WO2017210904A1 - 一种电动平衡车的导航方法、导航装置及电动平衡车 - Google Patents

一种电动平衡车的导航方法、导航装置及电动平衡车 Download PDF

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Publication number
WO2017210904A1
WO2017210904A1 PCT/CN2016/085328 CN2016085328W WO2017210904A1 WO 2017210904 A1 WO2017210904 A1 WO 2017210904A1 CN 2016085328 W CN2016085328 W CN 2016085328W WO 2017210904 A1 WO2017210904 A1 WO 2017210904A1
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Prior art keywords
road
electric balance
section
bypass
navigation
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PCT/CN2016/085328
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English (en)
French (fr)
Inventor
尚艳燕
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尚艳燕
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Application filed by 尚艳燕 filed Critical 尚艳燕
Priority to PCT/CN2016/085328 priority Critical patent/WO2017210904A1/zh
Publication of WO2017210904A1 publication Critical patent/WO2017210904A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance

Definitions

  • the invention relates to the field of electric balance vehicles and navigation technologies thereof, and more particularly to a navigation method, a navigation device and an electric balance vehicle of an electric balance vehicle.
  • the balance car is being favored by more and more users for its excellent use and portability. Similar to other vehicles, users also have navigational needs when traveling with a balance car.
  • the user can select the departure place and the destination in the electronic map according to his own travel plan, and the electronic map calculates the shortest navigation path according to the departure place and the destination.
  • the balance car is designed with the convenience of its use, the volume and power are relatively small, and the traffic performance is relatively poor.
  • the traditional navigation method usually defaults to navigation for vehicles with better traffic such as private cars or electric motorcycles.
  • the calculated navigation path may not be suitable for the balance car to pass, and the navigation effect for the balance car is poor.
  • the technical problem to be solved by the present invention is to provide a navigation method, a navigation device and an electric balance vehicle which are convenient for electric balance vehicle driving.
  • a navigation method of an electric balance vehicle comprising the following steps:
  • the movement trajectory of the cross section through the walk is recorded and updated into the map database.
  • the present invention discloses a navigation method for an electric balance vehicle, the method comprising the following steps:
  • the method further includes:
  • the movement trajectory of the road section is recorded by the walking and updated to the map database.
  • the pedestrian crossing road segment is selected to pass.
  • the manner of reminding the front road section to walk through includes at least one of a sounding sound, a vibration electric balance vehicle component, and a flashing signal light.
  • a navigation device for an electric balance vehicle includes:
  • the second detecting device detects whether there is a pedestrian crossing road segment instead of the walking Bypass road section;
  • the third detecting device is configured to detect the road condition information of the bypass road segment. If the road condition information value of the bypass road segment is greater than a preset value, the pedestrian crossing road segment is selected to pass; if the road condition information value of the bypass road segment is less than or equal to the preset value, the selection is performed. Passing the bypass section;
  • the reminding device reminds that the road ahead can pass by;
  • the start-stop device if the electric balance vehicle stops driving, and the start-stop device controls to stop navigation when passing through the crossing section, when the electric balance vehicle is driven again, the start-stop device controls to continue navigation and re-plan the remaining driving route;
  • Recording means for recording the movement trajectory of the crossing section by the walking and updating to the map database.
  • an electric balance vehicle including the navigation device as described above.
  • the user can select the departure place and the destination in the electronic map according to his own travel plan, and the electronic map calculates the shortest navigation path according to the departure place and the destination.
  • the balance car is designed with the convenience of its use, the volume and power are relatively small, and the traffic performance is relatively poor.
  • the traditional navigation method usually defaults to navigation for vehicles with better traffic such as private cars or electric motorcycles.
  • the calculated navigation path may not be suitable for the balance car to pass, and the navigation effect for the balance car is poor.
  • the electric balance car has different passing ability than other vehicles. Because it has a small ground clearance and there is no fixed measure for the person standing upright, it cannot withstand large bumps. This also determines that the electric balance car can only walk on a relatively flat, low-slope road, but the balance car has a small width and can be narrower. The roads, sidewalks, and roadways are walking and the roads are more adaptable. In addition, the electric balance car travel mode can be easily switched with the walking mode. When the balance car can't walk, the driver can lift the electric balance car and use the walking mode instead, and then go to the suitable road section and then use the balance car to travel. This determines that the navigation of the balance car travel route is very different from the car travel mode.
  • the existing map data is designed based on the driving of the motor vehicle, and lacks the data such as the flatness, slope, obstacles and the like of the road itself. Therefore, for the balance car navigation, the road condition is first ignored, the driving route is planned based on the whole road section, and then The driver adjusts in real time according to the actual road conditions, and then dynamically plans a new route when the driver re-uses the balance car.
  • This hybrid navigation method combined with the driver's judgment is more suitable for balancing car navigation.
  • the navigation method of the present invention first obtains the entire road section of the electric balance vehicle, and detects whether the electric balance vehicle has a bypass section during the driving process on the whole section of the road, and if so, whether there is further detection
  • the pedestrian crossing section replaces the bypass section, and if yes, further detects the road condition information of the bypass section, and if the road condition information value of the bypass section is greater than a preset value, the pedestrian crossing section is selected to pass.
  • the road condition information value may be the length of the path.
  • the path of the bypass road segment is greater than the preset length, it is preferred to remind the user to pass the pedestrian crossing section; when the road condition information value of the bypass road segment is less than or equal to the preset value, select The bypass road segment passes, and the road condition information value may also be the length of the path.
  • the traffic information value can also be road gradient or flatness, and the like.
  • the technical effect of the present invention is that the navigation method of the present invention can select whether to pass the bypass road segment or the pedestrian crossing road segment according to the actual bypass road condition information when passing the road segment, so that the user has the pass during the passage. Different choices can save time and reduce the passage of the electric balance car, which is greatly convenient for users. And record and update the movement track to the map database, so that other users can navigate and pass.
  • the pedestrian crossing can be a pedestrian bridge, an overpass and so on.
  • the bypass road segment can be a bypass road that cannot directly pass a long distance on the main road.
  • FIG. 1 is a flow chart of a navigation method of an electric balance vehicle according to an embodiment of the present invention
  • FIG. 2 is a flow chart of a navigation method of an electric balance vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a navigation device of an electric balance vehicle according to an embodiment of the present invention.
  • FIG. 4 is a schematic view of an electric balance vehicle according to an embodiment of the present invention.
  • 100 electric balance car
  • 110 navigation device
  • 201 acquisition device
  • 202 first detection device
  • 203 second detection device
  • 2031 third detection device
  • 204 reminder device
  • 205 start-stop device
  • 206 Recording device.
  • the invention discloses a navigation method, a navigation device and an electric balance vehicle of an electric balance vehicle, wherein the method comprises the following steps:
  • the movement trajectory of the cross section through the walk is recorded and updated into the map database.
  • the user can select whether to pass the bypass road section according to the actual bypass road condition information, or select the pedestrian crossing road section to pass, so that the user is in the process of passing. With different choices, it can save time and reduce the passage of the electric balance car, which is very convenient for users. And record and update the movement track to the map database, so that other users can navigate and pass.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • a plurality means two or more unless otherwise stated.
