer storage medium.

Background

With the popularization of a GPS (Global Positioning System) Positioning System, more and more users obtain planned routes of vehicles or walking in real time through a terminal provided on the vehicle or a navigation System on a mobile phone. However, in the conventional navigation process, the GPS on both the vehicle and the mobile phone is prone to deviate from the planned route, so that a deviation correction method capable of quickly judging whether the vehicle deviates or not so as to re-plan the route is urgently needed.

In the prior art, it is generally determined whether a navigation object deviates from a planned route according to positioning information included in a navigation positioning point, and if it is determined that a navigation target deviates, the route is re-planned. However, the deviation rectifying method only judges whether deviation occurs based on the positioning information of one navigation positioning point, so if the positioning information of the navigation positioning point fluctuates due to external reasons such as poor signals, the GPS system is prone to erroneous judgment.

Disclosure of Invention

The application provides a navigation route correction method, a navigation route correction device, equipment and a computer storage medium, and aims to solve the problem that the conventional navigation route correction method is easy to generate misjudgment.

In a first aspect, the present application provides a navigation route deviation rectifying method, including:

acquiring at least two navigation positioning points of a navigation object;

determining navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and each navigation positioning point;

judging whether the navigation object deviates from the initial navigation route according to the navigation deviation information;

and if the navigation object deviates from the initial navigation route, replanning the navigation route.

In a possible implementation manner of the present application, the determining whether the navigation object deviates from the initial navigation route according to each piece of navigation deviation information includes:

acquiring a navigation deviation distance and a navigation deviation angle in the navigation deviation information;

determining a distance confidence coefficient and an angle confidence coefficient of each navigation positioning point according to the navigation deviation distance and the navigation deviation angle;

calculating to obtain the deviation confidence coefficient of each navigation positioning point according to the distance confidence coefficient and the angle confidence coefficient of each navigation positioning point;

and judging whether the navigation object deviates from the initial navigation route or not according to each deviation confidence coefficient.

In a possible implementation manner of the present application, the determining a distance confidence and an angle confidence for each navigation positioning point according to the navigation deviation distance and the navigation deviation angle includes:

inquiring a preset database, and acquiring a target distance range where the navigation deviation distance is located and a target angle range where the navigation deviation angle is located;

determining a target distance weight corresponding to the target distance range and a target angle weight corresponding to the target angle range;

for each navigation positioning point, calculating to obtain a distance confidence coefficient according to the target distance weight and the navigation deviation distance of the navigation positioning point;

and for each navigation positioning point, calculating to obtain an angle confidence coefficient according to the target angle weight and the navigation deviation angle of the navigation positioning point.

In a possible implementation manner of the present application, the determining whether the navigation object deviates from the initial navigation route according to each deviation confidence includes:

determining a variation trend of each deviation confidence coefficient;

and if the variation trend is that the deviation confidence degree is decreased progressively, judging that the navigation object deviates from the initial navigation route.

In a possible implementation manner of the present application, if the navigation object deviates from the initial navigation route, the replanning the navigation route includes:

acquiring a current positioning point of the navigation object and a terminal point of the initial navigation route;

inquiring a preset database, and judging whether a target navigation route comprising the current positioning point and the terminal point of the initial navigation route exists or not;

if the target navigation route exists, intercepting an unmoved route from the current positioning point to the terminal point in the target navigation route to obtain a navigation route;

and if the target navigation route does not exist, inquiring a preset road map, and extracting the shortest route from the current positioning point to the terminal point to obtain the navigation route.

In a possible implementation manner of the present application, before determining navigation deviation information corresponding to each navigation positioning point according to each navigation positioning point and the initial navigation route, the method further includes:

acquiring a current positioning point of the navigation object;

calculating a movement distance between the current location point and a starting point of the initial navigation route;

and if the movement distance is greater than a preset threshold value, executing the step of determining the navigation deviation information corresponding to each navigation positioning point.

In a possible implementation manner of the present application, the determining navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and each navigation positioning point includes:

acquiring an actual movement direction corresponding to each navigation positioning point, and a standard navigation point and a standard movement direction corresponding to each navigation positioning point in a preset initial navigation route;

for each navigation positioning point, calculating the distance between the navigation positioning point and a standard navigation point corresponding to the navigation positioning point to obtain a navigation deviation distance;

and for each navigation positioning point, calculating the angle difference between the actual movement direction of the navigation positioning point and the standard movement direction corresponding to the navigation positioning point to obtain a navigation deviation angle.

In a second aspect, the present application provides a deviation correcting device for a navigation route, comprising:

the acquisition unit is used for acquiring at least two navigation positioning points of the navigation object;

the determining unit is used for determining navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and each navigation positioning point;

the judging unit is used for judging whether the navigation object deviates from the initial navigation route according to the navigation deviation information;

and the planning unit is used for replanning the navigation route if the navigation object deviates from the initial navigation route.

In a possible implementation manner of the present application, the determining unit is specifically configured to:

querying a preset database to obtain a target distance range where the navigation deviation distance is located and a target angle range where the navigation deviation angle is located;

determining a variation trend of each deviation confidence coefficient;

and if the variation trend is that the deviation confidence coefficient is decreased, judging that the navigation object deviates from the initial navigation route.

In a possible implementation manner of the present application, the planning unit is specifically configured to:

if the target navigation route does not exist, inquiring a preset road map, and extracting the shortest route from the current positioning point to the terminal point to obtain the navigation route.

