CN1948909A - Automobile guiding apparatus of compatible with left and right sides passing through and roadway exploring method thereof - Google Patents
Automobile guiding apparatus of compatible with left and right sides passing through and roadway exploring method thereof Download PDFInfo
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- CN1948909A CN1948909A CN 200510047402 CN200510047402A CN1948909A CN 1948909 A CN1948909 A CN 1948909A CN 200510047402 CN200510047402 CN 200510047402 CN 200510047402 A CN200510047402 A CN 200510047402A CN 1948909 A CN1948909 A CN 1948909A
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Abstract
The invention relates to automobile navigation device and road exploration method with compatible left-right passing. It includes current location detection device, display unit, storing device, operation input block, navigation control device. Its features are that the navigation control device is set weight value computation module for road computation which can process road and cross point weight value computation according to their attribute; the storing device contains navigation map data stored road attribute data that different left-right passing rule; the method can use navigation device to pick up the road and cross point attributes and computer their weight value, select the minimum for the user. The invention can use road exploration with left-right different passing rule to perfect the navigation function.
Description
Technical field
The invention belongs to the auto navigation technical field, automobile navigation apparatus and road searching method that particularly a kind of compatible left and right sides is current.
Background technology
In the auto-navigation system of prior art, when carrying out track search, employing is stored in the road data in the navigation map data, according to real-time Traffic Information and from the present position to any place road attribute and point of crossing attribute, calculate from the departure place total weight value in the path in any place, then, all weights to the destination calculate finish in, the path that connects the total weight value minimum is as the optimal path from the present position to the destination.
The above-mentioned path total weight value of mentioning is the evaluation of estimate of expression road passage capability, and it is subjected to the influence of road attributes such as road distance, road width, road category and the angle of adjacent road, has or not the influence of point of crossing attributes such as signal lamp.Because in present auto-navigation system, the road information that provides in the employed map datum of auto-navigation system is all followed a kind of road rule, therefore in the weights of calculating path, do not consider the variation of road rule.For example the domestic auto-navigation system that uses can be followed right side road passing rules in the China's Mainland, Navigation Control Unit is when carrying out track search, can reduce the exploration weights of the road that turns right, the road that promptly preferential selection is turned right, can reduce transit time like this, save current cost, meet user's driving habits.
If but have the road data of following two kinds of road rules in the employed map datum of auto-navigation system simultaneously, so present auto-navigation system can not distinguished the road rule, when the auto-navigation system that is about to use in the right-hand traffic region carries out path exploration in left-hand traffic region, still can preferentially select the road of turning right, the route poor quality of calculating like this, increase transit time and current cost, can't satisfy user's demand.For example in a cover map datum, the road data of China's Mainland and the road data of Hong-Kong have been preserved simultaneously, the China's Mainland is to use right side road passing rules, the Hong-Kong is to use left side road passing rules, if it is domestic that the departure place is positioned at the China's Mainland, the destination is positioned at Hong Kong, when so present auto-navigation system carries out track search in zone, Hong Kong, system still is defaulted as and uses the rule of keeping to the right, the route poor quality of calculating like this might be a road of going the long way round very much.
Summary of the invention
Can not carry out the problem that correct road is explored to there being different road rules at existing auto-navigation system, the invention provides a kind of automobile navigation apparatus and road searching method that can carry out path exploration the road that has different road rules simultaneously.
Automobile navigation apparatus of the present invention comprises: present position pick-up unit, display unit, data storage device, operation inputting part part and Navigation Control Unit.
Wherein contain the road calculating section in the Navigation Control Unit, the road calculating section comprises road weights computing module, and this weights computing module can carry out the calculating that the road weights calculate and carry out cross point weight value computation according to the point of crossing attribute according to road attribute.In memory storage, include navigation map data, different passing rules about the road attribute data that this map datum is stored are preserved.
The present position pick-up unit is by receiving from the radiowave of a plurality of gps satellite emissions, calculate three-dimensional (3D) position (for example latitude, longitude, highly) according to the mistiming of the ripple of accepting, and the orientation of the moving direction by detected user and the speed of current vehicle, can calculate the present position and the present moment of current automobile more accurately, simultaneously these information be offered Navigation Control Unit.