  • the term “comprises” and its variations are intended to cover a non-exclusive inclusion.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • Connected, or integrally connected can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • the specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
  • FIG. 1 is a flow chart of a navigation method of an electric balance vehicle according to an embodiment of the present invention
  • the method includes step S101, step S102, and step S103, as follows:
  • Step S101 Acquire a full road driving route of the electric balance vehicle
  • Step S102 When it is detected that the electric balance vehicle has a bypass road segment during running on the full road segment driving route, detecting whether there is a pedestrian crossing road segment instead of the bypass circuit segment;
  • Step S103 If the electric balance vehicle approaches the pedestrian crossing section, the road ahead is reminded to walk through.
  • step S101 the present embodiment preferentially acquires a route having a sidewalk. Since the overall size of the electric balance vehicle is small, the passability requirement is not high, and the general sidewalk can pass. Therefore, it is convenient to pass the electric balance car on the sidewalk. And safe.
  • the route without the overpass and the viaduct is preferentially obtained. Since the driving force of the electric balance car is not enough to make the electric balance car pass the high uphill slope, the route without the overpass and the viaduct is preferentially obtained when obtaining the route during the navigation process, thereby ensuring that the electric balance car can smoothly in the whole road section. Pass.
  • the above two priority modes are not limited to the above two priority modes.
  • the above two priority modes are only examples. .
  • step S102 it is first detected whether there is a bypass road segment in the whole road segment process, and if yes, further detecting whether there is a pedestrian crossing road segment replacing the bypass road segment, and then the user can select the bypass road segment. Or walk across the road section.
  • the pedestrian crossing section may be a pedestrian bridge, an overpass, etc., and the pedestrian crossing section is taken as an example for description.
  • the road condition information of the bypass road segment is first detected; if the road condition information value of the bypass road segment is greater than the preset value, the pedestrian crossing road segment is selected to pass.
  • the electric balance car When the user passes the pedestrian bridge, if the pedestrian bridge has only steps in the process of going up and down, the electric balance car will not pass, so the user needs to stop the electric balance car drive, and will carry the electric balance car through the pedestrian bridge, passing the pedestrian bridge. Between the process, the electric balance car does not work, of course, the navigation stops. Of course, when the user completes the section of the pedestrian bridge and drives the electric balance car again, the electric balance car continues to work, the navigation repositions and re-plans the road segment and navigates. At the same time, the data that the electric balance vehicle stops driving to the re-driving distance, the movement track, and the like are recorded and updated to the map database for use again or for other users.
  • the bypass road segment can be a bypass road that cannot directly pass a long distance on the main road.
  • the road condition information of the bypass road segment is first detected; if the road condition information value of the bypass road segment is less than or equal to the preset value, the bypass road segment is selected to pass.
  • the road condition information value may be the length of the path.
  • the path of the bypass road segment is greater than the preset length, it is preferred to remind the user to pass the pedestrian crossing section; when the road condition information value of the bypass road segment is less than or equal to the preset value, select The bypass road segment passes, and the road condition information value may also be the length of the path.
  • the traffic information value can also be road gradient or flatness, and the like.
  • step S103 if the electric balance vehicle approaches the pedestrian crossing section, the front road section is reminded to pass by.
  • the manner of reminding the front road section to walk through includes at least one of a sounding sound, a vibration electric balance vehicle component, and a flashing signal light.
  • the user can select the departure place and the destination in the electronic map according to his own travel plan, and the electronic map calculates the shortest navigation path according to the departure place and the destination. Since the balance car is designed with the convenience of its use, the volume and power are relatively small. The performance is relatively poor, and the traditional navigation method usually defaults to navigation of a vehicle with better traffic performance such as a private car or an electric motorcycle. The calculated navigation path may not be suitable for the balance car to pass, and the navigation effect for the balance car is poor.
  • the electric balance car has different passing ability than other vehicles. Because it has a small ground clearance and there is no fixed measure for the person standing upright, it cannot withstand large bumps. This also determines that the electric balance car can only walk on a relatively flat and sloped road surface, but the balance car has a small width and can walk in relatively narrow roads, sidewalks, and roadways, and the road has strong adaptability.
  • the electric balance car travel mode can be easily switched with the walking mode. When the balance car can't walk, the driver can lift the electric balance car and use the walking mode instead, and then go to the suitable road section and then use the balance car to travel. This determines that the navigation of the balance car travel route is very different from the car travel mode.
  • the existing map data is designed based on the driving of the motor vehicle, and lacks the data such as the flatness, slope, obstacles and the like of the road itself. Therefore, for the balance car navigation, the road condition is first ignored, the driving route is planned based on the whole road section, and then The driver adjusts in real time according to the actual road conditions, and then dynamically plans a new route when the driver re-uses the balance car.
  • This hybrid navigation method combined with the driver's judgment is more suitable for balancing car navigation.
  • the navigation method of the embodiment first obtains the driving route of the entire road section of the electric balance vehicle, and detects whether the electric balance vehicle has a bypass road section during the driving process on the whole road section, and if so, further detects whether There is a pedestrian crossing section instead of the bypass section, and if yes, the road condition information of the bypass section is further detected, and if the road condition information value of the bypass section is greater than a preset value, the pedestrian crossing section is selected to pass.
  • the road condition information value may be the length of the path.
  • the path of the bypass road segment is greater than the preset length, it is preferred to remind the user to pass the pedestrian crossing section; when the road condition information value of the bypass road segment is less than or equal to the preset value, select The bypass road segment passes, and the road condition information value may also be the length of the path.
  • the traffic information value can also be road gradient or flatness, and the like.
  • the user can select whether to pass the bypass road segment according to the actual bypass road condition information, or select the pedestrian crossing road segment to pass, so that the user has different choices during the passage, and It can save time and reduce the passage of the electric balance car, which is greatly convenient for users. And record and update the movement track to the map database, so that other users can navigate and pass.
  • FIG. 2 is a flow chart of a navigation method of an electric balance vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a navigation device of an electric balance vehicle according to an embodiment of the present invention.
  • the navigation method in FIG. 2 includes step S201, step S202, step S203, step S204, step S205, and step S206 performed by the navigation device in FIG.
  • Step S201 acquiring a driving route of the entire road section of the electric balance vehicle
  • Step S202 when it is detected that the electric balance vehicle has a bypass road segment during the running on the full road segment driving route, detecting whether there is a pedestrian crossing road segment instead of the bypass circuit segment;
  • Step S203 when detecting a pedestrian crossing section, detecting road condition information of the bypass section, if the road condition information value of the bypass section is greater than a preset value, selecting the pedestrian crossing section to pass; if the road section information value of the bypass section is less than or Equal to the preset value, selecting the bypass road segment to pass;
  • Step S204 if the electric balance vehicle approaches the pedestrian crossing section, the road ahead is reminded to walk through;
  • Step S205 stopping the navigation when the electric balance vehicle stops driving and passing the spanning section; continuing to navigate when the electric balance vehicle is driven again, and re-planning the remaining driving route;
  • Step S206 recording a movement trajectory of the crossing section by the walking, and updating to the map database.
  • the present embodiment preferentially acquires a route having a sidewalk. Since the overall size of the electric balance vehicle is small, the passability requirement is not high, and the general sidewalk can pass. Therefore, the electric balance car passes through the sidewalk, not only Convenient and safe.
  • the route without the overpass and the viaduct is preferentially obtained. Driven by electric balance car The power is not enough to make the electric balance car pass the higher uphill. Therefore, when obtaining the route during the navigation process, the route without the overpass and the viaduct is preferentially obtained, thereby ensuring that the electric balance car can pass smoothly in the whole section.
  • the above two priority modes are not limited to the above two priority modes.
