WO2015070711A1 - 导航方法及导航设备 - Google Patents

导航方法及导航设备 Download PDF

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Publication number
WO2015070711A1
WO2015070711A1 PCT/CN2014/090104 CN2014090104W WO2015070711A1 WO 2015070711 A1 WO2015070711 A1 WO 2015070711A1 CN 2014090104 W CN2014090104 W CN 2014090104W WO 2015070711 A1 WO2015070711 A1 WO 2015070711A1
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Prior art keywords
navigation
data
road segment
path
node
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PCT/CN2014/090104
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English (en)
French (fr)
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李秋标
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高德信息技术有限公司
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Publication of WO2015070711A1 publication Critical patent/WO2015070711A1/zh

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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
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • 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

Definitions

  • the present invention relates to the field of navigation technologies, and in particular, to a navigation method and a navigation device.
  • the navigation device For road navigation, the navigation device plans a navigation path to provide the user according to the starting position and the destination position, and the user can smoothly reach the destination according to the navigation path. .
  • the navigation device can provide navigation for the user by using a local navigation mode or a network navigation mode, specifically:
  • the navigation device downloads all the navigation data to the local area, and stores it through a secure digital memory card (SD), a hard disk, a CD, and the like.
  • SD secure digital memory card
  • the navigation data is planned from the starting position according to the locally stored navigation data.
  • the navigation path to the destination location and obtain the geometric data and attribute data of each road segment in the planned navigation path from the locally stored navigation data, and provide navigation for the user according to the geometric data and attribute data of each road segment.
  • the geometric data of the road segment includes geographic coordinate data of each position point in the road segment
  • the attribute data of the road segment includes the road name, the road type, the road paving state, the road scene real picture, the turn broadcast voice, the turn text, and the intersection lane of each road in the road section. Information, etc.
  • the navigation device Since all navigation data needs to be downloaded to the local storage of the navigation device, the navigation device has a large storage space, so that the cost of the navigation device is very high, and in actual use, the user often only uses several of the cities. Navigate the data so that the navigation data is used less efficiently;
  • All navigation data is stored in the navigation server on the network side.
  • the navigation device sends the location information of the starting location and the location information of the destination location to the navigation server on the network side, and the navigation server stores the navigation data according to the navigation data.
  • the navigation path from the starting position to the destination location is planned, and the geometric data and attribute data of each road segment in the planned navigation path are sent to the navigation device, and the navigation device provides the user with the geometric data and attribute data of each received road segment. navigation.
  • the network navigation method can solve the problem of the use efficiency and update efficiency of the navigation data in the local navigation mode and the update of the navigation data is not timely, the following shortcomings exist:
  • the network side sends the geometric data and attribute data of each road segment in the planned navigation path to the navigation device, and the attribute data of the road segment includes data such as pictures and voices. More network traffic makes the user's use cost higher.
  • the embodiment of the invention provides a navigation method and a navigation device, which are used to solve the problem that the navigation data in the local navigation mode has low use efficiency and update efficiency, and the navigation data is not updated in time, and the network navigation method consumes more network traffic. problem.
  • the embodiment of the present invention provides a navigation method, including: determining whether a navigation path can be planned by using navigation data stored locally by the navigation device according to the information of the starting position and the information of the destination location; if the determination is not possible, the navigation path planning is sent.
  • the navigation path can be divided into a local navigation path and a network navigation path, and obtained from the locally stored navigation data.
  • the attribute data of each link in the local navigation path requests the attribute data of each link in the network navigation path from the network side, thereby realizing the fusion of the local navigation mode and the network navigation mode, so the user does not need to download all the navigation data to the navigation device.
  • the navigation data of the required area is downloaded according to the needs of the user, and the corresponding navigation data may not be downloaded for the area without the requirement.
  • the navigation path of the user passes the area corresponding to the navigation data that is not downloaded, the navigation is performed.
  • the device can request, from the network side, the navigation data of each link in the path of the corresponding navigation data (ie, the network navigation path) in the navigation path, thereby saving the storage space of the navigation device, reducing the cost of the navigation device, and improving the cost.
  • the efficiency of the use of navigation data in addition, due to Only the navigation data of the partial area is stored in the device, so that the update efficiency of the navigation data can be improved, and the problem that the navigation data is not updated in time is avoided; in addition, the navigation device acquires the attribute data of each link in the local navigation path from the locally stored navigation data. Obtaining the attribute data of each link in the network navigation path from the navigation server, thereby reducing the dependence on the network, saving network traffic, and reducing The user's use cost.
  • the method further includes: according to the received road segments The geometric data, the navigation surface corresponding to the navigation path is determined; in the area plane of each area corresponding to the locally stored navigation data, each area surface located in the navigation plane or intersecting the navigation surface is screened; Determining, by the geometric data of each road segment, the ingress node and the egress node in the area plane of each area corresponding to the navigation data stored in the navigation path, specifically: determining, according to geometric data of the received road segments, The navigation path is the ingress node and the egress node in each of the selected area planes.
  • the navigation device may first perform preliminary screening on each area corresponding to the locally stored navigation data, and screen out the area of the area where the navigation path may pass, and then determine the navigation path in the selected area.
  • the access node improves the efficiency of the navigation device to determine the ingress node, thereby improving the efficiency of providing navigation for the user.
  • the ingress node and the egress node in the selected area planes of the navigation path are determined according to the received geometric data of each road segment, and specifically: according to the received geometric data of each road segment, each road segment is The selected regional planes perform positional relationship matching; and according to the matched positional relationship, the ingress node and the egress node in the selected regional planes of the navigation path are determined.
  • the entry node and the exit node of the navigation path in the area plane are determined by the positional relationship between the road segment and the area surface, and the accuracy of determining the entry node can be improved, thereby improving the navigation accuracy.
  • the ingress node and the egress node in the selected area planes of the navigation path are determined according to the matched positional relationship, and specifically, the road segments that are located in the same area are selected for each selected area surface.
  • the head node of the first road segment is confirmed as the ingress node of the navigation path in the area plane, and the tail node of the tail road segment is confirmed as the exit node of the navigation path in the area plane.
  • the navigation device determines the ingress node and the egress node from the first node and the tail node of each road segment in the navigation path, and the local navigation path and the network navigation path respectively include several road segments, which are convenient for subsequent local storage.
  • the navigation data obtains attribute data of each road segment in the local navigation path, and requests attribute data of each road segment in the network navigation path from the navigation server on the network side.
  • the obtaining the attribute data of each road segment in the local navigation path from the locally stored navigation data includes: performing, for each road segment in the local navigation path, the following operations: acquiring the road segments from the locally stored navigation data.
  • the basic attribute data; the joint attribute data between the road segments is obtained from the locally stored navigation data, and when the road segment is the last road segment in the local navigation path, the joint attribute between the road segment and the next road segment is requested from the navigation server.
  • Data; requesting attribute data of each road segment in the network navigation path from the navigation server specifically: from the navigation server
  • the basic attribute data of each road segment in the network navigation path and the joint attribute data between the road segments are requested.
  • the navigation device acquires the basic attribute data of each road segment in the local navigation path and the joint attribute data between the road segments from the locally stored navigation data, and requests the segments of the network navigation path from the navigation server on the network side.
  • the basic attribute data and the joint attribute data between the road segments, and the joint attribute data of the last road segment of the local navigation path and the first road segment of the adjacent network navigation path is requested from the navigation server on the network side, thereby being able to Accurately obtain the basic attribute data of each road segment and the joint attribute data between the road segments.
  • the embodiment of the invention further provides a navigation device, comprising: a path planning determining unit, configured to determine, according to the information of the starting location and the information of the destination location, whether the navigation path can be planned by the navigation data stored locally by the navigation device; the path planning request a unit, configured to send a navigation path planning request to the navigation server when the determination result of the path planning judging unit is no; the geometric data receiving unit is configured to receive the navigation path planned by the navigation server from the starting position to the destination position The geometric data of each road segment; the node determining unit is configured to determine, according to the geometric data of each road segment received by the geometric data receiving unit, the entry node and the exit point in the regional plane of each region corresponding to the navigation data stored locally a node; a local attribute data acquiring unit, configured to acquire attribute data of each road segment in the local navigation path from the locally stored navigation data, where the path of the ingress node and the egress node connecting the same area plane in the navigation path is local navigation Path; network attribute data acquisition unit, for The navigation
  • the navigation path can be divided into a local navigation path and a network navigation path, and obtained from the locally stored navigation data.
  • the attribute data of each link in the local navigation path requests the attribute data of each link in the network navigation path from the network side, thereby realizing the fusion of the local navigation mode and the network navigation mode, so the user does not need to download all the navigation data to the navigation device.
  • the navigation data of the required area is downloaded according to the needs of the user, and the corresponding navigation data may not be downloaded for the area without the requirement.
  • the navigation path of the user passes the area corresponding to the navigation data that is not downloaded, the navigation is performed.
  • the device can request, from the network side, the navigation data of each link in the path of the corresponding navigation data (ie, the network navigation path) in the navigation path, thereby saving the storage space of the navigation device, reducing the cost of the navigation device, and improving the cost.
