CN101762279A - Navigation method and device - Google Patents
Navigation method and device Download PDFInfo
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- CN101762279A CN101762279A CN 201010110380 CN201010110380A CN101762279A CN 101762279 A CN101762279 A CN 101762279A CN 201010110380 CN201010110380 CN 201010110380 CN 201010110380 A CN201010110380 A CN 201010110380A CN 101762279 A CN101762279 A CN 101762279A
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Abstract
The invention discloses a navigation method and device. The navigation method comprises the following steps of: setting geographic information which comprises public traffic information; confirming the destination of a navigation object according to the received input information; performing path planning processing according to the geographic information, the origin and the destination to obtain a planning path, wherein the path planning processing comprises public traffic line planning and the planning path comprises at least one public traffic section; selecting a navigation path from the planning path, wherein the navigation path comprises at least one public traffic section; confirming the position of the navigation object according to the received global position system GPS satellite signals upon reception of the navigation instruction; and navigating the navigation object according to the position of the navigation object and the navigation path. The technical scheme can provide effective public traffic navigation service for the navigation object.
Description
Technical field
The invention belongs to field of navigation technology, relate in particular to a kind of air navigation aid and navigator based on walking.
Background technology
Present GPS (Global Position System, GPS) navigational system can receive the data message that at least 3 satellite transmissions in earth-circling 24 gps satellites come, the GPS navigation system can determine the position coordinates of navigation object according to this data message, and the GPS navigation system can determine the accurate position of navigation object in electronic chart according to electronic chart and this position coordinates of storage inside.
The structure of present navigational system as shown in Figure 1.
Navigational system among Fig. 1 comprises: loudspeaker 1, chuck assembly 2, input media 3, voice output 4, display device 5, control device 6 and GPS receiving trap 16.Above-mentioned control device 6 can comprise: user interface control module 7, map data management module 8 and navigation module 9; Navigation module 9 wherein can comprise: Navigation Control module 10, map display module 11, route guidance module 12, path searcher module 13, information point indexing unit 14 and from car position detection module 15.
Chuck assembly 2 can be reduced into numerical data with the recorded content in the recording medium of inserting wherein, and transfers to control device 6.Above-mentioned recording medium can comprise: safe digital card (Secure Digital Card, SD) or flash card (Trans Flash Card, TF) etc.Above-mentioned recorded content can comprise: map datum or control program data etc.
The voice data translation that voice output 4 can come control device 6 transmission is a voice signal, and deliver to loudspeaker 1, convert voice signal to sound and output by loudspeaker 1, thereby loudspeaker 1 can send voice such as various operational notifications and route guidance according to the control of control device 6.
The input signal that user interface control module 7 in the control device 6 is used for the user that 3 transmission come according to input media generates control instruction corresponding, and one or more modules that navigation module 9 comprises are transmitted this steering order.In addition, user interface control module 7 result that also is used for steering order that navigation module 9 is returned transfers to voice output 4 or display device 5.
Map data management module 8 in the control device 6 is used to respond the requirement of navigation module 9 and reads map datum by chuck assembly 2, and this map datum can comprise the data content that is used for picture guiding usefulness.
12 pairs of map datums that obtain from map data management module 8 of route guidance module in the navigation module 9 carry out the path and induce processing, and will induce result to return to map data management module 8, read so that map data management module 8 is predicted.In addition, route guidance module 12 also is used for inducing data such as interface when handling, navigation speech to send user interface control module 7 in the path.
Information point indexing unit 14 in the navigation module 9 is used for the geography information point on the retrieving map, as the retrieval restaurant, then can retrieve the geographical location information in all restaurants.
To give map data management module 8, map display module 11 and route guidance module 12 from the data transmission such as expression current location that the GPS receiving trap obtains from car position detection module 15 in the navigation module 9.
The inventor finds that present GPS navigation system mostly is automobile-used in realizing process of the present invention, promptly the GPS navigation system loading is in vehicle, and the GPS navigation system is the vehicle path planning according to the characteristics of vehicle ', thereby navigates for vehicle.Because the characteristics of travelling of vehicle and the characteristics of travelling of other trip mode exist than big-difference, therefore, present GPS navigation system can not well be applicable to the navigation of other trip mode.
Summary of the invention
Air navigation aid that embodiment of the present invention provides and equipment can be navigation object the effective public navigation Service are provided.
The air navigation aid that embodiment of the present invention provides comprises:
Determine the destination of navigation object according to the input information that receives;
Carry out path planning according to described geography information, departure place and described destination and handle, obtain path planning, described path planning is handled and is comprised: public bus network planning, and described path planning comprises: at least one public transportation road section;
Select to determine guidance path from described path planning, described guidance path comprises: at least one public transportation road section;
After receiving navigation instruction, determine the position of navigation object according to the global position system GPS satellite-signal that receives, and be the navigation object navigation according to the position and the described guidance path of navigation object.
The navigator that embodiment of the present invention provides comprises:
Memory module is used to store geography information, and this geography information comprises: Bus information;
Receiver module is used to receive input information;
Determine the start-stop module, be used for determining the destination of navigation object according to described input information;
Path planning module is used for carrying out path planning according to described geography information, departure place and described destination and handles, and obtains path planning, and described path planning is handled and comprised: public bus network planning, and described path planning comprises: at least one public transportation road section;
The guidance path module is used for selecting to determine guidance path that described guidance path comprises: at least one public transportation road section from described path planning;
Navigation module is used for after receiving navigation instruction, determines the position of navigation object according to the global position system GPS satellite-signal that receives, and is the navigation object navigation according to the position and the described guidance path of navigation object.
Description by technique scheme as can be known, present embodiment is by comprising Bus information in geography information, and utilize the geography information that includes Bus information to carry out path planning and handle, can obtain to comprise the guidance path of public transportation road section, by utilizing this guidance path to navigate, thereby can provide the effective public navigation Service for navigation object for navigation object.