The operation inputting part part adopts liquid crystal panel, panel button or the Multi-Jog of portable type telepilot, touch-screen type, by user's operation, with the information of necessity for example map show, the track search condition be set, the road guidance information is set and needs information that the user confirms etc. to offer Navigation Control Unit.
Navigation Control Unit can utilize map datum, the user of reading in from memory storage to utilize the destination of input media generation and the information that the present position pick-up unit provides, explore a pathway, other functions that generate the road guidance information and realize navigational system.
Display unit is the information that the show navigator control device provides, and for example map, vehicle location are explored pathway, guidance information etc., and the information that needs the user to confirm;
In the memory storage, adopt hard disk, CD, DVD to preserve static original navigation map information, adopt hard disk, Flash Rom, SRAM, PC Card to preserve employed temporary information in the Navigation Control Unit operational process.
The inventive method may further comprise the steps:
1. set the destination;
2. extract road attribute and the point of crossing attribute that includes the left and right sides passing rules, calculate road weights and cross point weight value computation respectively;
3. the path that connects the total weight value minimum offers the user as the departure place to the optimal path of destination.
Wherein the computing method of road weights generally can be with reference to as follows:
LC＝f
1(L
0)+f
2(W
0)+f
3(T
0)； (1)
NC＝K×t
0×[2+COS(θ-π)]+t
1×(1-B
0×B
1)+(T+t
2)×S； (2)
RoadCost＝LC
1+NC
1+LC
2+NC
2+……+LC
n+NC
n； (3)
In the formula (1):
F---representative function relational expression;
LC---expression road weights;
L
0---the expression link length;
W
0---the expression road width;
T
0---expression road species;
In the formula (2):
NC---expression cross point weight value computation;
θ---the angle in the two road that the expression point of crossing connects, the sign road direction, θ＞0 expression is positioned at the road on current exploration road right side, and θ＜0 expression is positioned at the road in current exploration road left side;
In T---the cycle of expression signal lamp, unit is second:
B
0---represent the road rule of current exploration road, keeping to the right is 1, and keeping left is-1;
B
1---expression continues and explores the road rule of road, and keeping to the right is 1, and keeping left is-1;
S---the expression crossing point crossing has or not signal lamp;
t
0---expression is by the time of point of crossing, and unit is second, and rule of thumb value can be 90;
t
1---expression is by the time of separation, and unit is second, and rule of thumb value can be 600;
t
2---the time of expression waiting signal lamp, unit is second, and rule of thumb value can be 10;
K---expression coefficient, its value is determined by following situation:
Right-hand traffic region coefficient relational expression:
Left-hand traffic region coefficient relational expression:
In the formula (3):
RoadCost---expression is from exploring initial point to the weights summation of exploring terminal point;
The computing method of road weights are as described below:
In the process of carrying out path exploration, to every alternative road, Navigation Control Unit can be obtained the road attribute of this road from navigation map data, according to the link length L that preserves in the road attribute
0, road width W
0With road species T
0, utilize formula (1) to calculate the road weights LC of the alternative road of each bar; To each alternative point of crossing, Navigation Control Unit also can be obtained the attribute of this point of crossing from navigation map data, the angle θ in the two road that connect according to the point of crossing of preserving in the attribute of point of crossing, the point of crossing has or not signal lamp S to carry out the calculating of cross point weight value computation, and will consider to obtain from road attribute the passing rules B in the two road that the point of crossing connects
0And B
1If, know that promptly the passing rules in the two road that the point of crossing connects is to keep to the right, then in the value substitution formula (2) of the COEFFICIENT K that will obtain according to right-hand traffic region coefficient relational expression, the cross point weight value computation NC of the road of turning right that calculates like this can reduce; If know that the passing rules in the two road that the point of crossing connects is to keep left, then in the value substitution formula (2) of the COEFFICIENT K that will obtain according to left-hand traffic region coefficient relational expression, the cross point weight value computation NC of the road of turning left that calculates like this can reduce, from the above, can calculate the road weights LC of the alternative road of each bar by formula (1), can calculate the cross point weight value computation NC of each alternative point of crossing by formula (2), calculate total weight value by formula (3) then, at last, in all road weights and cross point weight value computation calculating end of destination, the path that connects the total weight value minimum is as the optimal path from the present position to the destination.