  • the efficiency of the use of navigation data in addition, due to Only the navigation data of the partial area is stored in the device, so that the update efficiency of the navigation data can be improved, and the problem that the navigation data is not updated in time is avoided; in addition, the navigation device acquires the attribute data of each link in the local navigation path from the locally stored navigation data.
  • the attribute data of each road segment in the network navigation path is obtained from the navigation server, thereby reducing the dependence on the network, saving network traffic, and reducing the user's use cost.
  • the navigation device further includes: a navigation plane determining unit, configured to determine, according to the geometric data, the node determining unit Receiving geometric data of each road segment received by the receiving unit, determining the geometry of each road segment received by the geometric data receiving unit before the navigation path is before the entrance node and the exit node in the area plane of each area corresponding to the locally stored navigation data. Data, the navigation surface corresponding to the navigation path is determined; the area plane screening unit is configured to filter out or intersect the navigation surface in the area plane of each area corresponding to the locally stored navigation data.
  • Each of the area determining units is configured to determine, according to geometric data of each road segment received by the geometric data receiving unit, an ingress node and an egress node in each area plane selected by the regional path screening unit .
  • the navigation device may first perform preliminary screening on each area corresponding to the locally stored navigation data, and screen out the area of the area where the navigation path may pass, and then determine the navigation path in the selected area.
  • the access node improves the efficiency of the navigation device to determine the ingress node, thereby improving the efficiency of providing navigation for the user.
  • the node determining unit specifically includes: a position relationship matching subunit, configured to perform a positional relationship between each road segment and each regional surface selected by the regional plane screening unit according to geometric data of each road segment received by the geometric data receiving unit. And a node determining sub-unit, configured to match the positional relationship matched by the sub-unit according to the positional relationship, and determine the ingress node and the egress node in each area plane selected by the navigation path in the area plane screening unit.
  • a position relationship matching subunit configured to perform a positional relationship between each road segment and each regional surface selected by the regional plane screening unit according to geometric data of each road segment received by the geometric data receiving unit.
  • a node determining sub-unit configured to match the positional relationship matched by the sub-unit according to the positional relationship, and determine the ingress node and the egress node in each area plane selected by the navigation path in the area plane screening unit.
  • the entry node and the exit node of the navigation path in the area plane are determined by the positional relationship between the road segment and the area surface, and the accuracy of determining the entry node can be improved, thereby improving the navigation accuracy.
  • the node determining subunit is specifically configured to: identify, for each selected area surface, a head node of the first road segment in each road segment located in the same area plane as an entrance of the navigation path in the area plane The node confirms the tail node of the tail segment as an exit node of the navigation path in the area plane.
  • the navigation device determines the ingress node and the egress node from the first node and the tail node of each road segment in the navigation path, and the local navigation path and the network navigation path respectively include several road segments, which are convenient for subsequent local storage.
  • the navigation data obtains attribute data of each road segment in the local navigation path, and requests attribute data of each road segment in the network navigation path from the navigation server on the network side.
  • the local attribute data acquiring unit is specifically configured to perform the following operations for each road segment in the local navigation path: acquiring basic attribute data of each road segment from locally stored navigation data; and locally storing navigation data. Obtaining joint attribute data between the road segments, and when the road segment is the last road segment in the local navigation path, requesting joint attribute data between the road segment and the next road segment from the navigation server; the network attribute data acquiring unit, Specifically, the basic attribute data of each road segment in the network navigation path and the joint attribute data between the road segments are requested from the navigation server.
  • the navigation device acquires the basic attribute data of each road segment in the local navigation path and the joint attribute data between the road segments from the locally stored navigation data, and requests the network navigation path from the navigation server on the network side.
  • the basic attribute data of each road segment and the joint attribute data between the road segments, and the joint attribute data of the last road segment of the local navigation path and the first road segment of the adjacent network navigation path is from the navigation server on the network side. The request is therefore able to accurately obtain the basic attribute data of each road segment and the joint attribute data between the road segments.
  • FIG. 1 is a schematic flowchart of a navigation method according to Embodiment 1 of the present invention.
  • FIG. 2A is a first schematic diagram showing the positional relationship between a road segment and an area surface according to Embodiment 1 of the present invention
  • 2B is a second schematic diagram showing the positional relationship between a road segment and an area surface according to the first embodiment of the present invention
  • 2C is a third schematic view showing the positional relationship between a road section and an area surface according to the first embodiment of the present invention
  • 2D is a fourth schematic diagram showing the positional relationship between a road segment and an area surface according to the first embodiment of the present invention
  • 2E is a schematic diagram 5 showing a positional relationship between a road segment and an area surface according to Embodiment 1 of the present invention
  • 2F is a schematic diagram 6 showing a positional relationship between a road segment and an area surface according to Embodiment 1 of the present invention
  • FIG. 3 is a schematic diagram of a specific process of determining an ingress node and an egress node in Embodiment 2 of the present invention
  • FIG. 4 is a schematic diagram of a navigation path according to Embodiment 3 of the present invention.
  • FIG. 5 is a schematic structural diagram of a navigation device according to Embodiment 4 of the present invention.
  • the road navigation can be performed by a device equipped with navigation software (hereinafter referred to as a navigation device) such as a mobile phone, a pad, or a navigator.
  • a navigation device such as a mobile phone, a pad, or a navigator.
  • the navigation device uses the navigation device to perform road navigation, first input the location identifier of the destination location to be reached on the navigation device, and after obtaining the location identifier of the destination location, the navigation device determines the geographic coordinates corresponding to the location identifier, and passes the global positioning system (Global Positioning System, GPS) Get the geographic coordinates of the user's current location, that is, the geographic coordinates of the starting location.
  • GPS Global Positioning System
  • the navigation device can provide navigation to the user through local navigation, that is, plan from the starting position to the destination according to the locally stored navigation data.
  • the navigation path of the location, and the geometric data and attribute data of each road segment in the navigation path are obtained from the navigation data stored locally, and the navigation can be provided to the user through the network navigation mode, that is, the navigation server of the network side plans according to the stored navigation data.
  • the navigation path from the starting position to the destination position is sent, and the geometric data and attribute data of each road segment in the planned navigation path are sent to the navigation device.
  • the above-mentioned local navigation method has the problems of low efficiency and low update efficiency of the navigation data, and the navigation data is not updated in time.
  • the above-mentioned network navigation method has a problem of requiring more network traffic.
  • the first embodiment of the present invention proposes that the navigation mode can be used to provide navigation for the user, and the local navigation mode and the network navigation mode are combined, and the navigation path from the starting location to the destination location is determined by the local navigation path. And the network navigation path is composed, the navigation device acquires navigation data of each road segment in the local navigation path from the locally stored navigation data, and acquires navigation data of each road segment in the network navigation path from the network side.
  • the navigation data of the whole country is divided into different navigation data units by region.
  • Putian City of Fujian province corresponds to a navigation data unit
  • Chenzhou City of Fujian province corresponds to a navigation data unit.
  • the data amount of each navigation data unit can be controlled at about 20M.
  • the user can download the navigation data unit of the required area according to the needs of the user, and the area without the requirement can be downloaded. For example, if the user frequently moves in the A area and the B area, the user can only download the navigation of the A area and the B area.
  • Data unit which can greatly save the storage space occupied by navigation data.
  • the data stored in the navigation device after downloading may be referred to as local navigation data.
  • FIG. 1 it is a flowchart of a navigation method according to Embodiment 1 of the present invention, and the specific processing flow is as follows:
  • Step 11 According to the information of the starting position and the information of the destination location, determine whether the navigation path can be planned by the navigation data stored locally by the navigation device.
  • the information of the destination location to be reached may be input on the navigation device, and the starting position of the navigation may be the current user acquired by the navigation device through the Global Positioning System (GPS).
  • GPS Global Positioning System
  • the location can also be a location entered by the user on the navigation device.
  • the navigation device after obtaining the geographic coordinates of the starting location and the destination location, the navigation device first performs navigation route planning through the locally stored navigation data, and directly plans the starting location from the navigation data stored locally.
  • the navigation device obtains the navigation data of the destination location, and the navigation device acquires the geometric data and the attribute data of each road segment in the planned navigation path from the locally stored navigation data, and performs navigation according to the acquired geometric data and attribute data of each road segment. If the navigation path from the starting position to the destination position cannot be directly planned through the locally stored navigation data, step 12 is performed.
  • the navigation path is composed of continuous road segments.
  • the road segments are composed of consecutive position points, and the road segments are also divided into regions. That is, one road segment only belongs to one region, and there is no road segment spanning multiple regions.
  • the navigation data of each road segment includes the same.
  • the geometric data and attribute data of the road segment wherein the geometric data of the road segment includes geographic coordinate data of each position point in the road segment, and the attribute data of the road segment includes basic attribute data of the road segment and joint attribute data between the road segment and other road segments, and the basic part of the road segment
  • the attribute data includes the road name, the road type, and the road paving state of each road in the road section.
