WO2016000457A1 - Navigation action generation method, navigation method and device - Google Patents
Navigation action generation method, navigation method and device Download PDFInfo
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- WO2016000457A1 WO2016000457A1 PCT/CN2015/073152 CN2015073152W WO2016000457A1 WO 2016000457 A1 WO2016000457 A1 WO 2016000457A1 CN 2015073152 W CN2015073152 W CN 2015073152W WO 2016000457 A1 WO2016000457 A1 WO 2016000457A1
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- road
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- relative angle
- navigation
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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
Definitions
- the present invention relates to the field of navigation, and in particular, to a method, a navigation method, and a device for generating a navigation action.
- the driver is prompted to drive by calculating the navigation action.
- the so-called navigation action refers to information that prompts the driver how to drive when the vehicle approaches the navigation point, for example, left turn, right turn, straight line, and the like.
- the so-called navigation point refers to a position where a turning, a fork, and the like need to be reminded to change the driving behavior of the driver in the navigation route.
- the navigation action is calculated for the driver in the following manner, and the driver is informed by voice announcement:
- the navigation action corresponding to the section determines the navigation action as a navigation action of entering the exit section from the driving section.
- the driving road section refers to the road section that enters the navigation point; the driving road section refers to the road section that is driven out from the navigation point, and communicates with the corresponding driving road section through the navigation point.
- Relative angle interval Navigation action Relative angle interval Navigation action 340° ⁇ 20° straight 180° ⁇ 200° Left turn 20° ⁇ 55° Driving to the right ahead 200° ⁇ 235° Driving to the left 55° ⁇ 125° Turn right 235° ⁇ 305° Turn left 125° ⁇ 160° Driving to the right rear 305° ⁇ 340° Driving to the left 160° ⁇ 180° Right turn
- a driving section may have a plurality of exiting sections that are in communication with the driving section, so the calculated relative angles of the driving section and the exiting section may be at the same relative angle. In the interval, this The navigation action for entering the exit section for the driving section is the same, so that after receiving the navigation action, the driver cannot determine which driving section to travel to, which reduces the navigation accuracy.
- the embodiment of the present invention provides a method, a navigation method, and a device for generating a navigation action, which are used to solve the problem that the currently generated navigation action has low accuracy.
- a method for generating a navigation action comprising:
- an exiting section corresponding to the driving section is determined from the corresponding exit section of the intersection;
- the relative angular interval For each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, determining the at least two driving according to the relative angle values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the outgoing sections; and generating a driving route from the driving section according to the relative angular section, the relative positional relationship between the at least two outgoing sections, and a preset navigation action generating strategy The navigation action of each outgoing section included in the relative angle section.
- the navigation actions of the exit section include:
- Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving angle segment included in the relative angular interval include:
- the angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
- a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.
- the method further includes:
- the relative angle interval includes only one exiting road, acquiring a first navigation action corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action;
- the acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
- the calculating the relative angle value of the driving road segment and each of the determined exiting road segments includes:
- the angle between the exiting section and the extension of the driving section is determined as a relative angle between the outgoing section and the driving section.
- the method further includes:
- a navigation method comprising:
- the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. a navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,
- obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.
- Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving angle segment included in the relative angular interval include:
- the angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
- the calculating a relative angle value between the current road and the outgoing road in the intersection with the current road, respectively, includes:
- the angle between the exiting road in the intersection with the current road and the extension of the current road is determined as a relative angle between the outgoing section and the driving section.
- a device for generating a navigation action comprising:
- the exiting road section determining module is configured to determine, for each driving road section of each intersection of the road, an exiting road section having a communication relationship with the driving road section from the corresponding exiting road section of the intersection;
- a calculation module configured to calculate a relative angle value of the driving road segment and each determined exit road segment
- a navigation action generating module configured to determine, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval; For each of the relative angular intervals, if the relative angular interval includes at least two outgoing segments, the at least two outgoing segments are determined according to the relative angular values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the two; and according to the relative angular interval, the relative positional relationship between the at least two outgoing sections And a preset navigation action generation strategy for generating a navigation action from the approach road segment into each of the exit road segments included in the relative angle interval.
- the navigation action generating module is configured to determine, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the exiting of the driving road segment and the relative angular interval The type of intersection at the intersection formed by the road section;
- the navigation action generating module determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, and is specifically configured to: include an angular range of the relative angular section and the relative angular interval
- the number of the outbound road sections is matched with the range of the relative angle interval corresponding to the preset intersection type, the number of the exiting road sections, and the type of the intersection that is successfully matched is determined as the intersection of the driving section and the exiting section.
- Intersection type is
- the navigation action generating module is configured to acquire a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;
- a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.
- the navigation action generating module is further configured to: if the relative angle interval includes only one exiting road, obtain a correspondence corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action First navigation action;
- the acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
- the calculation module is specifically configured to determine, according to each of the exiting road segments, an angle between the exiting road segment and the extension line of the driving road segment as a relative angle between the driving road segment and the driving road segment value.
- the device further includes: a storage module, wherein:
- the storage module is configured to store a navigation action of the driving road segment to enter each of the outgoing road segments.
- a navigation device comprising:
- a navigation path determining module configured to plan a navigation path according to the input start point and the end point, and perform navigation
- the navigation action generating module is configured to determine whether the distance between the current location of the user and the nearest intersection on the navigation path is less than or equal to a preset distance threshold;
- the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road.
- the current road The navigation action of the next road of the road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,
- the navigation action generating module is specifically configured to determine, according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs, and the angular range of the relative angular interval, determine the driving route segment and the The type of intersection of the intersection formed by the exit section included in the relative angle section;
- obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.
- the navigation action generating module determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, and is specifically used to include the angular range of the relative angular section and the relative angular section.
- the number of outbound road sections is matched with the range of relative angle intervals corresponding to the preset intersection type, and the number of exiting road sections is matched, and the type of intersection that is successfully matched is determined as the intersection of the intersection of the driving section and the exiting section. Types of.
- the navigation action generating module is configured to acquire, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs;
- the navigation action generating module calculates a relative angle between the current road and the outgoing road in the intersection with the current road, which is specifically used to connect the intersection with the current road.
- the angle between the exit road and the extension line of the current road is determined as the relative angle value of the exit section and the entry section.
- an exit section corresponding to the driving section is determined from the corresponding exit section of the intersection; calculating the driving section and determining the driving section The relative angle value of each exiting road segment; determining each calculated relative angle according to the angular range of the preset relative angular interval The relative angular interval to which the value belongs to obtain the exiting road segment included in the determined relative angular interval; for each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, according to the The relative angle value of the at least two exiting road segments included in the relative angular interval determines a relative positional relationship between the at least two outgoing road segments; and according to the relative angular interval, between the at least two outgoing road segments a relative positional relationship and a preset navigation action generation strategy, generating a navigation action from each of the driving sections into each of the exiting sections included in the relative angular section, such that a driving section for one intersection belongs
- FIG. 1 is a schematic flowchart of a method for generating a navigation action according to Embodiment 1 of the present invention
- FIG. 2 is a schematic view showing an angle between an exiting road section and an extension line of the driving road section
- FIG. 3 is a schematic flowchart of a navigation method according to Embodiment 2 of the present invention.
- FIG. 4 is a schematic structural diagram of a device for generating a navigation action 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.
- an embodiment of the present invention provides a method, a navigation method, and a device for generating a navigation action, and determining, for each driving section of each intersection of a road, determining from the corresponding exiting section of the intersection An exit section having a communication relationship with the driving section; calculating a relative angle value of the driving section and each determined exit section; determining each calculated one according to an angular range of the preset relative angular section a relative angle interval to which the relative angle value belongs to obtain an exit route segment included in the determined relative angle interval; and for each of the determined relative angle intervals, if the relative angle interval includes at least two exit segments, according to The relative angle value of the at least two exiting road segments included in the relative angular interval determines a relative positional relationship between the at least two outgoing road segments; and according to the relative angular interval, the at least two outgoing road segments a relative positional relationship between the two and a preset navigation action generation strategy for generating the relative angle interval package from the
- the navigation is further determined for multiple exit segments included in the same relative angle interval (ie, within the same navigation action range).
- the action is such that the granularity of the relative angle corresponding to the navigation action becomes smaller, further improving the navigation accuracy.
- the scenario applied by the embodiment of the present invention includes, but is not limited to, the first scenario: in the process of navigating for the user, when the intersection is to be reached, the driving route that enters the intersection on the navigation path enters the intersection in real time.
- the navigation action of the exit section of the connected road section has a connected relationship, and stores the correspondence relationship of the navigation actions from the driving section to the exit section, so that the pre-stored navigation action is directly invoked in the subsequent navigation process.
- Embodiment 1 is a diagrammatic representation of Embodiment 1:
- FIG. 1 is a schematic flowchart diagram of a method for generating a navigation action according to Embodiment 1 of the present invention.
- the method can be as follows.
- Step 101 For each driving section of each intersection of the road, an exit section having a communication relationship with the driving section is determined from the corresponding exit section of the intersection.
- step 101 whether in the process of navigation or in the process of data compilation, it is necessary to determine the research object of the embodiment of the present invention - the driving road section, which has a plurality of exiting road sections.
- the exiting section of a driving section of an intersection is determined as follows: the driving out relationship between the driving section and the driving section is selected from the exiting section of the intersection
- the road section serves as the exit section of the driving section.
- the plurality of exit sections of the driving section at one intersection may be the exit sections in the same driving direction, or may be the exit sections in different driving directions.
- the exiting section in the same driving direction refers to the outgoing section in the straight direction; the outgoing section in the different driving directions refers to the outgoing section in the leftward direction. Or right turn Drive out of the road.
- Step 102 Calculate a relative angle value of each of the exiting road segments and the driving inbound road segment.
- step 102 after determining a plurality of exit sections having a communication relationship with a driving section, a relative angle value of each of the exit sections and the driving section is calculated.
- an angle between the outgoing road section and the extension line of the driving road section is determined as a relative angle value of the driving road section and the driving road section.
- the extension line of the driving section refers to an extension line extending the driving section in the traveling direction based on the traveling direction.
- FIG. 2 it is a schematic diagram of the angle between the exiting section and the extension of the driving section.
- angle value ranges from 0° to 360°. Determine the way: Determine the angle along the clockwise direction.
- the exit section corresponding to the driving section a has: section 1, section 2, section 3, section 4, section 5 and section 6, wherein the calculated section 1 and the driving in The angle of the extension of the section a is 19°; the calculated angle between the calculated section 2 and the extension of the section a is 21°; the angle between the calculated section 3 and the extension of the section a is calculated; The value is 40°; the calculated angle between the calculated road segment 4 and the extension line of the driving segment a is 350°; the calculated angle between the calculated road segment 5 and the extension line of the driving segment a is 305°; The angle between the link 6 and the extension of the drive section a is 290°.
- Step 103 Determine, according to an angular range of the preset relative angular interval, a relative angular interval to which each calculated relative angular value belongs, to obtain an exiting road segment included in the determined relative angular interval.
- the relative angle range configured in the prior art can be used as the relative angle interval in the embodiment of the present invention, because the corresponding relationship between the relative angle interval and the navigation action is preset in the prior art.
- the relative angle interval can also be set according to actual needs, which is not limited here.
- each of the relative angular intervals includes a starting angle value and a ending angle value.
- the relative angular interval of the configuration is: 340 ° ⁇ ⁇ ⁇ 20 °; 20 ° ⁇ ⁇ ⁇ 55 °; 55 ° ⁇ ⁇ ⁇ 125 °; 125 ° ⁇ ⁇ ⁇ 160 °; 160 ° ⁇ ⁇ ⁇ 180 °; ° ⁇ ⁇ ⁇ 200 °; 200 ° ⁇ ⁇ ⁇ 235 °; 235 ° ⁇ ⁇ ⁇ 305 °; 305 ° ⁇ ⁇ ⁇ 340 °.
- Determining, according to an angular range of the preset relative angular interval, a relative angular interval to which each calculated relative angular value belongs includes:
- determining the relative angle value corresponds to the selected relative angle value interval.
- the relative angle value corresponding to each of the exiting road segments calculated in step 101 it can be determined that the relative angle value corresponding to the road segment 1 is 19° and the relative angle value corresponding to the road segment 4 is 350° belongs to the same relative angular interval (340° ⁇ ⁇ ). ⁇ 20°); the relative angle value corresponding to the road segment 2 is 21° and the relative angle value corresponding to the road segment 3 is 40°, which belongs to the relative angle interval corresponding to 20° ⁇ 55°; the relative angle value corresponding to the road segment 5 is 305° and the road segment 6
- the corresponding relative angle value 290° belongs to a relative angle interval corresponding to 235° ⁇ ⁇ ⁇ 305°.
- Step 104 Determine, for each of the determined relative angle intervals, if the relative angle interval includes at least two exiting road segments, determining the at least the relative angle values of the at least two outgoing road segments included in the relative angular interval. The relative positional relationship between the two exiting sections.
- step 104 if a certain out-of-way section is included in the determined relative angle section, the navigation action corresponding to the relative angle section may be entered as the driving section into the relative angle section according to the prior art manner.
- the navigation action of the exit segment does not have the problem in the background art of the present invention.