The inventive method is carried out when relating to the selection separation according to the following steps:
1. preserve separation information in advance;
2. set the destination;
3. judge whether the employed passing rules in departure place and destination is consistent;
4. Navigation Control Unit extracts the separation number and judges from memory storage;
5. Navigation Control Unit extracts separation information and offers the user by display unit from memory storage when above to be one in the separation number, a separation is set as via ground by the user by the operation inputting part part;
6. extract road attribute and the point of crossing attribute include the left and right sides passing rules, calculate respectively from the departure place via ground, from via the road weights and the cross point weight value computation of ground to the destination;
7. connect from the departure place to via the path of ground total weight value minimum, from offering the user to the path of destination total weight value minimum as from origin to destination optimal path via ground.
At first, the Navigation Control Unit separation information between the storage area in advance.Then, as shown in Figure 4, after the user sets the destination, Navigation Control Unit is obtained respectively apart from departure place and nearest road L1 and the L2 in destination, and obtain the road attribute in two road from navigation map data, the rules of the road of preserving in the road attribute just can be judged the departure place and whether the region, destination follows same rules of the road by comparing;
If the rules of the road of region, destination is different with the rules of the road of region, departure place, then Navigation Control Unit can be obtained interregional separation information, under the situation of a separation of interregional existence, Navigation Control Unit is finished interregional path exploration according to above-mentioned weight calculation method; Whether under the interregional situation that has a plurality of separations, Navigation Control Unit can be pointed out the user area difference, need to specify a separation as entering zones of different via ground.
Specify the user under the situation of a separation that enters zones of different, Navigation Control Unit is arranged to the separation of user's appointment to carry out path exploration via ground.Promptly in the process of carrying out path exploration from origin to destination, at first calculate the road of the total weight value minimum of from the departure place to user, specifying separation, calculate from the user according to above-mentioned weight calculation method then and specify the road of separation to the total weight value minimum of destination according to above-mentioned weight calculation method; The road conduct optimal path from origin to destination that connects two sections total weight value minimums at last offers the user.
Do not specify the user under the situation of the separation that enters zones of different, then finish interregional path exploration according to above-mentioned weight calculation method.
Device and method of the present invention can use the interregional path exploration of different rules of the roads, makes the more perfect function of path exploration, can not be subjected to the different restriction of rules of the road.
Description of drawings
Fig. 1 is apparatus of the present invention structural representation;
Fig. 2 is according to road attribute, and separation information is not carried out the software flow pattern of path exploration between consideration of regional;
Fig. 3 is according to road attribute, and separation information is carried out the software flow pattern of path exploration between consideration of regional;
Fig. 4 selects the separation conduct via the interface, ground for the user;
Fig. 5 uses the area schematic of different passing rules for departure place and destination.
Embodiment
Automobile navigation apparatus of the present invention comprises present position pick-up unit S1, display unit S2, memory storage S3, operation inputting part part S5 and Navigation Control Unit S6 as shown in Figure 1.
Wherein contain road calculating section S7 among the Navigation Control Unit S6, road calculating section S7 comprises road weights computing module, and this road weights computing module can carry out the calculating that the road weights calculate and carry out cross point weight value computation according to the point of crossing attribute according to road attribute.In memory storage S3, be provided with navigation map data S4, different passing rules about the road attribute data that this map datum S4 is stored contain.
Present position pick-up unit S1 is by receiving from the radiowave of a plurality of gps satellite emissions, calculate three-dimensional (3D) position (for example latitude, longitude, highly) according to the mistiming of the ripple of accepting, and the orientation of the moving direction by detected user and the speed of current vehicle, can calculate the present position and the present moment of current automobile more accurately, simultaneously these information be offered Navigation Control Unit S6.