In a possible implementation manner of the present application, the navigation route correcting device further includes a calculating unit, where the calculating unit is specifically configured to:

acquiring a current positioning point of the navigation object;

and for each navigation positioning point, calculating the angle difference between the actual motion direction of the navigation positioning point and the standard motion direction corresponding to the navigation positioning point to obtain a navigation deviation angle.

In a third aspect, the present application further provides a navigation route correction device, where the navigation route correction device includes a processor and a memory, where the memory stores a computer program, and the processor executes any of the steps in the navigation route correction method provided in the present application when calling the computer program in the memory.

In a fourth aspect, the present application further provides a computer storage medium, on which a computer program is stored, where the computer program is loaded by a processor to execute the steps in the navigation route correction method.

In summary, the present application includes: acquiring at least two navigation positioning points of a navigation object; determining navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and each navigation positioning point; judging whether the navigation object deviates from the initial navigation route according to the navigation deviation information; and if the navigation object deviates from the initial navigation route, replanning the navigation route. Therefore, the scheme in the application judges whether the navigation object deviates from the initial navigation route according to the navigation deviation information of at least two navigation positioning points, and even if the navigation deviation information of one navigation positioning point fluctuates, the judgment on whether the navigation object deviates from the initial navigation route cannot be influenced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of an application scenario of a navigation route deviation rectifying method according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a navigation route deviation rectifying method provided in an embodiment of the present application;

FIG. 3 is a schematic flow chart of the re-planning of the navigation route provided in the embodiment of the present application

FIG. 4 is a schematic flow chart of the deviation determination according to the variation trend of the confidence coefficient of the deviation provided in the embodiment of the present application;

FIG. 5 is a schematic flow chart illustrating a process of determining whether to perform deviation rectification according to a movement distance according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of an embodiment of a navigation route deviation rectifying device provided in the embodiment of the present application;

fig. 7 is a schematic structural diagram of an embodiment of a navigation route correction device provided in the embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the embodiments of the present application, it should be understood that the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known processes have not been described in detail in order not to obscure the description of the embodiments of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in the embodiments herein.

The embodiment of the application provides a navigation route deviation rectifying method, a navigation route deviation rectifying device, navigation route deviation rectifying equipment and a computer storage medium. The navigation route deviation correcting device can be integrated in a navigation route deviation correcting device, and the navigation route deviation correcting device can be a server or a terminal.

First, before describing the embodiments of the present application, the related contents of the embodiments of the present application with respect to the application context will be described.

A navigation route correction device is generally equipped with a GPS (Global Positioning System) Positioning System. For example, the GPS positioning system may be installed in a mobile phone, a tablet, a vehicle, and the like, and the user may control the navigation route correction device through a navigation app (Application), and for example, the user may set a positioning route of the navigation route correction device through the navigation app.

The execution main body of the navigation route correction method in the embodiment of the present application may be the navigation route correction device provided in the embodiment of the present application, or different types of navigation route correction devices such as a server device, a physical host, or a User Equipment (UE) integrated with the navigation route correction device, where the navigation route correction device may be implemented in a hardware or software manner, and the UE may specifically be a terminal device such as a smart phone, a tablet computer, a notebook computer, a palm computer, a desktop computer, or a Personal Digital Assistant (PDA).

The navigation route correcting device can adopt a working mode of independent operation or a working mode of a device cluster, and by applying the navigation route correcting method provided by the embodiment of the application, even if the navigation deviation information of one navigation positioning point fluctuates, the judgment on whether a navigation object deviates from an initial navigation route is still not influenced.

Referring to fig. 1, fig. 1 is a schematic view of a scene of a navigation route correction system according to an embodiment of the present application. The navigation route deviation correcting system may include a navigation route deviation correcting apparatus 100, and a navigation route deviation correcting device is integrated in the navigation route deviation correcting apparatus 100.

In addition, as shown in fig. 1, the navigation route correcting system may further include a memory 200 for storing data, such as text data.

It should be noted that the scene schematic diagram of the navigation route correction system shown in fig. 1 is only an example, and the navigation route correction system and the scene described in the embodiment of the present application are for more clearly explaining the technical solution of the embodiment of the present application, and do not form a limitation on the technical solution provided in the embodiment of the present application.

In the following, a navigation route correction method provided in the embodiment of the present application is described, in the embodiment of the present application, a navigation route correction device is used as an execution main body, and for simplicity and convenience of description, the execution main body will be omitted in the subsequent method embodiments.

Referring to fig. 2, fig. 2 is a schematic flow chart of a navigation route deviation rectifying method according to an embodiment of the present application. It should be noted that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in an order different from that shown or described herein. The navigation route correcting method specifically comprises the following steps 201 to 204, wherein:

201. and acquiring at least two navigation positioning points of the navigation object.

The navigation object may be any device loaded with a GPS positioning system. The navigation object may be a vehicle equipped with a GPS positioning system, or may be a mobile phone terminal equipped with a GPS positioning system. For example, the navigation object may be a logistics transportation vehicle loaded with a GPS positioning system. The GPS positioning satellite may acquire information of the logistics transportation vehicle, then obtain parameters such as a position of the logistics transportation vehicle, a time at the position, a movement speed and a movement direction at the position, and send the obtained parameters to the GPS positioning system. Since the user moves together with an object such as a device, a terminal, or a server in some scenarios, for example, in the case where the user holds a mobile phone terminal equipped with a GPS positioning system, or the driver drives a logistics transportation vehicle equipped with a GPS positioning system, the user or the driver can also be understood as a navigation object.

