CN100447831C - Automobile navigation apparatus and road searching method compatible with left side and right side going through - Google Patents
Automobile navigation apparatus and road searching method compatible with left side and right side going through Download PDFInfo
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- CN100447831C CN100447831C CNB2005100474013A CN200510047401A CN100447831C CN 100447831 C CN100447831 C CN 100447831C CN B2005100474013 A CNB2005100474013 A CN B2005100474013A CN 200510047401 A CN200510047401 A CN 200510047401A CN 100447831 C CN100447831 C CN 100447831C
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Abstract
The invention relates to a vehicle navigating device and road searching method that is compatible both left and right side traffic. It includes the following steps: separating the map data to left and right passing rule areas and restoring area and cutting point information; setting destiny; judging whether the traffic rule is different between the home position and the destiny; distilling the quantity of cutting points to take judgment; calculating road rights value; selecting the minimum rights value for user. The invention could realize road searching between the areas of different traffic rules.
Description
Technical field
The invention belongs to the auto navigation technical field, the road searching method of the automobile navigation apparatus that particularly a kind of compatible left and right sides is current.
Background technology
In the guider of prior art, when carrying out track search, employing is stored in the road data in the navigation map data, according to real-time Traffic Information and from the present position to any place road attribute and point of crossing attribute, calculate from the departure place total weight value in the path in any place, then, all weights to the destination calculate finish in, the path that connects the total weight value minimum is as the optimal path from the present position to the destination.
The above-mentioned path total weight value of mentioning is the evaluation of estimate of expression road passage capability, and it is subjected to the influence of road attributes such as road distance, road width, road category and the angle of adjacent road, has or not the influence of point of crossing attributes such as signal lamp.Because in present auto navigation product, the road information that provides in the employed map datum of navigational system is all followed a kind of road rule, therefore in the weights of calculating path, do not consider the road rule.For example the domestic auto-navigation system that uses can be followed right side road passing rules in the China's Mainland, Navigation Control Unit is when carrying out track search, can reduce the exploration weights of the road that turns right, the road that promptly preferential selection is turned right, can reduce transit time like this, save current cost, meet user's driving habits.
If there is the road data of following two kinds of road rules in the employed map datum of auto-navigation system simultaneously, so present auto-navigation system can not distinguished the road rule, promptly keep left the zone of rule when carrying out path exploration in use, still can preferentially select the road of turning right, the route poor quality of calculating like this, increase transit time and current cost, can't satisfy user's demand.For example in a cover map datum, the road data of China's Mainland and the road data of Hong-Kong have been preserved simultaneously, the China's Mainland is to use right side road passing rules, the Hong-Kong is to use left side road passing rules, if it is domestic that the departure place is positioned at the China's Mainland, the destination is positioned at Hong Kong, when so present auto-navigation system carries out track search in zone, Hong Kong, system still is defaulted as and uses the rule of keeping to the right, the route poor quality of calculating like this might be a road of going the long way round very much.
Summary of the invention
Can not carry out the problem that correct road is explored to there being different road rules at existing automobile navigation apparatus, the invention provides a kind of road searching method that can carry out the auto-navigation system of path exploration the road that has different road rules simultaneously.
Automobile navigation apparatus of the present invention comprises: present position pick-up unit, display unit, memory storage, operation inputting part part and Navigation Control Unit.
Wherein contain road weights computing module in the Navigation Control Unit, this weights computing module can carry out the calculating that the road weights calculate and carry out cross point weight value computation according to the point of crossing attribute according to road attribute.
The present position pick-up unit is by receiving from the radiowave of a plurality of gps satellite emissions, calculate three-dimensional (3D) position (for example latitude, longitude, highly) according to the mistiming of the ripple of accepting, and the orientation of the moving direction by detected user and the speed of current vehicle, can calculate the present position and the present moment of current automobile more accurately, simultaneously these information be offered Navigation Control Unit.
The operation inputting part part adopts liquid crystal panel, panel button or the Multi-Jog of portable type telepilot, touch-screen type, by user's operation, with the information of necessity for example map show, the track search condition be set, the road guidance information is set and needs information that the user confirms etc. to offer Navigation Control Unit.
Navigation Control Unit can utilize map datum, the user of reading in from memory storage that the destination of operation inputting part part setting and the information that provides of pick-up unit now are provided, explore a pathway, other functions that generate the road guidance information and realize navigational system.