  • the above two priority modes are only examples. .
  • step S202 it is first detected whether there is a bypass road segment in the whole road segment process, and if so, whether there is a pedestrian crossing road segment replacing the bypass road segment, and then the user can select the bypass road segment or the pedestrian crossing road segment to pass.
  • the pedestrian crossing section may be a pedestrian bridge, an overpass, etc., and the pedestrian crossing section is taken as an example for description.
  • step S203 when the user is in the selection process, the road condition information of the bypass road segment is first detected; if the road condition information value of the bypass road segment is greater than the preset value, the pedestrian crossing road segment is selected to pass.
  • the bypass road segment can be a bypass road that cannot directly pass a long distance on the main road.
  • the road condition information of the bypass road segment is first detected; if the road condition information value of the bypass road segment is less than or equal to the preset value, the bypass road segment is selected to pass.
  • the road condition information value may be the length of the path.
  • the path of the bypass road segment is greater than the preset length, it is preferred to remind the user to pass the pedestrian crossing section; when the road condition information value of the bypass road segment is less than or equal to the preset value, select The bypass road segment passes, and the road condition information value may also be the length of the path.
  • the traffic information value can also be road gradient or flatness, and the like.
  • step S204 if the electric balance vehicle approaches the pedestrian crossing section, the road ahead is reminded to pass by.
  • the manner of reminding the front road section to walk through includes at least one of a sounding sound, a vibration electric balance vehicle component, and a flashing signal light.
  • step S205 the electric balance vehicle does not work during the passage between the pedestrian bridges, and of course, the navigation stops.
  • the navigation repositions and re-plans the road segment and navigates.
  • step S206 the data that the electric balance vehicle stops driving to the re-driving distance, the movement trajectory, and the like are recorded and updated into the map database so as to be used again or facilitated by other users.
  • the user can select the departure place and the destination in the electronic map according to his own travel plan, and the electronic map calculates the shortest navigation path according to the departure place and the destination.
  • the balance car is designed with the convenience of its use, the volume and power are relatively small, and the traffic performance is relatively poor.
  • the traditional navigation method usually defaults to navigation for vehicles with better traffic such as private cars or electric motorcycles.
  • the calculated navigation path may not be suitable for the balance car to pass, and the navigation effect for the balance car is poor.
  • the electric balance car has different passing ability than other vehicles. Because it has a small ground clearance and there is no fixed measure for the person standing upright, it cannot withstand large bumps. This also determines that the electric balance car can only walk on a relatively flat and sloped road surface, but the balance car has a small width and can walk in relatively narrow roads, sidewalks, and roadways, and the road has strong adaptability.
  • the electric balance car travel mode can be easily switched with the walking mode. When the balance car can't walk, the driver can lift the electric balance car and use the walking mode instead, and then go to the suitable road section and then use the balance car to travel. This determines that the navigation of the balance car travel route is very different from the car travel mode.
  • the existing map data is designed based on the driving of the motor vehicle, and lacks the data such as the flatness, slope, obstacles and the like of the road itself. Therefore, for the balance car navigation, the road condition is first ignored, the driving route is planned based on the whole road section, and then The driver adjusts in real time according to the actual road conditions, and then dynamically plans a new route when the driver re-uses the balance car.
  • This hybrid navigation method combined with the driver's judgment is more suitable for balancing car navigation.
  • the navigation method of the embodiment first acquires the full road section of the electric balance vehicle. Line, and detect whether the electric balance car has a bypass section during the driving route on the whole road section. If there is, further check whether there is a pedestrian crossing section to replace the bypass section, and if so, further detect the road condition information of the bypass section. If the road condition information value of the bypass road segment is greater than a preset value, the pedestrian crossing road segment is selected to pass.
  • the road condition information value may be the length of the path.
  • the path of the bypass road segment is greater than the preset length, it is preferred to remind the user to pass the pedestrian crossing section; when the road condition information value of the bypass road segment is less than or equal to the preset value, select The bypass road segment passes, and the road condition information value may also be the length of the path.
  • the traffic information value can also be road gradient or flatness, and the like.
  • the user can select whether to pass the bypass road segment according to the actual bypass road condition information, or select the pedestrian crossing road segment to pass, so that the user has different choices during the passage, and It can save time and reduce the passage of the electric balance car, which is greatly convenient for users. And record and update the movement track to the map database, so that other users can navigate and pass.
  • FIG. 3 is a schematic diagram of a navigation device for an electric balance vehicle according to an embodiment of the present invention, wherein the navigation device includes: an acquisition device 201, a first detection device 202, a second detection device 203, a third detection device 2031, a reminder device 204, and a The device 205 and the recording device 206 are stopped.
  • the navigation device is used to obtain the entire road section of the electric balance vehicle.
  • the route with the sidewalk is preferentially obtained. Since the overall size of the electric balance vehicle is small, the passability requirement is not high, and the general sidewalk can pass. Therefore, Electric balance cars pass through the sidewalk, which is not only convenient but also safe.
  • the route without the overpass and the viaduct is preferentially obtained. Since the driving force of the electric balance car is not enough to make the electric balance car pass the high uphill slope, the route without the overpass and the viaduct is preferentially obtained when obtaining the route during the navigation process, thereby ensuring that the electric balance car can be in the whole road section. Good enough to pass.
  • the above two priority modes are not limited to the above two priority modes.
  • the above two priority modes are only examples. .
  • the first detecting device is configured to detect whether there is a bypass road segment during the whole road segment.
  • the bypass road segment can be used as a bypass road on the main road that cannot directly pass long distances.
  • the second detecting means is further configured to detect whether there is a pedestrian crossing section replacing the bypass section, and then the user can select the bypass section or the pedestrian crossing section to pass.
  • the pedestrian crossing section may be a pedestrian bridge, an overpass, etc., and the pedestrian crossing section is taken as an example for description.
  • the third detecting device is configured to detect the road condition information of the bypass road segment. If the road condition information value of the bypass road segment is greater than a preset value, the pedestrian crossing section is selected to pass, and if the road condition information value of the bypass road segment is smaller than Or equal to the preset value, select the bypass road segment to pass.
  • the pedestrian bridge when the user passes the pedestrian bridge, if the pedestrian bridge has only steps in the process of going up and down, the electric balance car cannot pass, so the user needs to stop the electric balance car drive and carry the electric balance car through the pedestrian bridge.
  • the road condition information value may be the length of the path.
  • the path of the bypass road segment is greater than the preset length, it is preferred to remind the user to pass the pedestrian crossing section; when the road condition information value of the bypass road segment is less than or equal to the preset value, select The bypass road segment passes, and the road condition information value may also be the length of the path.
  • the traffic information value can also be road gradient or flatness, and the like.
  • the reminding device reminds that the road ahead can pass by.
  • the manner of reminding the front road section to walk through includes at least one of a sounding sound, a vibration electric balance vehicle component, and a flashing signal light.
  • the start-stop device controls to stop navigation when passing through the crossing section, when the electric balance vehicle is driven again, the start-stop device controls to continue navigation and re-planning the remaining driving. route
  • the electric balance car does not work, of course, the navigation stops.
  • the navigation stops.
  • the electric balance car continues to work, the navigation repositions and re-plans the road segment and navigates.
  • the recording device is used to record the movement trajectory of the crossing section by the walking and update to the map database.
  • the user can select the departure place and the destination in the electronic map according to his own travel plan, and the electronic map calculates the shortest navigation path according to the departure place and the destination.