Description of drawings
Fig. 1 is the structural representation of navigational system of the prior art;
Fig. 2 is the air navigation aid process flow diagram of the embodiment of the invention one;
Fig. 3 is the navigator synoptic diagram of the embodiment of the invention two.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Embodiment one, air navigation aid.The flow process of this method as shown in Figure 2.
Among Fig. 2, S200, determine the destination of navigation object according to the input information that receives.Optionally, can also determine the departure place of navigation object according to the input information that receives.In addition, also can that is to say, the current position of navigation object is defined as the departure place of navigation object according to the departure place of determining navigation object at the location of the current position of navigation object.
In the present embodiment, can adopt one or more modes in the modes such as button, rocking bar, knob and touch pad to make up the information of carrying out input, present embodiment does not limit the specific implementation of input information.
S210, basis geography information, departure place and the destination of storage are in advance carried out the path planning processing, obtain path planning.The path planning that obtains can be for one or more, and each path planning is the path that departure place to destination provides.
Above-mentioned geography information comprises: Bus information, and the path planning among the S210 is handled and is comprised: public bus network planning, thereby S210 specifically comprises: carry out public bus network planning (being that public bus network calculates) according to Bus information, departure place and the destination of storage in advance, obtain to include the path planning of public transportation road section.A path planning can include one or more public transportation road section.The Bus information here specifically can comprise: platform name information, gate position information and public bus network information etc.Present embodiment does not limit the specific implementation process of public bus network planning and content that Bus information specifically comprises etc.
Geography information in the present embodiment can also comprise: map datum.This map datum is used for map and shows that the map of demonstration can help the user to import departure place information and destination information, and assists to determine departure place and destination; The map that shows can also make the user know its current position in map easily, and in addition, the map of demonstration can also graphically show path planning and guidance path etc.Above-mentioned map datum can comprise: road network information and interest point information etc.Present embodiment is the restrictedly concrete application scenarios of diagram data and content that map datum specifically comprises not.
Optionally, the geography information in the present embodiment can also comprise: information on foot.Information is used for layout of roads on foot on foot, to obtain highway section on foot.Information can comprise on foot: at least one in overpass information, zebra stripes information, tunnel information and the underpass information etc.Overpass information can comprise the positional information of overpass.Zebra stripes information can comprise the positional information of zebra stripes.Tunnel information can comprise the positional information in tunnel and the gateway information in tunnel etc.Underpass information can comprise the positional information of underpass and the gateway information of underpass etc.Present embodiment does not limit the content that information on foot specifically comprises.The content that comprises of information is detailed more on foot, and then the highway section on foot that obtains of layout of roads is accurate more on foot.
Include in geography information under the situation of information on foot, S210 can specifically comprise: according to the Bus information of storage in advance with public bus network planning and layout of roads on foot, acquisition path planning are carried out in information, departure place and destination on foot.A thus obtained path planning can comprise: at least one public transportation road section also can comprise: at least one public transportation road section and at least one be the highway section on foot.Path planning does not comprise that the situation in highway section on foot goes for departure place and destination all do not need walking between public transport platform and Public Transport Transfer station application scenarios, perhaps goes for departure place and destination and all is positioned at the public transport platform and does not need application scenarioss such as Public Transport Transfer.Path planning had not only comprised on foot the highway section but also had comprised that the situation of public transportation road section needing between departure place and/or destination and the public transport platform to go for the application scenarios of walking, needing between the Public Transport Transfer station perhaps to go for the application scenarios of walking.That is to say that the highway section on foot in the present embodiment can comprise: at least one to the highway section on foot of destination of the highway section on foot between the transfer stop of departure place to the highway section on foot of the initial website of first public transportation road section, two public transportation road section in the Public Transport Transfer and the purpose website of last public transportation road section.Include at a path planning under the situation in highway section and public transportation road section on foot, the highway section should be connected with order before and after the public transportation road section on foot, and all public transportation road section that comprise in path planning and all can form from the departure place to a path of destination after order is connected before and after the highway section on foot.
S220, from the path planning of above-mentioned acquisition, select to determine guidance path.This guidance path comprises: at least one public transportation road section.Optionally, this guidance path can also comprise: at least one is the highway section on foot.
The path planning of above-mentioned acquisition can show with the form of path planning tabulation, like this, can select guidance path from the path planning tabulation.Each path planning in the path planning tabulation can be respectively to there being path description information, i.e. path planning tabulation can demonstrate path planning and path description information.Path description information can comprise: at least one in website quantity etc. of the Public Transport Transfer number of times of the stroke distances of path planning, path planning and path planning.In addition, each path planning in the path planning tabulation can also be to there being the stroke explanation, and the trip explanation can be the stroke explanation of text description.Check stroke explanation a kind of specific implementation can for: receive and check stroke explanation order, show the stroke explanation of current selected path planning correspondence.Reception checks that an object lesson of stroke explanation order is: " checking the stroke explanation " button in the display interface of click path planning tabulation, check stroke explanation order thereby receive.An object lesson of the stroke of path planning explanation content: " 300 meters of walkings eastwards are to bus station A from the departure place; Take No. 5 buses to bus station B from bus station A; Take No. 10 buses to bus station C from bus station B; From 150 meters of bus station C walkings northwards to the destination." present embodiment do not limit the concrete display mode of path planning and path description information and stroke explanation, do not limit particular content that the explanation of path description information and stroke comprises etc. yet.
In S220, can select to determine guidance path that the user can import the selection routing instruction by modes such as button, rocking bar, knob and touch pads according to the selection routing instruction of user's input.The guidance path of determining can only comprise public transportation road section, also can also comprise other highway section when comprising public transportation road section, as comprises public transportation road section and highway section etc. on foot.Present embodiment does not limit the specific implementation of selecting guidance path.
S230, after receiving navigation instruction, determine the position of navigation object according to the gps satellite signal that receives, and be the navigation object navigation according to the position and the above-mentioned guidance path of navigation object.
Position and guidance path according to navigation object are that the navigation object navigation comprises: position and the public transportation road section in the guidance path according to navigation object are that navigation object carries out the public transport navigation.Optionally position and the guidance path according to navigation object is that the navigation object navigation can also comprise: position and the highway section on foot in the guidance path according to navigation object are that navigation object navigates on foot.