Operation inputting part part S5 adopts liquid crystal panel, panel button or the Multi-Jog of portable type telepilot, touch-screen type, by user's operation, with the information of necessity for example map show, the track search condition be set, the road guidance information is set and needs information that the user confirms etc. to offer Navigation Control Unit S6.
Navigation Control Unit S6 can utilize map datum, the user of reading in from memory storage to utilize the destination of operation inputting part part S5 setting and the information that present position pick-up unit S1 provides, explore a pathway, other functions that generate the road guidance information and realize navigational system.
Display unit S2 is the information that show navigator control device S6 provides, and for example map, vehicle location are explored pathway, guidance information etc., and the information that needs the user to confirm;
Among the memory storage S3, adopt hard disk, CD, DVD to preserve static original navigation map information, adopt hard disk, Flash Rom, SRAM, PC Card to preserve employed temporary information in the Navigation Control Unit operational process.
Implement method of the present invention, adopt the automobile navigation apparatus of the invention described above.
Example 1: directly carry out path exploration according to road attribute
As shown in Figure 2, S20 represents that the user is provided with the destination by the operation inputting part part S5 of Navigation Control Unit S6 among Fig. 1, Navigation Control Unit S6 begins to carry out path exploration, S21 and S22 are illustrated in the heuristic process, Navigation Control Unit S6 obtains the road attribute that includes the left and right sides passing rules of every alternative road and the point of crossing attribute of each alternative point of crossing from map datum S4, calculate road weights and cross point weight value computation according to above-mentioned weight calculation method, all road weights and cross point weight value computation that S23 is illustrated in the destination calculate when finishing, the path that connects the total weight value minimum is as the optimal path from the present position to the destination.
Example 2:, further consider and select interregional separation to carry out path exploration according to road attribute
As shown in Figure 3, S30 represents Navigation Control Unit S6 separation information between the storage area in advance, S31 represents that the user is provided with the destination by the operation inputting part part S5 of Navigation Control Unit S6 among Fig. 1, in S32, Navigation Control Unit S6 can obtain respectively apart from the nearest road in departure place and destination, for example shown in Figure 5, the road nearest apart from the departure place is L1, and the road nearest apart from the destination is L2.S33 represents to obtain respectively the road attribute in two road from navigation map data S4, according to the rules of the road that provides in the road attribute, can know whether two road use identical rules of the road, in S34, if the departure place is to use different rules of the roads with the destination, then Navigation Control Unit S6 can obtain interregional separation information, judge the interregional separation that whether only exists, under the situation of a separation of interregional existence, Navigation Control Unit S6 can carry out from origin to destination path exploration according to the rules of the road that provides in the road attribute, finally offers the road of user expectation.In S35, under the interregional situation that has a plurality of separations, Navigation Control Unit S6 can offer all alternative separation tabulations that enter zones of different of user by display unit S2, as shown in Figure 4, comprise separation A and separation B in the separation tabulation, in S36 and S37, the user has specified a separation that enters zones of different, then Navigation Control Unit S6 can be arranged to this separation via ground, in S38, road calculating section S7 carries out from the departure place to via ground with via the path exploration of ground to the destination according to the rules of the road that provides in the road attribute, and two sections roads that connect the total weight value minimum at last offer the user as optimal path.In S39, the user does not have appointment to enter the separation of zones of different, perhaps use under the situation of the identical rule of travelling in departure place and destination, then Navigation Control Unit S6 can carry out from origin to destination path exploration according to the rules of the road that provides in the road attribute, finally offers the road of user expectation.
Claims (3)
1, the current automobile navigation apparatus of a kind of compatible left and right sides, comprise present position pick-up unit, display unit, memory storage, operation inputting part part and Navigation Control Unit, the present position pick-up unit is by receiving from the radiowave of a plurality of gps satellite emissions, mistiming according to the ripple of accepting is calculated three-dimensional position, and the orientation of the moving direction by detected user and the speed of current vehicle, calculate the present position and the present moment of current automobile, and these information are offered Navigation Control Unit; The operation inputting part part will be explored the road necessary information and offer Navigation Control Unit by user's operation; The map datum that the Navigation Control Unit utilization is read in from memory storage, user utilize the destination of operation inputting part part setting and the information that the present position pick-up unit provides, explore a pathway, generate the road guidance information, realize the Navigation Control function, it is characterized in that the road calculating section is provided with road weights computing module in this Navigation Control Unit, this weights computing module can carry out the calculating of road weights and carry out cross point weight value computation calculating according to the point of crossing attribute according to road attribute; In memory storage, include navigation map data, different passing rules about the road attribute data that this map datum is stored are preserved.