  • the balance car is designed with the convenience of its use, the volume and power are relatively small, and the traffic performance is relatively poor.
  • Traditional navigation usually defaults to navigation for vehicles with better traffic such as private cars or electric motorcycles.
  • the calculated navigation path may not be suitable for the balance car to pass, and the navigation effect for the balance car is poor.
  • the electric balance car has different passing ability than other vehicles. Because it has a small ground clearance and there is no fixed measure for the person standing upright, it cannot withstand large bumps. This also determines that the electric balance car can only walk on a relatively flat and sloped road surface, but the balance car has a small width and can walk in relatively narrow roads, sidewalks, and roadways, and the road has strong adaptability.
  • the electric balance car travel mode can be easily switched with the walking mode. When the balance car can't walk, the driver can lift the electric balance car and use the walking mode instead, and then go to the suitable road section and then use the balance car to travel. This determines that the navigation of the balance car travel route is very different from the car travel mode.
  • the existing map data is designed based on the driving of the motor vehicle, and lacks the data such as the flatness, slope, obstacles and the like of the road itself. Therefore, for the balance car navigation, the road condition is first ignored, the driving route is planned based on the whole road section, and then The driver adjusts in real time according to the actual road conditions, and then dynamically plans a new route when the driver re-uses the balance car.
  • This hybrid navigation method combined with the driver's judgment is more suitable for balancing car navigation.
  • the navigation device of the embodiment acquires the entire road section of the electric balance vehicle, And detecting whether the electric balance car has a bypass section during the driving route on the whole road section, and if so, further detecting whether there is a pedestrian crossing section to replace the bypass section, and if so, further detecting the road condition information of the bypass section, if When the road condition information value of the road section is greater than the preset value, the pedestrian crossing section is selected to pass.
  • the road condition information value may be the length of the path.
  • the path of the bypass road segment is greater than the preset length, it is preferred to remind the user to pass the pedestrian crossing section; when the road condition information value of the bypass road segment is less than or equal to the preset value, select The bypass road segment passes, and the road condition information value may also be the length of the path.
  • the traffic information value can also be road gradient or flatness, and the like.
  • the user can select whether to pass the bypass road segment according to the actual bypass road condition information, or select the pedestrian crossing road segment to pass, so that the user has different choices during the passage, and It can save time and reduce the passage of the electric balance car, which is greatly convenient for users. And record and update the movement track to the map database, so that other users can navigate and pass.
  • the electric balance vehicle 100 includes a navigation device 110.
  • the navigation device 110 can refer to the navigation device in FIG. 3 and will not be described in detail herein.
  • the electric balance vehicle further includes one or more components: a processing component, a memory, a power supply component, a multimedia component, an audio component, a sensor component, and a communication component.
  • the processing component typically controls the overall operation of the device, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • the processing component can include one or more processors to execute instructions to perform all or part of the steps of the methods described above.
  • a processing component can include one or more modules to facilitate interaction between components and other components.
  • the processing component can include a multimedia module to facilitate interaction between the multimedia component and the processing component.
  • the memory is configured to store various types of data to support operation of the electric balance car. These numbers Examples of data include instructions for any application or method operating on an electric balance car.