Exemplify the public transport that comprises from origin to destination below and navigate and navigate in interior complete navigation process on foot, so that the public transport navigation is described with navigating on foot:
Navigation processing one, from the departure place to the navigation on foot of first public transportation road section.If the departure place is the initial website of first public transportation road section, then can not comprise navigation processing one in this navigation procedure.The public transportation road section that first public transportation road section here is promptly nearest apart from the departure place.Navigation processing one can comprise following content:
Handle 1, determine that according to the current location of navigation object navigation object is arranged in from the departure place to the highway section on foot of first public transportation road section.
If whether distance between the initial website of processing 2, the current location of judging navigation object and first public transportation road section smaller or equal to preset distance X, then points out navigation object initial website near first public transportation road section smaller or equal to preset distance X.Need to prove, here smaller or equal to also variable be changed to less than.
A concrete example: whether the distance of initial website of judging the current location of navigation object and first public transportation road section is smaller or equal to preset distance X, and this preset distance X can be provided with by user or production firm, and this preset distance X is as 50 meters or 60 meters etc.In the distance of the initial website of the current location of judging navigation object and first public transportation road section during smaller or equal to preset distance X, the prompting navigation object is near the initial website of first public transportation road section, this prompting can also comprise the prompting of public bus network, as please taking A road bus at the B website.The prompting mode here can be for ejecting display window prompting or voice suggestion etc., and present embodiment does not limit the specific implementation of prompting.
If the current location of processing 3 navigation objects and the bee-line of first public transportation road section then point out navigation object whether to take the bus of first public transportation road section smaller or equal to preset distance Y.
If determine that according to the input information that receives navigation object taken the bus of first public transportation road section, then carry out following navigation processing two.
If determine that according to the input information that receives navigation object do not take the bus of first public transportation road section, and determine distance between the originating station of the current location of navigation object and first public transportation road section at the fixed time behind the t smaller or equal to preset distance Y, then continue the bus whether the prompting navigation object has taken first public transportation road section;
If determine that according to the input information that receives navigation object do not take the bus of described next public transportation road section, and the distance between the current location of determining navigation object in the t at the fixed time and the originating station of first public transportation road section is then carried out following son processing greater than preset distance Y:
If the current location of sub-processing navigation object and the bee-line of first public transportation road section are more than or equal to preset distance J and smaller or equal to preset distance K, then the geography information according to storage in advance is that the current location of navigation object and the purpose website of first public transportation road section carry out the path planning processing; Otherwise, be that the current location of navigation object and former destination are carried out path planning again and handled according to the geography information of storage in advance.After the path planning processing, can select to determine guidance path, and navigation procedure that the guidance path of determining according to this selection adopts present embodiment to put down in writing is that navigation object navigates.If the guidance path of the current location that this guidance path of determining is a navigation object and the purpose website correspondence of first public transportation road section, then this guidance path of determining need be replaced the current location of navigation object among the S220 to the navigation highway section between the purpose website of first public transportation road section.If this guidance path of determining is the guidance path of the current location of navigation object to former destination correspondence, then this guidance path of determining need be replaced the current location of navigation object among the S220 to the navigation highway section between the former destination.
Need to prove that present embodiment does not limit above-mentioned processing 2 and handles 3 priority execution sequence, above-mentioned processing 2 and processing 3 can executed in parallel.
A concrete example of above-mentioned processing 3 is:
Whether the bee-line of judging the current location of navigation object and first public transportation road section is smaller or equal to preset distance Y, and this preset distance Y can be provided with by user or production firm, and this preset distance Y is as 50 meters or 60 meters etc.If above-mentioned bee-line greater than preset distance Y, then continues to determine according to the gps satellite signal that receives the current location of navigation object, and proceed walking navigation according to current location and highway section on foot from the departure place to the initial website of first public transportation road section; If above-mentioned bee-line smaller or equal to preset distance Y, then points out navigation object whether to take A road bus.
If the information judgement navigation object according to user's input has been taken A road bus, then carry out following navigation processing two.
If the information judgement navigation object according to user's input is not taken A road bus, then whether the bee-line of regularly judging the current location of navigation object and first public transportation road section according to schedule time t (t was as 2 minutes) still smaller or equal to preset distance Y, if still smaller or equal to preset distance Y then continue above-mentioned prompting navigation object and whether taken processing procedures such as A road bus.If the current location of judging navigation object in the t at the fixed time to the bee-line of first public transportation road section greater than preset distance Y (this phenomenon may take bus owing to navigation object, navigation object is walked out beyond the Y distance again or multiple reason such as bus change circuit causes), then can carry out following processing:
If the bee-line of judging the current location of navigation object and first public transportation road section is more than or equal to preset distance J (as 80 meters, 100 meters) and smaller or equal to preset distance K (as 180 meters, 200 meters), then the current location with navigation object is the departure place, purpose website with first public transportation road section is that path planning is carried out in the destination, obtain path planning, from the path planning of this acquisition, select to determine guidance path, and guidance path of determining according to this selection is the navigation that navigation object carries out the purpose website from current location to first public transportation road section.Afterwards, continue to navigate according to the next highway section after first public transportation road section in the guidance path of determining among the S220.
If the bee-line of judging the current location of navigation object and first public transportation road section is greater than preset distance K, then the current location with navigation object is the departure place, with former destination is the destination, again carry out path planning, regain path planning, from path planning, select to determine guidance path, and be that navigation object carries out the navigation from current location to former destination according to this guidance path.Thereby no longer continue to navigate according to the guidance path of determining among the S220.
The public transport navigation of processing two, first public transportation road section.Navigation processing two can comprise following content:
Handle 1), whether the current location of judging navigation object near the purpose website of first public transportation road section, if, then point out the purpose website of navigation object near first public transportation road section near the purpose website of first public transportation road section, otherwise, do not carry out this prompting.