- the relative angle interval includes at least two exit segments, processing according to the prior art will result in an inability to determine which one to travel to. Driving out of the road section reduces the problem of navigation accuracy. Therefore, for the case where the relative angle section includes at least two exiting road sections, the relative angle value of at least two outbound road sections included in the relative angle section is determined. The relative positional relationship between at least two exiting sections is described.
- the relative angle interval includes only one exiting road, acquiring a first navigation action corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action;
- the acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
- the exit section corresponding to the driving section a has: section 1 and section 4, then the research object is: 340° ⁇ ⁇ ⁇ 20° section 16 included in the relative angle section and Section 4.
- the relative positional relationship between the selected exit section and the other out of the at least two exit sections is obtained based on the direction of entering the exit section.
- the selected road segment 1 is the outgoing road segment. Because the relative angle value corresponding to the road segment 1 is 19° and the relative angle value corresponding to the road segment 4 is 350°, then in the specific map database, the road segment 1 is located on the right side of the road segment 4, Then, based on the direction of entering the exit section, the relative positional relationship between the section 1 and the section 4 is obtained, so that the section 1 is on the right side of the section 4;
- the road segment 4 is located on the left side of the road segment 1, then The direction of entering the exit section is taken as the reference, and the relative positional relationship between the section 4 and the section 1 is obtained such that the section 4 is on the left side of the section 1.
- Step 105 Generate, according to the relative angle interval, the relative positional relationship between the at least two exiting road segments, and a preset navigation action generation strategy, each of the relative angle intervals included in the driving path segment is generated. A navigation action that drives out of the road.
- a manner of generating a navigation action from each of the driving sections into each of the exiting sections included in the relative angular section includes, but is not limited to, the following:
- intersection type of the intersection formed by the driving section and the exit section included in the relative angle section is determined according to the number of the exiting sections included in the relative angular section and the angular range of the relative angular section.
- step 102 the relative angular interval to which each of the exiting road segments belongs is calculated, and it is obviously easy to obtain the number of the outgoing road segments included in the relative angular interval, and the angular range of the number and the relative angular interval is utilized.
- the intersection type of the intersection formed by the driving section and the exit section included in the relative angle section can be determined.
- the intersection type may be pre-established for different relative angle intervals and the number of exit segments included in the relative angle interval.
- the established intersection model includes: intersection type 1: for 340 ° ⁇ ⁇ ⁇ 20 ° relative angle interval, including an exit section; intersection type 2: for 340 ° ⁇ ⁇ ⁇ 20 ° relative angle interval, including Two exit sections; intersection type 3: for 340 ° ⁇ ⁇ ⁇ 20 ° relative angle interval, including three exit sections; ...; intersection type M: for 340 ° ⁇ ⁇ ⁇ 20 ° relative angle interval, including N out of the road section; ...; intersection type P: for 20 ° ⁇ ⁇ ⁇ 55 ° relative angle interval, including Q out of the road section; ...; etc., where M, N, P, Q are Natural number, which is greater than 1.
- the angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the relative angle interval range corresponding to the preset intersection type, and the number of the exit route segments are matched, and the matching intersection is successfully matched.
- the type is determined as the intersection type of the intersection formed by the driving section and the exiting section.
- the exit section corresponding to the driving section a has: section 1 and section 4, then the research object is: 340° ⁇ ⁇ ⁇ 20° section 16 included in the relative angle section and Section 4.
- the corresponding intersection type is 2, that is, the relative angle interval is: 340° ⁇ ⁇ ⁇ 20°, including two exit sections. .
- the phase corresponding to the preset intersection type In the corresponding relationship between the positional relationship and the navigation action, acquiring a navigation action corresponding to the relative positional relationship of the exiting road segment, and determining the acquired navigation action as a navigation action of entering the exiting road segment from the driving route segment .
- the corresponding relationship between the relative positional relationship corresponding to the intersection type and the navigation action is established in advance for different intersection types.
- the corresponding intersection type is 2, that is, the relative angle interval is: 340 ° ⁇ ⁇ ⁇ 20 °, including two exit sections
- the relative positional relationship between the road segment 1 and the road segment 4 is: based on the direction of entering the exiting road segment, the relative positional relationship between the road segment 1 and the road segment 4 is obtained as the road segment 1 is on the right side of the road segment 4; the road segment 4 and the road segment 1 are The relative positional relationship is that the road section 4 is on the left side of the road section 1.
- Corresponding navigation actions are: the navigation action corresponding to the road on the left side is: straight ahead to the left lane; the navigation action corresponding to the road on the right side is: straight into the right lane.
- the navigation action for generating the road segment 1 from the road segment a is: straight ahead into the right lane driving; and the navigation action for driving the road segment 4 from the road segment a is: straight ahead into the left lane driving.
- a first navigation action corresponding to the relative angle section is acquired from a correspondence between the preset relative angle section and the first navigation motion.
- the exit section corresponding to the driving section a has: section 1 and section 4, then the research object is: 340° ⁇ ⁇ ⁇ 20° section 16 included in the relative angle section and Section 4.
- the manner of obtaining the first navigation action corresponding to the relative angle interval of 340° ⁇ 20° is straight.
- the manner of obtaining the first navigation action corresponding to the relative angle interval of 340° ⁇ ⁇ ⁇ 20° is straight, and the relative positional relationship between the road segment 1 and the road segment 4 is that the road segment 1 is on the right side of the road segment 4, then the driving from the road segment a is generated.
- the second navigation action of the road section 1 is to go straight into the right lane driving;
- the manner of obtaining the first navigation action corresponding to the 340° ⁇ ⁇ ⁇ 20° relative angle interval is straight, and the relative positional relationship between the road segment 4 and the road segment 1 is that the road segment 4 is on the left side of the road segment 1, then the generation proceeds from the road segment a.
- the second navigation action of the road section 4 is to go straight into the left lane driving.
- each of the intersections of each intersection of the road is taken from the intersection. Determining an exiting road section having a communication relationship with the driving road section; calculating a relative angle value of the driving road section and each of the determined driving road sections; and an angle according to the preset relative angle section a range, determining a relative angle interval to which each of the calculated relative angle values belongs to obtain an exiting road segment included in the determined relative angular interval; and for each of the determined relative angular intervals, if the relative angular interval includes at least Determining a relative positional relationship between the at least two outbound road segments according to a relative angle value of the at least two exiting road segments included in the relative angular interval; and according to the relative angular interval, a relative positional relationship between at least two exiting road segments and a preset navigation action generating strategy, generating a navigation action from each of the driving road segments into each of the outgoing road segments included in the relative angular interval, such that A driving
- Embodiment 2 is a diagrammatic representation of Embodiment 1:
- FIG. 3 it is a schematic flowchart of a navigation method according to Embodiment 2 of the present invention.
- a navigation action of an exiting road segment in a navigation line is determined by using the first embodiment of the present invention in a navigation process.
- Step 301 Plan a navigation path according to the input start point and end point, and perform navigation.
- Step 302 Determine whether the distance from the current location of the user to the nearest intersection on the navigation path is less than or equal to the preset distance threshold. If yes, go to step 303 or step 304 to step 307; otherwise, go to step 308.
- the preset distance threshold may be determined according to actual needs, or may be determined according to experimental results, and is not limited herein.
- Step 303 In the navigation action of the outbound road that is connected to the current road in the intersection, the current road where the current location is pre-stored is determined to enter the navigation path from the current road. The navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting.
- Step 304 Calculate a relative angle value between the current road and an exit road in the intersection with the current road.
- an angle between the exiting road in the intersection with the current road and an extension of the current road is determined as a relative angle between the outgoing section and the driving section.
- Step 305 Determine, according to the preset angular range of the relative angular interval and the calculated relative angular value, the other outgoing segments included in the relative angular interval to which the relative angle value of the current road and the next road belongs.
- Step 306 Compare the relative angle values of the next road with other exiting roads, and determine a relative positional relationship between the next road and the other outgoing roads according to the comparison result.
- Step 307 Generate a driving from the current road to the next road according to a relative angular interval to which the next road relative angle value belongs, a relative positional relationship between the next road and the other outgoing roads.
- the navigation action and construct a navigation voice prompt according to the navigation action, and broadcast the message.
- the manner of generating a navigation action from the current road into the next road includes, but is not limited to:
- the angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the relative angle interval range corresponding to the preset intersection type, and the number of the exit route segments are matched, and the matching intersection is successfully matched.
- the type is determined as the intersection type of the intersection formed by the driving section and the exiting section.
- obtaining a relative position relationship of the next road from a corresponding relationship between a relative position relationship corresponding to the preset intersection type and a navigation action The action is navigated and the acquired navigation action is determined as a navigation action from the current road into the next road of the current road in the navigation path.
- Step 308 Determine whether the current driving position of the user reaches the destination, and if so, end the navigation, if not, go to step 302.
- Embodiment 3 is a diagrammatic representation of Embodiment 3
- FIG. 4 it is a schematic structural diagram of a device for generating a navigation action according to Embodiment 3 of the present invention.
- the device includes: an exiting road segment determining module 41, a calculating module 42 and a navigation action generating module 43, wherein:
- the exiting road section determining module 41 is configured to determine, for each driving road section of each intersection of the road, an exiting road section having a communication relationship with the driving road section from the corresponding exiting road section of the intersection;
- the calculating module 42 is configured to calculate a relative angle value of the driving road segment and each determined exiting road segment;
- the navigation action generating module 43 is configured to determine, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval; For each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, determining the at least two driving according to the relative angle values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the outgoing sections; and generating a driving route from the driving section according to the relative angular section, the relative positional relationship between the at least two outgoing sections, and a preset navigation action generating strategy The navigation action of each outgoing section included in the relative angle section.
- the navigation action generating module 43 is specifically configured to determine the driving road segment and the relative angle interval according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval. The type of intersection at the intersection formed by the included exit section;
- the navigation action generating module 43 determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, specifically for: setting the angular range of the relative angle section with The number of the exiting road segments included in the relative angular interval is matched with the range of the relative angular interval corresponding to the preset intersection type and the number of the outgoing road segments, and the type of the successfully matched intersection is determined as the driving segment and the driving out The type of intersection at the intersection formed by the road section.
- the navigation action generating module 43 is configured to acquire a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;
- a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.
- the navigation action generating module 43 is further configured to: if the relative angle interval includes only one exiting road, obtain a relative relationship from the preset relative angular interval and the first navigation action a first navigation action corresponding to the angle interval;
- the acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
- the calculating module 42 is specifically configured to determine, for each of the exiting road segments, an angle between the outgoing road segment and an extension line of the driving road segment as the driving road segment and the driving in The relative angle value of the link.
- the device further includes: a storage module 44, where:
- the storage module 44 is configured to store a navigation action of the driving path into each of the outgoing sections.
- the device described in the third embodiment of the present invention may be implemented by using hardware or by software, which is not limited herein.
- Embodiment 4 is a diagrammatic representation of Embodiment 4:
- FIG. 5 is a schematic structural diagram of a navigation device according to Embodiment 4 of the present invention.
- the device includes: a navigation path determining module 51 and a navigation action generating module 52, wherein:
- a navigation path determining module 51 configured to plan a navigation path according to the input start point and the end point, and perform navigation;
- the navigation action generating module 52 is configured to determine whether the distance from the current location of the user to the nearest intersection on the navigation path is less than or equal to a preset distance threshold;
- the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. a navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,
- the navigation action generating module 52 is specifically configured to determine the driving manner according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs and the angular range of the relative angular interval.
- obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.
- the navigation action generating module 52 determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, specifically for using the angle range of the relative angle section and the The number of the exiting road segments included in the relative angle interval is matched with the range of the relative angular interval corresponding to the preset intersection type, and the number of the exiting road segments, and the type of the successfully matched intersection is determined as the driving segment and the driving segment. The type of intersection that makes up the intersection.
- the navigation action generating module 52 is configured to acquire, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs. ;
- the navigation action generating module 52 calculates a relative angle value between the current road and the outgoing road in the intersection with the current road, specifically for the intersection and the intersection
- the angle between the exiting road having the connected relationship of the current road and the extension line of the current road is determined as a relative angle value between the outgoing section and the driving section.
- the device in the fourth embodiment of the present invention may be implemented by using hardware or by software, which is not limited herein.
- embodiments of the present invention can be provided as a method, apparatus (device), or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
- a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
- the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
- the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
- These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
- the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
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Abstract
A navigation action generation method, navigation method and device, the navigation action generation method comprising: for each entering road segment at each intersection, identifying, from corresponding exiting road segments of the intersection, exiting road segments connecting with the entering road segment (101); calculating the value of a relative angle between the entering road segment and each identified exiting road segment (102); according to the angle range in a preset relative angle interval, identifying a relative angle interval to which each calculated relative angle value belongs (103); for each identified relative angle interval, if the relative angle interval comprises at least two exiting road segments, then according to the relative angle values of the at least two exiting road segments comprised in the relative angle interval, determining a relative position relationship between the at least two exiting road segments (104); according to the relative angle interval, the relative position relationship between the at least two exiting road segments, and a preset navigation action generation policy, generating navigation actions of driving from the entering road segment into each exiting road segment comprised in the relative angle interval (105). The method effectively addresses the problem that a driver cannot determine which exiting road to follow when only one navigation action is generated for a complex crossing, and improves navigation accuracy.
