WO2022027731A1 - 一种基于虚实融合的导航地图构建方法 - Google Patents

一种基于虚实融合的导航地图构建方法 Download PDF

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Publication number
WO2022027731A1
WO2022027731A1 PCT/CN2020/109730 CN2020109730W WO2022027731A1 WO 2022027731 A1 WO2022027731 A1 WO 2022027731A1 CN 2020109730 W CN2020109730 W CN 2020109730W WO 2022027731 A1 WO2022027731 A1 WO 2022027731A1
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information
navigation
map
capability
virtual
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PCT/CN2020/109730
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English (en)
French (fr)
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常壮
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南京翱翔信息物理融合创新研究院有限公司
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Publication of WO2022027731A1 publication Critical patent/WO2022027731A1/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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data

Definitions

  • the invention discloses a navigation map construction method based on virtual-real fusion, and belongs to the technical field of navigation map construction.
  • the navigation system In view of the problem that the virtual map coordinate system and the physical space coordinate system are not unified in the existing electronic navigation, the navigation system is overly dependent on the positioning and tracking ability of the user's mobile terminal, and fully draws on the information provided only at the intersection in the road-finding guidance of the traffic guide board. Supporting the idea, the present invention provides a navigation map construction method based on virtual reality fusion.
  • a virtual-real fusion navigation map construction method includes two aspects: the generation of map information expression ability and the generation of navigation ability.
  • the virtual navigation map part of the navigation map constructed in the present invention has the properties of an electronic map, and can be configured as a navigation APP of the user's mobile terminal to complete the navigation guidance task by cooperating with the physical carrier part of the navigation map shown.
  • a map information expression capability generation of a navigation map construction method includes the following steps.
  • Step 1 the intersection information representation. Forks that require a human to make a direction choice are represented as vertices in a directed graph.
  • Step 1.1 vertex set construction. Suppose there are a total of Each intersection needs to be reflected on the navigation map, then the vertex set Represents vertices at various physical locations in the map.
  • Step 1.2 vertex information definition. for each vertex It contains information related to the intersection description, such as number and name. The number of each vertex is unique throughout the map.
  • Step 1.3 three-dimensional spatial information representation.
  • the present invention is not only suitable for plane position navigation, but also for spatial stereoscopic navigation.
  • Three-dimensional space information can be regarded as the folding of two-dimensional plane information in three-dimensional space.
  • the navigation between floors is spatial three-dimensional navigation
  • the navigation within each floor is two-dimensional plane navigation.
  • the floors are connected by means of stairs, elevators, etc.
  • the stair entrances and elevator entrances of each floor can be treated as intersections, and node information can be added to the vertex set.
  • Step 2 road information representation.
  • Roads are represented as edges of a directed graph.
  • An edge is defined by an ordered pair of vertices in a directed graph.
  • Step 2.1 edge set construction. Assuming from the vertex to the vertex can pass, then the ordered vertex pair unique edge ,which is.
  • the ordered vertex pair and The meanings of the representations are not the same, the former means from the vertex to the vertex Connectable, the latter means that from vertices to the vertex Connectable, its corresponding physical meaning is from the intersection arrive Passable, the latter means from the intersection to the intersection Passable.
  • Step 2.2 side information definition. for each edge , which contains information about road descriptions such as number, distance, name, etc. The number of each edge is unique throughout the map.
  • Step 3 roadside information representation.
  • Roadside information refers to the geographic location information that all users on both sides of the road may go to.
  • the roadside information refers to buildings on both sides of the road when outdoors, and refers to shops, toilets, and the like when indoors.
  • roadside information is also recorded in the edges of the directed graph.
  • the recording rule is: when walking along the road, all roadside information located on both sides of the road is recorded in the side corresponding to the current travel direction, and the roadside information located on the left side of the current travel direction is marked with a "left” sign, Sign "Right” on the right side of the road.
  • Step 4 guide information representation.
  • the guidance information is represented as information indicating direction selection by arrows, text, voice, or the like.