Display unit is the information that the show navigator control device provides, and for example map, vehicle location are explored pathway, guidance information etc., and the information that needs the user to confirm;
In the memory storage, adopt hard disk, CD, DVD to preserve static original navigation map information, adopt hard disk, Flash Rom, SRAM, PC Card to preserve employed temporary information in the Navigation Control Unit operational process.
Wherein the computing method of road weights generally can be with reference to as follows:
LC＝f
1(L
0)+f
2(W
0)+f
3(T
0)； (1)
NC＝K×90×[2+COS(θ-π)]+(T+10)×S； (2)
RoadCost＝LC
1+NC
1+LC
2+NC
2+……+LC
n+NC
n (3)
In the formula (1):
F---representative function relational expression;
LC---expression road weights;
L
0---the expression link length;
W
0---the expression road width;
T
0---expression road species;
In the formula (2):
NC---expression cross point weight value computation;
θ---the angle in the two road that the expression point of crossing connects, the sign road direction;
T---the cycle of expression signal lamp;
S---the expression crossing point crossing has or not signal lamp;
K---expression coefficient, its value is determined by following situation:
In the formula (3):
RoadCost---expression is from exploring initial point to the weights summation of exploring terminal point;
The computing method of road weights are as described below:
In the process of carrying out path exploration, to every alternative road, Navigation Control Unit can be obtained the road attribute of this road from navigation map data, according to the link length L that preserves in the road attribute
0, road width W
0With road species T
0, utilize formula (1) to calculate the road weights LC of the alternative road of each bar; To each alternative point of crossing, Navigation Control Unit also can be obtained the attribute of this point of crossing from navigation map data, the angle θ in the two road that connect according to the point of crossing of preserving in the attribute of point of crossing, the point of crossing has or not signal lamp S, carry out the calculating of cross point weight value computation, if and current exploration zone is a right-hand traffic region, then, at last, in all road weights and cross point weight value computation calculating end of destination, the path that connects the total weight value minimum is as the optimal path from the present position to the destination.
Realize that method of the present invention has two kinds of situations when path exploration: the one, interregional situation that has a separation, the 2nd, the situation of an above separation of interregional existence.
At first, according to rules of the road, the zone that diagram data entirely is divided into the zone of using the rule that keeps left and uses the rule of keeping to the right, as shown in Figure 8, zone 1 is a right-hand traffic region, zone 2 is a left-hand traffic region, and Navigation Control Unit is preserved the information of these area informations and these interregional separations in advance.
1. interregional situation that has a separation
The user is provided with after the destination, Navigation Control Unit is judged the region of departure place and destination respectively, can know this area road passing rules according to area information, can judge the departure place thus and whether follow identical road rule with the destination.If the road of region, destination rule is different with the road rule of region, departure place, Navigation Control Unit is obtained interregional separation number from memory storage, under the situation of a separation of interregional existence, Navigation Control Unit can use above-mentioned weight calculation method, road rule according to the region, departure place, calculating from the departure place to the road of separation total weight value minimum, road rule according to the region, destination, the road of the total weight value minimum of calculating from the separation to the destination, the road that connects two sections total weight value minimums at last offers the user as optimal path.
2. the situation of an above separation of interregional existence
Under the situation of an above separation of interregional existence, Navigation Control Unit can use following two kinds of modes to finish interregional path exploration.
(1) system carries out path exploration automatically
The user is provided with after the destination by the operation inputting part part, Navigation Control Unit is according to the departure place, the road rule is known in the region of destination, if the road of region, destination rule is different with the road rule of region, departure place, Navigation Control Unit is obtained interregional separation number from memory storage, under the situation of an above separation of interregional existence, as shown in Figure 8, in the path exploration process, Navigation Control Unit can use above-mentioned weight calculation method, according to the employed passing rules in region, departure place, calculate from the departure place path of the total weight value minimum of separation A, from the departure place to the path of the total weight value minimum of separation B and from the departure place to the path of the total weight value minimum of separation C; Use above-mentioned weight calculation method then, according to the employed passing rules in region, destination, calculate path, the path of total weight value minimum and the path of total weight value minimum of total weight value minimum from separation A to the destination from separation C to the destination from separation B to the destination; The total weight value addition on two sections ways that respectively separation A, separation B, separation C connected at last selects the road conduct optimal path from origin to destination of total weight value minimum to offer the user then.