Description
本申请要求在2014年06月30日提交中国专利局、申请号为201410309582.1、发明名称为“一种导航动作的生成方法、导航方法和设备”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。The present application claims priority to Chinese Patent Application No. 201410309582.1, entitled "A Method for Navigating Navigation, Navigation Methods and Equipment", filed on June 30, 2014, the entire contents of which are hereby incorporated by reference. Combined in this application.
本发明涉及导航领域,尤其涉及一种导航动作的生成方法、导航方法和设备。The present invention relates to the field of navigation, and in particular, to a method, a navigation method, and a device for generating a navigation action.
在目前的导航技术中,对于交叉路口处的导航,通过计算导航动作的方式提示驾驶者如何行驶。In the current navigation technology, for the navigation at the intersection, the driver is prompted to drive by calculating the navigation action.
所谓导航动作是指车辆在接近导航点时提示驾驶员如何行驶的信息,例如:左转、右转、直行等。所谓导航点是指导航路线中出现转弯、分叉路口等需要提醒驾驶员变更驾驶行为的位置点。The so-called navigation action refers to information that prompts the driver how to drive when the vehicle approaches the navigation point, for example, left turn, right turn, straight line, and the like. The so-called navigation point refers to a position where a turning, a fork, and the like need to be reminded to change the driving behavior of the driver in the navigation route.
具体地,在驾驶员即将行驶至导航点时,通过以下方式为该驾驶员计算导航动作,并通过语音播报方式告知驾驶员:Specifically, when the driver is about to drive to the navigation point, the navigation action is calculated for the driver in the following manner, and the driver is informed by voice announcement:
计算驶入路段与驶出路段的相对角度值,并确定该相对角度值所属的相对角度区间,从预设的相对角度区间与导航动作的对应关系中,获取所述相对角度值所属的相对角度区间对应的导航动作,并将该导航动作确定为从所述驶入路段驶入驶出路段的导航动作。Calculating a relative angle value of the driving section and the exiting section, and determining a relative angle section to which the relative angle value belongs, and obtaining a relative angle to which the relative angle value belongs from a corresponding relationship between the preset relative angle section and the navigation action The navigation action corresponding to the section determines the navigation action as a navigation action of entering the exit section from the driving section.
其中,驶入路段是指进入导航点的路段;驶出路段是指从导航点驶出的路段,与相对应的驶入路段通过导航点连通。Wherein, the driving road section refers to the road section that enters the navigation point; the driving road section refers to the road section that is driven out from the navigation point, and communicates with the corresponding driving road section through the navigation point.
如表1所示,为预设的相对角度区间与导航动作之间的对应关系的示意表:As shown in Table 1, a schematic table of the correspondence between the preset relative angle interval and the navigation action:
相对角度区间Relative angle interval | 导航动作Navigation action | 相对角度区间Relative angle interval | 导航动作Navigation action |
340°≤α≤20°340°≤α≤20° | 直行straight | 180°<α≤200°180°<α≤200° | 左掉头Left turn |
20°<α≤55°20°<α≤55° | 向右前方行驶Driving to the right ahead | 200°<α≤235°200°<α≤235° | 向左后方行驶Driving to the left |
55°<α≤125°55°<α≤125° | 右转Turn right | 235°<α≤305°235°<α≤305° | 左转Turn left |
125°<α≤160°125°<α≤160° | 向右后方行驶Driving to the right rear | 305°<α<340°305°<α<340° | 向左前方行驶Driving to the left |
160°<α≤180°160°<α≤180° | 右掉头Right turn |
表1Table 1
但是,在复杂路口,一条驶入路段可能有多个与该驶入路段具有连通关系的驶出路段,因此计算得到的该驶入路段与驶出路段的相对角度值可能会在同一个相对角度区间内,此
时针对驶入路段驶入各驶出路段的导航动作是一样的,使得驾驶员在接收到该导航动作后,无法确定需要行驶到哪一条驶出路段,降低了导航精确度。However, at a complicated intersection, a driving section may have a plurality of exiting sections that are in communication with the driving section, so the calculated relative angles of the driving section and the exiting section may be at the same relative angle. In the interval, this
The navigation action for entering the exit section for the driving section is the same, so that after receiving the navigation action, the driver cannot determine which driving section to travel to, which reduces the navigation accuracy.
发明内容Summary of the invention
有鉴于此,本发明实施例提供了一种导航动作的生成方法、导航方法和设备,用于解决目前生成的导航动作存在精确度低的问题。In view of this, the embodiment of the present invention provides a method, a navigation method, and a device for generating a navigation action, which are used to solve the problem that the currently generated navigation action has low accuracy.
一种导航动作的生成方法,包括:A method for generating a navigation action, comprising:
针对道路的每一个路口的每一个驶入路段,从该路口对应的驶出路段中确定出与该驶入路段具有连通关系的驶出路段;For each driving section of each intersection of the road, an exiting section corresponding to the driving section is determined from the corresponding exit section of the intersection;
计算所述驶入路段与确定出的每一个驶出路段的相对角度值;Calculating a relative angle value of the driving road segment and each of the determined exiting road segments;
根据预置的相对角度区间的角度范围,确定计算出的每一个相对角度值所属的相对角度区间,以得到确定出的相对角度区间所包含的驶出路段;Determining, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval;
针对确定出的每一个相对角度区间,若所述相对角度区间包含至少两条驶出路段时,根据所述相对角度区间包含的至少两条驶出路段的相对角度值确定所述至少两条驶出路段之间的相对位置关系;并根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作。For each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, determining the at least two driving according to the relative angle values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the outgoing sections; and generating a driving route from the driving section according to the relative angular section, the relative positional relationship between the at least two outgoing sections, and a preset navigation action generating strategy The navigation action of each outgoing section included in the relative angle section.
所述根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作,包括:And generating, according to the relative angle interval, a relative positional relationship between the at least two exiting road segments, and a preset navigation action generation strategy, each of the included in the relative angle interval from the driving route segment The navigation actions of the exit section include:
根据所述相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型;Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving segment included in the relative angular interval;
针对所述相对角度区间包含的每条驶出路段,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取该驶出路段的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述驶入路段驶入所述驶出路段的导航动作。Obtaining a navigation action corresponding to the relative positional relationship of the exiting road segment from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action for each of the exiting road segments included in the relative angular interval, And determining the acquired navigation action as a navigation action from the approach road section into the exit section.
所述根据所述相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型,包括:Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving angle segment included in the relative angular interval, include:
将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
所述根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的
导航动作,包括:And generating, according to the relative angle interval, a relative positional relationship between the at least two exiting road segments, and a preset navigation action generation strategy, each of the included in the relative angle interval from the driving route segment Out of the road
Navigation actions, including:
从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作;Acquiring a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;
针对所述相对角度区间包含的每条驶出路段,根据所述第一导航动作和所述驶出路段的相对位置关系,生成所述驶入路段驶入所述驶出路段的导航动作。For each of the exit sections included in the relative angle section, a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.
所述方法还包括:The method further includes:
若所述相对角度区间仅包含一条驶出道路,则从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作;If the relative angle interval includes only one exiting road, acquiring a first navigation action corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action;
将获取的所述第一导航动作,确定为从所述驶入路段驶入所述相对角度区间包含的驶出路段的导航动作。The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
所述计算所述驶入路段与确定出的每一个驶出路段的相对角度值,具体包括:The calculating the relative angle value of the driving road segment and each of the determined exiting road segments includes:
针对每一个驶出路段,将所述驶出路段与所述驶入路段的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。For each of the exiting sections, the angle between the exiting section and the extension of the driving section is determined as a relative angle between the outgoing section and the driving section.
所述方法还包括:The method further includes:
存储所述驶入路段驶入所述每一条驶出路段的导航动作。Storing a navigation action of the driving section into each of the exiting sections.
一种导航方法,包括:A navigation method comprising:
根据输入的起点和终点规划导航路径,并执行导航;Plan the navigation path based on the input start and end points and perform navigation;
判断用户当前位置到导航路径上前方最近的路口的距离是否小于等于预置的距离阈值;Determining whether the distance from the current location of the user to the nearest intersection on the navigation path is less than or equal to a preset distance threshold;
若是,则从预存的所述当前位置所在的当前道路分别驶入所述路口中与所述当前道路具有连通关系的驶出道路的导航动作中,确定出从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报;或者,If yes, the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. a navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,
计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值;根据预置的相对角度区间的角度范围和计算得到的相对角度值,确定出所述当前道路与下一道路的相对角度值所属的相对角度区间包含的其他驶出路段;比较所述下一道路与其他驶出道路的相对角度值,根据比较结果确定出所述下一道路与所述其他驶出道路之间的相对位置关系;根据所述下一道路相对角度值所属的相对角度区间、所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入所述下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报。Calculating a relative angle value between the current road and an exiting road in the intersection with the current road; determining an outlet according to an angular range of the preset relative angular interval and the calculated relative angle value Comparing the other exit sections included in the relative angle section to which the relative angle value of the current road and the next road belongs; comparing the relative angle values of the next road with other exiting roads, and determining the next road according to the comparison result a relative positional relationship between the other exiting roads; generating a slave according to a relative angular section to which the next road relative angle value belongs, and a relative positional relationship between the next road and the other outgoing roads The navigation action of the current road into the next road is described, and a navigation voice prompt is constructed according to the navigation action, and the announcement is broadcast.
所述根据所述下一道路相对角度值所属的相对角度区间、所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入所述下一道路的导航动作,包括:
And generating, according to the relative angular interval to which the next road relative angle value belongs, and the relative positional relationship between the next road and the other exiting road, driving from the current road into the next road Navigation actions, including:
根据所述下一道路相对角度值所属的相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型;Determining, according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs, and the angular range of the relative angular interval, determining the exiting road segment and the driving segment included in the relative angular interval The type of intersection that makes up the intersection;
针对所述相对角度区间包含的所述下一道路,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取所述下一道路的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。For the next road included in the relative angle interval, obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.
所述根据所述相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型,包括:Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving angle segment included in the relative angular interval, include:
将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
所述根据所述下一道路相对角度值所属的相对角度区间、所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入所述下一道路的导航动作,包括:And generating, according to the relative angular interval to which the next road relative angle value belongs, and the relative positional relationship between the next road and the other exiting road, driving from the current road into the next road Navigation actions, including:
从预置的相对角度区间与第一导航动作的对应关系中,获取与下一道路相对角度值所属的相对角度区间对应的第一导航动作;Obtaining, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs;
根据所述第一导航动作和所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。And generating, according to the first navigation action and a relative positional relationship between the next road and the other exiting road, a navigation action of entering a next road of the current road from the current road into the navigation path.
所述计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值,包括:The calculating a relative angle value between the current road and the outgoing road in the intersection with the current road, respectively, includes:
将所述路口中与该当前道路具有连通关系的驶出道路与所述当前道路的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。The angle between the exiting road in the intersection with the current road and the extension of the current road is determined as a relative angle between the outgoing section and the driving section.
一种导航动作的生成设备,包括:A device for generating a navigation action, comprising:
驶出路段确定模块,用于针对道路的每一个路口的每一个驶入路段,从该路口对应的驶出路段中确定出与该驶入路段具有连通关系的驶出路段;The exiting road section determining module is configured to determine, for each driving road section of each intersection of the road, an exiting road section having a communication relationship with the driving road section from the corresponding exiting road section of the intersection;
计算模块,用于计算所述驶入路段与确定出的每一个驶出路段的相对角度值;a calculation module, configured to calculate a relative angle value of the driving road segment and each determined exit road segment;
导航动作生成模块,用于根据预置的相对角度区间的角度范围,确定计算出的每一个相对角度值所属的相对角度区间,以得到确定出的相对角度区间所包含的驶出路段;针对确定出的每一个相对角度区间,若所述相对角度区间包含至少两条驶出路段时,根据所述相对角度区间包含的至少两条驶出路段的相对角度值确定所述至少两条驶出路段之间的相对位置关系;并根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以
及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作。a navigation action generating module, configured to determine, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval; For each of the relative angular intervals, if the relative angular interval includes at least two outgoing segments, the at least two outgoing segments are determined according to the relative angular values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the two; and according to the relative angular interval, the relative positional relationship between the at least two outgoing sections
And a preset navigation action generation strategy for generating a navigation action from the approach road segment into each of the exit road segments included in the relative angle interval.
所述导航动作生成模块,具体用于根据所述相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型;The navigation action generating module is configured to determine, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the exiting of the driving road segment and the relative angular interval The type of intersection at the intersection formed by the road section;
针对所述相对角度区间包含的每条驶出路段,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取该驶出路段的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述驶入路段驶入所述驶出路段的导航动作。Obtaining a navigation action corresponding to the relative positional relationship of the exiting road segment from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action for each of the exiting road segments included in the relative angular interval, And determining the acquired navigation action as a navigation action from the approach road section into the exit section.
所述导航动作生成模块确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型,具体用于:将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。The navigation action generating module determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, and is specifically configured to: include an angular range of the relative angular section and the relative angular interval The number of the outbound road sections is matched with the range of the relative angle interval corresponding to the preset intersection type, the number of the exiting road sections, and the type of the intersection that is successfully matched is determined as the intersection of the driving section and the exiting section. Intersection type.