  • the joint attribute data between the road sections includes the intersection real picture, the turn broadcast voice, the turn text, and the intersection lane information.
  • Step 12 Send a navigation path planning request to the navigation server, and receive geometric data of each road segment in the navigation path planned by the navigation server from the starting position to the destination position.
  • the navigation device sends the geographic coordinates of the starting location and the geographic coordinates of the destination location to the navigation server on the network side, and the navigation server plans a navigation path from the starting location to the destination location according to the stored navigation data.
  • the navigation server sends the geometric data and attribute data of each road segment in the navigation path to the navigation device, and the attribute data of the road segment includes not only the road name, the road type, and the road laying state of each road in the road segment. It also includes real-life pictures at the intersection, turn-by-turn voice, turn text, and intersection lane information. Therefore, the amount of data occupied is large.
  • the navigation server sends the attribute data of the link to the navigation device, which consumes more network traffic of the user, resulting in users. The cost of use is higher.
  • the navigation server does not send the geometric data and attribute data of each road segment in the planned navigation path to the navigation device, but from the stored navigation.
  • the geometric data of each road segment in the planned navigation path is obtained in the data, and only the acquired geometric data of each road segment is sent to the navigation device. Since the amount of data occupied by the geometric data is small, the dependence on the network can be reduced, and the saving is saved. Network traffic reduces the cost of users.
  • Step 13 Determine, according to the received geometric data of each road segment, an entry node and an exit node in an area plane of each area corresponding to the navigation data stored locally.
  • the first embodiment of the present invention provides that the navigation device may first perform initial screening on the regional plane of each region corresponding to the locally stored navigation data, and screen out the regional plane through which the navigation path may pass, and then determine The navigation path is the entry and exit node in the filtered area polygon.
  • the navigation device After receiving the geometric data of each road segment in the navigation path sent by the navigation server on the network side, the navigation device first determines the navigation surface corresponding to the navigation path according to the received geometric data of each road segment, wherein the navigation surface can be, but is not limited to, navigation The external shape of the path, such as a circumscribed rectangle, an circumscribed circle, etc., the specific shape of the circumscribed figure is not specifically limited herein, and the navigation device is selected in the navigation plane of the area of each area corresponding to the navigation data stored locally or The area of the area intersecting the navigation surface, and then the navigation device determines the entry node and the exit node of the navigation path in the selected area planes according to the received geometric data of each road segment.
  • the navigation surface can be, but is not limited to, navigation The external shape of the path, such as a circumscribed rectangle, an circumscribed circle, etc., the specific shape of the circumscribed figure is not specifically limited herein, and the navigation device is selected in the navigation plane of the area of each area corresponding to the navigation data stored
  • the navigation device stores navigation data units corresponding to the area A, the area B, the area C, the area D, and the area E.
  • the navigation plane corresponding to the navigation path planned by the network side is a circumscribed rectangle of the navigation path, where the area A and The area B is located in the navigation plane, the area C intersects the navigation plane, and the area D and the area E are located outside the navigation plane.
  • the area where the navigation path may pass is the area A, the area B, and the area C, so the navigation device according to the received sections
  • the geometric data determines the ingress node and the egress node in the area plane corresponding to the navigation path in the area A, the area B, and the area C, respectively.
  • the navigation device first determines an external graphic of the area of each area corresponding to the navigation data stored locally, wherein the external graphic of the area surface may be an external rectangle, an external circle, etc., and the specific shape of the external graphic is not specifically limited herein, and the navigation device receives After receiving the geometric data of each segment in the navigation path sent by the navigation server on the network side, according to the received The geometric data of each road segment is used to filter out the regional surface corresponding to the external graphic through which the navigation path passes, wherein the external graphic passing through the navigation path includes at least one position point in the navigation path, and then the navigation device According to the received geometric data of each road segment, the navigation node is determined to be an entry node and an exit node in each selected area plane.
  • the navigation device when determining the ingress node and the egress node, may perform location relationship matching between each road segment and each selected region surface according to the received geometric data of each road segment, and then according to the matched position.
  • the relationship determines the ingress node and the egress node of the navigation path in each of the selected area planes.
  • the matched positional relationship includes: the road section is located in the area plane, the road section intersects the area plane, and the road section is outside the area plane.
  • the positional relationship between the road section and the area plane is that the road section is located in the area plane, as shown in FIG. 2A; the first position point in the road section is referred to as the first node, and the last position is The point is called the tail node.
  • the first node or the tail node of the road segment is located at the boundary of the area surface, and the other position points are located in the area plane, the positional relationship between the road segment and the area surface is that the road segment is located in the area plane, as shown in FIG. 2B.
  • the positional relationship between the road segment and the area surface is that the road segment is located in the area plane, as shown in FIG. 2C;
  • the positional relationship between the road section and the area surface is that the road section is outside the area plane, as shown in Fig. 2D;
  • the first node or the tail node of the road section is located at the boundary of the area surface, and other positions are
  • the positional relationship between the road section and the area plane is that the road section intersects the area plane, as shown in Fig.
  • the navigation device For each selected area of the selected area, the navigation device confirms the first node of the first road segment in each road segment in the same area as the entry node of the navigation path in the area plane, and confirms the tail node of the tail road segment as the navigation path.
  • the exit node in the area polygon wherein, the first road section and the tail road section are determined according to the traveling direction of the user's vehicle, the road section that the user vehicle first enters in the area is the first road section, and the last entered road section is the tail road section.
  • the navigation device may perform the following operations for each road segment on the navigation path in the order of the segments in the navigation path:
  • the road segment is located in an area of each area corresponding to the locally stored navigation data, it is determined whether the road segment is the first road segment or the tail road segment in each road segment located in the area, and if it is the first road segment, The head node of the road segment is confirmed as the ingress node of the navigation path in the area plane. If it is the tail road segment, the tail node of the road segment is confirmed as the exit node of the navigation path in the area plane.
  • the ingress node of the navigation path in the area plane is the head node of the road segment in the navigation path
  • the egress node is the tail node of the road segment in the navigation path, that is, the navigation device selects the head node of each road segment from the navigation path.
  • the ingress node and the egress node are determined in the tail node, and the local navigation path and the network navigation path respectively comprise several roads
  • the segment is convenient for obtaining the attribute data of each road segment in the local navigation path from the locally stored navigation data, and acquiring the attribute data of each road segment in the network navigation path from the navigation server on the network side.
  • the navigation device does not determine the ingress node and the egress node, that is, the positional relationship between each segment on the navigation path and each region is that the segment intersects with the region or the segment is outside the region, indicating that the navigation path does not correspond to the navigation data stored locally. Each area, so the navigation device can navigate through the network navigation.
  • Step 14 Obtain attribute data of each road segment in the local navigation path from the locally stored navigation data, and request attribute data of each road segment in the network navigation path from the navigation server, where the navigation node is connected to the same area face and The path of the egress node is a local navigation path, and the path of the navigation path other than the local navigation path is a network navigation path.
  • the first embodiment of the present invention proposes that, in the area plane of the area corresponding to the locally stored navigation data, the path connecting the ingress node and the egress node is referred to as a local navigation path, and then the path in the navigation path other than the local navigation path. It can be called a network navigation path.
  • the geometric data and attribute data of each road segment on the navigation path are obtained.
  • the geometric data of each road segment is sent by the navigation server on the network side, and the attribute data of the road segment includes basic attribute data of the road segment and Joint attribute data between the road segment and other road segments. The following describes the specific process of the navigation device acquiring the attribute data of each road segment.
  • the navigation device obtains the attribute data of each road segment from the locally stored navigation data. Specifically, the navigation device sequentially performs the following operations for each road segment in the local navigation path according to the sequence of each road segment in the navigation path.
  • the basic attribute data of each road segment is obtained from the locally stored navigation data
  • the joint attribute data between the road segments is obtained from the locally stored navigation data.
  • the navigation device is localized.
  • the joint attribute data between the road segment and the next road segment is not stored, so the joint attribute data between the road segment and the next road segment is requested from the navigation server. That is to say, the navigation device needs to request the joint attribute data between the last link of the local navigation path and the first link of the network navigation path adjacent thereto from the navigation server on the network side.
  • the navigation device For the network navigation path, the navigation device requests the attribute data of each road segment from the navigation server on the network side. Specifically, the basic attribute data of each road segment in the network navigation path and the joint attribute data between the road segments are requested from the navigation server.
  • Step 15 Navigating according to geometric data and attribute data of each road segment in the navigation path.
  • the navigation device After obtaining the navigation data (geometry data and attribute data) of each road segment in the navigation path, the navigation device provides navigation for the user according to the obtained navigation data.
  • the specific process of navigating according to the navigation data is not described here.
  • the navigation data is Updates have problems with low update efficiency and untimely updates.
  • the user does not need to download all the navigation data to the navigation device, but downloads the navigation data unit of the required area according to the needs of the user, and does not download the area without the requirement.
  • Corresponding navigation data unit which saves the storage space of the navigation device, reduces the cost of the navigation device, and improves the use efficiency of the navigation data.