(2) user selects a separation as carrying out path exploration via ground
The user is provided with after the destination by the operation inputting part part, Navigation Control Unit is according to the departure place, the road rule is known in the region of destination, if the road of region, destination rule is different with the road rule of region, departure place, Navigation Control Unit is obtained interregional separation number from memory storage, under the situation of an above separation of interregional existence, as shown in Figure 8, Navigation Control Unit can be pointed out the user area difference, and offer all selective separation tabulations that enter zones of different of user, as shown in Figure 6.
As shown in Figure 6, the user specify separation as enter zones of different via ground, then the separation according to user's appointment carries out path exploration.Even use above-mentioned weight calculation method, utilize the passing rules of region, departure place, calculate from the departure place road of total weight value minimum of the separation of user's appointment, and the passing rules that utilizes the region, destination, calculate the road from the separation of user's appointment to the total weight value minimum of destination, the road that connects two sections total weight value minimums at last offers the user as optimal path.
The user do not specify separation as enter zones of different via ground, then use method described in above-mentioned 2 (1), system carries out path exploration automatically.
The inventive method can be used the interregional path exploration of different rules of the roads.Make the more perfect function of path exploration, can not be subjected to the different restriction of rules of the road.
Description of drawings
Fig. 1 is apparatus of the present invention structural representation;
Fig. 2 is separation of interregional existence, carries out the software flow pattern of path exploration according to region decision;
Fig. 3 is above separation of interregional existence, and system carries out the software flow pattern of path exploration automatically;
Fig. 4 is above separation of interregional existence, and the user selects a separation as the software flow pattern that carries out path exploration via ground;
Fig. 5 selects a separation conduct via the interface, ground for the user.
Fig. 6 uses the area schematic of different passing rules for departure place and destination.
Embodiment
Automobile navigation apparatus of the present invention comprises present position pick-up unit S1, display unit S2, memory storage S3, operation inputting part part S5 and Navigation Control Unit S6 as shown in Figure 1.
Wherein be provided with road weights computing module S7 among the Navigation Control Unit S6, this road weights computing module S7 can carry out the road weights and calculate.In memory storage S3, be provided with navigation map data storehouse S4.
Present position pick-up unit S1 is by receiving from the radiowave of a plurality of gps satellite emissions, calculate three-dimensional (3D) position (for example latitude, longitude, highly) according to the mistiming of the ripple of accepting, and the orientation of the moving direction by detected user and the speed of current vehicle, can calculate the present position and the present moment of current automobile more accurately, simultaneously these information be offered Navigation Control Unit S6.
Operation inputting part part S5 adopts liquid crystal panel, panel button or the Multi-Jog of portable type telepilot, touch-screen type, by user's operation, with the information of necessity for example map show, the track search condition be set, the road guidance information is set and needs information that the user confirms etc. to offer Navigation Control Unit S6.
Navigation Control Unit S6 can utilize map datum, the user of reading in from memory storage S3 to utilize the destination of operation inputting part part S5 setting and the information that present position pick-up unit S1 provides, explore a pathway, other functions that generate the road guidance information and realize navigational system.
Display unit S2 is the information that show navigator control device S6 provides, and for example map, vehicle location are explored pathway, guidance information etc., and the information that needs the user to confirm;
Among the memory storage S3, adopt hard disk, CD, DVD to preserve static original navigation map information, adopt hard disk, Flash Rom, SRAM, PC Card to preserve employed temporary information in the Navigation Control Unit S6 operational process.
Implement air navigation aid of the present invention, adopt the automobile navigation apparatus of the invention described above.
Example 1: during separation of interregional existence, system carries out path exploration automatically
As shown in Figure 2, S20 represents that navigational system can be according to rules of the road, the zone that diagram data entirely is divided into the zone of using the rule that keeps left and uses the rule of keeping to the right, and storage area information and interregional separation information in advance.S21 represents that the user is provided with the destination by the operation inputting part part S5 of navigational system among Fig. 1, and S22 and S23 represent that Navigation Control Unit S6 obtains the region of departure place and destination respectively, and judge whether the region is identical.S24 represents if the road of region, destination rule is different with the road rule of region, departure place, then Navigation Control Unit S6 obtains interregional separation number from memory storage S3, present embodiment is under the interregional separation number that hypothesis obtains is 1 situation, S26 represents that Navigation Control Unit can use the road rule of region, departure place from the departure place to the separation, and the path of calculating the total weight value minimum from the departure place to the separation according to above-mentioned weight calculation method, road rule from separation to region, application target ground, destination, and the path of calculating the total weight value minimum from the separation to the destination according to above-mentioned weight calculation method, the road that connects two sections total weight value minimums at last offers the user as optimal path.S25 represents if the road of region, destination rule is identical with the road rule of region, departure place, then carries out the path exploration in the zone, finally calculates the optimal path that meets user expectation.