  • a navigation capability generation of a navigation map construction method includes the following steps.
  • Step 1 information search capability design. Given any node or part of the name information in the edge, automatically generate a list of information matching the given name information for the user to select and confirm.
  • Step 2 path planning capability design. After the current position and target position are given, the shortest path scheme is automatically calculated, and the distance, orientation and other information from each intersection to the destination can be calculated at the same time, which provides information support for the navigation and guidance process.
  • Step 3 Navigation and guidance capability design.
  • the navigation map is mapped with the real space.
  • the general idea of navigation guidance is to map the intersection information on the map and the physical carrier of the intersection information one by one.
  • the user runs the navigation guidance function of the navigation map through the terminal device, and parses the intersection information from the physical carrier.
  • the target position is set by the information search method, and the shortest path scheme is obtained by means of the path planning method; the corresponding guidance information is loaded according to the current intersection information in the shortest path and the information of the next intersection connected to the current intersection. , and finally realize the navigation guidance.
  • Step 3.1 physical carrier design of intersection information.
  • design different physical carriers of intersection information and the information can be analyzed by the user using the terminal device to run the navigation guidance function of the navigation map to which it belongs.
  • such a physical carrier is a two-dimensional code.
  • Step 3.2 physical carrier setting of intersection information. According to the direction information contained in the physical carrier, a physical carrier is placed at an appropriate position at each intersection.
  • Step 3.3 verify the validity of the intersection information physical carrier.
  • the terminal device In order to verify whether the location of the physical carrier at the actual intersection and the direction information it contains are correct, the terminal device is used to run the navigation and guidance function, parse the information in the physical carrier, and check with the actual intersection information.
  • the present invention is based on the virtual-real fusion-based map construction method, which integrates map information in the traditional sense with information carriers in physical space, and the final navigation map includes not only virtual map information but also physical carrier information.
  • the physical carrier carries virtual map information, and the virtual map information corresponds to the physical carrier one by one.
  • the present invention has the following advantages.
  • the method for constructing a navigation map based on virtual-real fusion proposed by the present invention has the capabilities of path planning, information search and active guidance, which reduces the processing load of a large amount of information in the process of wayfinding.
  • the method for constructing a navigation map based on virtual-real fusion proposed by the present invention does not rely on GPS, WIFI or Bluetooth signals for positioning, and can be applied not only to outdoor navigation but also to indoor navigation.
  • the guidance function of the method of the present invention only provides direction judgment support at the intersection where the person needs to make a direction selection.
  • Figure 1 is a schematic diagram of blocks and roads.
  • Figure 2 is a schematic diagram of a block road topology and a directed graph.
  • FIG. 3 is a schematic diagram of the interior floors of the shopping mall in FIG. 1 .
  • FIG. 4 is a schematic diagram of the development of the three-dimensional space topology of the shopping mall floor in FIG. 3 to the two-dimensional plane topology.
  • a virtual-real fusion navigation map construction method includes two aspects: the generation of map information expression ability and the generation of navigation ability.
  • the virtual navigation map part of the navigation map constructed in this embodiment has the properties of an electronic map, and can be configured as a navigation APP of the user's mobile terminal to complete the navigation guidance task by cooperating with the physical carrier part of the navigation map shown.
  • the block contains schools, residential areas A, shopping malls, parks and residential areas B, and the dotted line indicates that the current block is connected to external roads.
  • the generation of map information expression capability of a navigation map construction method includes the following steps.
  • Step 1 junction information representation. Forks that require a human to make a direction choice are represented as vertices in a directed graph. As shown in Figure 2, the No. 1 vertex is a road turning point, and no one needs to make a choice, so it will not be set as a directed graph vertex. This example only focuses on the road information in the current block, so the road information represented by the dotted line will be used in the follow-up No longer in discussion.
  • Step 1.1 vertex set construction. There are a total of 8 intersections in the entire block that need to be reflected on the navigation map, then the vertex set Represents the vertices at each intersection in the neighborhood map.