所述导航动作生成模块,具体用于从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作;The navigation action generating module is configured to acquire a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;
针对所述相对角度区间包含的每条驶出路段,根据所述第一导航动作和所述驶出路段的相对位置关系,生成所述驶入路段驶入所述驶出路段的导航动作。For each of the exit sections included in the relative angle section, a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.
所述导航动作生成模块,进一步用于:若所述相对角度区间仅包含一条驶出道路,则从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作;The navigation action generating module is further configured to: if the relative angle interval includes only one exiting road, obtain a correspondence corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action First navigation action;
将获取的所述第一导航动作,确定为从所述驶入路段驶入所述相对角度区间包含的驶出路段的导航动作。The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
所述计算模块,具体用于针对每一个驶出路段,将所述驶出路段与所述驶入路段的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。The calculation module is specifically configured to determine, according to each of the exiting road segments, an angle between the exiting road segment and the extension line of the driving road segment as a relative angle between the driving road segment and the driving road segment value.
所述设备还包括:存储模块,其中:The device further includes: a storage module, wherein:
所述存储模块,用于存储所述驶入路段驶入所述每一条驶出路段的导航动作。The storage module is configured to store a navigation action of the driving road segment to enter each of the outgoing road segments.
一种导航设备,包括:A navigation device comprising:
导航路径确定模块,用于根据输入的起点和终点规划导航路径,并执行导航;a navigation path determining module, configured to plan a navigation path according to the input start point and the end point, and perform navigation;
导航动作生成模块,用于判断用户当前位置到导航路径上前方最近的路口的距离是否小于等于预置的距离阈值;The navigation action generating module is configured to determine whether the distance between the current location of the user and the nearest intersection on the navigation path is less than or equal to a preset distance threshold;
若是,则从预存的所述当前位置所在的当前道路分别驶入所述路口中与所述当前道路具有连通关系的驶出道路的导航动作中,确定出从所述当前道路驶入导航路径中该当前道
路的下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报;或者,If yes, the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. The current road
The navigation action of the next road of the road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,
计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值;根据预置的相对角度区间的角度范围和计算得到的相对角度值,确定出所述当前道路与下一道路的相对角度值所属的相对角度区间包含的其他驶出路段;比较所述下一道路与其他驶出道路的相对角度值,根据比较结果确定出所述下一道路与所述其他驶出道路之间的相对位置关系;根据所述下一道路相对角度值所属的相对角度区间、所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入所述下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报。Calculating a relative angle value between the current road and an exiting road in the intersection with the current road; determining an outlet according to an angular range of the preset relative angular interval and the calculated relative angle value Comparing the other exit sections included in the relative angle section to which the relative angle value of the current road and the next road belongs; comparing the relative angle values of the next road with other exiting roads, and determining the next road according to the comparison result a relative positional relationship between the other exiting roads; generating a slave according to a relative angular section to which the next road relative angle value belongs, and a relative positional relationship between the next road and the other outgoing roads The navigation action of the current road into the next road is described, and a navigation voice prompt is constructed according to the navigation action, and the announcement is broadcast.
所述导航动作生成模块,具体用于根据所述下一道路相对角度值所属的相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型;The navigation action generating module is specifically configured to determine, according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs, and the angular range of the relative angular interval, determine the driving route segment and the The type of intersection of the intersection formed by the exit section included in the relative angle section;
针对所述相对角度区间包含的所述下一道路,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取所述下一道路的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。For the next road included in the relative angle interval, obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.
所述导航动作生成模块确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型,具体用于将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。The navigation action generating module determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, and is specifically used to include the angular range of the relative angular section and the relative angular section. The number of outbound road sections is matched with the range of relative angle intervals corresponding to the preset intersection type, and the number of exiting road sections is matched, and the type of intersection that is successfully matched is determined as the intersection of the intersection of the driving section and the exiting section. Types of.
所述导航动作生成模块,具体用于从预置的相对角度区间与第一导航动作的对应关系中,获取与下一道路相对角度值所属的相对角度区间对应的第一导航动作;The navigation action generating module is configured to acquire, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs;
根据所述第一导航动作和所述下一道路与所述其他驶出道路之间的相对位置关系,生成所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。And generating, according to the first navigation action and a relative positional relationship between the next road and the other exiting road, a navigation action of the current road entering the next road of the current road in the navigation path.
所述导航动作生成模块计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值,具体用于将所述路口中与该当前道路具有连通关系的驶出道路与所述当前道路的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。The navigation action generating module calculates a relative angle between the current road and the outgoing road in the intersection with the current road, which is specifically used to connect the intersection with the current road. The angle between the exit road and the extension line of the current road is determined as the relative angle value of the exit section and the entry section.
本发明有益效果如下:The beneficial effects of the present invention are as follows:
本发明实施例针对道路的每一个路口的每一个驶入路段,从该路口对应的驶出路段中确定出与该驶入路段具有连通关系的驶出路段;计算所述驶入路段与确定出的每一个驶出路段的相对角度值;根据预置的相对角度区间的角度范围,确定计算出的每一个相对角度
值所属的相对角度区间,以得到确定出的相对角度区间所包含的驶出路段;针对确定出的每一个相对角度区间,若所述相对角度区间包含至少两条驶出路段时,根据所述相对角度区间包含的至少两条驶出路段的相对角度值确定所述至少两条驶出路段之间的相对位置关系;并根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作,这样,针对一个路口的一条驶入路段,当属于同一个相对角度区间存在多条驶出路段时,分别根据同一个相对角度区间中多条驶出路段的相对位置关系,进一步得到了针对每一条驶出路段的导航动作,有效避免了对于复杂路口生成一个导航动作使得驾驶员无法确定驶入哪一条驶出路段的问题,提升了导航精度。In the embodiment of the present invention, for each driving section of each intersection of the road, an exit section corresponding to the driving section is determined from the corresponding exit section of the intersection; calculating the driving section and determining the driving section The relative angle value of each exiting road segment; determining each calculated relative angle according to the angular range of the preset relative angular interval
The relative angular interval to which the value belongs to obtain the exiting road segment included in the determined relative angular interval; for each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, according to the The relative angle value of the at least two exiting road segments included in the relative angular interval determines a relative positional relationship between the at least two outgoing road segments; and according to the relative angular interval, between the at least two outgoing road segments a relative positional relationship and a preset navigation action generation strategy, generating a navigation action from each of the driving sections into each of the exiting sections included in the relative angular section, such that a driving section for one intersection belongs to When there are multiple exit sections in the same relative angle interval, according to the relative positional relationship of multiple exit sections in the same relative angle section, the navigation action for each exit section is further obtained, which effectively avoids complicated intersections. Generate a navigation action that makes it impossible for the driver to determine which exit section to drive into, improving navigation Degree.
为了更清楚地说明本发明实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简要介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域的普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention, Those skilled in the art can also obtain other drawings based on these drawings without paying for inventive labor.
图1为本发明实施例一提供的一种导航动作的生成方法的流程示意图;1 is a schematic flowchart of a method for generating a navigation action according to Embodiment 1 of the present invention;
图2为驶出路段与所述驶入路段的延长线的夹角的示意图;2 is a schematic view showing an angle between an exiting road section and an extension line of the driving road section;
图3为本发明实施例二提供的一种导航方法的流程示意图;3 is a schematic flowchart of a navigation method according to Embodiment 2 of the present invention;
图4为本发明实施例三提供的一种导航动作的生成设备的结构示意图;4 is a schematic structural diagram of a device for generating a navigation action according to Embodiment 3 of the present invention;
图5为本发明实施例四提供的一种导航设备的结构示意图。FIG. 5 is a schematic structural diagram of a navigation device according to Embodiment 4 of the present invention.
为了实现本发明的目的,本发明实施例提供了一种导航动作的生成方法、导航方法和设备,针对道路的每一个路口的每一个驶入路段,从该路口对应的驶出路段中确定出与该驶入路段具有连通关系的驶出路段;计算所述驶入路段与确定出的每一个驶出路段的相对角度值;根据预置的相对角度区间的角度范围,确定计算出的每一个相对角度值所属的相对角度区间,以得到确定出的相对角度区间所包含的驶出路段;针对确定出的每一个相对角度区间,若所述相对角度区间包含至少两条驶出路段时,根据所述相对角度区间包含的至少两条驶出路段的相对角度值确定所述至少两条驶出路段之间的相对位置关系;并根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作,这
样,针对一个路口的一条驶入路段,当属于同一个相对角度区间存在多条驶出路段时,分别根据同一个相对角度区间中多条驶出路段的相对位置关系,进一步得到了针对每一条驶出路段的导航动作,有效避免了对于复杂路口生成一个导航动作使得驾驶员无法确定驶入哪一条驶出路段的问题,提升了导航精度。In order to achieve the object of the present invention, an embodiment of the present invention provides a method, a navigation method, and a device for generating a navigation action, and determining, for each driving section of each intersection of a road, determining from the corresponding exiting section of the intersection An exit section having a communication relationship with the driving section; calculating a relative angle value of the driving section and each determined exit section; determining each calculated one according to an angular range of the preset relative angular section a relative angle interval to which the relative angle value belongs to obtain an exit route segment included in the determined relative angle interval; and for each of the determined relative angle intervals, if the relative angle interval includes at least two exit segments, according to The relative angle value of the at least two exiting road segments included in the relative angular interval determines a relative positional relationship between the at least two outgoing road segments; and according to the relative angular interval, the at least two outgoing road segments a relative positional relationship between the two and a preset navigation action generation strategy for generating the relative angle interval package from the driving road segment Navigation action each outgoing segments, which
For a driving section of an intersection, when there are multiple exiting sections in the same relative angle section, respectively, according to the relative positional relationship of the plurality of exiting sections in the same relative angular section, further obtaining for each section The navigation action of the exit section effectively avoids the problem of generating a navigation action for the complicated intersection so that the driver cannot determine which exit section to enter, and improves the navigation accuracy.
需要说明的是,本发明实施例提供的技术方案,在目前确定导航动作的基础之上,为同一个相对角度区间(即同一个导航动作范围内)内包含的多条驶出路段进一步确定导航动作,这样使得导航动作对应的相对角度的粒度变小,进一步提升导航精度。It should be noted that, according to the technical solution provided by the embodiment of the present invention, on the basis of the currently determined navigation action, the navigation is further determined for multiple exit segments included in the same relative angle interval (ie, within the same navigation action range). The action is such that the granularity of the relative angle corresponding to the navigation action becomes smaller, further improving the navigation accuracy.
本发明实施例应用的场景包括但不限于:第一个场景:在为用户导航的过程中,在将要到达路口时,实时计算导航路径上驶入该路口的驶入道路驶入该路口的驶出道路的导航动作;第二个场景:在数据编译阶段,针对地图路网中的每一个路口,针对该路口的每一条驶入路段,确定从该驶入路段分别驶入该路口中与该驶入路段具有连通关系的驶出路段的导航动作,并存储从该驶入路段驶入驶出路段的导航动作的对应关系,以便后续在导航过程中,直接调用预存的导航动作。The scenario applied by the embodiment of the present invention includes, but is not limited to, the first scenario: in the process of navigating for the user, when the intersection is to be reached, the driving route that enters the intersection on the navigation path enters the intersection in real time. The navigation action of the outbound road; the second scenario: in the data compiling stage, for each intersection in the map road network, for each driving section of the intersection, it is determined that the driving section respectively enters the intersection and the intersection The navigation action of the exit section of the connected road section has a connected relationship, and stores the correspondence relationship of the navigation actions from the driving section to the exit section, so that the pre-stored navigation action is directly invoked in the subsequent navigation process.
下面将结合说明书附图对本发明各个实施例作进一步地详细描述。显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例,都属于本发明保护的范围。The various embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
实施例一:Embodiment 1:
如图1所示,为本发明实施例一提供的一种导航动作的生成方法的流程示意图。所述方法可以如下所述。FIG. 1 is a schematic flowchart diagram of a method for generating a navigation action according to Embodiment 1 of the present invention. The method can be as follows.
步骤101:针对道路的每一个路口的每一个驶入路段,从该路口对应的驶出路段中确定出与该驶入路段具有连通关系的驶出路段。Step 101: For each driving section of each intersection of the road, an exit section having a communication relationship with the driving section is determined from the corresponding exit section of the intersection.
在步骤101中,不管是在导航的过程中,还是数据编译过程中,需要确定本发明实施例的研究对象-驶入路段,该驶入路段具备了存在多条驶出路段。In step 101, whether in the process of navigation or in the process of data compilation, it is necessary to determine the research object of the embodiment of the present invention - the driving road section, which has a plurality of exiting road sections.
具体地,根据地图数据库中的道路拓扑关系,确定一个路口的一条驶入路段的驶出路段,具体如下:从该路口的驶出路段中选取与该驶入路段之间具备连通关系的驶出路段,作为该驶入路段的驶出路段。Specifically, according to the road topological relationship in the map database, the exiting section of a driving section of an intersection is determined as follows: the driving out relationship between the driving section and the driving section is selected from the exiting section of the intersection The road section serves as the exit section of the driving section.