The navigation positioning point is a positioning point determined by the navigation route correction equipment according to the acquired information of the navigation object. For example, the navigation positioning point may be a positioning point formed in the visual map after the navigation route correction device collects the information of the navigation object. For example, the navigation positioning point may be a positioning point formed in a visual map of a certain navigation app after the navigation route correction device collects information of a traveling vehicle loaded with the object subsystem. A navigation positioning point contains information of a navigation object acquired by a GPS satellite at an acquisition time. For example, in a navigation positioning point, the position of the navigation object, the time at the position, the movement speed and the movement direction at the position, and other parameters may be included. The navigation route deviation correcting equipment can obtain information such as the motion state of the navigation object by analyzing the navigation positioning point.

The navigation positioning point acquired by the navigation route deviation rectifying device can be a navigation positioning point at any sampling moment. For example, the navigation route correcting device may acquire the positioning point formed at the latest sampling time as one of the navigation positioning points, and then acquire an arbitrary number of positioning points among the remaining positioning points as the navigation positioning points. The positioning point formed at the latest sampling moment is used as one of the navigation positioning points, so that the real-time information of the navigation object can be acquired, and whether the navigation object drifts or not can be judged in real time. In order to improve the accuracy rate of deviation judgment, the navigation route deviation rectifying device can also obtain at least two navigation positioning points with continuous sampling moments. For example, the navigation route deviation rectifying device may acquire the positioning point formed at the latest sampling time as one of the navigation positioning points a, and then acquire at least one navigation positioning point having a sampling time continuous with the sampling time of the navigation positioning point a from the remaining positioning points.

202. And determining navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and each navigation positioning point.

The initial navigation route is formed by the navigation route correction device according to a starting point and an end point set by a user. For example, the user may open an app for navigation for controlling the object subsystem before navigation starts, input a start point and an end point in the app for navigation, and the navigation route correction device may plan an initial navigation route according to the start point and the end point. For example, a user can open a navigation function in the app "XX map" for navigation, and then input the starting point "shenzhen" and the ending point "guangzhou", and the navigation route rectification device can plan an initial navigation route with the starting point being shenzhen and the ending point being guangzhou. In the initial navigation route, an estimated time for the user to reach each location in the route may be included. For example, for the initial navigation route with Shenzhen as the starting point and Guangzhou as the ending point, position A in the initial navigation route may correspond to estimated time of arrival 13.

Wherein the navigation deviation information may include at least one of a deviation distance and a deviation angle. Illustratively, the navigation deviation information may be a deviation distance. When the navigation deviation information is the deviation distance, the navigation route deviation correcting device may calculate the navigation deviation information by: the navigation route correcting device obtains the positioning time of each navigation positioning point, then obtains the standard navigation point corresponding to each positioning time in the initial navigation route, further obtains the standard navigation point corresponding to each navigation positioning point, and can determine the navigation deviation information corresponding to each navigation positioning point by calculating the straight-line distance between each navigation positioning point and the corresponding standard navigation point, namely the navigation deviation distance.

On the other hand, the navigation deviation information may be a deviation angle. When the navigation deviation information is a deviation angle, taking a navigation positioning point a as an example, the navigation route deviation rectifying device may calculate the navigation deviation information by the following method: the navigation route deviation rectifying device obtains a navigation positioning point A and a nearest positioning point B before the navigation positioning point, and determines the actual movement direction of the navigation object when the navigation object is at the navigation positioning point A according to the position relationship of the two positioning points, for example, the direction pointing to A from B can be used as the actual movement direction of the navigation object when the navigation object is at the navigation positioning point A. The navigation route deviation correcting device obtains the navigation deviation information according to the calculated actual movement direction and the standard movement direction corresponding to the positioning time of the navigation positioning point a in the initial navigation route, and the calculation method for calculating the standard movement direction corresponding to the positioning time of the navigation positioning point a in the initial navigation route can refer to the calculation method for calculating the actual movement direction when the navigation object is positioned at a, and details are not repeated.

Further, the navigation deviation information may also include a deviation distance and a deviation angle at the same time, which is not described in detail.

203. And judging whether the navigation object deviates from the initial navigation route or not according to the navigation deviation information.

The navigation route deviation correcting device may determine whether the navigation object deviates from the initial navigation route in various ways. For example, the navigation route deviation correcting device may respectively subtract the navigation deviation information of the plurality of navigation positioning points from the preset standard deviation information to obtain a plurality of difference values, and then the navigation route deviation correcting device compares the obtained plurality of difference values with a preset deviation threshold value, where the deviation threshold value is used to evaluate whether the difference value between the navigation deviation information exceeds the normal fluctuation range. For example, when the navigation deviation information includes a deviation angle, the navigation route deviation correcting device may respectively make a difference between the deviation angle of the navigation positioning point a and the deviation angle of the navigation positioning point B and a preset standard angle deviation to obtain two angle differences, then respectively compare the two angle differences with a preset angle difference threshold, and if both the two angle differences are greater than the angle difference threshold, it is indicated that the deviation angle between the movement route of the navigation object and the initial navigation route is relatively large, so that it may be inferred that the navigation object deviates from the initial navigation route. For the case when the navigation deviation information includes the deviation distance, the deviation distance of the navigation positioning point a and the deviation distance of the navigation positioning point B may be respectively subtracted from the preset standard deviation distance to obtain two distance differences, and then the judgment is performed according to the distance difference and the preset distance difference threshold.