Whether the above-mentioned current location of judging navigation object can have multiple near the mode of the purpose website of first public transportation road section, as whether the distance of judging the current location of navigation object and public transport purpose website is smaller or equal to U, if smaller or equal to U, then determine purpose website near first public transportation road section, otherwise, definite purpose website that does not have near first public transportation road section.For another example, if whether the distance of a last website of purpose website of judging the current location of navigation object and first public transportation road section smaller or equal to U, then determines purpose website near first public transportation road section smaller or equal to U, otherwise, definite purpose website that does not have near first public transportation road section.
Handle 2), regularly judge that whether distance between the purpose website of the current location of navigation object and first public transportation road section is smaller or equal to preset distance V, if smaller or equal to preset distance V, then point out navigation object whether to get off, if determine that according to the input information that receives navigation object gets off, then navigate according to the current location of navigation object and the next highway section that is connected with first public transportation road section.Next highway section can be public transportation road section, also can be highway section on foot.If determine that according to the input information that receives navigation object do not get off, and judge distance between the purpose website of the current location of navigation object and first public transportation road section more than or equal to preset distance W and more than or equal to duration of preset distance W during more than or equal to schedule time P, the prompting navigation object has departed from the purpose website of first public transportation road section, please gets off nearby.After the prompting navigation object departs from and determines that according to input information navigation object has been got off, geography information according to storage in advance is that the current location and the former destination of navigation object carried out path planning again, regain path planning, afterwards, from the path planning of this acquisition, select to determine guidance path, and guidance path of determining according to this selection is that navigation object carries out the navigation from current location to former destination.
Handle 2) a concrete example be: judge that distance between the purpose website of the current location of navigation object and first public transportation road section whether smaller or equal to V, if smaller or equal to V, then points out navigation object whether to get off; Information judgement navigation object according to user's input is got off, and then the navigation of first public transportation road section finishes, and enters the navigation procedure in the next highway section that is connected with first public transportation road section.If the information judgement navigation object according to user's input is not got off, and the current location of navigation object arrives the distance of public transport purpose website less than preset distance W, perhaps more than or equal to duration of preset distance W less than schedule time P, then at the fixed time after the O, continue to carry out above-mentioned whether smaller or equal to the operation such as whether got off of V and prompting navigation object.If the information judgement navigation object according to user's input is not got off, and the current location of judging navigation object to the distance between the public transport purpose website more than or equal to preset distance W (as 200 meters), and more than or equal to duration of local side distance W more than or equal to schedule time P, the purpose website of then pointing out navigation object to depart from first public transportation road section is please got off nearby.
Handle 3), determining according to the current location of navigation object under the situation that navigation object is positioned at first public transportation road section, whether the current location of regularly judging navigation object according to schedule time M departs from first public transportation road section, determining when departing from first public transportation road section, whether the prompting navigation object has taken the bus of first public transportation road section; What determine that navigation object takes according to input information is not the bus of first public transportation road section, then point out navigation object to get off nearby, and after determining navigation object and getting off nearby, according to the geography information of storage in advance is that the current location of navigation object and former destination are carried out path planning again and handled, regain path planning, afterwards, from the path planning of this acquisition, select to determine guidance path, and guidance path of determining according to this selection is that navigation object carries out the navigation from current location to former destination.
Processing 3) a object lesson is:
The current location of judging navigation object to the bee-line of first public transportation road section whether more than or equal to preset distance Z and more than or equal to duration of preset distance Z whether more than or equal to schedule time N, if more than or equal to preset distance Z and more than or equal to schedule time N, then determine and departed from first public transportation road section, otherwise, determine and do not depart from first public transportation road section.This departs from can be departing from that multiple situation causes because navigation object is got off in advance or got on the wrong bus etc.Do not depart from first public transportation road section if determine, then at the fixed time behind the M, continue to carry out the above-mentioned decision operation that whether departs from.Departed from first public transportation road section if determine, whether the bus of then pointing out navigation object to take is A road bus, if judging the bus that navigation object takes according to the information of user input is A road bus, then at the fixed time behind the M, continue to carry out and judge whether navigation object has departed from the operation of first public transportation road section and above-mentioned prompting.If judging the bus that navigation object takes according to the information of user input is not A road bus, then point out navigation object to get off nearby.After the prompting navigation object is got off nearby, do not get off if judge navigation object according to the information of user's input, then can continue to point out navigation object to get off nearby; After the prompting navigation object is got off nearby, if judging the user according to the information of user's input gets off, be that the current location of navigation object and former destination are carried out path planning again and handled then according to the geography information of storage in advance, regain path planning, afterwards, from the path planning of this acquisition, select to determine guidance path, and guidance path of determining according to this selection is that navigation object carries out the navigation from current location to former destination.
Need to prove that present embodiment does not limit above-mentioned processing 1), handle 2) and handle 3) the priority execution sequence, above-mentioned processing 1), handle 2) and processing 3) can executed in parallel.
Navigation processing three, from first public transportation road section to the next one navigation highway section navigation.If the purpose website of first public transportation road section is the destination, then can not comprise navigation processing three in this navigation procedure.If the next one of first public transportation road section navigation highway section is second public transportation road section, then can adopt the description of above-mentioned navigation processing two to proceed navigation.If the next one of first public transportation road section navigation highway section is second highway section on foot, and second on foot the next one navigation highway section in highway section be second public transportation road section, then can adopt the description of above-mentioned navigation processing one to proceed navigation.If the next one of first public transportation road section navigation highway section is second highway section on foot, and second on foot the terminal point in highway section be the destination, then provide navigation Service for navigation object in the highway section on foot according to the current location of navigation object and this, this navigation Service can comprise that the prompting navigation object is near the destination etc.Present embodiment no longer describes in detail.
Embodiment two, navigator.The structure of this navigator as shown in Figure 3.
Navigator among Fig. 3 comprises: memory module 300, receiver module 310, determine start-stop module 320, path planning module 330, guidance path module 340 and navigation module 350.Optionally, navigator can also comprise and departs from module 360.
Memory module 300 is used to store geography information, and this geography information comprises: Bus information.