Example 2: during the above separation of one of interregional existence, system carries out path exploration automatically
As shown in Figure 3, S30 represents that navigational system can be according to rules of the road, the zone that diagram data entirely is divided into the zone of using the rule that keeps left and uses the rule of keeping to the right, and storage area information and interregional separation information in advance.As shown in Figure 8, the zone 1 be a right-hand traffic region, and regional 2 is left-hand traffic region, and Navigation Control Unit S6 preserves the information of these area informations and these interregional separation A, separation B, separation C in advance.S31 represents that the user is provided with the destination by the operation inputting part part S5 of navigational system among Fig. 1, and S32 and S33 represent that Navigation Control Unit S6 obtains the region of departure place and destination respectively, and judge whether the region is identical.S34 represents if the road of region, destination rule is different with the road rule of region, departure place, then Navigation Control Unit S6 obtains interregional separation number from memory storage S3, present embodiment is that the interregional separation number that obtains in hypothesis is under the more than one situation, S36 represents that Navigation Control Unit S6 can use above-mentioned weight calculation method, according to the employed passing rules in region, departure place, calculate from the departure place path of the total weight value minimum of separation A, from the departure place to the path of the total weight value minimum of separation B and from the departure place to the path of the total weight value minimum of separation C; Use above-mentioned weight calculation method then, according to the employed passing rules in region, destination, calculate path, the path of total weight value minimum and the path of total weight value minimum of total weight value minimum from separation A to the destination from separation C to the destination from separation B to the destination; In S37, the total weight value addition on the road of two sections total weight value minimums that respectively separation A, separation B, separation C connected at last selects the road conduct optimal path from origin to destination of total weight value sum minimum to offer the user then.S35 represents if the road of region, destination rule is identical with the road rule of region, departure place, then carries out the path exploration in the zone, finally calculates the optimal path that meets user expectation.
Example 3: during the above separation of one of interregional existence, the user can select a separation as carrying out path exploration via ground
As shown in Figure 4, S40 represents that navigational system can be according to rules of the road, the zone that diagram data entirely is divided into the zone of using the rule that keeps left and uses the rule of keeping to the right, and storage area information and interregional separation information in advance.As shown in Figure 8, the zone 1 be a right-hand traffic region, and regional 2 is left-hand traffic region, and Navigation Control Unit S6 preserves the information of these area informations and these interregional separation A, separation B, separation C in advance.S41 represents that the user is provided with the destination by the operation inputting part part S5 of navigational system among Fig. 1, in S42 and S43, Navigation Control Unit S6 can obtain region, departure place and region, destination respectively, and relatively whether two zones are to use identical rules of the road, among the S50, if the departure place is identical with the region, destination, illustrate that departure place and destination are to use identical rules of the road, then road calculating section S7 can carry out the common path exploration in the same area, and will explore the result and offer the user.In S44, if the departure place is different with the region, destination, when being described with the destination, the departure place is to use different rules of the roads, then Navigation Control Unit S6 obtains interregional separation number from memory storage S3, present embodiment is that the interregional separation number that obtains in hypothesis is under the more than one situation, in S45, Navigation Control Unit can offer all alternative separation tabulations that enter zones of different of user, in S47, as shown in Figure 6, the user specified a separation as enter zones of different via ground, then road calculating section S7 can carry out path exploration according to this separation, promptly use the road rule of region, departure place from the departure place to this separation, and carry out path exploration according to above-mentioned weight calculation method, road rule from this separation to region, application target ground, destination, and carry out path exploration according to above-mentioned weight calculation method, the road that connects two sections total weight value minimums at last offers the user as optimal path.In S48, if the user do not specify separation as enter zones of different via ground, then Navigation Control Unit S6 can use above-mentioned weight calculation method, according to the employed passing rules in region, departure place, calculate from the departure place path of the total weight value minimum of separation A, from the departure place to the path of the total weight value minimum of separation B and from the departure place to the path of the total weight value minimum of separation C; Use above-mentioned weight calculation method then, according to the employed passing rules in region, destination, the path of the path of the total weight value minimum of calculating, the path of total weight value minimum and total weight value minimum from separation C to the destination from separation B to the destination from separation A to the destination, in S49, the total weight value addition on the road of two sections total weight value minimums that respectively separation A, separation B, separation C connected at last selects the road conduct optimal path from origin to destination of total weight value sum minimum to offer the user then.