  • the navigation device since the navigation device only stores navigation data of a part of the area, the navigation can be improved.
  • the update efficiency of the data avoids the problem that the navigation data is not updated in time.
  • the navigation server sends the attribute data of each road segment in the navigation path to the navigation device, and the attribute data of the road segment includes not only the road name, the road type, and the road laying state of each road in the road segment, but also includes The intersection scene picture, the turn-to-speech voice, the turn-to-text, the intersection lane information, etc., so the attribute data of the road section occupies a large amount of data, and the navigation server sends the attribute data of the road section to the navigation device, which consumes more network traffic, so that the user The cost of use is higher.
  • the navigation device acquires the attribute data of each link in the local navigation path from the locally stored navigation data, and obtains the attribute data of each link in the network navigation path from the navigation server, thereby reducing the attribute data.
  • the dependence on the network saves network traffic and reduces the user's cost of use.
  • FIG. 3 it is a schematic diagram of a specific process for determining an ingress node and an egress node according to Embodiment 2 of the present invention, and the specific processing procedure is as follows:
  • Step 31 The navigation device obtains a link segment list in the navigation path planned by the navigation server, where the navigation path includes N road segments.
  • Step 32 sequentially extract the i-th road segment according to the order of the road segments in the navigation path, where 1 ⁇ i ⁇ N;
  • Step 33 Determine whether the i-th road segment is located in an area of each area of the area corresponding to the locally stored navigation data. If the determination result is yes, go to step 34. If the determination result is no, go to step 37. ;
  • Step 34 Determine whether the i-th road segment is the first road segment or the tail road segment in each road segment located in the area. If it is determined that the first road segment is the first road segment, then go to step 35. If it is determined to be the tail road segment, go to step 36. If it is determined that the intermediate section is, then go to step 37;
  • Step 35 the first node of the i-th road segment is confirmed as the navigation node in the area of the entrance node, go to step 37;
  • Step 36 the tail node of the i-th road segment is confirmed as the exit node of the navigation path in the area plane, and the process proceeds to step 37;
  • a user often activities in Ningde City, Putian City and Zhangzhou City of Fujian province, so the user only downloads the navigation data units of the three cities in the navigation device, but does not download the navigation data units of other cities.
  • the navigation device plans the navigation route from Cangzhou City to Ningde City according to the locally stored navigation data. Since it is from Cangzhou City to Ningde City, it needs to take the route to Quanzhou City, Putian City and Fuzhou City. As shown in FIG. 4, the navigation data of Quanzhou City and Fuzhou City are not stored in the navigation device, so the navigation device cannot directly plan the navigation path from Cangzhou City to Ningde City through the navigation data stored locally.
  • the navigation device requests the navigation server to plan a navigation path, and the navigation server sends the geometric data of each road segment in the planned navigation path to the navigation device.
  • the navigation device determines the entry node and the exit node in the area plane of each area corresponding to the navigation data stored locally by the navigation path according to the received geometric data of each road segment, as shown in FIG.
  • the ingress node in the area plane is A
  • the egress node is B
  • the ingress node in the corresponding area of Putian City is C
  • the egress node is D
  • the ingress node in the corresponding area of Ningde City is E.
  • the exit node is F.
  • the path between the ingress node A to the egress node B, the path between the ingress node C to the egress node D, and the path between the ingress node E to the egress node F are local navigation paths
  • the path between the exit node B and the ingress node C, and the path between the egress node D and the ingress node E are network navigation paths.
  • the navigation device obtains the attribute data of each link in the local navigation path from the locally stored navigation data, obtains the attribute data of each link in the network navigation path from the navigation server on the network side, and then according to the geometric data and attributes of each link in the navigation path. Data is navigated.
  • the fourth embodiment of the present invention provides a navigation device, and the structure thereof is as shown in FIG. 5, and includes:
  • the path planning determining unit 51 is configured to determine, according to the information of the starting location and the information of the destination location, whether the navigation path can be planned by the navigation data stored locally by the navigation device;
  • the path planning requesting unit 52 is configured to send a navigation path planning request to the navigation server when the determination result of the path planning determining unit 51 is negative;
  • the geometric data receiving unit 53 is configured to receive geometric data of each road segment in the navigation path planned by the navigation server from the starting position to the destination position;
  • the node determining unit 54 is configured to determine, according to the geometric data of each road segment received by the geometric data receiving unit 53, the ingress node and the egress node in the area plane of each area corresponding to the navigation data stored locally;
  • the local attribute data acquiring unit 55 is configured to obtain, from the locally stored navigation data, attribute data of each road segment in the local navigation path, where the path of the ingress node and the egress node connecting the same area plane in the navigation path is a local navigation path. ;
  • the network attribute data obtaining unit 56 is configured to request attribute data of each road segment in the network navigation path from the navigation server, where the path other than the local navigation path in the navigation path is a network navigation path;
  • the navigation unit 57 is configured to perform navigation according to geometric data and attribute data of each road segment in the navigation path.
  • the navigation device further includes:
  • a navigation plane determining unit configured to determine, at the node determining unit 54 according to the geometric data of each road segment received by the geometric data receiving unit 53, the navigation node in the regional plane of each region corresponding to the navigation data stored locally Before the egress node, determining the navigation surface corresponding to the navigation path according to the geometric data of each road segment received by the geometric data receiving unit 53;
  • a regional plane screening unit configured to filter out, in an area plane of each area corresponding to the navigation data stored locally, each area surface that is located in the navigation plane or intersects the navigation surface;
  • the node determining unit 54 is configured to determine, according to the geometric data of each road segment received by the geometric data receiving unit 53, the ingress node and the egress node in each area plane selected by the regional plane screening unit.
  • the node determining unit 54 specifically includes:
  • the positional relationship matching subunit is configured to perform, according to the geometric data of each road segment received by the geometric data receiving unit 53, the positional relationship between each road segment and each regional surface selected by the regional surface screening unit;
  • the node determining subunit is configured to match the location relationship matched by the subunit according to the location relationship, and determine the ingress node and the egress node in each area plane selected by the area plane screening unit by the navigation path.
  • the node determining subunit is specifically configured to:
  • the first node of the first segment in each segment in the same region is confirmed as the entry node of the navigation path in the region, and the tail node of the tail segment is confirmed as the navigation The path is the exit node in the area polygon.
  • the local attribute data acquiring unit 55 is specifically configured to perform the following operations sequentially for each road segment in the local navigation path:
  • the network attribute data acquiring unit 56 is specifically configured to request, from the navigation server, basic attribute data of each road segment in the network navigation path and joint attribute data between the road segments.