The Bus information of storage specifically can comprise in the memory module 300: platform name information, gate position information and public bus network information etc.The geography information of storage can also comprise in the memory module 300: map datum.Optionally, the geography information of storage can also comprise in the memory module 300: information on foot.This on foot information can comprise: at least one in overpass information, zebra stripes information, tunnel information and the underpass information etc.Overpass information can comprise the positional information of overpass.Zebra stripes information can comprise the positional information of zebra stripes.Tunnel information can comprise the positional information in tunnel and the gateway information in tunnel etc.Underpass information can comprise the positional information of underpass and the gateway information of underpass etc.Present embodiment does not limit the content that information on foot specifically comprises.
Receiver module 310 is used to receive input information.The input information here can comprise: destination information also can comprise: departure place information and destination information; Can also comprise that user in the foregoing description one is according to the information of various promptings inputs etc.
Determine start-stop module 320, be used for determining the navigation object destination according to the input information that receiver module 310 receives.If input information comprises departure place information, determine that then start-stop module 320 can also be used for determining according to the input information that receiver module 310 receives the departure place of navigation object.In the process of determining departure place and destination, can utilize map data stored in the memory module 300.In addition, if do not comprise departure place information in the input information that receiver module 310 receives, determine that then start-stop module 320 can be according to the departure place of determining navigation object at the location of the current position of navigation object, that is to say, determine that start-stop module 320 is defined as the current position of navigation object the departure place of navigation object.
Path planning module 330 is used for carrying out path planning according to geography information, departure place and the destination of memory module 300 storages and handles, and obtains path planning.The path planning is here handled and is comprised: public bus network planning, and the path planning of acquisition can be for one or more, and each path planning is the path that departure place to destination provides.
Path planning module 330 can be carried out public bus network planning (being that public bus network calculates) according to Bus information, departure place and the destination of storage in the memory module 300, obtains to include the path planning of public transportation road section.A path planning can include one or more public transportation road section.Present embodiment does not limit the specific implementation process that path planning module 330 is carried out public bus network planning.
Include in the geography information of memory module 300 storage under the situation of information on foot, path planning module 330 can be according to the Bus information of storage in advance and public bus network planning and layout of roads on foot, acquisition path planning are carried out in information, departure place and destination on foot.A thus obtained path planning can comprise: at least one public transportation road section also can comprise: at least one public transportation road section and at least one be the highway section on foot.All public transportation road section that comprise in the path planning that path planning module 330 obtains and all can form from the departure place to a path of destination after the linking before and after the highway section on foot in proper order.
Path planning module 330 can be after path planning be finished dealing with, and notice guidance path module 340 is selected guidance path.
Guidance path module 340 is used for selecting to determine guidance path that from the path planning that path planning module 330 obtains this guidance path comprises: at least one public transportation road section; Optionally this guidance path can also comprise: at least one is the highway section on foot.
The path planning that path planning module 330 obtains can show that like this, the guidance path that guidance path module 340 is selected is a planning path in the path planning tabulation with the form of path planning tabulation.Each path planning in the path planning tabulation can be respectively to there being the explanation of path description information and stroke, and content that path description information and stroke explanation specifically comprise and display mode etc. are in this no longer repeat specification.
The selection routing instruction that guidance path module 340 can be imported according to the user that receiver module 310 receives selects to determine guidance path that the user can import the selection routing instruction by modes such as button, rocking bar, knob and touch pads.
Navigation module 350 is used for after receiver module 310 receives navigation instruction, determines the position of navigation object according to the global position system GPS satellite-signal that receives, and is the navigation object navigation according to the position and the guidance path of navigation object.
Navigation module 350 is that the navigation object navigation comprises according to the position and the guidance path of navigation object: navigation module 350 is that navigation object carries out the public transport navigation according to the position and the public transportation road section in the guidance path of navigation object.Optionally, navigation module 350 is that the navigation object navigation can also comprise according to the position and the guidance path of navigation object: navigation module 350 is that navigation object navigates on foot according to the position and the highway section on foot in the guidance path of navigation object.
The navigation module 350 here can comprise: any one in the first navigation submodule, the second navigation submodule, the 3rd navigation submodule and the 4th navigation submodule or a plurality of.Include at navigation module 350 under the situation of the 4th navigation submodule, navigation module 350 can also comprise the 5th navigation submodule and the 6th navigation any one or two in the submodule.
The first navigation submodule, be used for when determining the purpose website of the public transportation road section that current location that navigation object is positioned at public transportation road section and navigation object is positioned near navigation object according to the current location of navigation object the purpose website of the public transportation road section that the prompting navigation object is positioned near navigation object.
Whether the current location that the first navigation submodule is judged navigation object can have multiple near the mode of the purpose website of first public transportation road section, judge that as the first navigation submodule whether the distance of the current location of navigation object and public transport purpose website is smaller or equal to U, if smaller or equal to U, then the first navigation submodule is determined the purpose website near first public transportation road section, otherwise, the definite purpose website that does not have near first public transportation road section of the first navigation submodule.For another example, the first navigation submodule judges that whether the distance of a last website of purpose website of the current location of navigation object and first public transportation road section is smaller or equal to U, if smaller or equal to U, then the first navigation submodule is determined the purpose website near first public transportation road section, otherwise, the definite purpose website that does not have near first public transportation road section of the first navigation submodule.
The second navigation submodule, be used for determine according to the current location of navigation object navigation object the current location of public transportation road section and navigation object and navigation object the purpose website of public transportation road section between distance during smaller or equal to preset distance V, whether the prompting navigation object gets off, second input information that receive according to receiver module 310 of navigation submodule determines that navigation object gets off, and then navigates according to the current location and the next highway section of navigation object; After if the input information that the second navigation submodule receives according to receiver module 310 determines that navigation object is not got off, the second navigation submodule judge again current location and navigation object the purpose website of public transportation road section between distance more than or equal to duration of preset distance W more than or equal to schedule time P, then point out navigation object to get off nearby, the second navigation submodule is after determining navigation object and getting off nearby, and notification path planning module 330 is that the current location of navigation object and destination are carried out path planning and handled according to geography information.