In addition, the navigation route correcting equipment can also calculate the confidence degrees of different navigation positioning points according to the navigation deviation information and judge whether the navigation object deviates according to the confidence degree. For the condition that the navigation deviation information simultaneously comprises the deviation angle and the deviation distance, the method for calculating the confidence coefficient can fuse the deviation angle and the deviation distance instead of respectively comparing the deviation angle and the deviation distance, so the judgment precision is higher.

For example, the navigation route deviation correcting device may respectively assign fixed weights to the deviation angle and the deviation distance, then calculate a confidence level of each navigation positioning point according to the weights, compare each confidence level with a preset confidence level threshold, if a confidence level greater than or equal to the preset confidence level threshold exists in each confidence level, it may be determined that the navigation positioning point does not deviate from the initial navigation route, and the reason that the calculated confidence level of a part of the navigation positioning points is less than the confidence level threshold may be the reason of poor signal. If each confidence is less than the confidence of the confidence threshold, the navigation positioning point can be judged to deviate from the initial navigation route.

For convenience of understanding, in this embodiment, a specific scenario for determining whether the navigation object deviates from the initial navigation route according to the confidence is provided, and step 203 includes:

(1) And acquiring a navigation deviation distance and a navigation deviation angle in the navigation deviation information.

The method for acquiring the navigation deviation distance and the navigation deviation angle may refer to the method for acquiring the deviation angle and the deviation distance in step 202, which is not described herein in detail.

(2) And determining the distance confidence coefficient and the angle confidence coefficient of each navigation positioning point according to the navigation deviation distance and the navigation deviation angle.

(3) And calculating the deviation confidence coefficient of each navigation positioning point according to the distance confidence coefficient and the angle confidence coefficient of each navigation positioning point.

The distance confidence coefficient refers to the confidence coefficient calculated by the navigation route deviation rectifying equipment according to the navigation deviation distance. For example, the navigation route deviation correcting device may give a fixed weight to the navigation deviation distance, and then calculate the distance confidence of the navigation positioning point. The distance confidence can be calculated, for example, by the formula in equation (1):

wherein, delta ₁ As distance confidence, λ ₁ And delta d is the weight corresponding to the navigation deviation distance.

The advantage of calculating the distance confidence by equation (1) is that when Δ d is larger than 100, i.e. the distance difference between the location point of the navigation object and the corresponding location point in the initial navigation route exceeds a distance threshold, the navigation route deviation correcting device calculates δ ₁ Is negative, so delta is calculated compared to directly using deltad ₁ The method of formula (1) is more sensitive to the case of large deviation。

For the navigation deviation angle, the navigation route deviation correcting device can also give a fixed weight to the navigation deviation angle, and then calculate the angle confidence of the navigation positioning point. The angle confidence can be calculated, for example, by the formula in equation (2):

δ ₂ ＝λ ₂ * cos (. DELTA.theta.) formula (2)

Wherein, delta ₂ As angular confidence, λ ₂ And delta theta is the weight corresponding to the navigation deviation angle.

The benefit of calculating the angular confidence by equation (2) is that when Δ θ is greater than 90 °, i.e. the anchor point of the navigation object makes an abnormal sharp turn greater than 90 °, if λ ₂ Set to positive, delta calculated by the navigation route correction device ₂ For negative numbers, delta is calculated compared with delta theta or sin (theta) directly ₂ The method of equation (2) is more sensitive to the determination of abnormal sharp turns.

And (3) calculating the formula (1) and the formula (2) according to a certain preset rule to obtain the deviation confidence coefficient of the navigation positioning point. One of the simplest methods is to add equations (1) and (2), i.e., the distance confidence and the angle confidence, to obtain the deviation confidence. As shown in formula (3):

it can be seen that when the navigation deviation angles are the same, the smaller the navigation deviation distance is, the greater the deviation confidence degree calculated by the formula (3) is. When the navigation deviation difference is the same, the smaller the navigation deviation angle is, the larger the deviation confidence coefficient obtained by calculation of the formula (3) is. Therefore, the navigation route deviation correcting equipment can obtain the deviation confidence coefficient capable of representing the deviation condition of the navigation object through the calculation formula shown in the formula (3).

In addition, the navigation route correcting equipment can also respectively determine respective weights according to respective ranges of the navigation deviation distance and the navigation deviation angle. At this time, the determining a distance confidence and an angle confidence for each navigation positioning point according to the navigation deviation distance and the navigation deviation angle includes:

(A) And querying a preset database, and acquiring a target distance range where the navigation deviation distance is located and a target angle range where the navigation deviation angle is located.

In the preset database, a plurality of distance ranges and a plurality of angle ranges are preset. The navigation route deviation correcting device may acquire a distance range within which the navigation deviation distance falls to obtain a target distance range, and acquire an angle range within which the navigation deviation angle falls to obtain a target angle range. For example, the following distance ranges may be preset in the preset database: [ 0-5 m ], (5-10 m ], (10-15 m ] \8230; 8230; the angle range is the same.

Different corresponding weights may be preset for each distance range, for example, 0.8 is set as the corresponding weight for [0 m-5 m ], and 0.7 is set as the corresponding weight for (5 m-10 m ], and the reason why the corresponding weight set for the distance range is decreased is that the larger the deviation distance is, the more likely the navigation object is to deviate from the initial navigation route, so that it is necessary to improve the sensitivity of the judgment, that is, to reduce the confidence of the calculation for the same navigation deviation information.

