CN116753976B - Walking navigation method and device - Google Patents
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- CN116753976B CN116753976B CN202311040847.8A CN202311040847A CN116753976B CN 116753976 B CN116753976 B CN 116753976B CN 202311040847 A CN202311040847 A CN 202311040847A CN 116753976 B CN116753976 B CN 116753976B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000011664 signaling Effects 0.000 claims abstract description 56
- 230000006399 behavior Effects 0.000 claims abstract description 23
- 238000004590 computer program Methods 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
Abstract
The invention discloses a walking navigation method and device, and relates to the technical field of computers. The method comprises the following steps: determining whether the user has a trip behavior based on signaling data of the user; when the user has traveling behaviors, determining whether the traveling mode of the user is walking or not based on the signaling data; when the travel mode of the user is walking, determining the walking track of the user based on the signaling data; overlapping walking tracks of a plurality of users to obtain a walkable region; identifying an unhooking area within the target area based on map data of the target area; acquiring a starting point and an ending point of walking of a current user; generating a walking navigation path for the current user based on the starting point, the ending point, the undetermined area and the walkable area; determining the walking track of the current user based on the signaling data of the current user; based on the current user's walking track and walking navigation path, the area in the pending area is updated to a walkable or non-walkable area. This embodiment can improve walking navigation accuracy.
Description
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a walking navigation method and apparatus.
Background
With the popularization of smart phones and mobile Internet, navigation services based on mobile phone positioning provide great convenience for people to travel.
Currently, map data on which walking navigation depends is updated mainly based on manual feedback, for example, a road is provided with a roadblock, and a passer-by feeds the information back to a navigation service provider, and the navigation service provider updates the map data.
However, the information updating of the method is delayed, so that the navigation path is wrong, and the travel of passers-by is influenced.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a walking navigation method and apparatus, which can improve the accuracy of walking navigation.
In a first aspect, an embodiment of the present invention provides a walking navigation method, including:
acquiring signaling data of a plurality of users in a target area;
determining whether the user has a trip behavior based on the signaling data of the user;
when the user has traveling behaviors, determining whether the traveling mode of the user is walking or not based on the signaling data;
when the travel mode of the user is walking, determining the walking track of the user based on the signaling data;
superposing a plurality of walking tracks of the users to obtain a walkable region;
identifying an unhooking area within the target area based on map data of the target area;
acquiring a starting point and an ending point of walking of a current user;
generating a walking navigation path for the current user based on the starting point, the ending point, the pending area and the walkable region; the target area is composed of a walkable area, an unwieldy area and the pending area;
acquiring signaling data of the current user;
determining a walking track of the current user based on the signaling data of the current user;
updating the area in the pending area to a walkable area or a non-walkable area based on the current user's walking track and the walking navigation path.
In a second aspect, an embodiment of the present invention provides a walking navigation device, including:
the identification module is configured to acquire signaling data of a plurality of users in the target area; determining whether the user has a trip behavior based on the signaling data of the user; when the user has traveling behaviors, determining whether the traveling mode of the user is walking or not based on the signaling data; when the travel mode of the user is walking, determining the walking track of the user based on the signaling data; superposing a plurality of walking tracks of the users to obtain a walkable region; identifying an unhooking area within the target area based on map data of the target area;
the navigation module is configured to acquire a starting point and an ending point of the current user walking; generating a walking navigation path for the current user based on the starting point, the ending point, the pending area and the walkable region; the target area is composed of a walkable area, an unwieldy area and the pending area;
the updating module is configured to acquire the signaling data of the current user; determining a walking track of the current user based on the signaling data of the current user; updating the area in the pending area to a walkable area or a non-walkable area based on the current user's walking track and the walking navigation path.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as described in any of the embodiments above.
In a fourth aspect, embodiments of the present invention provide a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a method as in any of the embodiments described above.
One embodiment of the above invention has the following advantages or benefits: the method comprises the steps of actively acquiring signaling data generated by a user, identifying walking tracks of the user based on the signaling data, determining a walkable region, an unworkable region and a pending region in a target region through the walking tracks of a plurality of users in the target region, providing a walking navigation path for the user based on the delimited region, and updating the region by utilizing the walking tracks generated by actual walking of the user. The embodiment of the invention can acquire the signaling data in time, does not depend on manual feedback, can reduce information updating delay and provides an accurate navigation path for a user.