Abstract

一种导航方法及导航设备，该导航方法包括：判断能否通过导航设备本地存储的导航数据规划出导航路径（11）；若不能，则发送导航路径规划请求至导航服务器，接收导航服务器规划的导航路径中各路段的几何数据（12）；根据各路段的几何数据，确定导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点（13）；从本地存储的导航数据中获取本端导航路径中各路段的属性数据，从导航服务器中请求网络导航路径中各路段的属性数据（14）；根据所述导航路径中各路段的几何数据和属性数据进行导航（15）。该导航方法解决了本地导航方式中导航数据的使用效率和更新效率较低、导航数据更新不及时的问题，以及网络导航方式耗费较多的网络流量的问题。

Description

导航方法及导航设备 技术领域
本发明涉及导航技术领域，尤其涉及一种导航方法及导航设备。
背景技术
随着道路的建设、城市车辆保有量的增加，自驾出行成为交通出行的主要方式，如果在出行时遇到不认识道路或找不到目的地的情况，用户可以通过装有导航软件的终端设备(以下简称导航设备)进行道路导航，在用户使用导航设备进行道路导航时，导航设备根据起始位置和目的位置，规划出一条导航路径提供给用户，用户就可以根据该导航路径顺利到达目的地。
现有技术中，导航设备可以采用本地导航方式或网络导航方式为用户提供导航，具体的：
1、本地导航方式
导航设备将所有导航数据下载到本地，通过安全数码卡(Secure Digital Memory Card，SD)、硬盘、光盘等设备进行存储，在为用户提供导航时，根据本地存储的导航数据规划出从起始位置到目的位置的导航路径，并从本地存储的导航数据中获取规划的导航路径中各路段的几何数据和属性数据，根据各路段的几何数据和属性数据为用户提供导航。其中，路段的几何数据包括路段中各位置点的地理坐标数据，路段的属性数据包括路段中各道路的道路名称、道路类别、道路铺设状态以及路口实景图片、转向播报语音、转向文字、路口车道信息等。
本地导航方式存在以下不足：
1)由于需要将所有导航数据下载到导航设备本地存储，因此导航设备要具有大容量的存储空间，使得导航设备的成本非常高，而用户在实际使用中，往往只会使用其中几个城市的导航数据，从而使得导航数据的使用效率较低；
2)随着城市的发展、道路的建设，导航数据也在不断变化，由于导航数据存储在导航设备中，因此对导航数据更新存在更新效率低以及更新不及时的问题。
2、网络导航方式
所有导航数据均存储在网络侧的导航服务器中，在为用户提供导航时，导航设备将起始位置的位置信息以及目的位置的位置信息发送给网络侧的导航服务器，导航服务器根据存储的导航数据规划出从起始位置到目的位置的导航路径，并将规划的导航路径中各路段的几何数据和属性数据发送给导航设备，导航设备根据接收到的各路段的几何数据和属性数据为用户提供导航。
网络导航方式虽然可以解决本地导航方式中导航数据的使用效率和更新效率低以及导航数据更新不及时的问题，但还存在以下不足：
每次导航时，导航设备都需要连接网络侧，由网络侧将规划出的导航路径中各路段的几何数据和属性数据发送给导航设备，而路段的属性数据中包含图片、语音等数据，耗费了较多的网络流量，使得用户的使用成本较高。
发明内容
本发明实施例提供一种导航方法及导航设备，用以解决本地导航方式中导航数据的使用效率和更新效率较低、导航数据更新不及时的问题，以及网络导航方式耗费较多的网络流量的问题。
本发明实施例提供如下技术方案：
本发明实施例提出一种导航方法，包括：根据起始位置的信息和目的位置的信息，判断能否通过导航设备本地存储的导航数据规划出导航路径；若判断出不能，则发送导航路径规划请求至导航服务器，并接收导航服务器规划的从所述起始位置到目的位置的导航路径中各路段的几何数据；根据接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点；从本地存储的导航数据中获取本地导航路径中各路段的属性数据，其中，所述导航路径中连接同一区域面的入口节点和出口节点的路径为本地导航路径；从导航服务器请求网络导航路径中各路段的属性数据，其中，所述导航路径中除本地导航路径之外的路径为网络导航路径；根据所述导航路径中各路段的几何数据和属性数据进行导航。
由上述技术方案可知，若无法通过本地存储的导航数据规划出从起始位置到目的位置的导航路径，则可以将导航路径分为本地导航路径和网络导航路径，从本地存储的导航数据中获取本地导航路径中各路段的属性数据，从网络侧请求网络导航路径中各路段的属性数据，从而实现了本地导航方式和网络导航方式的融合，因此用户无需将所有导航数据均下载到导航设备中，而是根据自身的需求下载所需区域的导航数据，而对没有需求的区域，可以不下载对应的导航数据，当用户的导航路径经过了没有下载的导航数据所对应的区域面时，导航设备可以从网络侧请求导航路径中本地未存储对应的导航数据的路径(即网络导航路径)中各路段的导航数据，这样就节省了导航设备的存储空间，降低了导航设备的成本，也提高了导航数据的使用效率，此外，由于导航设备中只存储部分区域的导航数据，因此能够提高导航数据的更新效率，避免了导航数据更新不及时的问题；此外，导航设备从本地存储的导航数据中获取本地导航路径中各路段的属性数据，从导航服务器中获取网络导航路径中各路段的属性数据，因此能够降低了对网络的依赖，节省了网络流量，降低 了用户的使用成本。
优选的，根据接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点之前，还包括：根据接收到的各路段的几何数据，确定所述导航路径对应的导航面；在本地存储的导航数据对应的各区域的区域面中，筛选出位于所述导航面内或与所述导航面相交的各区域面；根据接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点，具体包括：根据接收到的各路段的几何数据，确定所述导航路径在筛选出的各区域面中的入口节点和出口节点。
通过本实施例的方案，导航设备可以先对本地存储的导航数据对应的各区域进行初步筛选，筛选出导航路径可能经过的区域的区域面，然后确定导航路径在筛选出的各区域面中的出入口节点，从而提高了导航设备确定出入口节点的效率，进而提高了为用户提供导航的效率。
优选的，根据接收到的各路段的几何数据，确定所述导航路径在筛选出的各区域面中的入口节点和出口节点，具体包括：根据接收到的各路段的几何数据，将各路段与筛选出的各区域面进行位置关系匹配；根据匹配出的位置关系，确定所述导航路径在筛选出的各区域面中的入口节点和出口节点。
通过本实施例的方案，通过路段与区域面的位置关系来确定导航路径在区域面中的入口节点和出口节点，能够提高确定出入口节点的准确性，进而提高导航的精度。
优选的，根据匹配出的位置关系，确定所述导航路径在筛选出的各区域面中的入口节点和出口节点，具体包括：针对筛选出的各区域面，将位于同一区域面内的各路段中的首路段的首节点确认为所述导航路径在该区域面中的入口节点，将尾路段的尾节点确认为所述导航路径在该区域面中的出口节点。
通过本实施例的方案，导航设备从导航路径中各路段的首节点和尾节点中确定入口节点和出口节点，那么本地导航路径以及网络导航路径中就分别包含若干个路段，便于后续从本地存储的导航数据中获取本地导航路径中各路段的属性数据，以及从网络侧的导航服务器中请求网络导航路径中各路段的属性数据。
优选的，从本地存储的导航数据中获取本地导航路径中各路段的属性数据，具体包括：针对本地导航路径中的各路段，依次执行下述操作：从本地存储的导航数据中获取各路段的基本属性数据；从本地存储的导航数据中获取各路段之间的联合属性数据，当路段是本地导航路径中的最后一个路段时，从导航服务器中请求该路段与下一个路段之间的联合属性数据；从导航服务器请求网络导航路径中各路段的属性数据，具体包括：从导航服务器 请求网络导航路径中的各路段的基本属性数据以及各路段之间的联合属性数据。
通过本实施例的方案，导航设备从本地存储的导航数据中获取本地导航路径中各路段的基本属性数据以及各路段间的联合属性数据，从网络侧的导航服务器请求网络导航路径中各路段的基本属性数据以及各路段间的联合属性数据，而对于本地导航路径的最后一个路段和与其相邻的网络导航路径的首个路段的联合属性数据，则从网络侧的导航服务器中请求，因此能够准确的获取到各路段的基本属性数据以及各路段间的联合属性数据。
本发明实施例还提供一种导航设备，包括：路径规划判断单元，用于根据起始位置的信息和目的位置的信息，判断能否通过导航设备本地存储的导航数据规划导航路径；路径规划请求单元，用于在路径规划判断单元的判断结果为否时，发送导航路径规划请求至导航服务器；几何数据接收单元，用于接收导航服务器规划的从所述起始位置到目的位置的导航路径中各路段的几何数据；节点确定单元，用于根据几何数据接收单元接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点；本地属性数据获取单元，用于从本地存储的导航数据中获取本地导航路径中各路段的属性数据，其中，所述导航路径中连接同一区域面的入口节点和出口节点的路径为本地导航路径；网络属性数据获取单元，用于从导航服务器请求网络导航路径中各路段的属性数据，其中，所述导航路径中除本地导航路径之外的路径为网络导航路径；导航单元，用于根据所述导航路径中各路段的几何数据和属性数据进行导航。