  • Step 1.2 vertex information definition. for each vertex It contains information related to the intersection description, such as number and name. The number of each vertex is unique throughout the map.
  • Step 1.3 three-dimensional spatial information representation.
  • the internal navigation of the shopping mall needs to represent the three-dimensional space information in the map, as shown in Figure 3, where the dotted line represents that the floors are connected by stairs or elevators.
  • the three-dimensional space information can be regarded as the folding of the two-dimensional plane information in the three-dimensional space.
  • the stair entrances and elevator entrances of each floor are treated as intersections.
  • the nodes and road information of the S floor originally located above the D floor can be expanded into The same plane on the D floor When constructing the vertex information, it is only necessary to add the elevator and stair node information to the vertex set, as shown in Figure 4.
  • Step 2 road information representation.
  • Roads are represented as edges of a directed graph.
  • An edge is defined by an ordered pair of vertices in a directed graph.
  • Step 2.1 edge set construction.
  • the set of all ordered vertex pairs in Figure 2 is .
  • the above ordered pairs of vertices constitute all the directed edges of the block road in Figure 2, and there are 26 directed edges in total.
  • directed edges are represented in a computer as a matrix or a linked list.
  • matrix representation is an example of matrix representation.
  • the subscript of each element in the matrix is all combinations of ordered vertex pairs of all intersection vertex numbers in Figure 2.
  • intersections that are not directly connected such as vertices 5 and 7, there are ,in Indicates that intersections 5 and 7 are not directly connected.
  • the processing method is the same as the intersection that is not directly connected.
  • Step 2.2 side information definition.
  • each element in which contains information about road descriptions such as number, distance, name, etc.
  • the number of each edge is unique throughout the map.
  • Roadside information refers to the geographic location information that all users on both sides of the road may go to.
  • the roadside information refers to buildings on both sides of the road, such as schools, residential areas A and B, when outdoors, and refers to shopping malls, toilets, and the like when indoors.
  • roadside information is also recorded in the edges of the directed graph.
  • the recording rule is: when walking along the road, all the roadside information on both sides of the road is recorded in the side corresponding to the current travel direction, and the roadside information located on the left side of the current travel direction is marked with the "left” sign, Sign “Right” on the right side of the road.
  • ordered vertex pairs The roadside information corresponding to the formed directed edge is "school” and “shopping mall", and "school” is on the left side of this directed edge, and the shopping mall is on the right side of this directed edge. "School” information in Xiangbian will be marked with a "left side” sign, and “shopping mall” information will be marked with a "right side” sign.
  • Step 4 guide information representation.
  • the guidance information is represented as information indicating direction selection by arrows, text, voice, or the like.
  • a navigation capability generation of a navigation map construction method includes the following steps.
  • Step 1 information search capability design. Given partial name information contained in any node or edge, optionally, a depth-first directed graph search algorithm is used to generate a list of vertex and edge information matching the given information for the user to select and confirm.
  • a depth-first directed graph search algorithm is used to generate a list of vertex and edge information matching the given information for the user to select and confirm.
  • Step 2 path planning capability design.
  • the Dijkstra algorithm is used to calculate the shortest path scheme, and at the same time, information such as distance and orientation from each intersection to the destination can be calculated to provide information for the navigation guidance process. support.
  • Step 3 the design of navigation and guidance ability.
  • the navigation map is mapped with the real space.
  • the general idea of navigation guidance is to map the intersection information on the map and the physical carrier of the intersection information one by one.
  • the user runs the navigation guidance function of the navigation map through the terminal device, parses the intersection information from the physical carrier, and searches for the information with the help of the terminal device.
  • use the information search method to set the target position, and use the path planning method to obtain the shortest path scheme; load the corresponding guidance information according to the current intersection information in the shortest path and the next intersection information connected to the current intersection, Finally, the navigation guide is realized.
  • Step 3.1 the physical carrier design of intersection information.