When setting a plurality of distance ranges and a plurality of angle ranges, the navigation route correction device can set corresponding weights for each range according to the historical deviation condition of the navigation object, so as to adaptively set the corresponding weights and improve the accuracy of deviation judgment. The corresponding weight for each range may be determined, for example, according to the following steps:

(1A) The navigation route deviation correcting equipment reads historical data to obtain a plurality of historical deviation distances and a plurality of historical deviation angles. In order to reduce the calculation amount of the subsequent steps, the navigation route correcting device can only read the historical data in a period of time, for example, the historical data in a month can be only read to obtain a plurality of historical deviation distances and a plurality of historical deviation angles in the month.

(2A) The navigation route deviation correcting equipment classifies the plurality of historical deviation distances and the plurality of historical deviation angles respectively according to a certain rule to obtain a plurality of distance sets and a plurality of angle sets. Illustratively, the navigation route correcting device classifies the historical deviation distance and the historical deviation angle according to a preset distance interval and a preset angle interval, respectively. For example, historical deviation distances between 0 meter and 5 meters can be divided into a set, historical deviation distances between 5 meters and 10 meters can be divided into a set of \8230; \8230, and the same principle is applied to historical deviation angles to obtain a plurality of distance sets and a plurality of angle sets. Or clustering the historical deviation distance and the historical deviation angle respectively to obtain a plurality of distance sets and a plurality of angle sets.

(3A) And the navigation route deviation correcting equipment counts the historical deviation distance number contained in each distance set and the historical deviation angle number contained in each angle set. For example, when there are 3 historical deviation distances from 0 meter to 5 meters, the number of historical deviation distances included in a distance set from 0 meter to 5 meters counted by the navigation route deviation correcting device is 3, and the number of historical deviation angles is the same.

(4A) And (3) determining the weight corresponding to each distance set by the navigation route deviation rectifying equipment according to the historical deviation distance number contained in each distance set and the total historical deviation distance number read in the step (1A). For example, the value of the number of historical deviation distances/the total number of historical deviation distances may be used as the weight of the distance set corresponding to the number of historical deviation distances. The weights of the angle sets are the same. Since the smaller the number of historical deviation distances, the smaller the number of times of calculation, and the smaller the number of events to which the navigation target yaw belongs than the case of not yawing, the smaller the number of historical deviation distances corresponding to the distance set, the more likely it is that the navigation target yaw falls within the distance set. The angle set is the same. Therefore, by means of the weight determination mode, the navigation route rectifying device can determine the weight corresponding to each set more intelligently.

(B) And determining the target distance weight corresponding to the target distance range and the target angle weight corresponding to the target angle range.

After the navigation route deviation correcting device obtains the target distance range and the target angle range, weights corresponding to the target distance range and the target angle range, namely the target distance weight and the target angle weight, can be obtained. Continuing with the example in step (A), if the target distance range is (5 m-10 m ], the target distance weight is 0.7 corresponding to (5 m-10 m ], and the target angle weight is the same.

(C) And for each navigation positioning point, calculating to obtain a distance confidence coefficient according to the target distance weight and the navigation deviation distance of the navigation positioning point.

After the navigation route correction device obtains the target distance weight, the distance confidence can be calculated according to any method in step 203.

(D) And for each navigation positioning point, calculating to obtain an angle confidence coefficient according to the target angle weight and the navigation deviation angle of the navigation positioning point.

After the navigation route correction device obtains the target angle weight, the angle confidence can be calculated according to any method in step 203.

Besides determining the corresponding weight according to the respective ranges of the navigation deviation distance and the navigation deviation angle, the corresponding weight can also be determined according to the time when the navigation object moves. The reason is that as the movement time increases, the navigation object, for example, is more likely to deviate from the initial navigation route due to fatigue or the like. Therefore, the navigation route correcting device can also preset a plurality of time ranges, and determines corresponding angle weight and distance weight for each time range. After obtaining the movement time, the navigation route correction device may determine a target time range within which the movement time falls, and then obtain a target angle weight and a target distance weight corresponding to the target time range to calculate a distance confidence and an angle confidence, respectively.

(4) And judging whether the navigation object deviates from the initial navigation route or not according to each deviation confidence.

The navigation route deviation correcting device may compare the deviation confidence of each navigation positioning point with a preset confidence threshold as described above to determine whether the navigation object deviates from the initial navigation route.

If the deviation is determined by comparison with the confidence threshold, the greater the weight, the greater the calculated confidence when the navigation deviation information is the same, that is, the lower the sensitivity to the determination deviation, in equation (3). For example, if the weight corresponding to the navigation deviation distance is increased, the navigation object determined to be deviated before the increase may be determined not to be deviated after the weight is increased, and thus the specific value of the weight needs to be determined according to the actual situation.

Illustratively, different weights may be set according to the region in which the navigation object is located. For example, when the navigation target is in a low-signal region where there are many obstacles, such as a high-rise building or a mountain area, the calculated deviation confidence may often be small because the signal is not good. Therefore, the weight can be set to be large, for example, λ can be set when calculating the confidence of the deviation by equation (3) ₁ And λ ₂ Set to a value greater than 1, e.g. λ ₁ Is 2, λ ₂ 4, so as to reduce the sensitivity of judging deviation and increase the tolerance. For high signal area with good signal and no signal defect, λ can be adjusted ₁ And λ ₂ Set to a value less than 1, e.g. λ ₁ Is 0.7, λ ₂ 0,4, to improve the sensitivity of judgment of deviation, so that the deviation judgment is not missed.