A concrete example: whether the distance between the current location that the second navigation submodule is judged navigation object and the purpose website of first public transportation road section smaller or equal to V, if smaller or equal to V, then whether second submodule that navigates points out navigation object to get off; The second navigation submodule judges that according to receiving input information that module 310 receives navigation object gets off, and then navigator is carried out the navigation procedure in the next highway section that is connected with first public transportation road section.If the input information that the second navigation submodule receives according to receiver module 310 is judged navigation object and is not got off, and the current location of navigation object arrives the distance of public transport purpose website less than preset distance W, perhaps more than or equal to duration of preset distance W less than schedule time P, then at the fixed time after the O, whether the second navigation submodule continues to carry out above-mentioned smaller or equal to the operation such as whether got off of V and prompting navigation object.If the input information that the second navigation submodule receives according to receiver module 310 is judged navigation object and is not got off, and the current location that the second navigation submodule is judged navigation object to the distance between the public transport purpose website more than or equal to preset distance W (as 200 meters), and more than or equal to duration of local side distance W more than or equal to schedule time P, then the second navigation submodule prompting navigation object has departed from the purpose website of first public transportation road section, please gets off nearby.
The 3rd navigation submodule, be used for navigation object the current location of highway section and navigation object on foot and navigation object the initial website of next public transportation road section in highway section on foot between distance during smaller or equal to preset distance X, the prompting navigation object is near the initial website of next public transportation road section.
A concrete example: the 3rd navigation submodule judges that whether the distance of initial website of the current location of navigation object and first public transportation road section is smaller or equal to preset distance X, this preset distance X can be provided with by user or production firm, and this preset distance X is as 50 meters or 60 meters etc.The 3rd navigation submodule is in the distance of the initial website of the current location of judging navigation object and first public transportation road section during smaller or equal to preset distance X, the prompting navigation object is near the initial website of first public transportation road section, this prompting can also comprise the prompting of public bus network, as please taking A road bus at the B website.
The 4th navigation submodule, the bee-line of next public transportation road section that is used for being positioned at highway section on foot and the current location of navigation object and the highway section on foot that navigation object is positioned at navigation object is during smaller or equal to preset distance Y, whether the prompting navigation object has taken the bus of described next public transportation road section, the 4th input information that receive according to receiver module 310 of navigation submodule determines that navigation object taken this bus, and then notifying the first navigation submodule and/or second navigation submodule current location and the next public transportation road section according to navigation object is that navigation object carries out the public transport navigation.
A concrete example: the 4th navigation submodule judges that whether the bee-line of the current location of navigation object and first public transportation road section is smaller or equal to preset distance Y, this preset distance Y can be provided with by user or production firm, and this preset distance Y is as 50 meters or 60 meters etc.If above-mentioned bee-line is greater than preset distance Y, then the 4th navigation submodule continues to determine according to the gps satellite signal that receives the current location of navigation object, and proceeds walking navigation according to current location and the highway section on foot from the departure place to the initial website of first public transportation road section; If above-mentioned bee-line is smaller or equal to preset distance Y, then whether the 4th navigation submodule prompting navigation object has taken A road bus.
If the input information that the 4th navigation submodule receives according to receiver module 310 is judged navigation object and has taken A road bus that then notifying the first navigation submodule and the second navigation submodule is that navigation object carries out the public transport navigation.If the input information that the 4th navigation submodule receives according to receiver module 310 is judged navigation object and is not taken A road bus that then the 4th navigation submodule is notified the 5th navigation submodule and the 6th navigation submodule.
The 5th navigation submodule, be used for determining that at the input information that receives according to receiver module 310 navigation object do not take under the situation of bus of above-mentioned next public transportation road section, if the distance between the current location that the 5th navigation submodule is determined navigation object at the fixed time behind the t and the originating station of above-mentioned next public transportation road section is smaller or equal to preset distance Y, then the 5th navigation submodule continues to point out navigation object whether to take the bus of described next public transportation road section.
Concrete example: after the 5th navigation submodule receives the 4th navigation submodule notice, the 5th navigation submodule judges regularly that according to schedule time t (t was as 2 minutes) whether the bee-line of the current location of navigation object and first public transportation road section is still smaller or equal to preset distance Y, if still smaller or equal to preset distance Y, then the 5th navigation submodule continues above-mentioned prompting navigation object and whether has taken processing procedures such as A road bus.
The 6th navigation submodule, be used for determining that at the input information that receives according to receiver module 310 navigation object do not take under the situation of bus of above-mentioned next public transportation road section, if the 6th navigation submodule is determined distance between the originating station of the current location of navigation object in the t at the fixed time and above-mentioned next public transportation road section greater than preset distance Y, whether the bee-line that then continues to judge the current location of navigation object and above-mentioned next public transportation road section is more than or equal to preset distance J and smaller or equal to preset distance K, if more than or equal to preset distance J and smaller or equal to preset distance K, then the 6th navigation submodule notification path planning module 330 is that the current location of navigation object and the purpose website of above-mentioned next public transportation road section carry out the path planning processing according to geography information, otherwise notification path planning module 330 is that the current location of navigation object and described destination are carried out path planning again and handled according to geography information.
Depart from module 360, be used for determining according to the current location of navigation object under the situation that navigation object is positioned at public transportation road section, whether the current location of regularly judging navigation object according to schedule time M departs from the public transportation road section that navigation object is positioned at, determining when departing from, whether the prompting navigation object has taken the bus of the public transportation road section that navigation object is positioned at, the input information that receives according to receiver module 310 determines that navigation object takes is not the bus of the public transportation road section that is positioned at of navigation object, then point out navigation object to get off, after determining navigation object and getting off, trigger path planning module 330 and carry out path planning again according to the current location of navigation object and former destination and handle.