Claims (3)
1, the road searching method of the current automobile navigation apparatus of a kind of compatible left and right sides is characterized in that exploring path method and may further comprise the steps:
1. according to rules of the road, entirely diagram data is divided into keep left regular domain and the use regular domain of keeping to the right, and storage area information and interregional separation information in advance;
2. set the destination;
Whether the passing rules of 3. judging departure place and region, destination is different;
4. Navigation Control Unit extracts the separation number and judges from memory storage;
5. under the unique situation of separation number, calculate respectively from the departure place to the road of separation total weight value minimum with from the road of the total weight value minimum of the destination of separation;
6. the road that connects two sections total weight value minimums offers the user as the departure place to the optimal path of destination.
2, the road searching method of the current automobile navigation apparatus of a kind of compatible left and right sides is characterized in that road searching method may further comprise the steps:
1. according to rules of the road, entirely diagram data is divided into the keep left regular domain and the regular domain of keeping to the right, and storage area information and interregional separation information in advance;
2. set the destination;
Whether the passing rules of 3. judging departure place and region, destination is different;
4. Navigation Control Unit extracts the separation number and judges from memory storage;
5. be under the more than one situation in the separation number, calculate from the departure place road of each separation total weight value minimum and road respectively from each separation to destination total weight value minimum;
6. the total weight value addition on two sections ways that respectively each separation connected compares;
7. select that the road of total weight value sum minimum provides the user as optimal path after the addition.
3, the road searching method of the current automobile navigation apparatus of a kind of compatible left and right sides is characterized in that road searching method may further comprise the steps:
1. according to rules of the road, entirely diagram data is divided into the keep left regular domain and the regular domain of keeping to the right, and storage area information and interregional separation information in advance;
2. set the destination;
Whether the passing rules of 3. judging departure place and region, destination is different;
4. Navigation Control Unit extracts the separation number and judges from memory storage;
5. Navigation Control Unit extracts separation information and offers the user by display unit from memory storage when above to be one in the separation number, a separation is set as via ground by the user by the operation inputting part part;
6. calculate respectively from the departure place extremely via the road of ground total weight value minimum with from road via ground to destination total weight value minimum;
7. the road that connects two sections total weight value minimums offers the user as the departure place to the optimal path of destination.
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| CN100447831C true CN100447831C (en) | 2008-12-31 |
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| US9163950B2 (en) | 2014-01-24 | 2015-10-20 | Maan ALDUAIJI | Vehicle navigation device, a method for navigating and a non-transitory computer readable medium |
| CN111985660A (en) * | 2019-05-22 | 2020-11-24 | 阿尔派株式会社 | Shared vehicle management device and shared vehicle management method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0933276A (en) * | 1995-07-18 | 1997-02-07 | Matsushita Electric Ind Co Ltd | Voice guidance apparatus |
| US6088649A (en) * | 1998-08-05 | 2000-07-11 | Visteon Technologies, Llc | Methods and apparatus for selecting a destination in a vehicle navigation system |
| CN1387024A (en) * | 2001-05-23 | 2002-12-25 | 本田技研工业株式会社 | Navigation system for vehicle |
-
2005
- 2005-10-14 CN CNB2005100474013A patent/CN100447831C/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0933276A (en) * | 1995-07-18 | 1997-02-07 | Matsushita Electric Ind Co Ltd | Voice guidance apparatus |
| US6088649A (en) * | 1998-08-05 | 2000-07-11 | Visteon Technologies, Llc | Methods and apparatus for selecting a destination in a vehicle navigation system |
| CN1387024A (en) * | 2001-05-23 | 2002-12-25 | 本田技研工业株式会社 | Navigation system for vehicle |
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