  • the memory can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), and erasable programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Disk or Optical Disk. Also stored in the memory is one or more modules configured to be executed by the one or more processors to perform all or part of the steps of the above described method.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM erasable programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk
  • Optical Disk Also stored in the memory is one or more modules
  • the various components of the electric balance car provide power.
  • the power pack can include a power management system, one or more power sources.
  • the multimedia component includes a screen that provides an output interface between the electric balance car and the user.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can sense not only the boundaries of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the audio component is configured to output and/or input an audio signal.
  • the audio component includes a microphone (MIC) that is configured to receive an external audio signal when the electric balancer is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal can be further stored in a memory or transmitted via a communication component.
  • the audio component further includes a speaker for outputting an audio signal.
  • the sensor assembly includes one or more sensors for providing various aspects of the state assessment for the electric balance vehicle.
  • the sensor assembly can detect the on/off state of the electric balance car and the relative positioning of the components.
  • the sensor assembly can also include a magnetic sensor, a pressure sensor, or a temperature sensor.
  • the communication component is configured to facilitate wired or wireless communication between the electric balancer and other devices letter.
  • the electric balance car can access a wireless network based on communication standards such as WiFi, 2G, 3G or 3G, etc., or a combination thereof.
  • the communication component receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel.
  • the communication component also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • BT Bluetooth
  • the electric balance vehicle may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), and field devices.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA gated array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • non-transitory computer readable storage medium comprising instructions, such as a memory comprising instructions executable by a processor of an electric balance vehicle to perform the above method.
  • the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.

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Abstract

一种电动平衡车（100）的导航方法、导航装置（110）及电动平衡车（100），其中，所述方法包括以下步骤：获取电动平衡车（100）的全路段行车路线（S201）；当检测到电动平衡车（100）在全路段行车路线上行驶过程中有绕行路段时，检测是否有步行跨越路段代替绕线路段（S202）；当检测有步行跨越路段时，检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值，选择步行跨越路段通过；若绕行路段的路况信息值小于或等于预设值，选择绕行路段通过（S203）；若电动平衡车（100）靠近步行跨越路段时提醒前方路段可步行通过（S204）；在电动平衡车（100）停止驱动、且经过跨越路段时停止导航；当电动平衡车（100）再次驱动时继续导航，并重新规划剩余行车路线（S205）；记录通过步行跨越路段的移动轨迹，并更新到地图数据库中（S206）。

Description

一种电动平衡车的导航方法、导航装置及电动平衡车 【技术领域】
本发明涉及电动平衡车及其导航技术领域，更具体的说，涉及一种电动平衡车的导航方法、导航装置及电动平衡车。
【背景技术】
随着科技的发展，平衡车以其优良的使用便携性，正受到越来越多的用户的青睐。与其他交通工具类似的，用户在使用平衡车出行时也会有导航的需求。
在传统的导航方法中，用户可以根据自身的出行计划，在电子地图中选择出发地和目的地，电子地图根据出发地和目的地计算出距离最短的导航路径。由于平衡车在设计时首要考虑的是其使用便捷性，体积和功率都比较小，通行性能比较差，而传统的导航方法通常默认针对私家车或者电动摩托车等通行性能较好的车辆进行导航，计算的导航路径可能并不适合平衡车通过，对于平衡车的导航效果较差。
【发明内容】
本发明所要解决的技术问题是提供一种方便电动平衡车行车的导航方法、导航装置及电动平衡车。
本发明的目的是通过以下技术方案来实现的：
根据本发明的一个方面，本发明公开了一种电动平衡车的导航方法，所述方法包括以下步骤：
获取电动平衡车的全路段行车路线；
当检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时，检测是否有步行跨越路段代替所述绕线路段；
当检测有步行跨越路段时，检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值，选择所述步行跨越路段通过；若绕行路段的路况信息值小 于或等于预设值，选择所述绕行路段通过；
若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过；
在电动平衡车停止驱动、且经过所述跨越路段时停止导航；
当电动平衡车再次驱动时继续导航，并重新规划剩余行车路线；
记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。
根据本发明的另一个方便，本发明公开了一种电动平衡车的导航方法，所述方法包括以下步骤：
获取电动平衡车的全路段行车路线；
当检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时，检测是否有步行跨越路段代替所述绕线路段；
若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过。
优选的，所述方法还包括：
在电动平衡车停止驱动、且经过所述跨越路段时停止导航；
当电动平衡车再次驱动时继续导航，并重新规划剩余行车路线；
优选的，记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。
优选的，在步骤所述当检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时，检测是否有步行跨越路段代替所述绕行路段中：
当检测有步行跨越路段时，检测绕行路段的路况信息；