Further effects of the above-described non-conventional alternatives are described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a flow chart of a walking navigation method provided by an embodiment of the present invention;
fig. 2 is a schematic diagram of a walking navigation device according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.
Description of the embodiments
Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
As shown in fig. 1, an embodiment of the present invention provides a walking navigation method, including:
step 101: signaling data of a plurality of users in a target area is acquired.
In the target area, the user can adopt the method provided by the embodiment of the invention to perform walking navigation. Step 102 is performed for any user.
Step 102: based on the signaling data of the user, determining whether the user has a trip behavior, if so, executing step 103, otherwise, terminating the current flow.
Step 103: and determining whether the travel mode of the user is walking or not based on the signaling data, if so, executing step 104, otherwise, terminating the current flow.
Step 104: a user's walking trail is determined based on the signaling data.
Step 105: the walking trails of a plurality of users are superimposed to obtain a walkable region, and an unwieldy region in the target region is identified based on map data of the target region.
The area covered by the walking tracks of the plurality of users is a walkable area, and can be specifically determined based on actual service conditions. By the image recognition algorithm, the non-walkable region such as a lawn, a motor vehicle lane, or the like in the target region can be recognized.
Step 106: and acquiring a starting point and an ending point of walking of the current user, and generating a walking navigation path for the current user based on the starting point, the ending point, the undetermined area and the walkable area.
The target area is composed of a walkable area, an unwieldy area and a pending area, and after the walkable area and the unwieldy area are determined, the other areas in the target area are pending areas. The walking navigation path is used for providing the current user with walking navigation. For areas such as closed cells which need permission to enter, prompts can be given in the navigation process.
Step 107: and acquiring signaling data of the current user, and determining the walking track of the current user based on the signaling data of the current user.
The walking track of the current user is the walking track actually generated from the starting point to the end point of the current user, and the situation that the road is temporarily provided with a roadblock and the like is considered.
Step 108: based on the current user's walking track and walking navigation path, the area in the pending area is updated to a walkable or non-walkable area.
The embodiment of the invention actively acquires the signaling data generated by the user, identifies the walking track of the user based on the signaling data, determines the walkable region, the non-walkable region and the undetermined region in the target region through the walking tracks of a plurality of users in the target region, provides a walking navigation path for the user based on the delimited region, and updates the region by utilizing the walking track generated by the actual walking of the user. The embodiment of the invention can acquire the signaling data in time, does not depend on manual feedback, can reduce information updating delay and provides an accurate navigation path for a user.
In one embodiment of the present invention, determining whether a user has a trip behavior based on signaling data of the user includes:
determining whether the user moves from the first interest point to the second interest point based on signaling data of the user, wherein the stay time between the first interest point and the second interest point is greater than a preset time threshold value, and if so, determining that the movement of the user between the first interest point and the second interest point is a trip behavior;
determining whether the travel mode of the user is walking based on the signaling data comprises the following steps:
based on the signaling data, determining whether the user meets walking conditions, and if so, determining that the traveling mode of the user is walking;
the walking conditions include: in one trip, the moving speed of the user at any moment is smaller than a preset speed threshold, the number of times that the steering angle of the user is larger than the preset angle exceeds a preset steering number threshold, and the number of times that the mobile phone of the user is switched from an idle state to a connected state is larger than a preset switching number threshold.
According to the embodiment of the invention, the primary traveling behavior is firstly identified, and whether the user walks or not is determined according to the characteristics of the primary walking behavior, so that the walking can be accurately identified, and the navigation accuracy is further improved. How to recognize the primary traveling behavior and walking can be adjusted according to the actual business requirement, for example, when the moving distance reaches a preset value in a certain time, the primary traveling behavior is considered; the user can be identified whether to walk or not based on the gait characteristics of the user, and the user can be realized through a mobile phone or a camera and other devices. The first point of interest may be the same as the second point of interest or may be different, e.g., the first point of interest and the second point of interest are each the residence of the user.
In one embodiment of the invention, the method further comprises:
dividing a target area into a plurality of grids based on map data;
generating a walking navigation path for the current user based on the start point, the end point, the pending area, and the walkable area, comprising:
based on a starting point, an ending point and a node set, generating a walking navigation path for the current user by adopting a Dijkstra algorithm;
wherein, the node set comprises: the points of intersection between the inflection points of the user's foot path and the foot path in the walkable region, and the vertices of the mesh in the pending region and the walkable region.