  • design different physical carriers of intersection information and the information can be analyzed by the user using the terminal device to run the navigation guidance function of the navigation map to which it belongs.
  • a two-dimensional code is used as the physical carrier of intersection information.
  • Step 3.2 physical carrier setting of intersection information.
  • a QR code should be posted on the ground, street light poles, or walls near the intersection of each road, and attention should be paid to loss prevention.
  • Step 3.3 verify the validity of the intersection information physical carrier.
  • the terminal device In order to verify whether the position of the two-dimensional code at the actual intersection and the direction information contained therein are correct, the terminal device is used to run the guidance function of the navigation map APP, and the information in the two-dimensional code is parsed and checked with the actual intersection information.

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Abstract

一种虚实融合的导航地图构建方法，包含地图信息表达能力生成和导航能力生成两个方面。地图信息表达能力生成包括路口信息表示、道路信息表示、路旁信息表示和引导信息表示；导航能力生成包括设计信息搜索能力、设计路径规划能力和设计导航引导能力。虚实融合的导航地图构建方法将传统意义上的地图信息与物理空间中的信息载体进行融合，物理载体中承载虚拟地图信息，虚拟地图信息与物理载体一一对应，二者相互融合，缺一不可，能够有效解决现有电子导航中虚拟地图坐标系与物理空间坐标系不统一造成导航系统过度依赖用户移动终端定位追踪能力的问题。

Description

一种基于虚实融合的导航地图构建方法 技术领域
    本发明公开了一种基于虚实融合的导航地图构建方法，属于导航地图构建技术领域。
 背景技术
目前，商场、公园和城市道路的路口处大多设置交通导引牌以指示路口信息，为人们寻路提供信息支持。虽然这种寻路引导方式提供的信息量有限，无法进行导航引导，但是这种引导方式充分结合了人的感知判断能力，仅在需要人做方向选择的路口提供信息支持，实施简单，成本低廉。
随着导航技术发展，谷歌地图、百度地图和高德地图等常见电子地图都具有良好的户外导航功能，个别电子地图在特定物理区域已经具备室内导航能力。电子导航地图具有信息搜索、路径规划和导航引导能力。但是当用户终端的GPS、WIFI或蓝牙信号断开时，这些电子地图由于无法定位用户当前位置而导致导航能力失效，其根本原因在于在构建电子地图时，虚拟的地图坐标系与物理空间坐标系不统一。
 技术问题
发明目的：针对现有电子导航中虚拟地图坐标系与物理空间坐标系不统一造成导航系统过度依赖用户移动终端定位追踪能力的问题，充分借鉴交通导引牌寻路导引中仅在路口提供信息支持的思想，本发明提供一种基于虚实融合的导航地图构建方法。
 技术解决方案
为了实现上述目的，本发明采用的技术方案如下。