若绕行路段的路况信息值大于预设值，选择所述步行跨越路段通过。
优选的，在步骤所述获取电动平衡车的全路段行车路线中：
优先获取具有人行道的路线。
优选的，在步骤所述获取电动平衡车的全路段行车路线中：
优先获取不具有立交桥、高架桥的路线。
优选的，所述提醒前方路段可步行通过的方式包括发出提示音、振动电动平衡车部件、闪烁信号灯中的至少一种。
根据本发明的另一个方面，本发明公开了一种电动平衡车的导航装置，所 述导航装置包括：
获取装置，用于获取电动平衡车的全路段行车路线；
第一检测装置和第二检测装置，当第一检测装置检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时，第二检测装置检测是否有步行跨越路段代替所述绕行路段；
第三检测装置，用于检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值，选择步行跨越路段通过；若绕行路段的路况信息值小于或等于预设值，选择所述绕行路段通过；
提醒装置，若电动平衡车靠近所述步行跨越路段时提醒装置提醒前方路段可步行通过；
启停装置，若电动平衡车停止驱动、且经过所述跨越路段时启停装置控制停止导航，当电动平衡车再次驱动时启停装置控制继续导航、并重新规划剩余行车路线；
记录装置，用于记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。
根据本发明的又一个方面，本发明公开了一种电动平衡车，包括如上所述的导航装置。
在传统的导航方法中，用户可以根据自身的出行计划，在电子地图中选择出发地和目的地，电子地图根据出发地和目的地计算出距离最短的导航路径。由于平衡车在设计时首要考虑的是其使用便捷性，体积和功率都比较小，通行性能比较差，而传统的导航方法通常默认针对私家车或者电动摩托车等通行性能较好的车辆进行导航，计算的导航路径可能并不适合平衡车通过，对于平衡车的导航效果较差。
电动平衡车的通过能力跟其他交通工具不同，由于其离地间隙较小，且人直立站在上面没有任何固定措施，无法经受较大的颠簸。这也决定了电动平衡车只能在较为平坦、坡度较小的路面行走，但平衡车宽度较小，可以在比较窄 的路面、人行道、巷道中行走，路道适应性较强。另外，电动平衡车出行方式可以跟步行方式便捷切换，当平衡车不能行走的路段，驾驶者可以提起电动平衡车用步行方式替代，等走到适合路段再使用平衡车出行。这就决定了平衡车出行路线的导航跟汽车出行方式有很大的不同。现有的地图数据是基于机动车行驶来设计的，缺乏路道本身的平整度、坡度、障碍物等数据，因此对于平衡车导航来说，先忽略路况，基于全路段来规划行车路线，然后驾驶员根据实际路况进行实时调整，等驾驶员重新使用平衡车时再动态规划新的路线，这种结合驾驶员判断的混合导航方式更适应用平衡车导航。
与现有技术相比，本发明的导航方法先获取电动平衡车的全路段行车路线，并检测电动平衡车在全路段行车路线上行驶过程中是否有绕行路段，如果有，进一步检测是否有步行跨越路段替代绕行路段，如果有，再进一步检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值时，选择所述步行跨越路段通过。其中，路况信息值可以是路径的长度，当绕行路段的路径大于预设的长度时，优选提醒用户从步行跨越路段通过；当绕行路段的路况信息值小于或等于预设值时，选择绕行路段通过，同样，该路况信息值也可以为路径的长度。当然，路况信息值还可以为道路坡度或平坦度等等。若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过，在电动平衡车停止驱动、且经过所述跨越路段时停止导航；当电动平衡车再次驱动时继续导航，并重新规划剩余行车路线；记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。从而以便再次通过或供其他人导航。
本发明的技术效果是：本发明的导航方法在通过绕行路段时用户可以根据实际绕行路况信息选择是从绕行路段通过，还是选择步行跨越路段通过，这样就给用户在通行过程中有了不同的选择，而且可以节省时间、减少电动平衡车通过的路段，大大方便用户使用。以及将移动轨迹记录并更新到地图数据库中，方便其他用户进行导航、通行。
其中，步行跨越路段可以为人行天桥、立交桥等等。
其中，绕行路段可以为主道上无法直接通过长距离的绕行辅道。
【附图说明】
图1是本发明一个实施例电动平衡车的导航方法的流程图；
图2是本发明一个实施例电动平衡车的导航方法的流程图；
图3是本发明一个实施例电动平衡车的导航装置的示意图；
图4是本发明一个实施例电动平衡车的示意图。
其中：100、电动平衡车；110、导航装置；201、获取装置；202、第一检测装置；203、第二检测装置；2031、第三检测装置；204、提醒装置；205、启停装置；206、记录装置。
【具体实施方式】
本发明公开了一种电动平衡车的导航方法、导航装置及电动平衡车，其中，所述方法包括以下步骤：
获取电动平衡车的全路段行车路线；
当检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时，检测是否有步行跨越路段代替所述绕线路段；
当检测有步行跨越路段时，检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值，选择所述步行跨越路段通过；若绕行路段的路况信息值小于或等于预设值，选择所述绕行路段通过；
若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过；
在电动平衡车停止驱动、且经过所述跨越路段时停止导航；
当电动平衡车再次驱动时继续导航，并重新规划剩余行车路线；
记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。
本发明的导航方法在通过绕行路段时用户可以根据实际绕行路况信息选择是从绕行路段通过，还是选择步行跨越路段通过，这样就给用户在通行过程中 有了不同的选择，而且可以节省时间、减少电动平衡车通过的路段，大大方便用户使用。以及将移动轨迹记录并更新到地图数据库中，方便其他用户进行导航、通行。
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各项操作描述成顺序的处理，但是其中的许多操作可以被并行地、并发地或者同时实施。此外，各项操作的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。
这里所公开的具体结构和功能细节仅仅是代表性的，并且是用于描述本发明的示例性实施例的目的。但是本发明可以通过许多替换形式来具体实现，并且不应当被解释成仅仅受限于这里所阐述的实施例。
在本发明的描述中，需要理解的是，术语“中心”、“横向”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。另外，术语“包括”及其任何变形，意图在于覆盖不排他的包含。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
这里所使用的术语仅仅是为了描述具体实施例而不意图限制示例性实施例。除非上下文明确地另有所指，否则这里所使用的单数形式“一个”、“一项”还意图包括复数。还应当理解的是，这里所使用的术语“包括”和/或“包含”规定所陈述的特征、整数、步骤、操作、单元和/或组件的存在，而不排除存在或添加一个或更多其他特征、整数、步骤、操作、单元、组件和/或其组合。
下面结合附图和较佳的实施例对本发明作进一步详细说明。
图1为本发明一个实施例的电动平衡车的导航方法的流程图，
所述方法包括步骤S101、步骤S102和步骤S103，具体如下：
步骤S101：获取电动平衡车的全路段行车路线；
步骤S102：当检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时，检测是否有步行跨越路段代替所述绕线路段；
步骤S103：若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过。
在步骤S101中，本实施例优先获取具有人行道的路线，由于电动平衡车整体体积小，通过性要求不高，一般的人行道都可以通行，因此，将电动平衡车在人行道上通行，不仅便利，而且安全。
进一步的，优先获取不具有立交桥、高架桥的路线。由于电动平衡车的驱动力不足以使得电动平衡车能够通过较高的上坡，因此，在导航过程中获取路线时优先获取不具备立交桥及高架桥的路线，从而确保电动平衡车在全路段能够顺利通行。
当然，需要说明的是，对于本领域技术人员而言，本实施例导航过程中在获取全路段路线过程中，并不仅仅限于以上两种优先的方式，以上两种优先的方式仅为举例说明。
在步骤S102中，先检测在全路段过程中是否具有绕行路段，若有，则进一步检测是否有替代绕行路段的步行跨越路段，然后，用户就可以选择绕行路段 或步行跨越路段通过。
其中，步行跨越路段可以为人行天桥、立交桥等等，本实施例将步行跨越路段依人行天桥为例进行说明。
当用户在选择过程中，先检测绕行路段的路况信息；若绕行路段的路况信息值大于预设值，选择所述步行跨越路段通过。
当用户通过人行天桥时，若人行天桥在上下坡过程中仅具有台阶，电动平衡车就无法通过，这样用户就需要停止电动平衡车驱动，并将携带电动平衡车通过人行天桥，在通过人行天桥之间的过程中，电动平衡车不工作，当然，导航停止。当然，用户完成人行天桥的路段且再此驱动电动平衡车时，电动平衡车继续工作，导航重新定位并重新规划路段并导航。同时，记录电动平衡车停止驱动至再次驱动的距离、移动轨迹等等数据，并将其更新到地图数据库中，以便再次通过时使用或便于其他用户使用。
其中，绕行路段可以为主道上无法直接通过长距离的绕行辅道。
当用户在选择过程中，先检测绕行路段的路况信息；若绕行路段的路况信息值小于或等于预设值，选择所述绕行路段通过。
其中，路况信息值可以是路径的长度，当绕行路段的路径大于预设的长度时，优选提醒用户从步行跨越路段通过；当绕行路段的路况信息值小于或等于预设值时，选择绕行路段通过，同样，该路况信息值也可以为路径的长度。当然，路况信息值还可以为道路坡度或平坦度等等。
在步骤S103中，若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过。
具体的，所述提醒前方路段可步行通过的方式包括发出提示音、振动电动平衡车部件、闪烁信号灯中的至少一种。
在传统的导航方法中，用户可以根据自身的出行计划，在电子地图中选择出发地和目的地，电子地图根据出发地和目的地计算出距离最短的导航路径。由于平衡车在设计时首要考虑的是其使用便捷性，体积和功率都比较小，通行 性能比较差，而传统的导航方法通常默认针对私家车或者电动摩托车等通行性能较好的车辆进行导航，计算的导航路径可能并不适合平衡车通过，对于平衡车的导航效果较差。