其中,该驶入路段在一个交叉路口处的多条驶出路段可以是相同行驶方向上的驶出路段,还可以是不同行驶方向上的驶出路段。The plurality of exit sections of the driving section at one intersection may be the exit sections in the same driving direction, or may be the exit sections in different driving directions.
例如:对于驶入路段A,在一个十字交叉路口,相同行驶方向上的驶出路段是指直行方向上的驶出路段;不同行驶方向上的驶出路段是指左转方向上的驶出路段,或者右转方
向上的驶出路段。For example, for a driving section A, at a crossroad, the exiting section in the same driving direction refers to the outgoing section in the straight direction; the outgoing section in the different driving directions refers to the outgoing section in the leftward direction. Or right turn
Drive out of the road.
步骤102:计算每一条驶出路段与所述驶入路段的相对角度值。Step 102: Calculate a relative angle value of each of the exiting road segments and the driving inbound road segment.
在步骤102中,在确定与一条驶入路段具有连通关系的多条驶出路段之后,计算每一条驶出路段与所述驶入路段的相对角度值。In step 102, after determining a plurality of exit sections having a communication relationship with a driving section, a relative angle value of each of the exit sections and the driving section is calculated.
具体地,针对每一个驶出路段,将所述驶出路段与所述驶入路段的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。Specifically, for each of the exiting road sections, an angle between the outgoing road section and the extension line of the driving road section is determined as a relative angle value of the driving road section and the driving road section.
其中,所述驶入路段的延长线是指以行驶方向为基准,将该驶入路段向行驶方向延长的延长线。The extension line of the driving section refers to an extension line extending the driving section in the traveling direction based on the traveling direction.
如图2所示,为驶出路段与所述驶入路段的延长线的夹角的示意图。As shown in FIG. 2, it is a schematic diagram of the angle between the exiting section and the extension of the driving section.
需要说明的是,夹角值的范围为0°~360°。确定方式:沿着顺时方向确定夹角。It should be noted that the angle value ranges from 0° to 360°. Determine the way: Determine the angle along the clockwise direction.
例如:图2中所示的,相对于驶入路段a对应的驶出路段有:路段1、路段2、路段3、路段4、路段5和路段6,其中,计算得到的路段1与驶入路段a的延长线的夹角值为19°;计算得到的路段2与驶入路段a的延长线的夹角值为21°;计算得到的路段3与驶入路段a的延长线的夹角值为40°;计算得到的路段4与驶入路段a的延长线的夹角值为350°;计算得到的路段5与驶入路段a的延长线的夹角值为305°;计算得到的路段6与驶入路段a的延长线的夹角值为290°。For example, as shown in FIG. 2, the exit section corresponding to the driving section a has: section 1, section 2, section 3, section 4, section 5 and section 6, wherein the calculated section 1 and the driving in The angle of the extension of the section a is 19°; the calculated angle between the calculated section 2 and the extension of the section a is 21°; the angle between the calculated section 3 and the extension of the section a is calculated; The value is 40°; the calculated angle between the calculated road segment 4 and the extension line of the driving segment a is 350°; the calculated angle between the calculated road segment 5 and the extension line of the driving segment a is 305°; The angle between the link 6 and the extension of the drive section a is 290°.
步骤103:根据预置的相对角度区间的角度范围,确定计算出的每一个相对角度值所属的相对角度区间,以得到确定出的相对角度区间所包含的驶出路段。Step 103: Determine, according to an angular range of the preset relative angular interval, a relative angular interval to which each calculated relative angular value belongs, to obtain an exiting road segment included in the determined relative angular interval.
在步骤103中,由于现有技术中预设了相对角度区间与导航动作之间的对应关系,那么可以将现有技术中配置的相对角度范围作为本发明实施例中所述的相对角度区间,也可以根据实际需要设置相对角度区间,这里不做限定。In the step 103, the relative angle range configured in the prior art can be used as the relative angle interval in the embodiment of the present invention, because the corresponding relationship between the relative angle interval and the navigation action is preset in the prior art. The relative angle interval can also be set according to actual needs, which is not limited here.
具体地,每一个所述相对角度区间包含了起始角度值和终止角度值。Specifically, each of the relative angular intervals includes a starting angle value and a ending angle value.
例如:配置的相对角度区间为:340°≤α≤20°;20°<α≤55°;55°<α≤125°;125°<α≤160°;160°<α≤180°;180°<α≤200°;200°<α≤235°;235°<α≤305°;305°<α<340°。For example: the relative angular interval of the configuration is: 340 ° ≤ α ≤ 20 °; 20 ° < α ≤ 55 °; 55 ° < α ≤ 125 °; 125 ° < α ≤ 160 °; 160 ° < α ≤ 180 °; ° < α ≤ 200 °; 200 ° < α ≤ 235 °; 235 ° < α ≤ 305 °; 305 ° < α < 340 °.
所述根据预置的相对角度区间的角度范围,确定计算出的每一个相对角度值所属的相对角度区间,包括:Determining, according to an angular range of the preset relative angular interval, a relative angular interval to which each calculated relative angular value belongs includes:
从配置的相对角度区间中选择一个相对角度区间,确定所述相对角度区间的起始角度值和终止角度值;Selecting a relative angle interval from the configured relative angle intervals, and determining a starting angle value and a ending angle value of the relative angle interval;
将一个相对角度值与所述相对角度区间的起始角度值进行比较,以及将所述相对角度
值与所述相对角度区间的终止角度值进行比较;Comparing a relative angle value with a starting angle value of the relative angular interval, and comparing the relative angle
The value is compared with the end angle value of the relative angular interval;
在确定所述相对角度值介于所述相对角度区间的起始角度值与所述相对角度区间的终止角度值之间时,确定所述相对角度值对应选择的所述相对角度值区间。When it is determined that the relative angle value is between the start angle value of the relative angle interval and the end angle value of the relative angle interval, determining the relative angle value corresponds to the selected relative angle value interval.
承接步骤101中计算得到的每一个驶出路段对应的相对角度值,可以确定路段1对应的相对角度值19°以及路段4对应的相对角度值350°属于同一个相对角度区间(340°≤α≤20°);路段2对应的相对角度值21°以及路段3对应的相对角度值40°属于20°<α≤55°对应的相对角度区间;路段5对应的相对角度值305°和路段6对应的相对角度值290°属于235°<α≤305°对应的相对角度区间。By taking the relative angle value corresponding to each of the exiting road segments calculated in step 101, it can be determined that the relative angle value corresponding to the road segment 1 is 19° and the relative angle value corresponding to the road segment 4 is 350° belongs to the same relative angular interval (340° ≤ α). ≤20°); the relative angle value corresponding to the road segment 2 is 21° and the relative angle value corresponding to the road segment 3 is 40°, which belongs to the relative angle interval corresponding to 20°<α≤55°; the relative angle value corresponding to the road segment 5 is 305° and the road segment 6 The corresponding relative angle value 290° belongs to a relative angle interval corresponding to 235° < α ≤ 305°.
步骤104:针对确定出的每一个相对角度区间,若所述相对角度区间包含至少两条驶出路段时,根据所述相对角度区间包含的至少两条驶出路段的相对角度值确定所述至少两条驶出路段之间的相对位置关系。Step 104: Determine, for each of the determined relative angle intervals, if the relative angle interval includes at least two exiting road segments, determining the at least the relative angle values of the at least two outgoing road segments included in the relative angular interval. The relative positional relationship between the two exiting sections.
在步骤104中,由于假如确定的相对角度区间中包含了一条驶出路段,那么可以根据现有技术的方式,将相对角度区间对应的导航动作作为驶入路段驶入该相对角度区间包含的驶出路段的导航动作,不存在本发明背景技术中存在的问题,但是若所述相对角度区间包含至少两条驶出路段时,再按照现有技术进行处理,将导致无法确定需要行驶到哪一条驶出路段,降低了导航精确度的问题,因此,对于所述相对角度区间包含至少两条驶出路段的情形,根据所述相对角度区间包含的至少两条驶出路段的相对角度值确定所述至少两条驶出路段之间的相对位置关系。In step 104, if a certain out-of-way section is included in the determined relative angle section, the navigation action corresponding to the relative angle section may be entered as the driving section into the relative angle section according to the prior art manner. The navigation action of the exit segment does not have the problem in the background art of the present invention. However, if the relative angle interval includes at least two exit segments, processing according to the prior art will result in an inability to determine which one to travel to. Driving out of the road section reduces the problem of navigation accuracy. Therefore, for the case where the relative angle section includes at least two exiting road sections, the relative angle value of at least two outbound road sections included in the relative angle section is determined. The relative positional relationship between at least two exiting sections is described.
需要说明的是,若所述相对角度区间仅包含一条驶出道路,则从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作;将获取的所述第一导航动作,确定为从所述驶入路段驶入所述相对角度区间包含的驶出路段的导航动作。It should be noted that, if the relative angle interval includes only one exiting road, acquiring a first navigation action corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action; The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
仍以步骤102中的内容为例,假设相对于驶入路段a对应的驶出路段有:路段1和路段4,那么研究对象为:340°≤α≤20°相对角度区间包含的路段1和路段4。Taking the content in step 102 as an example, it is assumed that the exit section corresponding to the driving section a has: section 1 and section 4, then the research object is: 340° ≤ α ≤ 20° section 16 included in the relative angle section and Section 4.
具体地,按照相对角度值的大小,以驶入驶出路段的方向为基准,得到选择的驶出路段与所述至少两条驶出路段中的其他驶出路段的相对位置关系。Specifically, according to the magnitude of the relative angle value, the relative positional relationship between the selected exit section and the other out of the at least two exit sections is obtained based on the direction of entering the exit section.
例如:以选择的路段1为驶出路段,由于路段1对应的相对角度值19°和路段4对应的相对角度值350°,那么在具体的地图数据库中,路段1位于路段4的右侧,那么以驶入驶出路段的方向为基准,得到路段1与路段4的相对位置关系为路段1处于路段4的右侧;
For example, the selected road segment 1 is the outgoing road segment. Because the relative angle value corresponding to the road segment 1 is 19° and the relative angle value corresponding to the road segment 4 is 350°, then in the specific map database, the road segment 1 is located on the right side of the road segment 4, Then, based on the direction of entering the exit section, the relative positional relationship between the section 1 and the section 4 is obtained, so that the section 1 is on the right side of the section 4;
以选择的路段4为驶出路段,由于路段1对应的相对角度值19°和路段4对应的相对角度值350°,那么在具体的地图数据库中,路段4位于路段1的左侧,那么以驶入驶出路段的方向为基准,得到路段4与路段1的相对位置关系为路段4处于路段1的左侧。Taking the selected road segment 4 as the exiting road segment, since the relative angle value corresponding to the road segment 1 is 19° and the relative angle value corresponding to the road segment 4 is 350°, then in the specific map database, the road segment 4 is located on the left side of the road segment 1, then The direction of entering the exit section is taken as the reference, and the relative positional relationship between the section 4 and the section 1 is obtained such that the section 4 is on the left side of the section 1.
步骤105:根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作。Step 105: Generate, according to the relative angle interval, the relative positional relationship between the at least two exiting road segments, and a preset navigation action generation strategy, each of the relative angle intervals included in the driving path segment is generated. A navigation action that drives out of the road.
在步骤105中,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作的方式包括但不限于以下方式:In step 105, a manner of generating a navigation action from each of the driving sections into each of the exiting sections included in the relative angular section includes, but is not limited to, the following:
第一种方式:The first way:
首先,根据所述相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型。First, the intersection type of the intersection formed by the driving section and the exit section included in the relative angle section is determined according to the number of the exiting sections included in the relative angular section and the angular range of the relative angular section.
具体地,在步骤102中,计算了每一条驶出路段所属相对角度区间,那么显然很容易得到一个相对角度区间中包含的驶出路段的数量,利用所述数量和相对角度区间的角度范围,即可确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型。Specifically, in step 102, the relative angular interval to which each of the exiting road segments belongs is calculated, and it is obviously easy to obtain the number of the outgoing road segments included in the relative angular interval, and the angular range of the number and the relative angular interval is utilized. The intersection type of the intersection formed by the driving section and the exit section included in the relative angle section can be determined.
本发明实施例,可以是针对不同的相对角度区间以及该相对角度区间中包含的驶出路段的数量,预先建立有路口类型。例如:建立的路口模型包含了:路口类型1:针对340°≤α≤20°相对角度区间,包含了一条驶出路段;路口类型2:针对340°≤α≤20°相对角度区间,包含了两条驶出路段;路口类型3:针对340°≤α≤20°相对角度区间,包含了三条驶出路段;……;路口类型M:针对340°≤α≤20°相对角度区间,包含了N条驶出路段;……;路口类型P:针对20°<α≤55°相对角度区间,包含了Q条驶出路段;……;等等,其中,M、N、P、Q都为自然数,取值大于1。In the embodiment of the present invention, the intersection type may be pre-established for different relative angle intervals and the number of exit segments included in the relative angle interval. For example, the established intersection model includes: intersection type 1: for 340 ° ≤ α ≤ 20 ° relative angle interval, including an exit section; intersection type 2: for 340 ° ≤ α ≤ 20 ° relative angle interval, including Two exit sections; intersection type 3: for 340 ° ≤ α ≤ 20 ° relative angle interval, including three exit sections; ...; intersection type M: for 340 ° ≤ α ≤ 20 ° relative angle interval, including N out of the road section; ...; intersection type P: for 20 ° < α ≤ 55 ° relative angle interval, including Q out of the road section; ...; etc., where M, N, P, Q are Natural number, which is greater than 1.