一种虚实融合的导航地图构建方法包含地图信息表达能力生成和导航能力生成两个方面。本发明中所构建的导航地图中虚拟导航地图部分具有电子地图的属性，可以被配置成用户移动终端的导航APP，与所示导航地图的物理载体部分相互配合才能完成导航引导任务。
根据本发明的第一个方面，一种导航地图构建方法的地图信息表达能力生成包括以下步骤。
步骤1，路口信息表示。需要人做方向选择的分岔路口被表示为有向图中的顶点。
步骤1.1，顶点集合构建。假设物理空间中总共有
Figure 98128dest_path_image001
个路口需要体现导航地图上，则顶点集合
Figure 115631dest_path_image002
代表了地图中各物理位置处的顶点。
步骤1.2，顶点信息定义。对于每一个顶点
Figure 499339dest_path_image003
其中包含编号和名字等与路口描述相关的信息。整张地图中，每个顶点的编号是唯一的。
步骤1.3，三维空间信息表示。本发明不仅适用于平面位置导航，还适用于空间立体导航。三维空间信息可以看成是二维平面信息在三维空间中的折叠。本发明的一种实施例方案中，楼层之间的导航就是空间立体导航，各楼层内的导航都是二维平面导航。楼层间通过楼梯、电梯等方式联通，各层楼梯口、电梯口等可被当作路口处理，在顶点集合中增加节点信息即可。
步骤2，道路信息表示。道路被表示成有向图的边。一条边由有向图中的一个有序顶点对来定义。
步骤2.1，边集合构建。假设从顶点
Figure 581171dest_path_image004
到顶点
Figure 126553dest_path_image005
能够通行，则有序顶点对
Figure 975561dest_path_image006
唯一确定一条边
Figure 677806dest_path_image007
，即。
Figure 804025dest_path_image008
，其中
Figure 67779dest_path_image009
且
Figure 404082dest_path_image010
。
假设可连通的有序顶点对共有
Figure 395172dest_path_image011
个，则
Figure 421903dest_path_image012
。假设共有
Figure 105825dest_path_image013
条道路需要表示在地图上，则
Figure 281155dest_path_image014
。当
Figure 669411dest_path_image015
时，表示所有道路都是单向通行；
Figure 566960dest_path_image016
是因为在本发明的讨论过程中，认为每个路口无法与自身连接产生道路，对应于导航中的实际意义就是每个路口处方向信息并不会指向当前路口。
需要说明的是，有序顶点对
Figure 608734dest_path_image006
和
Figure 857313dest_path_image017
表示的含义并不相同，前者表示从顶点
Figure 518101dest_path_image004
到顶点
Figure 224151dest_path_image005
可连通，后者表示从顶点
Figure 515455dest_path_image005
到顶点
Figure 48068dest_path_image004
可连通，其对应的物理意义是从路口
Figure 433918dest_path_image004
到
Figure 509322dest_path_image005
可通行，后者表示从路口
Figure 33844dest_path_image005
到路口
Figure 473659dest_path_image018
可通行。
步骤2.2，边信息定义。对于每条边
Figure 617196dest_path_image007
，其中包含编号、距离、名称等道路描述相关信息。整张地图中，每条边的编号是唯一的。
步骤3，路旁信息表示。路旁信息指的是位于道路两侧的所有用户可能去到的地理位置信息。
在本发明的一种实施方案中，在室外时路旁信息指的是道路两侧的楼宇建筑，室内时指的是商铺、洗手间等。
与道路信息一样，路旁信息也被记录在有向图的边中。记录规则是：沿着道路行走时，所有位于道路两侧的路旁信息都被记录在当前行走方向对应的边中，并且位于当前行进方向左侧的路旁信息被打上“左侧”标志，位于道路右侧的打上“右侧”标志。
步骤4，引导信息表示。引导信息被表示为箭头、文本、语音等指示方向选择的信息。