由上述技术方案可知，若无法通过本地存储的导航数据规划出从起始位置到目的位置的导航路径，则可以将导航路径分为本地导航路径和网络导航路径，从本地存储的导航数据中获取本地导航路径中各路段的属性数据，从网络侧请求网络导航路径中各路段的属性数据，从而实现了本地导航方式和网络导航方式的融合，因此用户无需将所有导航数据均下载到导航设备中，而是根据自身的需求下载所需区域的导航数据，而对没有需求的区域，可以不下载对应的导航数据，当用户的导航路径经过了没有下载的导航数据所对应的区域面时，导航设备可以从网络侧请求导航路径中本地未存储对应的导航数据的路径(即网络导航路径)中各路段的导航数据，这样就节省了导航设备的存储空间，降低了导航设备的成本，也提高了导航数据的使用效率，此外，由于导航设备中只存储部分区域的导航数据，因此能够提高导航数据的更新效率，避免了导航数据更新不及时的问题；此外，导航设备从本地存储的导航数据中获取本地导航路径中各路段的属性数据，从导航服务器中获取网络导航路径中各路段的属性数据，因此能够降低了对网络的依赖，节省了网络流量，降低了用户的使用成本。
优选的，所述导航设备还包括：导航面确定单元，用于在节点确定单元根据几何数据 接收单元接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点之前，根据几何数据接收单元接收到的各路段的几何数据，确定所述导航路径对应的导航面；区域面筛选单元，用于在本地存储的导航数据对应的各区域的区域面中，筛选出位于所述导航面内或与所述导航面相交的各区域面；所述节点确定单元，具体用于根据几何数据接收单元接收到的各路段的几何数据，确定所述导航路径在区域面筛选单元筛选出的各区域面中的入口节点和出口节点。
通过本实施例的方案，导航设备可以先对本地存储的导航数据对应的各区域进行初步筛选，筛选出导航路径可能经过的区域的区域面，然后确定导航路径在筛选出的各区域面中的出入口节点，从而提高了导航设备确定出入口节点的效率，进而提高了为用户提供导航的效率。
优选的，所述节点确定单元具体包括：位置关系匹配子单元，用于根据几何数据接收单元接收到的各路段的几何数据，将各路段与区域面筛选单元筛选出的各区域面进行位置关系匹配；节点确定子单元，用于根据位置关系匹配子单元匹配出的位置关系，确定所述导航路径在区域面筛选单元筛选出的各区域面中的入口节点和出口节点。
通过本实施例的方案，通过路段与区域面的位置关系来确定导航路径在区域面中的入口节点和出口节点，能够提高确定出入口节点的准确性，进而提高导航的精度。
优选的，所述节点确定子单元具体用于：针对筛选出的各区域面，将位于同一区域面内的各路段中的首路段的首节点确认为所述导航路径在该区域面中的入口节点，将尾路段的尾节点确认为所述导航路径在该区域面中的出口节点。
通过本实施例的方案，导航设备从导航路径中各路段的首节点和尾节点中确定入口节点和出口节点，那么本地导航路径以及网络导航路径中就分别包含若干个路段，便于后续从本地存储的导航数据中获取本地导航路径中各路段的属性数据，以及从网络侧的导航服务器中请求网络导航路径中各路段的属性数据。
优选的，所述本地属性数据获取单元，具体用于针对本地导航路径中的各路段，依次执行下述操作：从本地存储的导航数据中获取各路段的基本属性数据；从本地存储的导航数据中获取各路段之间的联合属性数据，当路段是本地导航路径中的最后一个路段时，从导航服务器中请求该路段与下一个路段之间的联合属性数据；所述网络属性数据获取单元，具体用于从导航服务器请求网络导航路径中的各路段的基本属性数据以及各路段之间的联合属性数据。
通过本实施例的方案，导航设备从本地存储的导航数据中获取本地导航路径中各路段的基本属性数据以及各路段间的联合属性数据，从网络侧的导航服务器请求网络导航路径 中各路段的基本属性数据以及各路段间的联合属性数据，而对于本地导航路径的最后一个路段和与其相邻的网络导航路径的首个路段的联合属性数据，则从网络侧的导航服务器中请求，因此能够准确的获取到各路段的基本属性数据以及各路段间的联合属性数据。
附图说明
图1为本发明实施例一中，导航方法流程示意图；
图2A为本发明实施例一中，路段与区域面的位置关系示意图一；
图2B为本发明实施例一中，路段与区域面的位置关系示意图二；
图2C为本发明实施例一中，路段与区域面的位置关系示意图三；
图2D为本发明实施例一中，路段与区域面的位置关系示意图四；
图2E为本发明实施例一中，路段与区域面的位置关系示意图五；
图2F为本发明实施例一中，路段与区域面的位置关系示意图六；
图3为本发明实施例二中，确定入口节点和出口节点的具体过程示意图；
图4为本发明实施例三中，导航路径示意图；
图5为本发明实施例四中，导航设备结构示意图。
具体实施方式
下面结合各个附图对本发明实施例技术方案的主要实现原理、具体实施方式及其对应能够达到的有益效果进行详细地阐述。
实施例一
用户驾驶车辆出行时，如果找不到目的地，则可以通过装有导航软件的设备(以下简称导航设备)例如手机、Pad或导航仪等进行道路导航。用户使用导航设备进行道路导航时，首先在导航设备上输入需要到达的目的位置的位置标识，导航设备获得目的位置的位置标识后，确定该位置标识对应的地理坐标，并通过全球定位系统(Global Positioning System，GPS)获取用户当前所处位置的地理坐标，即起始位置的地理坐标，导航设备可以通过本地导航方式为用户提供导航，即根据本地存储的导航数据规划出从起始位置到目的位置的导航路径，并从本地存储的导航数据中获取导航路径中各路段的几何数据和属性数据，也可以通过网络导航方式为用户提供导航，即由网络侧的导航服务器根据存储的导航数据规划出从起始位置到目的位置的导航路径，并将规划的导航路径中各路段的几何数据和属性数据发送给导航设备。但是，上述本地导航方式存在导航数据的使用效率和更新效率较低、导航数据更新不及时的问题，上述网络导航方式存在耗费较多的网络流量的问 题，对此，本发明实施例一提出，可以通过本网融合导航方式为用户提供导航，将本地导航方式和网络导航方式结合起来，从起始位置到目的位置的导航路径如果由本地导航路径和网络导航路径组成，则导航设备从本地存储的导航数据中获取本地导航路径中各路段的导航数据，从网络侧获取网络导航路径中各路段的导航数据。
本发明实施例一提出，预先将全国的导航数据按区域划分为不同的导航数据单元。例如，福建省的莆田市对应一个导航数据单元，福建省的漳州市对应一个导航数据单元。其中，每个导航数据单元的数据量可以控制在20M左右。用户可以根据自身的需求下载所需区域的导航数据单元，而对没有需求的区域则可以不下载，例如，用户经常活动在A区域和B区域，则用户可以只下载A区域和B区域的导航数据单元，这样可以大大节省导航数据所占的存储空间。下载后存储在导航设备中的数据可以称为本地导航数据。
以下结合附图对本发明实施例提供的导航方法进行详细介绍。
如图1所示，为本发明实施例一提出的导航方法流程图，其具体处理流程如下：
步骤11，根据起始位置的信息和目的位置的信息，判断能否通过导航设备本地存储的导航数据规划出导航路径。
用户使用导航设备进行道路导航时，可以在导航设备上输入需要到达的目的位置的信息，而导航的起始位置可以是导航设备通过全球定位系统(Global Positioning System，GPS)获取到的用户当前所处位置，也可以是用户在导航设备上输入的某个位置。
本发明实施例一提出，导航设备获取到起始位置和目的位置的地理坐标后，先通过本地存储的导航数据进行导航路径的规划，如果能够通过本地存储的导航数据直接规划出从起始位置到目的位置的导航路径，则导航设备从本地存储的导航数据中，获取规划出的导航路径中各路段的几何数据和属性数据，并根据获取到的各路段的几何数据和属性数据进行导航。如果不能通过本地存储的导航数据直接规划出从起始位置到目的位置的导航路径，则执行步骤12。
导航路径由连续的路段构成，路段由连续的位置点构成，且路段也是以区域划分的，即一条路段只会属于一个区域，不存在跨多个区域的路段，每个路段的导航数据包含该路段的几何数据和属性数据，其中，路段的几何数据包括路段中各位置点的地理坐标数据，路段的属性数据包括路段的基本属性数据和该路段与其他路段间的联合属性数据，路段的基本属性数据包括路段中各道路的道路名称、道路类别、道路铺设状态等，路段间的联合属性数据包括路口实景图片、转向播报语音、转向文字、路口车道信息等。
步骤12，发送导航路径规划请求至导航服务器，并接收导航服务器规划的从所述起始位置到目的位置的导航路径中各路段的几何数据。
导航设备将起始位置的地理坐标以及目的位置的地理坐标发送给网络侧的导航服务器，导航服务器根据存储的导航数据规划出从起始位置到目的位置的导航路径。
在现有的网络导航方式中，由导航服务器将导航路径中各路段的几何数据和属性数据发送给导航设备，而路段的属性数据不仅包含路段中各道路的道路名称、道路类别、道路铺设状态，还包含路口实景图片、转向播报语音、转向文字、路口车道信息等，因此占用的数据量较大，由导航服务器将路段的属性数据发送给导航设备会耗费用户较多的网络流量，导致用户的使用成本较高。与现有技术不同的是，本发明实施例一提出的导航方法中，导航服务器不是将规划出的导航路径中各路段的几何数据和属性数据一并发送给导航设备，而是从存储的导航数据中获取所规划的导航路径中各路段的几何数据，然后只将获取到的各路段的几何数据发送给导航设备，由于几何数据占用的数据量很小，因此能够降低对网络的依赖，节省了网络流量，降低了用户的使用成本。
步骤13，根据接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点。
为了提高导航设备确定出入口节点的效率，本发明实施例一提出，导航设备可以先对本地存储的导航数据对应的各区域的区域面进行初步筛选，筛选出导航路径可能经过的区域面，然后确定导航路径在筛选出的区域面中的出入口节点。具体的：