具体地,将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。Specifically, the angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the relative angle interval range corresponding to the preset intersection type, and the number of the exit route segments are matched, and the matching intersection is successfully matched. The type is determined as the intersection type of the intersection formed by the driving section and the exiting section.
仍以步骤102中的内容为例,假设相对于驶入路段a对应的驶出路段有:路段1和路段4,那么研究对象为:340°≤α≤20°相对角度区间包含的路段1和路段4。Taking the content in step 102 as an example, it is assumed that the exit section corresponding to the driving section a has: section 1 and section 4, then the research object is: 340° ≤ α ≤ 20° section 16 included in the relative angle section and Section 4.
由此可见,相对于驶入路段a对应的驶出路段:路段1和路段4,对应的路口类型为2,即相对角度区间为:340°≤α≤20°,包含了两条驶出路段。It can be seen that, compared with the exit section corresponding to the driving section a: the section 1 and the section 4, the corresponding intersection type is 2, that is, the relative angle interval is: 340° ≤ α ≤ 20°, including two exit sections. .
其次,针对所述相对角度区间包含的每条驶出路段,从预置的所述路口类型对应的相
对位置关系与导航动作的对应关系中,获取该驶出路段的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述驶入路段驶入所述驶出路段的导航动作。Secondly, for each of the exiting road segments included in the relative angular interval, the phase corresponding to the preset intersection type
In the corresponding relationship between the positional relationship and the navigation action, acquiring a navigation action corresponding to the relative positional relationship of the exiting road segment, and determining the acquired navigation action as a navigation action of entering the exiting road segment from the driving route segment .
具体地,本方案,预先针对不同路口类型,建立有该路口类型对应的相对位置关系与导航动作的对应关系。例如:相对于驶入路段a对应的驶出路段:路段1和路段4,对应的路口类型为2,即相对角度区间为:340°≤α≤20°,包含了两条驶出路段,得到的路段1与路段4之间的相对位置关系是:以驶入驶出路段的方向为基准,得到路段1与路段4的相对位置关系为路段1处于路段4的右侧;路段4与路段1的相对位置关系为路段4处于路段1的左侧。Specifically, in the solution, the corresponding relationship between the relative positional relationship corresponding to the intersection type and the navigation action is established in advance for different intersection types. For example: relative to the exit section corresponding to the driving section a: section 1 and section 4, the corresponding intersection type is 2, that is, the relative angle interval is: 340 ° ≤ α ≤ 20 °, including two exit sections, The relative positional relationship between the road segment 1 and the road segment 4 is: based on the direction of entering the exiting road segment, the relative positional relationship between the road segment 1 and the road segment 4 is obtained as the road segment 1 is on the right side of the road segment 4; the road segment 4 and the road segment 1 are The relative positional relationship is that the road section 4 is on the left side of the road section 1.
对应得到的导航动作为:位于左侧的道路对应的导航动作为:直行进入左侧车道行驶;位于右侧的道路对应的导航动作为:直行进入右侧车道行驶。Corresponding navigation actions are: the navigation action corresponding to the road on the left side is: straight ahead to the left lane; the navigation action corresponding to the road on the right side is: straight into the right lane.
那么生成从路段a驶入路段1的导航动作为:直行进入右侧车道行驶;生成从路段a驶入路段4的导航动作为:直行进入左侧车道行驶。Then, the navigation action for generating the road segment 1 from the road segment a is: straight ahead into the right lane driving; and the navigation action for driving the road segment 4 from the road segment a is: straight ahead into the left lane driving.
第二种方式:The second way:
首先,从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作。First, a first navigation action corresponding to the relative angle section is acquired from a correspondence between the preset relative angle section and the first navigation motion.
其次,根据所述第一导航动作和所述相对位置关系,生成所述驶入路段驶入所述相对角度区间包含的每一个驶出路段的导航动作。Then, according to the first navigation action and the relative positional relationship, a navigation action of the driving route into each of the exiting sections included in the relative angular section is generated.
仍以步骤102中的内容为例,假设相对于驶入路段a对应的驶出路段有:路段1和路段4,那么研究对象为:340°≤α≤20°相对角度区间包含的路段1和路段4。Taking the content in step 102 as an example, it is assumed that the exit section corresponding to the driving section a has: section 1 and section 4, then the research object is: 340° ≤ α ≤ 20° section 16 included in the relative angle section and Section 4.
例如:根据配置的相对角度区间与第一导航动作之间的对应关系,得到340°≤α≤20°相对角度区间对应的第一导航动作的方式为直行。For example, according to the correspondence between the configured relative angular interval and the first navigation action, the manner of obtaining the first navigation action corresponding to the relative angle interval of 340°≤α≤20° is straight.
在得到第一导航动作时,利用得到的第一导航动作和确定的相对位置关系,生成所述驶入路段驶入所述相对角度区间包含的每一个驶出路段的导航动作。When the first navigation action is obtained, using the obtained first navigation action and the determined relative positional relationship, a navigation action of the driving route into each of the exiting sections included in the relative angular section is generated.
在得到340°≤α≤20°相对角度区间对应的第一导航动作的方式为直行,而路段1与路段4的相对位置关系为路段1处于路段4的右侧,那么生成从路段a驶入路段1的第二导航动作为直行进入右侧车道行驶;The manner of obtaining the first navigation action corresponding to the relative angle interval of 340° ≤ α ≤ 20° is straight, and the relative positional relationship between the road segment 1 and the road segment 4 is that the road segment 1 is on the right side of the road segment 4, then the driving from the road segment a is generated. The second navigation action of the road section 1 is to go straight into the right lane driving;
在得到340°≤α≤20°相对角度区间对应的第一导航动作的方式为直行,而路段4与路段1的相对位置关系为路段4处于路段1的左侧,那么生成从路段a驶入路段4的第二导航动作为直行进入左侧车道行驶。The manner of obtaining the first navigation action corresponding to the 340° ≤ α ≤ 20° relative angle interval is straight, and the relative positional relationship between the road segment 4 and the road segment 1 is that the road segment 4 is on the left side of the road segment 1, then the generation proceeds from the road segment a. The second navigation action of the road section 4 is to go straight into the left lane driving.
通过本发明实施例一的方案,针对道路的每一个路口的每一个驶入路段,从该路口对
应的驶出路段中确定出与该驶入路段具有连通关系的驶出路段;计算所述驶入路段与确定出的每一个驶出路段的相对角度值;根据预置的相对角度区间的角度范围,确定计算出的每一个相对角度值所属的相对角度区间,以得到确定出的相对角度区间所包含的驶出路段;针对确定出的每一个相对角度区间,若所述相对角度区间包含至少两条驶出路段时,根据所述相对角度区间包含的至少两条驶出路段的相对角度值确定所述至少两条驶出路段之间的相对位置关系;并根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作,这样,针对一个路口的一条驶入路段,当属于同一个相对角度区间存在多条驶出路段时,分别根据同一个相对角度区间中多条驶出路段的相对位置关系,进一步得到了针对每一条驶出路段的导航动作,有效避免了对于复杂路口生成一个导航动作使得驾驶员无法确定驶入哪一条驶出路段的问题,提升了导航精度。According to the solution of the first embodiment of the present invention, each of the intersections of each intersection of the road is taken from the intersection.
Determining an exiting road section having a communication relationship with the driving road section; calculating a relative angle value of the driving road section and each of the determined driving road sections; and an angle according to the preset relative angle section a range, determining a relative angle interval to which each of the calculated relative angle values belongs to obtain an exiting road segment included in the determined relative angular interval; and for each of the determined relative angular intervals, if the relative angular interval includes at least Determining a relative positional relationship between the at least two outbound road segments according to a relative angle value of the at least two exiting road segments included in the relative angular interval; and according to the relative angular interval, a relative positional relationship between at least two exiting road segments and a preset navigation action generating strategy, generating a navigation action from each of the driving road segments into each of the outgoing road segments included in the relative angular interval, such that A driving section of an intersection, when there are multiple exiting sections in the same relative angle section, respectively according to the same relative angle The relative positional relationship of the plurality of exiting sections in the section further obtains the navigation action for each of the exiting sections, thereby effectively avoiding the problem that a navigational action is generated for the complicated intersection so that the driver cannot determine which exiting section to enter. Improved navigation accuracy.
实施例二:Embodiment 2:
如图3所示,为本发明实施例二提供的一种导航方法的流程示意图,本发明实施例二是以导航过程中使用本发明实施例一的方式确定导航线路中驶出路段的导航动作为例进行说明。As shown in FIG. 3, it is a schematic flowchart of a navigation method according to Embodiment 2 of the present invention. In the second embodiment of the present invention, a navigation action of an exiting road segment in a navigation line is determined by using the first embodiment of the present invention in a navigation process. Give an example for explanation.
步骤301:根据输入的起点和终点规划导航路径,并执行导航。Step 301: Plan a navigation path according to the input start point and end point, and perform navigation.
步骤302:判断用户当前位置到导航路径上前方最近的路口的距离是否小于等于预置的距离阈值,若是,则执行步骤303或者步骤304~步骤307;否则执行步骤308。Step 302: Determine whether the distance from the current location of the user to the nearest intersection on the navigation path is less than or equal to the preset distance threshold. If yes, go to step 303 or step 304 to step 307; otherwise, go to step 308.
需要说明的是,预置的距离阈值可以根据实际需要确定,也可以根据实验结果确定,这里不做限定。It should be noted that the preset distance threshold may be determined according to actual needs, or may be determined according to experimental results, and is not limited herein.
步骤303:从预存的所述当前位置所在的当前道路分别驶入所述路口中与所述当前道路具有连通关系的驶出道路的导航动作中,确定出从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报。Step 303: In the navigation action of the outbound road that is connected to the current road in the intersection, the current road where the current location is pre-stored is determined to enter the navigation path from the current road. The navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting.
步骤304:计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值。Step 304: Calculate a relative angle value between the current road and an exit road in the intersection with the current road.
具体地,将所述路口中与该当前道路具有连通关系的驶出道路与所述当前道路的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。Specifically, an angle between the exiting road in the intersection with the current road and an extension of the current road is determined as a relative angle between the outgoing section and the driving section.
步骤305:根据预置的相对角度区间的角度范围和计算得到的相对角度值,确定出所述当前道路与下一道路的相对角度值所属的相对角度区间包含的其他驶出路段。Step 305: Determine, according to the preset angular range of the relative angular interval and the calculated relative angular value, the other outgoing segments included in the relative angular interval to which the relative angle value of the current road and the next road belongs.
步骤306:比较所述下一道路与其他驶出道路的相对角度值,根据比较结果确定出所述下一道路与所述其他驶出道路之间的相对位置关系。
Step 306: Compare the relative angle values of the next road with other exiting roads, and determine a relative positional relationship between the next road and the other outgoing roads according to the comparison result.
步骤307:根据所述下一道路相对角度值所属的相对角度区间、所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入所述下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报。Step 307: Generate a driving from the current road to the next road according to a relative angular interval to which the next road relative angle value belongs, a relative positional relationship between the next road and the other outgoing roads. The navigation action, and construct a navigation voice prompt according to the navigation action, and broadcast the message.
具体地,生成从所述当前道路驶入所述下一道路的导航动作的方式包括但不限于:Specifically, the manner of generating a navigation action from the current road into the next road includes, but is not limited to:
首先,根据所述下一道路相对角度值所属的相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型。First, determining, according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs and the angular range of the relative angular interval, determining the exiting of the driving road segment and the relative angular interval The type of intersection at the intersection formed by the road section.
具体地,将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。Specifically, the angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the relative angle interval range corresponding to the preset intersection type, and the number of the exit route segments are matched, and the matching intersection is successfully matched. The type is determined as the intersection type of the intersection formed by the driving section and the exiting section.
其次,针对所述相对角度区间包含的所述下一道路,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取所述下一道路的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。Next, for the next road included in the relative angle interval, obtaining a relative position relationship of the next road from a corresponding relationship between a relative position relationship corresponding to the preset intersection type and a navigation action The action is navigated and the acquired navigation action is determined as a navigation action from the current road into the next road of the current road in the navigation path.
第二种方式:The second way:
从预置的相对角度区间与第一导航动作的对应关系中,获取与下一道路相对角度值所属的相对角度区间对应的第一导航动作;根据所述第一导航动作和所述下一道路与所述其他驶出道路之间的相对位置关系,生成所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。Obtaining, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs; according to the first navigation action and the next road And a relative positional relationship with the other exiting roads, generating a navigation action of the current road into the next road of the current road in the navigation path.
需要说明的是,本发明实施例二中步骤304~步骤307的具体实施方式与本发明实施例一中步骤104的实施方式相同。It should be noted that the specific implementation manners of the steps 304 to 307 in the second embodiment of the present invention are the same as the implementation manner of the step 104 in the first embodiment of the present invention.
步骤308:判断用户当前的行驶位置是否到达目的地,若到达,结束导航,若不到达执行步骤302。Step 308: Determine whether the current driving position of the user reaches the destination, and if so, end the navigation, if not, go to step 302.