A concrete example: depart from current location that module 360 judges navigation object to the bee-line of first public transportation road section whether more than or equal to preset distance Z and more than or equal to duration of preset distance Z whether more than or equal to schedule time N, if more than or equal to preset distance Z and more than or equal to schedule time N, then departing from module 360 determines and has departed from first public transportation road section, otherwise, depart from module 360 and determine and do not depart from first public transportation road section.This departs from can be departing from that multiple situation causes because navigation object is got off in advance or got on the wrong bus etc.Determine and do not depart from first public transportation road section if depart from module 360, then depart from module 360 at the fixed time behind the M, continue to carry out the above-mentioned decision operation that whether departs from.If departing from module 360 determines and has departed from first public transportation road section, depart from then whether the bus that module 360 prompting navigation objects take is A road bus, if departing from input information that module 360 receives according to receiver module 310, to judge the bus that navigation object takes be A road bus, then at the fixed time behind the M, depart from module 360 and continue to carry out and judge whether navigation object has departed from the operation of first public transportation road section and above-mentioned prompting.To judge the bus that navigation object takes according to the information of user input be not A road bus if depart from module 360, then departs from module 360 prompting navigation objects and get off nearby.After departing from module 360 prompting navigation objects and getting off nearby, judge navigation object and do not get off if depart from input information that module 360 receives according to receiver module 310, then depart from module 360 and can continue to point out navigation object to get off nearby; After the prompting navigation object is got off nearby, judge the user and get off if depart from input information that module 360 receives according to receiver module 310, then departing from module 360 notification path planning modules 330 is that the current location of navigation object and former destination are carried out path planning again and handled according to the geography information of storage in advance.
Through the above description of the embodiments, those skilled in the art can be well understood to the present invention and can realize by the mode that software adds essential hardware platform, can certainly all implement, but the former is better embodiment under a lot of situation by hardware.Based on such understanding, all or part of can the embodying that technical scheme of the present invention contributes to background technology with the form of software product, described software product can be used to carry out above-mentioned method flow.This computer software product can be stored in the storage medium, as ROM/RAM, magnetic disc, CD etc., comprise that some instructions are with so that a computer equipment (can be a personal computer, server, the perhaps network equipment etc.) carry out the described method of some part of each embodiment of the present invention or embodiment.
The above only is preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an air navigation aid is characterized in that, is provided with geography information, and this geography information comprises: Bus information, and described method comprises:
Determine the destination of navigation object according to the input information that receives;
Carry out path planning according to described geography information, departure place and described destination and handle, obtain path planning, described path planning is handled and is comprised: public bus network planning, and described path planning comprises: at least one public transportation road section;
Select to determine guidance path from described path planning, described guidance path comprises: at least one public transportation road section;
After receiving navigation instruction, determine the position of navigation object according to the global position system GPS satellite-signal that receives, and be the navigation object navigation according to the position and the described guidance path of navigation object.
2. the method for claim 1 is characterized in that, described position and described guidance path according to described navigation object is that the navigation object navigation comprises:
When determining that according to the current location of navigation object navigation object is arranged in the purpose website of the public transportation road section that described public transportation road section and described current location be positioned near navigation object, the purpose website of the public transportation road section that the prompting navigation object is positioned near navigation object; And/or
According to the current location of navigation object determine navigation object in described public transportation road section and described current location and navigation object the purpose website of public transportation road section between distance during smaller or equal to preset distance V, whether the prompting navigation object gets off, if determine that according to the input information that receives navigation object gets off, then navigate according to the current location and the next highway section of navigation object; If after determining that according to the input information that receives navigation object is not got off, judge described current location and navigation object the purpose website of public transportation road section between distance more than or equal to duration of preset distance W more than or equal to schedule time P, then point out navigation object to get off nearby, and after determining navigation object and getting off nearby, be that the current location of navigation object and described destination are carried out path planning and handled according to described geography information.
3. method as claimed in claim 1 or 2 is characterized in that, described method also comprises:
Determining according to the current location of navigation object under the situation that navigation object is positioned at described public transportation road section, whether the current location of regularly judging navigation object according to schedule time M departs from the public transportation road section that described navigation object is positioned at, determining when departing from, whether the prompting navigation object has taken the bus of the public transportation road section that navigation object is positioned at;
What determine that navigation object takes according to input information is not the bus of the public transportation road section that is positioned at of navigation object, then point out navigation object to get off nearby, and after determining navigation object and getting off, carry out path planning again according to the current location of navigation object and described destination and handle.
4. method as claimed in claim 1 or 2 is characterized in that, described geography information also comprises: information on foot, described path planning are handled and also comprised: layout of roads, and described path planning on foot and guidance path also comprise: at least one is the highway section on foot; Described highway section on foot comprises: the highway section on foot between the transfer stop of departure place to the highway section on foot of the initial website of first public transportation road section or two public transportation road section in the Public Transport Transfer or the purpose website of last public transportation road section are to the highway section on foot of destination.
5. method as claimed in claim 4 is characterized in that, described position and described guidance path according to described navigation object is that the navigation object navigation comprises:
According to the current location of navigation object determine navigation object in described highway section on foot and described current location and described navigation object the initial website of next public transportation road section in highway section on foot between distance during smaller or equal to preset distance X, the prompting navigation object is near the initial website of described next public transportation road section;
And/or
When determining that according to the current location of navigation object the bee-line of next public transportation road section that navigation object is arranged in the highway section on foot that described highway section on foot and described current location and navigation object be positioned at is smaller or equal to preset distance Y, whether the prompting navigation object has taken the bus of described next public transportation road section, determine that according to the input information that receives navigation object taken described bus, then current location and the described next public transportation road section according to navigation object is that navigation object carries out the public transport navigation.
6. method as claimed in claim 5 is characterized in that, described position and described guidance path according to described navigation object is that the navigation object navigation also comprises:
Determine that according to the input information that receives navigation object do not take the bus of described next public transportation road section, if then determine distance between the originating station of the current location of navigation object and described next public transportation road section at the fixed time behind the t smaller or equal to preset distance Y, then continue the bus whether the prompting navigation object has taken described next public transportation road section; And/or
Determine that according to the input information that receives navigation object do not take the bus of described next public transportation road section, and determine under the situation of distance between the originating station of the current location of navigation object in the t at the fixed time and described next public transportation road section greater than preset distance Y, if the bee-line of the current location of navigation object and described next public transportation road section is more than or equal to preset distance J and smaller or equal to preset distance K, be that the current location of navigation object and the purpose website of described next public transportation road section carry out the path planning processing then according to described geography information, otherwise, be that the current location of navigation object and described destination are carried out path planning again and handled according to described geography information.