电动平衡车的通过能力跟其他交通工具不同，由于其离地间隙较小，且人直立站在上面没有任何固定措施，无法经受较大的颠簸。这也决定了电动平衡车只能在较为平坦、坡度较小的路面行走，但平衡车宽度较小，可以在比较窄的路面、人行道、巷道中行走，路道适应性较强。另外，电动平衡车出行方式可以跟步行方式便捷切换，当平衡车不能行走的路段，驾驶者可以提起电动平衡车用步行方式替代，等走到适合路段再使用平衡车出行。这就决定了平衡车出行路线的导航跟汽车出行方式有很大的不同。现有的地图数据是基于机动车行驶来设计的，缺乏路道本身的平整度、坡度、障碍物等数据，因此对于平衡车导航来说，先忽略路况，基于全路段来规划行车路线，然后驾驶员根据实际路况进行实时调整，等驾驶员重新使用平衡车时再动态规划新的路线，这种结合驾驶员判断的混合导航方式更适应用平衡车导航。
与现有技术相比，本实施例的导航方法先获取电动平衡车的全路段行车路线，并检测电动平衡车在全路段行车路线上行驶过程中是否有绕行路段，如果有，进一步检测是否有步行跨越路段替代绕行路段，如果有，再进一步检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值时，选择所述步行跨越路段通过。其中，路况信息值可以是路径的长度，当绕行路段的路径大于预设的长度时，优选提醒用户从步行跨越路段通过；当绕行路段的路况信息值小于或等于预设值时，选择绕行路段通过，同样，该路况信息值也可以为路径的长度。当然，路况信息值还可以为道路坡度或平坦度等等。若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过，在电动平衡车停止驱动、且经过所述跨越路段时停止导航；当电动平衡车再次驱动时继续导航，并重新规划剩余行车路线；记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。从而以便再次通过或供其他人导航。
本实施例的导航方法在通过绕行路段时用户可以根据实际绕行路况信息选择是从绕行路段通过，还是选择步行跨越路段通过，这样就给用户在通行过程中有了不同的选择，而且可以节省时间、减少电动平衡车通过的路段，大大方便用户使用。以及将移动轨迹记录并更新到地图数据库中，方便其他用户进行导航、通行。
图2为本发明一个实施例的电动平衡车的导航方法的流程图，图3为本发明一个实施例的电动平衡车的导航装置的示意图。其中，图2中的导航方法包括由图3中的导航装置执行的步骤S201、步骤S202、步骤S203、步骤S204、步骤S205及步骤S206。
具体的，
步骤S201，获取电动平衡车的全路段行车路线；
步骤S202，当检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时，检测是否有步行跨越路段代替所述绕线路段；
步骤S203，当检测有步行跨越路段时，检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值，选择所述步行跨越路段通过；若绕行路段的路况信息值小于或等于预设值，选择所述绕行路段通过；
步骤S204，若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过；
步骤S205，在电动平衡车停止驱动、且经过所述跨越路段时停止导航；当电动平衡车再次驱动时继续导航，并重新规划剩余行车路线；
步骤S206，记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。
其中，在步骤S201中，本实施例优先获取具有人行道的路线，由于电动平衡车整体体积小，通过性要求不高，一般的人行道都可以通行，因此，将电动平衡车在人行道上通行，不仅便利，而且安全。
进一步的，优先获取不具有立交桥、高架桥的路线。由于电动平衡车的驱 动力不足以使得电动平衡车能够通过较高的上坡，因此，在导航过程中获取路线时优先获取不具备立交桥及高架桥的路线，从而确保电动平衡车在全路段能够顺利通行。
当然，需要说明的是，对于本领域技术人员而言，本实施例导航过程中在获取全路段路线过程中，并不仅仅限于以上两种优先的方式，以上两种优先的方式仅为举例说明。
在步骤S202中，先检测在全路段过程中是否具有绕行路段，若有，则进一步检测是否有替代绕行路段的步行跨越路段，然后，用户就可以选择绕行路段或步行跨越路段通过。
其中，步行跨越路段可以为人行天桥、立交桥等等，本实施例将步行跨越路段依人行天桥为例进行说明。
若检测有替代绕行路段的步行跨越路段时进入下一步骤。
在步骤S203中，当用户在选择过程中，先检测绕行路段的路况信息；若绕行路段的路况信息值大于预设值，选择所述步行跨越路段通过。
当用户通过人行天桥时，若人行天桥在上下坡过程中仅具有台阶，电动平衡车就无法通过，这样用户就需要停止电动平衡车驱动，并将携带电动平衡车通过人行天桥。
其中，绕行路段可以为主道上无法直接通过长距离的绕行辅道。
当用户在选择过程中，先检测绕行路段的路况信息；若绕行路段的路况信息值小于或等于预设值，选择所述绕行路段通过。
其中，路况信息值可以是路径的长度，当绕行路段的路径大于预设的长度时，优选提醒用户从步行跨越路段通过；当绕行路段的路况信息值小于或等于预设值时，选择绕行路段通过，同样，该路况信息值也可以为路径的长度。当然，路况信息值还可以为道路坡度或平坦度等等。
在步骤S204中，若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过。
具体的，所述提醒前方路段可步行通过的方式包括发出提示音、振动电动平衡车部件、闪烁信号灯中的至少一种。
在步骤S205中，在通过人行天桥之间的过程中，电动平衡车不工作，当然，导航停止。当然，用户完成人行天桥的路段且再此驱动电动平衡车时，电动平衡车继续工作，导航重新定位并重新规划路段并导航。
在步骤S206中，记录电动平衡车停止驱动至再次驱动的距离、移动轨迹等等数据，并将其更新到地图数据库中，以便再次通过时使用或便于其他用户使用。
在传统的导航方法中，用户可以根据自身的出行计划，在电子地图中选择出发地和目的地，电子地图根据出发地和目的地计算出距离最短的导航路径。由于平衡车在设计时首要考虑的是其使用便捷性，体积和功率都比较小，通行性能比较差，而传统的导航方法通常默认针对私家车或者电动摩托车等通行性能较好的车辆进行导航，计算的导航路径可能并不适合平衡车通过，对于平衡车的导航效果较差。
电动平衡车的通过能力跟其他交通工具不同，由于其离地间隙较小，且人直立站在上面没有任何固定措施，无法经受较大的颠簸。这也决定了电动平衡车只能在较为平坦、坡度较小的路面行走，但平衡车宽度较小，可以在比较窄的路面、人行道、巷道中行走，路道适应性较强。另外，电动平衡车出行方式可以跟步行方式便捷切换，当平衡车不能行走的路段，驾驶者可以提起电动平衡车用步行方式替代，等走到适合路段再使用平衡车出行。这就决定了平衡车出行路线的导航跟汽车出行方式有很大的不同。现有的地图数据是基于机动车行驶来设计的，缺乏路道本身的平整度、坡度、障碍物等数据，因此对于平衡车导航来说，先忽略路况，基于全路段来规划行车路线，然后驾驶员根据实际路况进行实时调整，等驾驶员重新使用平衡车时再动态规划新的路线，这种结合驾驶员判断的混合导航方式更适应用平衡车导航。
与现有技术相比，本实施例的导航方法先获取电动平衡车的全路段行车路 线，并检测电动平衡车在全路段行车路线上行驶过程中是否有绕行路段，如果有，进一步检测是否有步行跨越路段替代绕行路段，如果有，再进一步检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值时，选择所述步行跨越路段通过。其中，路况信息值可以是路径的长度，当绕行路段的路径大于预设的长度时，优选提醒用户从步行跨越路段通过；当绕行路段的路况信息值小于或等于预设值时，选择绕行路段通过，同样，该路况信息值也可以为路径的长度。当然，路况信息值还可以为道路坡度或平坦度等等。若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过，在电动平衡车停止驱动、且经过所述跨越路段时停止导航；当电动平衡车再次驱动时继续导航，并重新规划剩余行车路线；记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。从而以便再次通过或供其他人导航。
本实施例的导航方法在通过绕行路段时用户可以根据实际绕行路况信息选择是从绕行路段通过，还是选择步行跨越路段通过，这样就给用户在通行过程中有了不同的选择，而且可以节省时间、减少电动平衡车通过的路段，大大方便用户使用。以及将移动轨迹记录并更新到地图数据库中，方便其他用户进行导航、通行。
图3为本发明一个实施例电动平衡车的导航装置的示意图，其中，导航装置包括：获取装置201、第一检测装置202、第二检测装置203、第三检测装置2031、提醒装置204、启停装置205和记录装置206。
其中，导航装置用于获取电动平衡车的全路段行车路线，本实施例优先获取具有人行道的路线，由于电动平衡车整体体积小，通过性要求不高，一般的人行道都可以通行，因此，将电动平衡车在人行道上通行，不仅便利，而且安全。
进一步的，优先获取不具有立交桥、高架桥的路线。由于电动平衡车的驱动力不足以使得电动平衡车能够通过较高的上坡，因此，在导航过程中获取路线时优先获取不具备立交桥及高架桥的路线，从而确保电动平衡车在全路段能 够顺利通行。
当然，需要说明的是，对于本领域技术人员而言，本实施例导航过程中在获取全路段路线过程中，并不仅仅限于以上两种优先的方式，以上两种优先的方式仅为举例说明。
其中，第一检测装置用于检测在全路段过程中是否具有绕行路段。绕行路段可以为主道上无法直接通过长距离的绕行辅道。
当检测有绕行路段时，第二检测装置用于进一步检测是否有替代绕行路段的步行跨越路段，然后，用户就可以选择绕行路段或步行跨越路段通过。
其中，步行跨越路段可以为人行天桥、立交桥等等，本实施例将步行跨越路段依人行天桥为例进行说明。
若存在步行跨越路段，第三检测装置用于检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值，选择所述步行跨越路段通过，若绕行路段的路况信息值小于或等于预设值，选择所述绕行路段通过。
具体的，当用户通过人行天桥时，若人行天桥在上下坡过程中仅具有台阶，电动平衡车就无法通过，这样用户就需要停止电动平衡车驱动，并将携带电动平衡车通过人行天桥。