实施例三:Embodiment 3:
如图4所示,为本发明实施例三提供的一种导航动作的生成设备的结构示意图,所述设备包括:驶出路段确定模块41、计算模块42和导航动作生成模块43,其中:As shown in FIG. 4, it is a schematic structural diagram of a device for generating a navigation action according to Embodiment 3 of the present invention. The device includes: an exiting road segment determining module 41, a calculating module 42 and a navigation action generating module 43, wherein:
驶出路段确定模块41,用于针对道路的每一个路口的每一个驶入路段,从该路口对应的驶出路段中确定出与该驶入路段具有连通关系的驶出路段;The exiting road section determining module 41 is configured to determine, for each driving road section of each intersection of the road, an exiting road section having a communication relationship with the driving road section from the corresponding exiting road section of the intersection;
计算模块42,用于计算所述驶入路段与确定出的每一个驶出路段的相对角度值;The calculating module 42 is configured to calculate a relative angle value of the driving road segment and each determined exiting road segment;
导航动作生成模块43,用于根据预置的相对角度区间的角度范围,确定计算出的每一个相对角度值所属的相对角度区间,以得到确定出的相对角度区间所包含的驶出路段;针
对确定出的每一个相对角度区间,若所述相对角度区间包含至少两条驶出路段时,根据所述相对角度区间包含的至少两条驶出路段的相对角度值确定所述至少两条驶出路段之间的相对位置关系;并根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作。The navigation action generating module 43 is configured to determine, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval;
For each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, determining the at least two driving according to the relative angle values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the outgoing sections; and generating a driving route from the driving section according to the relative angular section, the relative positional relationship between the at least two outgoing sections, and a preset navigation action generating strategy The navigation action of each outgoing section included in the relative angle section.
具体地,所述导航动作生成模块43,具体用于根据所述相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型;Specifically, the navigation action generating module 43 is specifically configured to determine the driving road segment and the relative angle interval according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval. The type of intersection at the intersection formed by the included exit section;
针对所述相对角度区间包含的每条驶出路段,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取该驶出路段的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述驶入路段驶入所述驶出路段的导航动作。Obtaining a navigation action corresponding to the relative positional relationship of the exiting road segment from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action for each of the exiting road segments included in the relative angular interval, And determining the acquired navigation action as a navigation action from the approach road section into the exit section.
具体地,所述导航动作生成模块43,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型,具体用于:将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。Specifically, the navigation action generating module 43 determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, specifically for: setting the angular range of the relative angle section with The number of the exiting road segments included in the relative angular interval is matched with the range of the relative angular interval corresponding to the preset intersection type and the number of the outgoing road segments, and the type of the successfully matched intersection is determined as the driving segment and the driving out The type of intersection at the intersection formed by the road section.
具体地,所述导航动作生成模块43,具体用于从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作;Specifically, the navigation action generating module 43 is configured to acquire a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;
针对所述相对角度区间包含的每条驶出路段,根据所述第一导航动作和所述驶出路段的相对位置关系,生成所述驶入路段驶入所述驶出路段的导航动作。For each of the exit sections included in the relative angle section, a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.
具体地,所述导航动作生成模块43,还用于若所述相对角度区间仅包含一条驶出道路,则从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作;Specifically, the navigation action generating module 43 is further configured to: if the relative angle interval includes only one exiting road, obtain a relative relationship from the preset relative angular interval and the first navigation action a first navigation action corresponding to the angle interval;
将获取的所述第一导航动作,确定为从所述驶入路段驶入所述相对角度区间包含的驶出路段的导航动作。The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
具体地,所述计算模块42,具体用于针对每一个驶出路段,将所述驶出路段与所述驶入路段的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。Specifically, the calculating module 42 is specifically configured to determine, for each of the exiting road segments, an angle between the outgoing road segment and an extension line of the driving road segment as the driving road segment and the driving in The relative angle value of the link.
可选地,所述设备还包括:存储模块44,其中:Optionally, the device further includes: a storage module 44, where:
所述存储模块44,用于存储所述驶入路段驶入所述每一条驶出路段的导航动作。The storage module 44 is configured to store a navigation action of the driving path into each of the outgoing sections.
需要说明的是,本发明实施例三中所述的设备可以通过硬件实现,也可以通过软件实现,这里不做限定。
It should be noted that the device described in the third embodiment of the present invention may be implemented by using hardware or by software, which is not limited herein.
实施例四:Embodiment 4:
如图5所示,为本发明实施例四提供的一种导航设备的结构示意图。所述设备包括:导航路径确定模块51和导航动作生成模块52,其中:FIG. 5 is a schematic structural diagram of a navigation device according to Embodiment 4 of the present invention. The device includes: a navigation path determining module 51 and a navigation action generating module 52, wherein:
导航路径确定模块51,用于根据输入的起点和终点规划导航路径,并执行导航;a navigation path determining module 51, configured to plan a navigation path according to the input start point and the end point, and perform navigation;
导航动作生成模块52,用于判断用户当前位置到导航路径上前方最近的路口的距离是否小于等于预置的距离阈值;The navigation action generating module 52 is configured to determine whether the distance from the current location of the user to the nearest intersection on the navigation path is less than or equal to a preset distance threshold;
若是,则从预存的所述当前位置所在的当前道路分别驶入所述路口中与所述当前道路具有连通关系的驶出道路的导航动作中,确定出从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报;或者,If yes, the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. a navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,
计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值;根据预置的相对角度区间的角度范围和计算得到的相对角度值,确定出所述当前道路与下一道路的相对角度值所属的相对角度区间包含的其他驶出路段;比较所述下一道路与其他驶出道路的相对角度值,根据比较结果确定出所述下一道路与所述其他驶出道路之间的相对位置关系;根据所述下一道路相对角度值所属的相对角度区间、所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入所述下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报。Calculating a relative angle value between the current road and an exiting road in the intersection with the current road; determining an outlet according to an angular range of the preset relative angular interval and the calculated relative angle value Comparing the other exit sections included in the relative angle section to which the relative angle value of the current road and the next road belongs; comparing the relative angle values of the next road with other exiting roads, and determining the next road according to the comparison result a relative positional relationship between the other exiting roads; generating a slave according to a relative angular section to which the next road relative angle value belongs, and a relative positional relationship between the next road and the other outgoing roads The navigation action of the current road into the next road is described, and a navigation voice prompt is constructed according to the navigation action, and the announcement is broadcast.
具体地,所述导航动作生成模块52,具体用于根据所述下一道路相对角度值所属的相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型;Specifically, the navigation action generating module 52 is specifically configured to determine the driving manner according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs and the angular range of the relative angular interval. The intersection type of the intersection formed by the exit section and the exit section included in the relative angle section;
针对所述相对角度区间包含的所述下一道路,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取所述下一道路的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。For the next road included in the relative angle interval, obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.
具体地,所述导航动作生成模块52,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型,具体用于将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。Specifically, the navigation action generating module 52 determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, specifically for using the angle range of the relative angle section and the The number of the exiting road segments included in the relative angle interval is matched with the range of the relative angular interval corresponding to the preset intersection type, and the number of the exiting road segments, and the type of the successfully matched intersection is determined as the driving segment and the driving segment. The type of intersection that makes up the intersection.
具体地,所述导航动作生成模块52,具体用于从预置的相对角度区间与第一导航动作的对应关系中,获取与下一道路相对角度值所属的相对角度区间对应的第一导航动作;Specifically, the navigation action generating module 52 is configured to acquire, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs. ;
根据所述第一导航动作和所述下一道路与所述其他驶出道路之间的相对位置关系,生
成所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。According to the first navigation action and the relative positional relationship between the next road and the other exiting roads,
The navigation action of the current road into the next road of the current road in the navigation path.
具体地,所述导航动作生成模块52,计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值,具体用于将所述路口中与该当前道路具有连通关系的驶出道路与所述当前道路的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。Specifically, the navigation action generating module 52 calculates a relative angle value between the current road and the outgoing road in the intersection with the current road, specifically for the intersection and the intersection The angle between the exiting road having the connected relationship of the current road and the extension line of the current road is determined as a relative angle value between the outgoing section and the driving section.
需要说明的是,本发明实施例四中所述的设备可以通过硬件实现,也可以通过软件实现,这里不做限定。It should be noted that the device in the fourth embodiment of the present invention may be implemented by using hardware or by software, which is not limited herein.
本领域的技术人员应明白,本发明的实施例可提供为方法、装置(设备)、或计算机程序产品。因此,本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, apparatus (device), or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
本发明是参照根据本发明实施例的方法、装置(设备)和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
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,则可对这些实施例作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。While the preferred embodiment of the invention has been described, it will be understood that Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and
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。
It is apparent that those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the appended claims
The invention is also intended to cover such modifications and variations.
Claims (24)
- 一种导航动作的生成方法,其特征在于,包括:A method for generating a navigation action, comprising:针对道路的每一个路口的每一个驶入路段,从该路口对应的驶出路段中确定出与该驶入路段具有连通关系的驶出路段;For each driving section of each intersection of the road, an exiting section corresponding to the driving section is determined from the corresponding exit section of the intersection;计算所述驶入路段与确定出的每一个驶出路段的相对角度值;Calculating a relative angle value of the driving road segment and each of the determined exiting road segments;根据预置的相对角度区间的角度范围,确定计算出的每一个相对角度值所属的相对角度区间,以得到确定出的相对角度区间所包含的驶出路段;Determining, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval;针对确定出的每一个相对角度区间,若所述相对角度区间包含至少两条驶出路段时,根据所述相对角度区间包含的至少两条驶出路段的相对角度值确定所述至少两条驶出路段之间的相对位置关系;并根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作。For each of the determined relative angular intervals, if the relative angular interval includes at least two outgoing segments, determining the at least two driving according to the relative angle values of the at least two outgoing segments included in the relative angular interval a relative positional relationship between the outgoing sections; and generating a driving route from the driving section according to the relative angular section, the relative positional relationship between the at least two outgoing sections, and a preset navigation action generating strategy The navigation action of each outgoing section included in the relative angle section.
- 如权利要求1所述的方法,其特征在于,所述根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作,包括:The method according to claim 1, wherein said generating a strategy from said relative angle interval, a relative positional relationship between said at least two exiting road segments, and a preset navigation action generation strategy The navigation action of the inbound section into each of the exiting sections included in the relative angular section includes:根据所述相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型;Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving segment included in the relative angular interval;针对所述相对角度区间包含的每条驶出路段,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取该驶出路段的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述驶入路段驶入所述驶出路段的导航动作。Obtaining a navigation action corresponding to the relative positional relationship of the exiting road segment from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action for each of the exiting road segments included in the relative angular interval, And determining the acquired navigation action as a navigation action from the approach road section into the exit section.
- 如权利要求2所述的方法,其特征在于,所述根据所述相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型,包括:The method according to claim 2, wherein the determining the driving path segment and the relative angle according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval The types of intersections at the intersections formed by the exit road sections included in the section include:将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
- 如权利要求1所述的方法,其特征在于,所述根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作,包括:The method according to claim 1, wherein said generating a strategy from said relative angle interval, a relative positional relationship between said at least two exiting road segments, and a preset navigation action generation strategy The navigation action of the inbound section into each of the exiting sections included in the relative angular section includes:从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作; Acquiring a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;针对所述相对角度区间包含的每条驶出路段,根据所述第一导航动作和所述驶出路段的相对位置关系,生成所述驶入路段驶入所述驶出路段的导航动作。For each of the exit sections included in the relative angle section, a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.
- 如权利要求1至4任一项所述的方法,其特征在于,所述方法还包括:The method of any of claims 1 to 4, further comprising:若所述相对角度区间仅包含一条驶出道路,则从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作;If the relative angle interval includes only one exiting road, acquiring a first navigation action corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action;将获取的所述第一导航动作,确定为从所述驶入路段驶入所述相对角度区间包含的驶出路段的导航动作。The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
- 如权利要求1至4任一项所述的方法,其特征在于,所述计算所述驶入路段与确定出的每一个驶出路段的相对角度值,具体包括:The method according to any one of claims 1 to 4, wherein the calculating the relative angle value of the driving route segment and each of the determined exiting road segments comprises:针对每一个驶出路段,将所述驶出路段与所述驶入路段的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。For each of the exiting sections, the angle between the exiting section and the extension of the driving section is determined as a relative angle between the outgoing section and the driving section.
- 如权利要求1至4任一项所述的方法,其特征在于,所述方法还包括:The method of any of claims 1 to 4, further comprising:存储所述驶入路段驶入所述每一条驶出路段的导航动作。Storing a navigation action of the driving section into each of the exiting sections.