Further, the navigation route correcting device may correct λ ₁ And λ ₂ Making a correlation, e.g. with ₂ Is set to be 1-lambda ₁ In this case, formula (3) is:

by such a setting rule, even if the weights need to be changed in the deviation determination process, only one of the weights needs to be reset to change the other weight at the same time. And since high signal regions are more prevalent than low signal regions, λ will typically be ₁ And λ ₂ Set to a value less than 1. Thus, as long as the reset weight is less than 1, it is also ensured that another weight is less than 1, λ ₁ And λ ₂ The values are kept at low values, and the judgment sensitivity of deviation of the navigation object in a high signal area is not influenced.

It should be noted that, although the description is made in the above to first obtain at least two navigation positioning points and then calculate the deviation confidence according to the navigation deviation information of the navigation positioning points, the calculation order in the embodiment of the present application is not limited by the described order. The navigation route correcting device can also calculate the confidence coefficient of each navigation positioning point when each navigation positioning point is obtained by sampling, so that when the navigation route correcting device performs deviation judgment, the calculated confidence coefficient is only read for judgment, and the confidence coefficient of each navigation positioning point does not need to be recalculated. Therefore, the method in the embodiment of the application has a higher judgment speed compared with other deviation judgment methods.

204. And if the navigation object deviates from the initial navigation route, replanning the navigation route.

When the navigation route deviation rectifying device judges that the navigation object deviates from the initial navigation route, a prompt tone can be sent to prompt the navigation object that the navigation object deviates currently, and the navigation object is informed that the navigation route deviation rectifying device can replan the navigation route. For example, when the navigation object is a vehicle loaded with the app for navigation, the navigation route correction device may emit a warning sound "the current travel distance has deviated and the route has been re-planned" through the app for navigation.

To sum up, the embodiment of the present application includes: acquiring at least two navigation positioning points of a navigation object; determining navigation deviation information corresponding to each navigation positioning point according to a preset initial navigation route and each navigation positioning point; judging whether the navigation object deviates from the initial navigation route or not according to each navigation deviation information; and if the navigation object deviates from the initial navigation route, replanning the navigation route. Therefore, the scheme in the embodiment of the application judges whether the navigation object deviates from the initial navigation route according to the navigation deviation information of the at least two navigation positioning points, and compared with a method for judging according to the data of only one navigation positioning point, the method is higher in precision and lower in misjudgment probability.

After the navigation route deviation rectifying device judges that the navigation object deviates from the initial navigation route, the navigation route can be re-planned according to the position of the navigation object and the end point of the initial navigation route. Referring to fig. 3, at this time, if the navigation object deviates from the initial navigation route, the re-planning the navigation route includes:

301. and acquiring the current positioning point of the navigation object and the terminal point of the initial navigation route.

The current positioning point refers to a positioning point of a navigation object when the navigation route is planned again. For example, the navigation route correction device may read the storage space or the cloud server, and use the positioning point with the latest positioning time as the current positioning point. For example, the navigation route correction device 16:01: and 30, replanning the navigation route, wherein the positioning point with the latest positioning time is the positioning point obtained by the navigation route correcting device when the positioning point is 16. On the other hand, the navigation route correction device can directly read historical input data of the user to obtain the end point of the initial navigation route.

302. And querying a preset database, and judging whether a target navigation route comprising the current positioning point and the end point of the initial navigation route exists or not.

303A, if the target navigation route exists, intercepting an unmoved route from the current positioning point to the terminal point in the target navigation route to obtain a navigation route.

The preset database of the navigation route correction device usually stores a plurality of navigation routes commonly used by users, so as to avoid re-planning the route for the same starting point and end point each time. Therefore, when the navigation route correcting device plans the route again, whether a target navigation route passing through the current positioning point and the terminal point simultaneously exists in the preset database or not can be firstly inquired, and if the target navigation route is stored in the preset database, the navigation route correcting device can directly take the route from the current positioning point to the terminal point in the target navigation route as the re-planned navigation route so as to reduce the operation amount. If a plurality of navigation routes passing through the current positioning point and the terminal point at the same time are stored in the preset database, the navigation route deviation correcting device can acquire the positioning time corresponding to each terminal point in each navigation route to obtain the estimated arrival time of the terminal point, and then extracts the navigation route with the earliest estimated arrival time from the plurality of navigation routes as the target navigation route.

303B, if the target navigation route does not exist, querying a preset road map, and extracting the shortest route from the current positioning point to the end point to obtain the navigation route.

If the navigation route deviation correcting device does not find the target navigation route in the preset database, the navigation route needs to be recalculated according to the positioning position of the current positioning point and the positioning position of the terminal point. In order to reduce the movement time of the navigation object, the navigation route correction device can inquire a preset road map, calculate all possible routes from a current positioning point to a terminal point, and then extract a route with the shortest route from the possible routes as a re-planned navigation route. In addition, the estimated time of the navigation object reaching the terminal point can be calculated while the possible routes are calculated, and the route with the shortest estimated time in all the possible routes is extracted as the re-planned navigation route.

The method for judging whether the navigation object deviates from the initial navigation route by comparing the deviation confidence with the confidence threshold may judge the normal motion state which does not deviate from the initial navigation route as deviation due to reasons such as unreasonable setting of the confidence threshold, and therefore, in order to improve the accuracy of judgment, deviation can be judged according to the variation trend of a plurality of deviation confidences. Referring to fig. 4, at this time, the determining whether the navigation object deviates from the initial navigation route according to each deviation confidence degree includes:

401. and determining the variation trend of each deviation confidence coefficient.