根据本发明的第二个方面，一种导航地图构建方法的导航能力生成包括以下步骤。
步骤1，信息搜索能力设计。给定任意节点或者边中部分名字信息，自动生成与给定名字信息相匹配的信息列表，供用户选择确认。
步骤2，路径规划能力设计。给定当前位置和目标位置后，自动计算最短路径方案，同时能够计算出途经的每个路口到目的的距离、方位等信息，为导航引导过程提供信息支持。
步骤3，导航引导能力设计。利用虚实融合技术，将导航地图与真实空间进行映射。导航引导的总体思想是将地图路口信息与路口信息的物理载体进行一一映射，用户在导航过程中通过终端设备运行所述导航地图的导航引导功能，从物理载体中解析出路口信息，借助信息搜索方法，确定当前位置；同时利用信息搜索方法设定目标位置，借助路径规划方法得到最短路径方案；根据最短路径中的当前路口信息和与当前路口连通的下一路口信息，加载相应的引导信息，最终实现导航引导。
步骤3.1，路口信息的物理载体设计。为了唯一标识每个分岔路口身份信息以及与其相连通的路口相对当前路口的方向信息，设计不同的路口信息的物理载体，其中的信息可被用户借助终端设备运行所属导航地图的导航引导功能解析获取。在本发明的一种实施方案中，这样的物理载体是二维码。
步骤3.2，路口信息的物理载体设置。根据所述物理载体中包含的方向信息，在每个路口合适位置处放置物理载体。
步骤3.3，路口信息物理载体有效性验证。为了验证物理载体在实际路口的位置和包含的方向信息是否正确，利用终端设备运行所术导航引导功能，解析物理载体中的信息，与实际路口信息进行核对。
本发明基于虚实融合的地图构建方法，是将传统意义上的地图信息与物理空间中的信息载体进行融合，最终得到的导航地图是不仅包括虚拟的地图信息也包括物理载体信息。物理载体中承载虚拟地图信息，虚拟地图信息与物理载体一一对应，二者互相融合，缺一不可。
 有益效果
与现有技术相比，本发明具有以下优势。
与现有路标引导相比，本发明提出的一种基于虚实融合的导航地图构建方法具有路径规划、信息搜索和主动引导能力，减轻了人在寻路过程中对大量信息的处理负荷。
与现有电子地图导航相比，本发明提出的一种基于虚实融合的导航地图构建方法不依赖GPS、WIFI或蓝牙信号进行定位，不仅可以应用于室外导航还可以应用于室内导航。
与现有电子地图导航相比，本发明所述方法的导引功能仅在人需要做方向选择的路口提供方向判断支持，行进过程中人根据路口处获得的导引信息，结合自身的感知决策能力判断是否到达目的地，无需实时导航，从而简化导航地图构建过程。
 附图说明
图1为街区和道路示意图。
图2为街区道路拓扑图和有向图示意。
图3为图1中商场内部楼层示意图。
图4为图3中商场楼层三维空间拓扑向二维平面拓扑展开的示意图。
 本发明的实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
实施例
一种虚实融合的导航地图构建方法包含地图信息表达能力生成和导航能力生成两个方面。本实施例中所构建的导航地图中虚拟导航地图部分具有电子地图的属性，可以被配置成用户移动终端的导航APP，与所示导航地图的物理载体部分相互配合才能完成导航引导任务。如图1所示，街区内包含学校、居民区A、商场、公园和居民区B，虚线表示当前街区和外部道路连通。
一种导航地图构建方法的地图信息表达能力生成包括以下步骤。
步骤 1，路口信息表示。需要人做方向选择的分岔路口被表示为有向图中的顶点。如图2所示，1号顶点处是一个道路转折点，无需人做选择，因此不会被设置为有向图顶点，本例仅关注当前街区内的道路信息，因此虚线代表的道路信息在后续讨论中不再出现。
步骤 1.1 ，顶点集合构建。整个街区中总共有8个路口需要体现导航地图上，则顶点集合
Figure 593111dest_path_image019
代表了街区地图中各路口处的顶点。
步骤 1.2 ，顶点信息定义。对于每一个顶点
Figure 22955dest_path_image020
其中包含编号和名字等与路口描述相关的信息。整张地图中，每个顶点的编号是唯一的。
步骤 1.3 ，三维空间信息表示。商场内部导航就需要在地图中表示三维空间信息，如图3所示，其中虚线代表各楼层之间以楼梯或者电梯方式连通。三维空间信息可以看成是二维平面信息在三维空间中的折叠，把各层楼梯口、电梯口等被当作路口处理，原本位于D层上方的S层各节点和道路信息可以展开成与D层同一平面
Figure 467843dest_path_image021