7. a navigator is characterized in that, described navigator comprises:
Memory module is used to store geography information, and this geography information comprises: Bus information;
Receiver module is used to receive input information;
Determine the start-stop module, be used for determining the destination of navigation object according to described input information;
Path planning module is used for carrying out path planning according to described geography information, departure place and described destination and handles, and obtains path planning, and described path planning is handled and comprised: public bus network planning, and described path planning comprises: at least one public transportation road section;
The guidance path module is used for selecting to determine guidance path that described guidance path comprises: at least one public transportation road section from described path planning;
Navigation module is used for after receiving navigation instruction, determines the position of navigation object according to the global position system GPS satellite-signal that receives, and is the navigation object navigation according to the position and the described guidance path of navigation object.
8. equipment as claimed in claim 7 is characterized in that, described navigation module comprises:
The first navigation submodule, when being used for determining that according to the current location of navigation object navigation object is positioned at the purpose website of the public transportation road section that described public transportation road section and described current location be positioned near navigation object, the purpose website of the public transportation road section that the prompting navigation object is positioned near navigation object; And/or
The second navigation submodule, be used for according to the current location of navigation object determine navigation object described public transportation road section and described current location and navigation object the purpose website of public transportation road section between distance during smaller or equal to preset distance V, whether the prompting navigation object gets off, determine that according to input information navigation object gets off, then navigate according to the current location and the next highway section of navigation object; If after determining that according to the input information that receives navigation object is not got off, judge current location and navigation object the purpose website of public transportation road section between distance more than or equal to duration of preset distance W more than or equal to schedule time P, then point out navigation object to get off nearby, after determining navigation object and getting off nearby, the notification path planning module is that the current location of navigation object and destination are carried out path planning and handled according to geography information;
And/or described equipment also comprises:
Depart from module, be used for determining according to the current location of navigation object under the situation that navigation object is positioned at described public transportation road section, whether the current location of regularly judging navigation object according to schedule time M departs from the public transportation road section that described navigation object is positioned at, determining when departing from, whether the prompting navigation object has taken the bus of the public transportation road section that navigation object is positioned at, what determine that navigation object takes according to input information is not the bus of the public transportation road section that is positioned at of navigation object, then point out navigation object to get off, after determining navigation object and getting off, trigger described path planning module and carry out path planning again according to the current location of navigation object and described destination and handle.
9. equipment as claimed in claim 8, it is characterized in that, the geography information of described memory module storage also comprises: information on foot, and the path planning of described path planning module is handled and also comprised: layout of roads, and described path planning on foot and guidance path also comprise: at least one is the highway section on foot; Described highway section on foot comprises: at least one to the highway section on foot of destination of the highway section on foot between the transfer stop of departure place to the highway section on foot of the initial website of first public transportation road section, two public transportation road section in the Public Transport Transfer and the purpose website of last public transportation road section.
10. equipment as claimed in claim 9 is characterized in that, described navigation module comprises:
The 3rd navigation submodule, be used for navigation object described highway section on foot and described current location and described navigation object the initial website of next public transportation road section in highway section on foot between distance during smaller or equal to preset distance X, the prompting navigation object is near the initial website of described next public transportation road section; And/or
The 4th navigation submodule, the bee-line of next public transportation road section that is used for being positioned at the highway section on foot that described highway section on foot and described current location and navigation object be positioned at navigation object is during smaller or equal to preset distance Y, whether the prompting navigation object has taken the bus of described next public transportation road section, determine that according to the input information that receives navigation object taken described bus, then notifying the first navigation submodule and/or second navigation submodule current location and the described next public transportation road section according to navigation object is that navigation object carries out the public transport navigation;
Comprise that at described navigation module described navigation module also comprises under the situation of the 4th navigation submodule
The 5th navigation submodule, be used for determining that according to the input information that receives navigation object do not take under the situation of bus of described next public transportation road section, if determine distance between the originating station of the current location of navigation object and described next public transportation road section at the fixed time behind the t smaller or equal to preset distance Y, then continue the bus whether the prompting navigation object has taken described next public transportation road section; And/or
The 6th navigation submodule, be used for determining that according to the input information that receives navigation object do not take the bus of described next public transportation road section, and determine under the situation of distance between the originating station of the current location of navigation object in the t at the fixed time and described next public transportation road section greater than preset distance Y, if the bee-line of the current location of navigation object and described next public transportation road section is more than or equal to preset distance J and smaller or equal to preset distance K, then the notification path planning module is that the current location of navigation object and the purpose website of described next public transportation road section carry out the path planning processing according to geography information, otherwise the notification path planning module is that the current location of navigation object and described destination are carried out path planning again and handled according to geography information.
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| CN 201010110380 CN101762279B (en) | 2010-02-01 | 2010-02-01 | Navigation method and device |
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| CN103185597A (en) * | 2011-12-30 | 2013-07-03 | 上海博泰悦臻电子设备制造有限公司 | Navigation method and navigation apparatus |
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| CN104424191A (en) * | 2013-08-20 | 2015-03-18 | 百度在线网络技术（北京）有限公司 | Method and device for detecting bus station association |
| CN105989733A (en) * | 2015-02-27 | 2016-10-05 | 阿里巴巴集团控股有限公司 | bus real-time information synchronization method, device and system |
| CN105277205A (en) * | 2015-10-21 | 2016-01-27 | 百度在线网络技术（北京）有限公司 | Method and device for providing user with public traffic navigation service |
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| CN107478237A (en) * | 2017-06-29 | 2017-12-15 | 百度在线网络技术（北京）有限公司 | Real scene navigation method, device, equipment and computer-readable recording medium |
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