The variation trend refers to a variation trend along with the positioning time after the deviation confidence coefficients are sequenced according to the positioning time of the corresponding navigation positioning points. For example, for 3 navigation positioning points with positioning times of 16 00,16, 01 and 16.

402. And if the variation trend is that the deviation confidence coefficient is decreased, judging that the navigation object deviates from the initial navigation route.

If the variation trend is that the deviation confidence degree is decreased, the deviation situation of the navigation object and the initial navigation route is more and more serious, the reason of poor signals can be eliminated, and the navigation object is judged to deviate from the initial navigation route.

It should be noted that, if the method from step 401 to step 402 is adopted to determine whether the navigation object deviates, the quantity of deviation confidence degrees adopted in the determination is not too large or too small, that is, the quantity of navigation positioning points used as the determination reference is not too large or too small.

If the deviation confidence level is too much, the deviation confidence level when the navigation object normally moves may be included in the deviation confidence level, and the deviation of the navigation route correcting device may be mistakenly judged as not deviated due to fluctuation generated by the deviation confidence level when the navigation object normally moves. For example, if the deviation rectifying device for the navigation route is judged according to 10 deviation confidences, the 10 deviation confidences are respectively as follows: 10,11,8,9,6,5,4,3,2,1. For the navigation positioning points with deviation confidence degrees of 10,11,8 and 9 respectively, the navigation object is in a normal motion state without deviating from the initial navigation route. And for the navigation positioning points with the deviation confidence degrees of 6,5,4,3,2,1 respectively, the navigation object actually deviates from the initial navigation route. Because the deviation confidence does not show a decreasing change trend, the navigation route deviation rectifying device judges that deviation does not occur, and therefore if the quantity of the adopted deviation confidence is excessive during judgment, misjudgment can be caused.

If the deviation confidence is too small, the low-level confidence fluctuation can cause the navigation route correction device to generate misjudgment.

In summary, in order to accurately judge and identify the deviation, an appropriate deviation confidence number needs to be adopted, for example, 5 consecutive deviation confidence levels can be adopted to judge whether the navigation object deviates from the initial navigation route.

If the navigation object is a vehicle loaded with an object subsystem, the vehicle may need to turn around or back when just started, and a certain deviation may be generated from the initial navigation route, so that the navigation deviation information calculated by the navigation route deviation correcting device may meet the deviation determination condition. However, if the navigation route correction device determines that the situation is deviated, a large amount of route re-planning is performed, and if the amount is too large, the navigation route correction device may be stuck. For example, when a vehicle backs, the driving direction changes continuously due to the need of continuously correcting the directions of the head and the tail of the vehicle, and if the driver opens the navigation app at the moment, the navigation route correction device continuously performs route planning again, and continuously switches the route in the visual map of the navigation app. If the navigation app has the function of prompting sound, the navigation route correction device can continuously prompt that the driver deviates from the initial navigation route through the navigation app, so that the normal operation of the driver is influenced.

Therefore, the navigation route correction device can judge whether to correct the deviation according to the moved distance. Referring to fig. 5, before determining the navigation deviation information corresponding to each navigation positioning point according to each navigation positioning point and the initial navigation route, the method further includes:

501. and acquiring the current positioning point of the navigation object.

The explanation of the current anchor point may refer to the explanation in step 301, which is not described herein.

502. Calculating a movement distance between the current location point and a start point of the initial navigation route.

The navigation route deviation correcting device may read an input history of a user to obtain a start point of an initial navigation route, and then calculate a linear distance between the current positioning point and the start point according to the positioning position of the current positioning point and the positioning position of the start point to obtain a movement distance.

503. And if the movement distance is greater than a preset threshold value, executing the step of determining the navigation deviation information corresponding to each navigation positioning point.

If the movement distance is larger than the preset threshold value, the navigation object is not in the state of starting to move, so that the step of determining the navigation deviation information of each navigation positioning point to the drink can be executed.

If the movement distance is less than or equal to the preset threshold value, the navigation object is in a state of starting to move, and at the moment, if the step of determining the navigation deviation information corresponding to each navigation positioning point is executed, the navigation route correcting device may wrongly judge the non-deviation condition as the deviation.

In order to better implement the navigation route deviation correcting method in the embodiment of the present application, on the basis of the navigation route deviation correcting method, an embodiment of the present application further provides a navigation route deviation correcting device, as shown in fig. 6, which is a schematic structural diagram of an embodiment of the navigation route deviation correcting device in the embodiment of the present application, and the navigation route deviation correcting device 600 includes:

an obtaining unit 601, configured to obtain at least two navigation positioning points of a navigation object;

a determining unit 602, configured to determine, according to a preset initial navigation route and each navigation positioning point, navigation deviation information corresponding to each navigation positioning point;

a determining unit 603, configured to determine whether the navigation object deviates from the initial navigation route according to each navigation deviation information;

a planning unit 604, configured to re-plan the navigation route if the navigation object deviates from the initial navigation route.

In a possible implementation manner of the present application, the determining unit 603 is specifically configured to:

determining a variation trend of each deviation confidence coefficient;

In a possible implementation manner of the present application, the planning unit 604 is specifically configured to:

inquiring a preset database, and judging whether a target navigation route comprising the current positioning point and the end point of the initial navigation route exists or not;

In a possible implementation manner of the present application, the navigation route correcting device 600 further includes a calculating unit 605, where the calculating unit 605 is specifically configured to:

acquiring a current positioning point of the navigation object;

In a possible implementation manner of the present application, the determining unit 602 is specifically configured to:

In a specific implementation, the above units may be implemented as independent entities, or may be combined arbitrarily to be implemented as the same or several entities, and the specific implementation of the above units may refer to the foregoing method embodiments, which are not described herein again.