导航设备接收到网络侧的导航服务器发送的导航路径中各路段的几何数据之后，先根据接收到的各路段的几何数据，确定导航路径对应的导航面，其中，导航面可以但不限于为导航路径的外接图形，例如外接矩形、外接圆形等，外接图形的具体形状这里不作具体限定，导航设备在本地存储的导航数据对应的各区域的区域面中，筛选出位于所述导航面内或与所述导航面相交的各区域面，然后导航设备根据接收到的各路段的几何数据，确定导航路径在筛选出的各区域面中的入口节点和出口节点。
例如，导航设备中存储有区域A、区域B、区域C、区域D和区域E对应的导航数据单元，网络侧规划出的导航路径对应的导航面为导航路径的外接矩形，其中，区域A和区域B位于导航面内，区域C与导航面相交，区域D和区域E位于导航面外，则导航路径可能经过的区域为区域A、区域B和区域C，因此导航设备根据接收到的各路段的几何数据，确定导航路径在区域A、区域B和区域C分别对应的区域面中的入口节点和出口节点。
此外，还可以采用下述方式筛选区域面，具体的：
导航设备先确定本地存储的导航数据对应的各区域的区域面的外接图形，其中，区域面的外接图形可以为外接矩形、外接圆形等，外接图形的具体形状这里不作具体限定，导航设备接收到网络侧的导航服务器发送的导航路径中各路段的几何数据之后，根据接收到 的各路段的几何数据，在各区域面中筛选出导航路径所经过的外接图形所对应的区域面，其中，导航路径所经过的外接图形中包含导航路径中的至少一个位置点，然后导航设备根据接收到的各路段的几何数据，确定导航路径在筛选出的各区域面中的入口节点和出口节点。
本发明实施例一提出，导航设备在确定入口节点和出口节点时，可以根据接收到的各路段的几何数据，将各路段与筛选出的各区域面进行位置关系匹配，然后根据匹配出的位置关系，确定所述导航路径在筛选出的各区域面中的入口节点和出口节点。其中，匹配出的位置关系包括：路段位于区域面内、路段与区域面相交、路段在区域面外。
当路段上所有的位置点均位于区域面内时，路段与区域面的位置关系为路段位于区域面内，如图2A所示；将路段中的第一个位置点称为首节点，最后一个位置点称为尾节点，当路段的首节点或尾节点位于区域面的边界，而其他位置点均位于区域面内时，路段与区域面的位置关系为路段位于区域面内，如图2B所示；当路段的首节点和尾节点均位于区域面的边界，而其他位置点均位于区域面内时，路段与区域面的位置关系为路段位于区域面内，如图2C所示；当路段上所有的位置点均位于区域面外时，路段与区域面的位置关系为路段位于区域面外，如图2D所示；当路段的首节点或尾节点位于区域面的边界，而其他位置点均位于区域面外时，路段与区域面的位置关系为路段与区域面相交，如图2E所示；当路段的首节点和尾节点位于区域面的边界，而其他位置点均位于区域面外时，路段与区域面的位置关系为路段与区域面相交，如图2F所示。
导航设备针对筛选出的各区域面，将位于同一区域面内的各路段中的首路段的首节点确认为导航路径在该区域面中的入口节点，将尾路段的尾节点确认为导航路径在该区域面中的出口节点。其中，首路段和尾路段是根据用户车辆的行驶方向确定的，用户车辆在该区域首先进入的路段为首路段，最后进入的路段为尾路段。
具体的，导航设备可以按照各路段在导航路径中的顺序，针对导航路径上的各路段依次执行下述操作：
若该路段位于本地存储的导航数据对应的各区域面中的一个区域面内，则判断该路段是否为位于该区域面内的各路段中的首路段或尾路段，若为首路段，则将该路段的首节点确认为导航路径在该区域面中的入口节点，若为尾路段，则将该路段的尾节点确认为导航路径在该区域面中的出口节点。
由上可见，导航路径在区域面中的入口节点为导航路径中路段的首节点，而出口节点为导航路径中路段的尾节点，也就是说，导航设备从导航路径中各路段的首节点和尾节点中确定入口节点和出口节点，那么本地导航路径以及网络导航路径中分别包含若干个路 段，便于后续从本地存储的导航数据中获取本地导航路径中各路段的属性数据，以及从网络侧的导航服务器中获取网络导航路径中各路段的属性数据。
若导航设备未确定出入口节点和出口节点，即导航路径上的各路段与各区域面的位置关系均为路段与区域面相交或路段位于区域面外，表明导航路径未经过本地存储的导航数据对应的各区域，因此导航设备可以通过网络导航方式进行导航。
步骤14，从本地存储的导航数据中获取本地导航路径中各路段的属性数据，从导航服务器请求网络导航路径中各路段的属性数据，其中，所述导航路径中连接同一区域面的入口节点和出口节点的路径为本地导航路径，所述导航路径中除本地导航路径之外的路径为网络导航路径。
本发明实施例一提出，在本地存储的导航数据对应的区域的区域面内，将连接入口节点和出口节点之间的路径称为本地导航路径，那么导航路径中除本地导航路径之外的路径则可以称为网络导航路径。
若导航设备需要为用户提供导航，则需要获取导航路径上各路段的几何数据和属性数据，其中，各路段的几何数据由网络侧的导航服务器发送，路段的属性数据包括路段的基本属性数据和该路段与其他路段间的联合属性数据。下面介绍导航设备获取各路段的属性数据的具体过程。
针对本地导航路径，导航设备从本地存储的导航数据中获取各路段的属性数据，具体的，导航设备按照各路段在导航路径中的顺序，针对本地导航路径中的各路段，依次执行下述操作：从本地存储的导航数据中获取各路段的基本属性数据，从本地存储的导航数据中获取各路段之间的联合属性数据，当路段是本地导航路径中的最后一个路段时，表明导航设备本地并未存储该路段与下一个路段之间的联合属性数据，因此从导航服务器中请求该路段与下一个路段之间的联合属性数据。也就是说，导航设备需要从网络侧的导航服务器中请求本地导航路径的最后一个路段和与其相邻的网络导航路径的首个路段之间的联合属性数据。
针对网络导航路径，导航设备从网络侧的导航服务器请求各路段的属性数据，具体的，从导航服务器请求网络导航路径中的各路段的基本属性数据以及各路段之间的联合属性数据。
步骤15，根据所述导航路径中各路段的几何数据和属性数据进行导航。
导航设备获取到导航路径中各路段的导航数据(几何数据和属性数据)后，根据获取到的导航数据为用户提供导航，其中，根据导航数据进行导航的具体过程这里不再赘述。
在现有的本地导航方式中，由于需要将所有导航数据下载到导航设备本地存储，因此 需要具有大容量的存储空间，使得导航设备的成本非常高，而用户在实际使用中，往往只会使用其中几个城市的导航数据，从而使得导航数据的使用效率较低，此外，对导航数据更新存在更新效率低以及更新不及时的问题。而本发明实施例一提出的技术方案中，用户无需将所有导航数据均下载到导航设备中，而是根据自身的需求下载所需区域的导航数据单元，而对没有需求的区域，可以不下载对应的导航数据单元，这样就节省了导航设备的存储空间，降低了导航设备的成本，也提高了导航数据的使用效率，此外，由于导航设备中只存储部分区域的导航数据，因此能够提高导航数据的更新效率，避免了导航数据更新不及时的问题。
在现有的网络导航方式中，由导航服务器将导航路径中各路段的属性数据发送给导航设备，而路段的属性数据不仅包含路段中各道路的道路名称、道路类别、道路铺设状态，还包含路口实景图片、转向播报语音、转向文字、路口车道信息等，因此路段的属性数据占用的数据量较大，由导航服务器将路段的属性数据发送给导航设备耗费了较多的网络流量，使得用户的使用成本较高。而本发明实施例一提出的技术方案中，导航设备从本地存储的导航数据中获取本地导航路径中各路段的属性数据，从导航服务器中获取网络导航路径中各路段的属性数据，因此能够降低了对网络的依赖，节省了网络流量，降低了用户的使用成本。
实施例二
如图3所示，为本发明实施例二提出的确定入口节点和出口节点的具体过程示意图，具体处理流程如下：
步骤31，导航设备获得导航服务器所规划的导航路径中的路段列表，其中，导航路径中包含N个路段；
步骤32，按照各路段在导航路径中的顺序，依次提取出第i个路段，其中，1≤i≤N；
步骤33，判断第i个路段是否位于本地存储的导航数据对应的各区域面中的一个区域面内，若判断结果为是，则转至步骤34，若判断结果为否，则转至步骤37；
步骤34，判断第i个路段是否为位于该区域面内的各路段中的首路段或尾路段，若判断出为首路段，则转至步骤35，若判断出为尾路段，则转至步骤36，若判断出为中间路段，则转至步骤37；
步骤35，将第i个路段的首节点确认为导航路径在该区域面中的入口节点，转至步骤37；
步骤36，将第i个路段的尾节点确认为导航路径在该区域面中的出口节点，转至步骤37；
步骤37，置i＝i+1，转至步骤32。
实施例三
下面以具体实例来详细阐述本发明实施例提出的导航方法。
某用户经常活动在福建省的宁德市、莆田市和漳州市，因此该用户只在导航设备中下载了这三个城市的导航数据单元，而并没有下载其他城市的导航数据单元。
若该用户想要从漳州市行驶到宁德市，则导航设备根据本地存储的导航数据规划从漳州市到宁德市的导航路径，由于从漳州市到宁德市，需要途径泉州市、莆田市和福州市，如图4所示，而导航设备中并未存储有泉州市和福州市的导航数据，因此导航设备不能通过本地存储的导航数据直接规划出从漳州市到宁德市的导航路径。
导航设备请求导航服务器规划导航路径，导航服务器将所规划的导航路径中各路段的几何数据发送给导航设备。
导航设备根据接收到的各路段的几何数据，确定出导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点，如图4所示，导航路径在漳州市对应的区域面中的入口节点为A，出口节点为B，导航路径在莆田市对应的区域面中的入口节点为C，出口节点为D，导航路径在宁德市对应的区域面中的入口节点为E，出口节点为F。