The size of the grid may be adjusted based on scene requirements. In the case of determining the starting point, the ending point and the intermediate node, the existing shortest path algorithm can be adopted to generate a walking navigation path, such as a Bellman-Ford algorithm, a Floyd-Warshall algorithm and the like. According to the embodiment of the invention, the target area is divided into the grids, and the path planning is performed by using the vertexes of the grids, so that the accuracy of the path planning can be improved.
In one embodiment of the present invention, updating an area in a pending area to a walkable area or a non-walkable area based on a current user's walking track and a walking navigation path includes:
when the walking navigation path passes through the area to be determined, if the walking navigation path is consistent with the walking track of the current user, updating the area covered by the walking navigation path in the area to be determined into a walking area;
if the walking navigation path is inconsistent with the walking track of the current user and the walking navigation path of the inconsistent part is positioned in the to-be-determined area, updating the area covered by the walking navigation path of the inconsistent part in the to-be-determined area into an area which can not walk.
The embodiment of the invention updates the area to be determined based on the difference between the actually generated walking track and the walking navigation path, thereby improving the accuracy of walking navigation.
In one embodiment of the invention, the method further comprises:
when the overlapping part exists between the walkable area and the non-walkable area, if the image data of the overlapping part acquired by the camera exists, determining whether the overlapping part is walkable or not based on the image data of the overlapping part, if the overlapping part is walkable, determining that the overlapping part is the walkable area, otherwise, determining that the overlapping part is the non-walkable area; and if the image data of the overlapping part acquired by the camera does not exist, determining the overlapping part as a region to be determined.
The embodiment of the invention can confirm the overlapping part through the camera, thereby further improving the accuracy of walking navigation.
In one embodiment of the invention, the method further comprises:
when the walking track of the current user passes through the non-walkable region, determining whether the walking track exceeding the preset number value is overlapped with the walking track of the current user in the non-walkable region in a preset time interval, and if so, updating the region covered by the walking track of the current user in the non-walkable region into the walkable region.
Considering that the road conditions in the non-walkable area can be updated, if a plurality of people pass through a certain part of the non-walkable area, the part is updated into the walkable area, and the area division result can be adjusted in time according to the actual situation, so that the accuracy of walking navigation is improved.
In one embodiment of the invention, the method further comprises:
determining whether a specified area exists in the walkable area, if so, determining whether the specified area is walkable based on the image data of the specified area when the image data of the specified area acquired by the camera exists, if not, updating the specified area into an unwarped area, and updating the specified area into a pending area when the image data of the specified area acquired by the camera does not exist;
and in the time period of two adjacent identical time periods, the difference value of the number of users passing through the designated area is larger than the set difference threshold value.
For example, if the number of users passing through the designated area on the previous day is 30 and the number of users passing through the designated area on the next day is 0, then the road condition may be updated on the next day. The embodiment of the invention can update the walkable region in time, thereby further improving the accuracy of walking navigation.
As shown in fig. 2, an embodiment of the present invention provides a walking navigation device, including:
an identification module 201 configured to obtain signaling data of a plurality of users in a target area; determining whether the user has a trip behavior based on signaling data of the user; when the user has traveling behaviors, determining whether the traveling mode of the user is walking or not based on the signaling data; when the travel mode of the user is walking, determining the walking track of the user based on the signaling data; overlapping walking tracks of a plurality of users to obtain a walkable region; identifying an unhooking area within the target area based on map data of the target area;
a navigation module 202 configured to obtain a start point and an end point of the current user walking; generating a walking navigation path for the current user based on the starting point, the ending point, the undetermined area and the walkable area; the target area is composed of a walkable area, an unwieldy area and a pending area;
an updating module 203 configured to obtain signaling data of the current user; determining the walking track of the current user based on the signaling data of the current user; based on the current user's walking track and walking navigation path, the area in the pending area is updated to a walkable or non-walkable area.