内的信息，在构建顶点信息时只需要在顶点集合中增加电梯与楼梯节点信息即可，如图4所示。
步骤 2 ，道路信息表示。道路被表示成有向图的边。一条边由有向图中的一个有序顶点对来定义。
步骤 2.1 ，边集合构建。图2中所有有序顶点对集合为。
Figure 165803dest_path_image022
。
以上有序顶点对构成图2中街区道路的全部有向边，共有26条有向边。
优选地，这样的有向边在计算机中被表示为矩阵或链表。以下以矩阵表示为例。
Figure 481378dest_path_image023
。
矩阵中每个元素下标是图2中所有路口顶点编号的有序顶点对所有组合。
对于直接相连通的路口，比如顶点5和6，有
Figure 347703dest_path_image024
，
Figure 263575dest_path_image025
其他顶点同理。
对于不直接连通的路口，比如顶点5和7，有
Figure 748914dest_path_image026
，其中
Figure 203816dest_path_image027
表示路口5和7不直接连通。
对于矩阵中对角线元素，其处理方法同不直接连通路口。
步骤 2.2 ，边信息定义。对于有序顶点对集合
Figure 975463dest_path_image028
中每个元素
Figure 394943dest_path_image007
，其中包含编号、距离、名称等道路描述相关信息。整张地图中，每条边的编号是唯一的。
步骤 3 ，路旁信息表示。路旁信息指的是位于道路两侧的所有用户可能去到的地理位置信息。在本实施例中，在室外时路旁信息指的是道路两侧的楼宇建筑，如学校、居民区A和居民区B等，室内时指的是商场、洗手间等。
与道路信息一样，路旁信息也被记录在有向图的边中。记录规则是：沿着道路行走时，所有位于道路两侧的路旁信息都被记录在当前行走方向对应的边中，并且位于当前行进方向左侧的路旁信息被打上“左侧”标志，位于道路右侧的打上“右侧”标志。例如：有序顶点对
Figure 667661dest_path_image029
构成的有向边对应的路旁信息是“学校”和“商场”，而“学校”在这条有向边的左侧，商场在这条有向边的右侧，因此，在这条有向边中“学校”信息会被打上“左侧”标志，“商场”信息会被打上“右侧”标志。
步骤 4 ，引导信息表示。引导信息被表示为箭头、文本、语音等指示方向选择的信息。
一种导航地图构建方法的导航能力生成包括以下步骤。
步骤 1，信息搜索能力设计。给定任意节点或边中包含的部分名字信息，可选地，采用深度优先有向图搜索算法生成与给定信息相匹配的顶点和边信息列表，供用户选择确认。
步骤 2，路径规划能力设计。在给定当前位置和目标位置后，可选地，采用迪克斯特拉算法，计算最短路径方案，同时能够计算出途经的每个路口到目的的距离、方位等信息，为导航引导过程提供信息支持。
步骤 3 ，导航引导能力设计。利用虚实融合技术，将导航地图与真实空间进行映射。导航引导的总体思想是将地图路口信息与路口信息物理载体进行一一映射，用户在导航过程中通过终端设备运行所述导航地图的导航引导功能，从物理载体中解析出路口信息，借助信息搜索方法，确定当前位置；同时利用信息搜索方法设定目标位置，借助路径规划方法得到最短路径方案；根据最短路径中的当前路口信息和与当前路口连通的下一路口信息，加载相应的引导信息，最终实现导航引导。
步骤 3.1 ，路口信息的物理载体设计。为了唯一标识每个分岔路口身份信息以及与其相连通的路口相对当前路口的方向信息，设计不同的路口信息的物理载体，其中的信息可被用户借助终端设备运行所属导航地图的导航引导功能解析获取。在本实施例中采用二维码作为路口信息物理载体。
步骤 3.2 ，路口信息的物理载体设置。可选地，在每条路接近路口处的地面、路灯杆或墙壁等地方对应张贴二维码，需注意防损保护。
步骤 3.3 ，路口信息物理载体有效性验证。为了验证二维码在实际路口的位置和包含的方向信息是否正确，利用终端设备运行所述导航地图APP的引导功能，解析二维码中的信息，与实际路口信息进行核对。
另外，本发明中未作详细阐明的技术是本领域公知技术，如有向图搜索算法、最短路径规划算法等。
最后应说明的是，以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明将地图虚拟信息与物理信息融合构建导航地图前提下，还可以做出若干改进或同等替换，这些改进和等同替换也应视为本发明的保护范围。

Claims (8)