在图4中，由入口节点A至出口节点B之间的路径、由入口节点C至出口节点D之间的路径、由入口节点E至出口节点F之间的路径为本地导航路径，而由出口节点B至入口节点C之间的路径、由出口节点D至入口节点E之间的路径为网络导航路径。
导航设备从本地存储的导航数据中获取本地导航路径中各路段的属性数据，从网络侧的导航服务器中获取网络导航路径中各路段的属性数据，然后根据导航路径中各路段的几何数据和属性数据进行导航。
实施例四
与上述导航方法对应，本发明实施例四提供一种导航设备，其结构如图5所示，包括：
路径规划判断单元51，用于根据起始位置的信息和目的位置的信息，判断能否通过导航设备本地存储的导航数据规划导航路径；
路径规划请求单元52，用于在路径规划判断单元51的判断结果为否时，发送导航路径规划请求至导航服务器；
几何数据接收单元53，用于接收导航服务器规划的从所述起始位置到目的位置的导航路径中各路段的几何数据；
节点确定单元54，用于根据几何数据接收单元53接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点；
本地属性数据获取单元55，用于从本地存储的导航数据中获取本地导航路径中各路段的属性数据，其中，所述导航路径中连接同一区域面的入口节点和出口节点的路径为本地导航路径；
网络属性数据获取单元56，用于从导航服务器请求网络导航路径中各路段的属性数据，其中，所述导航路径中除本地导航路径之外的路径为网络导航路径；
导航单元57，用于根据所述导航路径中各路段的几何数据和属性数据进行导航。
优选的，所述导航设备还包括：
导航面确定单元，用于在节点确定单元54根据几何数据接收单元53接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点之前，根据几何数据接收单元53接收到的各路段的几何数据，确定所述导航路径对应的导航面；
区域面筛选单元，用于在本地存储的导航数据对应的各区域的区域面中，筛选出位于所述导航面内或与所述导航面相交的各区域面；
所述节点确定单元54，具体用于根据几何数据接收单元53接收到的各路段的几何数据，确定所述导航路径在区域面筛选单元筛选出的各区域面中的入口节点和出口节点。
优选的，所述节点确定单元54具体包括：
位置关系匹配子单元，用于根据几何数据接收单元53接收到的各路段的几何数据，将各路段与区域面筛选单元筛选出的各区域面进行位置关系匹配；
节点确定子单元，用于根据位置关系匹配子单元匹配出的位置关系，确定所述导航路径在区域面筛选单元筛选出的各区域面中的入口节点和出口节点。
优选的，所述节点确定子单元具体用于：
针对筛选出的各区域面，将位于同一区域面内的各路段中的首路段的首节点确认为所述导航路径在该区域面中的入口节点，将尾路段的尾节点确认为所述导航路径在该区域面中的出口节点。
优选的，所述本地属性数据获取单元55，具体用于针对本地导航路径中的各路段，依次执行下述操作：
从本地存储的导航数据中获取各路段的基本属性数据；从本地存储的导航数据中获取各路段之间的联合属性数据，当路段是本地导航路径中的最后一个路段时，从导航服务器中请求该路段与下一个路段之间的联合属性数据；
所述网络属性数据获取单元56，具体用于从导航服务器请求网络导航路径中的各路段的基本属性数据以及各路段之间的联合属性数据。
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (10)

  1. 一种导航方法，其特征在于，包括：
    根据起始位置的信息和目的位置的信息，判断能否通过导航设备本地存储的导航数据规划出导航路径；
    若判断出不能，则发送导航路径规划请求至导航服务器，并接收导航服务器规划的从所述起始位置到目的位置的导航路径中各路段的几何数据；
    根据接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点；
    从本地存储的导航数据中获取本地导航路径中各路段的属性数据，其中，所述导航路径中连接同一区域面的入口节点和出口节点的路径为本地导航路径；
    从导航服务器请求网络导航路径中各路段的属性数据，其中，所述导航路径中除本地导航路径之外的路径为网络导航路径；
    根据所述导航路径中各路段的几何数据和属性数据进行导航。
  2. 如权利要求1所述的方法，其特征在于，根据接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点之前，还包括：
    根据接收到的各路段的几何数据，确定所述导航路径对应的导航面；
    在本地存储的导航数据对应的各区域的区域面中，筛选出位于所述导航面内或与所述导航面相交的各区域面；
    根据接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点，具体包括：
    根据接收到的各路段的几何数据，确定所述导航路径在筛选出的各区域面中的入口节点和出口节点。
  3. 如权利要求2所述的方法，其特征在于，根据接收到的各路段的几何数据，确定所述导航路径在筛选出的各区域面中的入口节点和出口节点，具体包括：
    根据接收到的各路段的几何数据，将各路段与筛选出的各区域面进行位置关系匹配；
    根据匹配出的位置关系，确定所述导航路径在筛选出的各区域面中的入口节点和出口节点。
  4. 如权利要求3所述的方法，其特征在于，根据匹配出的位置关系，确定所述导航路径在筛选出的各区域面中的入口节点和出口节点，具体包括：
    针对筛选出的各区域面，将位于同一区域面内的各路段中的首路段的首节点确认为所 述导航路径在该区域面中的入口节点，将尾路段的尾节点确认为所述导航路径在该区域面中的出口节点。
  5. 如权利要求1-4中任一项权利要求所述的方法，其特征在于，从本地存储的导航数据中获取本地导航路径中各路段的属性数据，具体包括：
    针对本地导航路径中的各路段，依次执行下述操作：
    从本地存储的导航数据中获取各路段的基本属性数据；
    从本地存储的导航数据中获取各路段之间的联合属性数据，当路段是本地导航路径中的最后一个路段时，从导航服务器中请求该路段与下一个路段之间的联合属性数据；
    从导航服务器请求网络导航路径中各路段的属性数据，具体包括：
    从导航服务器请求网络导航路径中的各路段的基本属性数据以及各路段之间的联合属性数据。
  6. 一种导航设备，其特征在于，包括：
    路径规划判断单元，用于根据起始位置的信息和目的位置的信息，判断能否通过导航设备本地存储的导航数据规划导航路径；
    路径规划请求单元，用于在路径规划判断单元的判断结果为否时，发送导航路径规划请求至导航服务器；
    几何数据接收单元，用于接收导航服务器规划的从所述起始位置到目的位置的导航路径中各路段的几何数据；
    节点确定单元，用于根据几何数据接收单元接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点；
    本地属性数据获取单元，用于从本地存储的导航数据中获取本地导航路径中各路段的属性数据，其中，所述导航路径中连接同一区域面的入口节点和出口节点的路径为本地导航路径；
    网络属性数据获取单元，用于从导航服务器请求网络导航路径中各路段的属性数据，其中，所述导航路径中除本地导航路径之外的路径为网络导航路径；
    导航单元，用于根据所述导航路径中各路段的几何数据和属性数据进行导航。
  7. 如权利要求6所述的导航设备，其特征在于，还包括：
    导航面确定单元，用于在节点确定单元根据几何数据接收单元接收到的各路段的几何数据，确定所述导航路径在本地存储的导航数据对应的各区域的区域面中的入口节点和出口节点之前，根据几何数据接收单元接收到的各路段的几何数据，确定所述导航路径对应的导航面；
    区域面筛选单元，用于在本地存储的导航数据对应的各区域的区域面中，筛选出位于所述导航面内或与所述导航面相交的各区域面；
    所述节点确定单元，具体用于根据几何数据接收单元接收到的各路段的几何数据，确定所述导航路径在区域面筛选单元筛选出的各区域面中的入口节点和出口节点。
  8. 如权利要求7所述的导航设备，其特征在于，所述节点确定单元具体包括：
    位置关系匹配子单元，用于根据几何数据接收单元接收到的各路段的几何数据，将各路段与区域面筛选单元筛选出的各区域面进行位置关系匹配；
    节点确定子单元，用于根据位置关系匹配子单元匹配出的位置关系，确定所述导航路径在区域面筛选单元筛选出的各区域面中的入口节点和出口节点。
  9. 如权利要求8所述的导航设备，其特征在于，所述节点确定子单元具体用于：针对筛选出的各区域面，将位于同一区域面内的各路段中的首路段的首节点确认为所述导航路径在该区域面中的入口节点，将尾路段的尾节点确认为所述导航路径在该区域面中的出口节点。
  10. 如权利要求6-9中任一项权利要求所述的导航设备，其特征在于，所述本地属性数据获取单元，具体用于针对本地导航路径中的各路段，依次执行下述操作：
    从本地存储的导航数据中获取各路段的基本属性数据；从本地存储的导航数据中获取各路段之间的联合属性数据，当路段是本地导航路径中的最后一个路段时，从导航服务器中请求该路段与下一个路段之间的联合属性数据；
    所述网络属性数据获取单元，具体用于从导航服务器请求网络导航路径中的各路段的基本属性数据以及各路段之间的联合属性数据。
PCT/CN2014/090104 2013-11-13 2014-10-31 导航方法及导航设备 WO2015070711A1 (zh)

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