2, the road searching method of the described automobile navigation apparatus of claim 1 is characterized in that may further comprise the steps:
1. set the destination;
2. extract road attribute and the point of crossing attribute that includes the left and right sides passing rules, calculate road weights and cross point weight value computation respectively;
3. the path that connects the total weight value minimum offers the user as the departure place to the optimal path of destination.
3, the road searching method of the described automobile navigation apparatus of claim 1 is characterized in that may further comprise the steps:
1. preserve separation information in advance;
2. set the destination;
3. judge whether the employed passing rules in departure place and destination is consistent;
4. Navigation Control Unit extracts the separation number and judges from memory storage;
5. Navigation Control Unit extracts separation information and offers the user by display unit from memory storage when above to be one in the separation number, a separation is set as via ground by the user by the operation inputting part part;
6. extract road attribute and the point of crossing attribute include the left and right sides passing rules, calculate respectively from the departure place via ground, from via the road weights and the cross point weight value computation of ground to the destination;
7. connect from the departure place to via the path of ground total weight value minimum, from offering the user to the path of destination total weight value minimum as from origin to destination optimal path via ground.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200510047402A CN1948909B (en) | 2005-10-14 | 2005-10-14 | Automobile guiding apparatus of compatible with left and right sides passing through and roadway exploring method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200510047402A CN1948909B (en) | 2005-10-14 | 2005-10-14 | Automobile guiding apparatus of compatible with left and right sides passing through and roadway exploring method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN1948909A true CN1948909A (en) | 2007-04-18 |
| CN1948909B CN1948909B (en) | 2010-05-12 |
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|---|---|---|---|
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102102993A (en) * | 2009-12-16 | 2011-06-22 | 神达电脑股份有限公司 | Navigation method and personal navigation device for assisting parking nearby destination |
| CN102506886A (en) * | 2011-11-15 | 2012-06-20 | 深圳市路畅科技有限公司 | Method for realizing path planning in navigation equipment |
| CN107830865A (en) * | 2017-10-16 | 2018-03-23 | 东软集团股份有限公司 | A kind of vehicle target sorting technique, device, system and computer program product |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8818727B2 (en) | 2009-11-04 | 2014-08-26 | Mitac International Corp. | Method of assisting a user of a personal navigation device with parking nearby a destination location and related personal navigation device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003109185A (en) * | 2001-09-27 | 2003-04-11 | Fujitsu Ten Ltd | On-vehicle information communication device |
| CN1417061A (en) * | 2001-10-30 | 2003-05-14 | 宋建平 | Automobile navigation device |
| JP3514253B2 (en) * | 2001-11-30 | 2004-03-31 | 株式会社デンソー | Car navigation system |
-
2005
- 2005-10-14 CN CN200510047402A patent/CN1948909B/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102102993A (en) * | 2009-12-16 | 2011-06-22 | 神达电脑股份有限公司 | Navigation method and personal navigation device for assisting parking nearby destination |
| CN102506886A (en) * | 2011-11-15 | 2012-06-20 | 深圳市路畅科技有限公司 | Method for realizing path planning in navigation equipment |
| CN102506886B (en) * | 2011-11-15 | 2014-03-05 | 深圳市路畅科技股份有限公司 | Method for realizing path planning in navigation equipment |
| CN107830865A (en) * | 2017-10-16 | 2018-03-23 | 东软集团股份有限公司 | A kind of vehicle target sorting technique, device, system and computer program product |
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| Publication number | Publication date |
|---|---|
| CN1948909B (en) | 2010-05-12 |
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