In one embodiment of the present invention, the identification module 201 is configured to determine, based on signaling data of the user, whether the user moves from the first interest point to the second interest point, and the stay time between the first interest point and the second interest point is greater than a preset time threshold, if so, determine that the movement of the user between the first interest point and the second interest point is a trip behavior; based on the signaling data, determining whether the user meets walking conditions, and if so, determining that the traveling mode of the user is walking;
the walking conditions include: in one trip, the moving speed of the user at any moment is smaller than a preset speed threshold, the number of times that the steering angle of the user is larger than the preset angle exceeds a preset steering number threshold, and the number of times that the mobile phone of the user is switched from an idle state to a connected state is larger than a preset switching number threshold.
In one embodiment of the invention, the navigation module 202 is configured to divide the target area into a plurality of grids based on map data; based on a starting point, an ending point and a node set, generating a walking navigation path for the current user by adopting a Dijkstra algorithm;
wherein, the node set comprises: the points of intersection between the inflection points of the user's foot path and the foot path in the walkable region, and the vertices of the mesh in the pending region and the walkable region.
In one embodiment of the present invention, the updating module 203 is configured to update the area covered by the walking navigation path in the pending area to a walkable area if the walking navigation path is consistent with the walking track of the current user when the walking navigation path passes through the pending area; if the walking navigation path is inconsistent with the walking track of the current user and the walking navigation path of the inconsistent part is positioned in the to-be-determined area, updating the area covered by the walking navigation path of the inconsistent part in the to-be-determined area into an area which can not walk.
In one embodiment of the present invention, the updating module 203 is configured to determine, when there is a coincident part between the walkable region and the non-walkable region, whether the coincident part is walkable based on the image data of the coincident part acquired by the camera if there is the image data of the coincident part, and determine that the coincident part is a walkable region if the coincident part is walkable, and otherwise determine that the coincident part is a non-walkable region; and if the image data of the overlapping part acquired by the camera does not exist, determining the overlapping part as a region to be determined.
In one embodiment of the present invention, the updating module 203 is configured to determine whether a walking track exceeding a preset number of values overlaps with the walking track of the current user in the non-walkable region in a preset time interval when the walking track of the current user passes through the non-walkable region, and if so, update the region covered by the walking track of the current user in the non-walkable region to the walkable region.
In one embodiment of the present invention, the updating module 203 is configured to determine whether a specified area exists in the walkable area, if so, determine whether the specified area is walkable based on the image data of the specified area acquired by the camera, if not, update the specified area to an unwatering area, and if not, update the specified area to a pending area;
and in the time period of two adjacent identical time periods, the difference value of the number of users passing through the designated area is larger than the set difference threshold value.
The embodiment of the invention provides electronic equipment, which comprises:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as described in any of the embodiments above.
An embodiment of the present invention provides a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a method as described in any of the embodiments above.
Referring now to FIG. 3, a schematic diagram of a computer system 300 suitable for use in implementing an embodiment of the present invention is shown. The terminal device shown in fig. 3 is only an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 3, the computer system 300 includes a Central Processing Unit (CPU) 301 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 302 or a program loaded from a storage section 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the system 300 are also stored. The CPU 301, ROM 302, and RAM 303 are connected to each other through a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.
The following components are connected to the I/O interface 305: an input section 306 including a keyboard, a mouse, and the like; an output portion 307 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 308 including a hard disk or the like; and a communication section 309 including a network interface card such as a LAN card, a modem, or the like. The communication section 309 performs communication processing via a network such as the internet. The drive 310 is also connected to the I/O interface 305 as needed. A removable medium 311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed on the drive 310 as needed, so that a computer program read therefrom is installed into the storage section 308 as needed.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 309, and/or installed from the removable medium 311. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 301.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor includes a sending module, an obtaining module, a determining module, and a first processing module. The names of these modules do not in some cases limit the module itself, and for example, the transmitting module may also be described as "a module that transmits a picture acquisition request to a connected server".
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A walking navigation method, comprising:
acquiring signaling data of a plurality of users in a target area;
determining whether the user has a trip behavior based on the signaling data of the user;
when the user has traveling behaviors, determining whether the traveling mode of the user is walking or not based on the signaling data;
when the travel mode of the user is walking, determining the walking track of the user based on the signaling data;
superposing a plurality of walking tracks of the users to obtain a walkable region;
identifying an unhooking area within the target area based on map data of the target area;
acquiring a starting point and an ending point of walking of a current user;
generating a walking navigation path for the current user based on the starting point, the ending point, the pending area and the walkable region; the target area is composed of a walkable area, an unwieldy area and the pending area;
acquiring signaling data of the current user;
determining a walking track of the current user based on the signaling data of the current user;
updating the area in the pending area to a walkable area or a non-walkable area based on the current user's walking track and the walking navigation path.