其中，路况信息值可以是路径的长度，当绕行路段的路径大于预设的长度时，优选提醒用户从步行跨越路段通过；当绕行路段的路况信息值小于或等于预设值时，选择绕行路段通过，同样，该路况信息值也可以为路径的长度。当然，路况信息值还可以为道路坡度或平坦度等等。
其中，若电动平衡车靠近所述步行跨越路段时提醒装置提醒前方路段可步行通过。
具体的，所述提醒前方路段可步行通过的方式包括发出提示音、振动电动平衡车部件、闪烁信号灯中的至少一种。
其中，若电动平衡车停止驱动、且经过所述跨越路段时启停装置控制停止导航，当电动平衡车再次驱动时启停装置控制继续导航、并重新规划剩余行车 路线
在通过人行天桥之间的过程中，电动平衡车不工作，当然，导航停止。当然，用户完成人行天桥的路段且再此驱动电动平衡车时，电动平衡车继续工作，导航重新定位并重新规划路段并导航。
其中，记录装置用于记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。
记录电动平衡车停止驱动至再次驱动的距离、移动轨迹等等数据，并将其更新到地图数据库中，以便再次通过时使用或便于其他用户使用。
在传统的导航中，用户可以根据自身的出行计划，在电子地图中选择出发地和目的地，电子地图根据出发地和目的地计算出距离最短的导航路径。由于平衡车在设计时首要考虑的是其使用便捷性，体积和功率都比较小，通行性能比较差，而传统的导航通常默认针对私家车或者电动摩托车等通行性能较好的车辆进行导航，计算的导航路径可能并不适合平衡车通过，对于平衡车的导航效果较差。
电动平衡车的通过能力跟其他交通工具不同，由于其离地间隙较小，且人直立站在上面没有任何固定措施，无法经受较大的颠簸。这也决定了电动平衡车只能在较为平坦、坡度较小的路面行走，但平衡车宽度较小，可以在比较窄的路面、人行道、巷道中行走，路道适应性较强。另外，电动平衡车出行方式可以跟步行方式便捷切换，当平衡车不能行走的路段，驾驶者可以提起电动平衡车用步行方式替代，等走到适合路段再使用平衡车出行。这就决定了平衡车出行路线的导航跟汽车出行方式有很大的不同。现有的地图数据是基于机动车行驶来设计的，缺乏路道本身的平整度、坡度、障碍物等数据，因此对于平衡车导航来说，先忽略路况，基于全路段来规划行车路线，然后驾驶员根据实际路况进行实时调整，等驾驶员重新使用平衡车时再动态规划新的路线，这种结合驾驶员判断的混合导航方式更适应用平衡车导航。
与现有技术相比，本实施例的导航装置获取电动平衡车的全路段行车路线， 并检测电动平衡车在全路段行车路线上行驶过程中是否有绕行路段，如果有，进一步检测是否有步行跨越路段替代绕行路段，如果有，再进一步检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值时，选择所述步行跨越路段通过。其中，路况信息值可以是路径的长度，当绕行路段的路径大于预设的长度时，优选提醒用户从步行跨越路段通过；当绕行路段的路况信息值小于或等于预设值时，选择绕行路段通过，同样，该路况信息值也可以为路径的长度。当然，路况信息值还可以为道路坡度或平坦度等等。若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过，在电动平衡车停止驱动、且经过所述跨越路段时停止导航；当电动平衡车再次驱动时继续导航，并重新规划剩余行车路线；记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。从而以便再次通过或供其他人导航。
本实施例的导航装置在通过绕行路段时用户可以根据实际绕行路况信息选择是从绕行路段通过，还是选择步行跨越路段通过，这样就给用户在通行过程中有了不同的选择，而且可以节省时间、减少电动平衡车通过的路段，大大方便用户使用。以及将移动轨迹记录并更新到地图数据库中，方便其他用户进行导航、通行。
图4为本发明一个实施例的电动平衡车的示意图。所述电动平衡车100包括导航装置110，其中，导航装置110可参见图3中的导航装置，在此不再详述。
在本发明中，电动平衡车还包括以一个或多个组件：处理组件、存储器、电源组件、多媒体组件、音频组件、传感器组件以及通信组件。
处理组件通常控制装置整体操作，诸如与显示，电话呼叫，数据通信，相机操作以及记录操作相关联的操作等。处理组件可以包括一个或多个处理器来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件可以包括一个或多个模块，便于处理组件和其他组件之间的交互。例如，处理组件可以包括多媒体模块，以方便多媒体组件和处理组件之间的交互。
存储器被配置为存储各种类型的数据以支持在电动平衡车的操作。这些数 据的示例包括用于在电动平衡车上操作的任何应用程序或方法的指令。存储器可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。存储器中还存储有一个或多个模块，该一个或多个模块被配置成由该一个或多个处理器执行，以完成上述图方法中的全部或者部分步骤。
电源组件电动平衡车的各种组件提供电力。电源组可以包括电源管理系统，一个或多个电源。
多媒体组件包括在电动平衡车和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与触摸或滑动操作相关的持续时间和压力。
音频组件被配置为输出和/或输入音频信号。例如，音频组件包括一个麦克风(MIC)，当电动平衡车处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器或经由通信组件发送。在一些实施例中，音频组件还包括一个扬声器，用于输出音频信号。
传感器组件包括一个或多个传感器，用于为电动平衡车提供各个方面的状态评估。例如，传感器组件可以检测到电动平衡车的打开/关闭状态，组件的相对定位。
在一些实施例中，该传感器组件还可以包括磁传感器，压力传感器或温度传感器。
通信组件被配置为便于电动平衡车和其他设备之间有线或无线方式的通 信。电动平衡车可以接入基于通信标准的无线网络，如WiFi、2G、3G或3G等，或它们的组合。在一个示例性实施例中，通信组件经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，通信组件还包括近场通信(NFC)模块，以促进短程通信。
例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，电动平衡车可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器，上述指令可由电动平衡车的处理器执行以完成上述方法。例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。

Claims (10)

  1. 一种电动平衡车的导航方法，其特征在于，所述方法包括以下步骤：
    获取电动平衡车的全路段行车路线；
    当检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时，检测是否有步行跨越路段代替所述绕线路段；
    当检测有步行跨越路段时，检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值，选择所述步行跨越路段通过；若绕行路段的路况信息值小于或等于预设值，选择所述绕行路段通过；
    若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过；
    在电动平衡车停止驱动、且经过所述跨越路段时停止导航；
    当电动平衡车再次驱动时继续导航，并重新规划剩余行车路线；
    记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。
  2. 一种电动平衡车的导航方法，其特征在于，所述方法包括以下步骤：
    获取电动平衡车的全路段行车路线；
    当检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时，检测是否有步行跨越路段代替所述绕线路段；
    若电动平衡车靠近所述步行跨越路段时提醒前方路段可步行通过。
  3. 如权利要求2所述的一种电动平衡车的导航方法，其特征在于，所述方法还包括：
    在电动平衡车停止驱动、且经过所述跨越路段时停止导航；
    当电动平衡车再次驱动时继续导航，并重新规划剩余行车路线；
  4. 如权利要求3所述的一种电动平衡车的导航方法，其特征在于，记录通过所述步行跨越路段的移动轨迹，并更新到地图数据库中。
  5. 如权利要求2所述的一种电动平衡车的导航方法，其特征在于，在步骤所述当检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时， 检测是否有步行跨越路段代替所述绕行路段中：
    当检测有步行跨越路段时，检测绕行路段的路况信息；
    若绕行路段的路况信息值大于预设值，选择所述步行跨越路段通过。
  6. 如权利要求2所述的一种电动平衡车的导航方法，其特征在于，在步骤所述获取电动平衡车的全路段行车路线中：
    优先获取具有人行道的路线。
  7. 如权利要求2所述的一种电动平衡车的导航方法，其特征在于，在步骤所述获取电动平衡车的全路段行车路线中：
    优先获取不具有立交桥、高架桥的路线。
  8. 如权利要求2所述的一种电动平衡车的导航方法，其特征在于，所述提醒前方路段可步行通过的方式包括发出提示音、振动电动平衡车部件、闪烁信号灯中的至少一种。
  9. 一种电动平衡车的导航装置，其特征在于，所述导航装置包括：
    获取装置，用于获取电动平衡车的全路段行车路线；
    第一检测装置和第二检测装置，当第一检测装置检测到电动平衡车在所述全路段行车路线上行驶过程中有绕行路段时，第二检测装置检测是否有步行跨越路段代替所述绕行路段；
    第三检测装置，用于检测绕行路段的路况信息，若绕行路段的路况信息值大于预设值，选择步行跨越路段通过；若绕行路段的路况信息值小于或等于预设值，选择所述绕行路段通过；
    提醒装置，若电动平衡车靠近所述步行跨越路段时提醒装置提醒前方路段可步行通过；
    启停装置，若电动平衡车停止驱动、且经过所述跨越路段时启停装置控制停止导航，当电动平衡车再次驱动时启停装置控制继续导航、并重新规划剩余行车路线；
    记录装置，用于记录通过所述步行跨越路段的移动轨迹，并更新到地图数 据库中。
  10. 一种电动平衡车，其特征在于，包括如权利要求9所述的导航装置。
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