  1. 一种基于虚实融合的导航地图构建方法，其特征在于，包括地图信息表达能力生成和导航能力生成，所述地图信息表达能力生成包括以下步骤：
    步骤1，路口信息表示：需要人做方向选择的分岔路口被表示为有向图中的顶点，构建顶点集合，定义顶点信息，在顶点集合中增加节点信息以实现三维空间信息表示；
    步骤2，道路信息表示：道路被表示成有向图的边，一条边由有向图中的一个有序顶点对来定义，构建边集合，定义边信息；
    步骤3，路旁信息表示：沿着道路行走，所有位于道路两侧的路旁信息都记录在当前行走方向对应的边中，并且位于当前行进方向左侧的路旁信息被打上“左侧”标志，位于道路右侧的打上“右侧”标志；
    步骤4，引导信息表示：引导信息被表示为指示方向选择的信息；
    所述导航能力生成包括以下步骤：
    步骤1，设计信息搜索能力：给定任意节点或者边中部分名字信息，自动生成与给定名字信息相匹配的信息列表，供用户选择确认；
    步骤2，设计路径规划能力：给定当前位置和目标位置后，自动计算最短路径方案，同时能够计算出途经的每个路口到目的地的信息，为导航引导过程提供信息支持；
    步骤3，设计导航引导能力：设计不同的路口信息的物理载体，放置在每个路口合适位置，其中的信息能被所属导航地图的导航引导功能解析获取。
  2. 根据权利要求1所述的基于虚实融合的导航地图构建方法，其特征在于，所述地图信息表达能力生成的步骤1中：构建顶点集合，假设物理空间中总共有
    Figure dest_path_image002
    个路口需要体现导航地图上，则顶点集合
    Figure dest_path_image004
    代表了地图中各物理位置处的顶点；定义顶点信息，对于每一个顶点，其中包含与路口描述相关的信息，整张地图中，每个顶点的编号是唯一的；
    3、根据权利要求1所述的基于虚实融合的导航地图构建方法，其特征在于，所述地图信息表达能力生成的步骤1中：多楼层建筑的三维空间信息表示时，楼层之间的导航是空间立体导航，各楼层内的导航都是二维平面导航；楼层间通过楼梯、电梯等方式联通，各层楼梯口、电梯口等可被当作路口处理，在顶点集合中增加节点信息即可。
  3. 根据权利要求1所述的基于虚实融合的导航地图构建方法，其特征在于，所述地图信息表达能力生成的步骤2中：构建边集合，假设从顶点
    Figure dest_path_image006
    到顶点
    Figure dest_path_image008
    能够通行，则有序顶点对
    Figure dest_path_image010
    唯一确定一条边
    Figure dest_path_image012
    ，即
    Figure dest_path_image014
    ，其中
    Figure dest_path_image016
    且
    Figure dest_path_image018
    假设可连通的有序顶点对共有
    Figure dest_path_image020
    个，则
    Figure dest_path_image022
    。
  4. 假设共有
    Figure dest_path_image024
    条道路需要表示在地图上，则
    Figure dest_path_image026
    ；定义边信息，对于每条边
    Figure 199337dest_path_image012
    ，其中包含与道路描述相关信息，整张地图中，每条边的编号是唯一的。
  5. 根据权利要求1所述的基于虚实融合的导航地图构建方法，其特征在于，所述地图信息表达能力生成的步骤3中：所述路旁信息包括位于道路两侧的所有用户可能去到的室外和室内地理位置信息。
  6. 根据权利要求1所述的基于虚实融合的导航地图构建方法，其特征在于，所述地图信息表达能力生成的步骤4中：所述指示方向选择的信息包括箭头、文本和语音等。
  7. 根据权利要求1所述的基于虚实融合的导航地图构建方法，其特征在于，所述导航能力生成的步骤2中：所述途经的每个路口到目的地的信息包括距离和方位等信息。
  8. 根据权利要求1所述的基于虚实融合的导航地图构建方法，其特征在于，所述导航能力生成的步骤3中：所述物理载体是二维码。
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