2. The method of claim 1, wherein,
based on the signaling data of the user, determining whether the user has a trip behavior includes:
determining whether the user moves from a first interest point to a second interest point based on signaling data of the user, wherein the stay time between the first interest point and the second interest point is greater than a preset time threshold value, and if so, determining that the movement of the user between the first interest point and the second interest point is a trip behavior;
determining whether the travel mode of the user is walking based on the signaling data comprises the following steps:
based on the signaling data, determining whether the user meets walking conditions, and if so, determining that the traveling mode of the user is walking;
the walking conditions include: in one trip behavior, the moving speed of the user at any moment is smaller than a preset speed threshold, the number of times that the steering angle of the user is larger than the preset angle exceeds a preset steering number threshold, and the number of times that the mobile phone of the user is switched from an idle state to a connection state is larger than a preset switching number threshold.
3. The method as recited in claim 1, further comprising:
dividing the target area into a plurality of grids based on the map data;
generating a walking navigation path for the current user based on the starting point, the ending point, the pending area, and the walkable region, comprising:
generating a walking navigation path for the current user by adopting a Dijkstra algorithm based on the starting point, the ending point and the node set;
wherein, the node set comprises: an inflection point located between the inflection point of the user's walking track in the walkable region and the walking track, and vertices located in the mesh in the region to be determined and the walkable region.
4. The method of claim 1, wherein,
updating the area in the pending area to be a walkable area or a non-walkable area based on the current user's walking track and the walking navigation path, comprising:
when the walking navigation path passes through the undetermined area, if the walking navigation path is consistent with the walking track of the current user, updating the area covered by the walking navigation path in the undetermined area into a walkable area;
and if the walking navigation path is inconsistent with the walking track of the current user and the walking navigation path of the inconsistent part is positioned in the undetermined area, updating the area covered by the walking navigation path of the inconsistent part in the undetermined area into an area which can not walk.
5. The method as recited in claim 1, further comprising:
when the walkable region and the non-walkable region have overlapping parts, if the image data of the overlapping parts acquired by the cameras exist, determining whether the overlapping parts are walkable or not based on the image data of the overlapping parts, if the overlapping parts are walkable, determining the overlapping parts as the walkable region, otherwise, determining the overlapping parts as the non-walkable region; and if the image data of the overlapping part acquired by the camera does not exist, determining the overlapping part as a pending area.
6. The method as recited in claim 1, further comprising:
when the walking track of the current user passes through the non-walking area, determining whether the walking track exceeding a preset number value is overlapped with the walking track of the current user in the non-walking area in a preset time interval, and if so, updating the area covered by the walking track of the current user in the non-walking area into the walking area.
7. The method as recited in claim 1, further comprising:
determining whether a specified area exists in the walkable area, if so, determining whether the specified area is walkable based on the image data of the specified area, if not, updating the specified area into an unwieldy area, and if not, updating the specified area into a pending area;
and in the time period of two adjacent identical time periods, the difference value of the number of the users passing through the designated area is larger than a set difference threshold value.
8. A walking navigation device, comprising:
the identification module is configured to acquire signaling data of a plurality of users in the target area; determining whether the user has a trip behavior based on the signaling data of the user; when the user has traveling behaviors, determining whether the traveling mode of the user is walking or not based on the signaling data; when the travel mode of the user is walking, determining the walking track of the user based on the signaling data; superposing a plurality of walking tracks of the users to obtain a walkable region; identifying an unhooking area within the target area based on map data of the target area;
the navigation module is configured to acquire a starting point and an ending point of the current user walking; generating a walking navigation path for the current user based on the starting point, the ending point, the pending area and the walkable region; the target area is composed of a walkable area, an unwieldy area and the pending area;
the updating module is configured to acquire the signaling data of the current user; determining a walking track of the current user based on the signaling data of the current user; updating the area in the pending area to a walkable area or a non-walkable area based on the current user's walking track and the walking navigation path.
9. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs,
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-7.
10. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-7.
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