Since the navigation route deviation correcting device can execute the steps of the navigation route deviation correcting method in any embodiment corresponding to fig. 1 to 5, the beneficial effects that can be realized by the navigation route deviation correcting method in any embodiment corresponding to fig. 1 to 5 can be realized, and the detailed description is omitted here.

In addition, in order to better implement the navigation route deviation correcting method in the embodiment of the present application, based on the navigation route deviation correcting method, the embodiment of the present application further provides a navigation route deviation correcting device, referring to fig. 7, fig. 7 shows a schematic structural diagram of the navigation route deviation correcting device in the embodiment of the present application, specifically, the navigation route deviation correcting device in the embodiment of the present application includes a processor 701, and the processor 701 is configured to implement each step of the navigation route deviation correcting method in any embodiment corresponding to fig. 1 to 5 when executing the computer program stored in the memory 702; alternatively, the processor 701 is configured to implement the functions of the units in the corresponding embodiment of fig. 7 when executing the computer program stored in the memory 702.

Illustratively, a computer program may be partitioned into one or more modules/units, which are stored in the memory 702 and executed by the processor 701 to implement embodiments of the present application. One or more modules/units may be a series of computer program instruction segments capable of performing certain functions, the instruction segments being used to describe the execution of a computer program in a computer device.

The navigation route correction device may include, but is not limited to, a processor 701 and a memory 702. It will be understood by those skilled in the art that the illustration is merely an example of the navigation route correction device, and does not constitute a limitation on the navigation route correction device, and may include more or less components than those shown, or some components may be combined, or different components may be included, for example, the electronic device may further include an input/output device, a network access device, a bus, etc., and the processor 701, the memory 702, the input/output device, the network access device, etc., are connected through the bus.

The Processor 701 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor is a control center of the navigation route correction device, and various interfaces and routes are utilized to connect various parts of the whole navigation route correction device.

The memory 702 may be used to store computer programs and/or modules, and the processor 701 implements various functions of the computer apparatus by running or executing the computer programs and/or modules stored in the memory 702 and invoking data stored in the memory 702. The memory 702 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, video data, etc.) created according to the use of the navigation route correction apparatus, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the navigation route correcting device, the navigation route correcting device and the corresponding units thereof described above may refer to the description of the navigation route correcting method in any embodiment corresponding to fig. 1 to 5, and are not repeated herein.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer storage medium and loaded and executed by a processor.

Therefore, the embodiment of the present application provides a computer storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps in the navigation route correction method in any embodiment corresponding to fig. 1 to 5 of the present application, and for specific operations, reference may be made to the description of the navigation route correction method in any embodiment corresponding to fig. 1 to 5, which is not repeated herein.

Wherein the computer storage medium may include: read Only Memory (ROM), random Access Memory (RAM), magnetic or optical disks, and the like.

Because the instructions stored in the computer storage medium can execute the steps in the navigation route correction method in any embodiment corresponding to fig. 1 to 5, the beneficial effects that can be achieved by the navigation route correction method in any embodiment corresponding to fig. 1 to 5 can be achieved, and the detailed description is omitted here for the sake of detail.

The navigation route deviation rectifying method, the navigation route deviation rectifying device, the navigation route deviation rectifying equipment and the computer storage medium provided by the embodiment of the application are introduced in detail, a specific example is applied in the text to explain the principle and the implementation mode of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A method for rectifying deviation of a navigation route, the method comprising:

acquiring at least two navigation positioning points of a navigation object;

judging whether the navigation object deviates from the initial navigation route or not according to each navigation deviation information;

2. The navigation route deviation rectifying method according to claim 1, wherein the determining whether the navigation object deviates from the initial navigation route according to each navigation deviation information includes:

3. The navigation route deviation rectifying method according to claim 2, wherein the determining a distance confidence and an angle confidence for each navigation positioning point according to the navigation deviation distance and the navigation deviation angle comprises:

4. The method for rectifying deviation of a navigation route according to claim 2, wherein said determining whether the navigation object deviates from the initial navigation route according to each of the deviation confidences comprises:

determining a variation trend of each deviation confidence coefficient;

5. The method for rectifying deviation of a navigation route according to claim 1, wherein the re-planning of the navigation route if the navigation object deviates from the initial navigation route comprises:

6. The method for rectifying the deviation of the navigation route according to claim 1, wherein before determining the navigation deviation information corresponding to each navigation positioning point according to each navigation positioning point and the initial navigation route, the method further comprises:

acquiring a current positioning point of the navigation object;

7. The method for rectifying the deviation of the navigation route according to any one of claims 1 to 6, wherein the determining the navigation deviation information corresponding to each navigation positioning point according to the preset initial navigation route and each navigation positioning point comprises:

8. A navigation route correcting device, comprising:

the navigation system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring at least two navigation positioning points of a navigation object;

and the planning unit is used for re-planning the navigation route if the navigation object deviates from the initial navigation route.

9. A navigation route correction apparatus comprising a processor and a memory, the memory storing a computer program therein, the processor executing the navigation route correction method according to any one of claims 1 to 7 when calling the computer program in the memory.

10. A computer storage medium having a computer program stored thereon, the computer program being loaded by a processor to perform the steps of the navigation route correction method according to any one of claims 1 to 7.