- 一种导航方法,其特征在于,包括:A navigation method, comprising:根据输入的起点和终点规划导航路径,并执行导航;Plan the navigation path based on the input start and end points and perform navigation;判断用户当前位置到导航路径上前方最近的路口的距离是否小于等于预置的距离阈值;Determining whether the distance from the current location of the user to the nearest intersection on the navigation path is less than or equal to a preset distance threshold;若是,则从预存的所述当前位置所在的当前道路分别驶入所述路口中与所述当前道路具有连通关系的驶出道路的导航动作中,确定出从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报;或者,If yes, the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. a navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值;根据预置的相对角度区间的角度范围和计算得到的相对角度值,确定出所述当前道路与下一道路的相对角度值所属的相对角度区间包含的其他驶出路段;比较所述下一道路与其他驶出道路的相对角度值,根据比较结果确定出所述下一道路与所述其他驶出道路之间的相对位置关系;根据所述下一道路相对角度值所属的相对角度区间、所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入所述下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报。Calculating a relative angle value between the current road and an exiting road in the intersection with the current road; determining an outlet according to an angular range of the preset relative angular interval and the calculated relative angle value Comparing the other exit sections included in the relative angle section to which the relative angle value of the current road and the next road belongs; comparing the relative angle values of the next road with other exiting roads, and determining the next road according to the comparison result a relative positional relationship between the other exiting roads; generating a slave according to a relative angular section to which the next road relative angle value belongs, and a relative positional relationship between the next road and the other outgoing roads The navigation action of the current road into the next road is described, and a navigation voice prompt is constructed according to the navigation action, and the announcement is broadcast.
- 如权利要求8所述的方法,其特征在于,所述根据所述下一道路相对角度值所属的相对角度区间、所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入所述下一道路的导航动作,包括:The method according to claim 8, wherein said generating is based on a relative angular interval to which said next road relative angle value belongs, and a relative positional relationship between said next road and said other exiting road Navigation actions from the current road into the next road, including:根据所述下一道路相对角度值所属的相对角度区间包含的驶出路段的数量和所述相 对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型;The number of exiting road segments and the phase according to the relative angular interval to which the next road relative angle value belongs Determining, at an angular range of the angular interval, a type of intersection of the intersection formed by the driving section and the exiting section included in the relative angular section;针对所述相对角度区间包含的所述下一道路,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取所述下一道路的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。For the next road included in the relative angle interval, obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.
- 如权利要求9所述的方法,其特征在于,所述根据所述相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型,包括:The method according to claim 9, wherein said determining the driving path segment and said relative angle according to the number of the exiting road segments included in said relative angular interval and the angular range of said relative angular interval The types of intersections at the intersections formed by the exit road sections included in the section include:将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
- 如权利要求8所述的方法,其特征在于,所述根据所述下一道路相对角度值所属的相对角度区间、所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入所述下一道路的导航动作,包括:The method according to claim 8, wherein said generating is based on a relative angular interval to which said next road relative angle value belongs, and a relative positional relationship between said next road and said other exiting road Navigation actions from the current road into the next road, including:从预置的相对角度区间与第一导航动作的对应关系中,获取与下一道路相对角度值所属的相对角度区间对应的第一导航动作;Obtaining, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs;根据所述第一导航动作和所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。And generating, according to the first navigation action and a relative positional relationship between the next road and the other exiting road, a navigation action of entering a next road of the current road from the current road into the navigation path.
- 如权利要求8至11任一所述的方法,其特征在于,所述计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值,包括:The method according to any one of claims 8 to 11, wherein the calculating a relative angle value between the current road and the exiting road in the intersection with the current road, respectively:将所述路口中与该当前道路具有连通关系的驶出道路与所述当前道路的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。The angle between the exiting road in the intersection with the current road and the extension of the current road is determined as a relative angle between the outgoing section and the driving section.
- 一种导航动作的生成设备,其特征在于,包括:A device for generating a navigation action, comprising:驶出路段确定模块,用于针对道路的每一个路口的每一个驶入路段,从该路口对应的驶出路段中确定出与该驶入路段具有连通关系的驶出路段;The exiting road section determining module is configured to determine, for each driving road section of each intersection of the road, an exiting road section having a communication relationship with the driving road section from the corresponding exiting road section of the intersection;计算模块,用于计算所述驶入路段与确定出的每一个驶出路段的相对角度值;a calculation module, configured to calculate a relative angle value of the driving road segment and each determined exit road segment;导航动作生成模块,用于根据预置的相对角度区间的角度范围,确定计算出的每一个相对角度值所属的相对角度区间,以得到确定出的相对角度区间所包含的驶出路段;针对确定出的每一个相对角度区间,若所述相对角度区间包含至少两条驶出路段时,根据所述相对角度区间包含的至少两条驶出路段的相对角度值确定所述至少两条驶出路段之间的 相对位置关系;并根据所述相对角度区间、所述至少两条驶出路段之间的相对位置关系以及预置的导航动作生成策略,生成从所述驶入路段驶入所述相对角度区间包含的每一条驶出路段的导航动作。a navigation action generating module, configured to determine, according to an angular range of the preset relative angular interval, a relative angle interval to which each calculated relative angle value belongs, to obtain an exiting road segment included in the determined relative angular interval; For each of the relative angular intervals, if the relative angular interval includes at least two outgoing segments, the at least two outgoing segments are determined according to the relative angular values of the at least two outgoing segments included in the relative angular interval between Relative positional relationship; and according to the relative angular interval, the relative positional relationship between the at least two outgoing sections, and a preset navigation action generation strategy, generating the relative angle interval from the driving section into the range The navigation action of each exit section.
- 如权利要求13所述的设备,其特征在于,所述导航动作生成模块,具体用于:The device according to claim 13, wherein the navigation action generating module is specifically configured to:根据所述相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型;Determining, according to the number of the exiting road segments included in the relative angular interval and the angular range of the relative angular interval, the intersection type of the intersection formed by the driving road segment and the driving segment included in the relative angular interval;针对所述相对角度区间包含的每条驶出路段,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取该驶出路段的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述驶入路段驶入所述驶出路段的导航动作。Obtaining a navigation action corresponding to the relative positional relationship of the exiting road segment from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action for each of the exiting road segments included in the relative angular interval, And determining the acquired navigation action as a navigation action from the approach road section into the exit section.
- 如权利要求14所述的设备,其特征在于,所述导航动作生成模块确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型,具体用于:The device according to claim 14, wherein the navigation action generating module determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, specifically for:将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
- 如权利要求13所述的设备,其特征在于,所述导航动作生成模块,具体用于:The device according to claim 13, wherein the navigation action generating module is specifically configured to:从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作;Acquiring a first navigation action corresponding to the relative angle interval from a corresponding relationship between the preset relative angle interval and the first navigation action;针对所述相对角度区间包含的每条驶出路段,根据所述第一导航动作和所述驶出路段的相对位置关系,生成所述驶入路段驶入所述驶出路段的导航动作。For each of the exit sections included in the relative angle section, a navigation action of the driving section into the exit section is generated according to the relative positional relationship between the first navigation action and the exit section.
- 如权利要求13至16任一项所述的设备,其特征在于,所述导航动作生成模块,进一步用于:The device according to any one of claims 13 to 16, wherein the navigation action generating module is further configured to:若所述相对角度区间仅包含一条驶出道路,则从预置的相对角度区间与第一导航动作的对应关系中,获取与所述相对角度区间对应的第一导航动作;If the relative angle interval includes only one exiting road, acquiring a first navigation action corresponding to the relative angular interval from a corresponding relationship between the preset relative angular interval and the first navigation action;将获取的所述第一导航动作,确定为从所述驶入路段驶入所述相对角度区间包含的驶出路段的导航动作。The acquired first navigation action is determined as a navigation action of entering the exit section included in the relative angle section from the driving section.
- 如权利要求13至16任一项所述的设备,其特征在于,所述计算模块,具体用于:The device according to any one of claims 13 to 16, wherein the calculation module is specifically configured to:针对每一个驶出路段,将所述驶出路段与所述驶入路段的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。For each of the exiting sections, the angle between the exiting section and the extension of the driving section is determined as a relative angle between the outgoing section and the driving section.
- 如权利要求13至16任一项所述的设备,其特征在于,所述设备还包括:存储模块,其中:The device according to any one of claims 13 to 16, wherein the device further comprises: a storage module, wherein:所述存储模块,用于存储所述驶入路段驶入所述每一条驶出路段的导航动作。 The storage module is configured to store a navigation action of the driving road segment to enter each of the outgoing road segments.
- 一种导航设备,其特征在于,包括:A navigation device, comprising:导航路径确定模块,用于根据输入的起点和终点规划导航路径,并执行导航;a navigation path determining module, configured to plan a navigation path according to the input start point and the end point, and perform navigation;导航动作生成模块,用于判断用户当前位置到导航路径上前方最近的路口的距离是否小于等于预置的距离阈值;The navigation action generating module is configured to determine whether the distance between the current location of the user and the nearest intersection on the navigation path is less than or equal to a preset distance threshold;若是,则从预存的所述当前位置所在的当前道路分别驶入所述路口中与所述当前道路具有连通关系的驶出道路的导航动作中,确定出从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报;或者,If yes, the navigation from the current road where the current location is pre-stored to the exit road in the intersection with the current road is determined to enter the navigation path from the current road. a navigation action of the next road of the current road, and constructing a navigation voice prompt according to the navigation action, and broadcasting; or,计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值;根据预置的相对角度区间的角度范围和计算得到的相对角度值,确定出所述当前道路与下一道路的相对角度值所属的相对角度区间包含的其他驶出路段;比较所述下一道路与其他驶出道路的相对角度值,根据比较结果确定出所述下一道路与所述其他驶出道路之间的相对位置关系;根据所述下一道路相对角度值所属的相对角度区间、所述下一道路与所述其他驶出道路之间的相对位置关系,生成从所述当前道路驶入所述下一道路的导航动作,并根据该导航动作构建导航语音提示,并播报。Calculating a relative angle value between the current road and an exiting road in the intersection with the current road; determining an outlet according to an angular range of the preset relative angular interval and the calculated relative angle value Comparing the other exit sections included in the relative angle section to which the relative angle value of the current road and the next road belongs; comparing the relative angle values of the next road with other exiting roads, and determining the next road according to the comparison result a relative positional relationship between the other exiting roads; generating a slave according to a relative angular section to which the next road relative angle value belongs, and a relative positional relationship between the next road and the other outgoing roads The navigation action of the current road into the next road is described, and a navigation voice prompt is constructed according to the navigation action, and the announcement is broadcast.
- 如权利要求20所述的设备,其特征在于,所述导航动作生成模块,具体用于:The device according to claim 20, wherein the navigation action generating module is specifically configured to:根据所述下一道路相对角度值所属的相对角度区间包含的驶出路段的数量和所述相对角度区间的角度范围,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型;Determining, according to the number of the exiting road segments included in the relative angular interval to which the next road relative angle value belongs, and the angular range of the relative angular interval, determining the exiting road segment and the driving segment included in the relative angular interval The type of intersection that makes up the intersection;针对所述相对角度区间包含的所述下一道路,从预置的所述路口类型对应的相对位置关系与导航动作的对应关系中,获取所述下一道路的相对位置关系所对应的导航动作,并将获取的导航动作确定为从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。For the next road included in the relative angle interval, obtaining a navigation action corresponding to the relative positional relationship of the next road from the corresponding relationship between the relative positional relationship corresponding to the preset intersection type and the navigation action And determining the acquired navigation action as a navigation action from the current road into the next road of the current road in the navigation path.
- 如权利要求21所述的设备,其特征在于,所述导航动作生成模块,确定出所述驶入路段与所述相对角度区间包含的驶出路段所构成路口的路口类型,具体用于:The device according to claim 21, wherein the navigation action generating module determines the intersection type of the intersection formed by the driving road section and the exiting road section included in the relative angle section, specifically for:将所述相对角度区间的角度范围与该相对角度区间包含的驶出路段的数量,与预置的路口类型对应的相对角度区间范围、驶出路段数量进行匹配,将匹配成功的路口类型确定为所述驶入路段与所述驶出路段所构成路口的路口类型。The angle range of the relative angle interval and the number of the exit road segments included in the relative angle interval are matched with the range of the relative angle interval corresponding to the preset intersection type, and the number of the exit route segments, and the type of the intersection that is successfully matched is determined as The intersection type of the intersection formed by the driving road section and the exiting road section.
- 如权利要求20所述的设备,其特征在于,所述导航动作生成模块,具体用于:The device according to claim 20, wherein the navigation action generating module is specifically configured to:从预置的相对角度区间与第一导航动作的对应关系中,获取与下一道路相对角度值所属的相对角度区间对应的第一导航动作;Obtaining, from a corresponding relationship between the preset relative angle interval and the first navigation action, a first navigation action corresponding to a relative angle interval to which the next road relative angle value belongs;根据所述第一导航动作和所述下一道路与所述其他驶出道路之间的相对位置关系,生 成从所述当前道路驶入导航路径中该当前道路的下一道路的导航动作。According to the first navigation action and the relative positional relationship between the next road and the other exiting roads, A navigation action that enters the next road of the current road from the current road into the navigation path.
- 如权利要求20至23任一所述的设备,其特征在于,所述导航动作生成模块计算所述当前道路分别与所述路口中与该当前道路具有连通关系的驶出道路之间的相对角度值,具体用于:The device according to any one of claims 20 to 23, wherein the navigation action generating module calculates a relative angle between the current road and an exit road in the intersection with the current road. Value, specifically for:将所述路口中与该当前道路具有连通关系的驶出道路与所述当前道路的延长线的夹角,确定为所述驶出路段与所述驶入路段的相对角度值。 The angle between the exiting road in the intersection with the current road and the extension of the current road is determined as a relative angle between the outgoing section and the driving section.
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