CN101813491A - Walking navigation path planning method, walking navigation method and navigation equipment - Google Patents
Walking navigation path planning method, walking navigation method and navigation equipment Download PDFInfo
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Abstract
The invention discloses a walking navigation path planning method, a walking navigation method and navigation equipment, relating to a navigation technology, in particular to the path planning of walking navigation and aiming to solve the technical problem of providing the walking navigation path planning method, the navigation method and the navigation equipment. The walking navigation path planning method comprises the following steps of: determining a starting place and a destination; and carrying out the path planning according to previously saved walking navigation data, the starting place, the destination and walking traffic rules to obtain a planed path. The invention can achieve the beneficial effect of providing accurate and convenient walking path guide for a navigation object through the provided walking navigation path planning method, the provided walking navigation method and the provided navigation equipment.
Description
Technical field
The present invention relates to airmanship, more particularly, relate to the path planning of walking navigation.
Background technology
Airmanship GPS (Global Positioning System, GPS) principle of work is: navigation terminal receives the position coordinates that at least 3 satellites transmitted in earth-circling 24 gps satellites, the position coordinates of putting down in writing in the electronic chart that itself and terminal self are stored mates, and determines the accurate position of navigation object in electronic chart of this terminal of lift-launch with this.After the user configured departure place and destination, navigating instrument can compute best paths, and according to calculate optimal path navigate for the user.
At present, it is automobile-used that navigational system mostly is, and is about to navigational system and is loaded in the vehicle, and onboard navigation system is the vehicle path planning according to the characteristics of vehicle ', thereby navigate for vehicle.As shown in Figure 1, circuit 1 is the route of existing navigation scheme planning, and circuit 2 be actual track route (walking from A point along the road walkway, behind the zebra stripes to the road opposite, walk along the road street crossing then, after zebra stripes, arrive destination B), existing navigation scheme does not comprise the data on walkway, the route that the left-hand rotation of planning among the figure is turned around, actual is the vehicle circuit that turns around, if the pedestrian from here by will very dangerous, and have no talent in fact substantially from going across the road here.
So at present for the walking user, according to the path planning walking of navigational system, the guiding that is easy to make a mistake wants walking to arrive somewhere, at present can only be according to paper map information, mark information or attendant consultation service, and these modes all waste time and energy.
Summary of the invention
The technical problem to be solved in the present invention provides paths planning method, air navigation aid and the navigator of walking navigation.
The invention provides a kind of paths planning method of walking navigation, comprising:
Determine departure place and destination;
Carry out path planning according to the walking navigation data of prior preservation, described departure place, described destination and pedestrian traffic rule;
Obtain path planning.
Walking navigation data, described departure place, described destination and pedestrian traffic rule that described basis is preserved are in advance carried out path planning and can be carried out path planning according to bee-line.
Walking navigation data, described departure place, described destination and pedestrian traffic rule that described basis is preserved are in advance carried out path planning and are specifically comprised: carry out path planning according to the walking navigation data of prior preservation, described departure place, described destination, pedestrian traffic rule and road network attribute.
Described road network attribute comprises single line net and multi-thread road network, and when showing the path planning of described acquisition on electronic chart, the path planning of described acquisition is then only filled this road network of the path planning process of described acquisition through a certain in the multi-thread road network; The path planning of described acquisition is then filled whole single line road network through the single line road network.
The invention provides also a kind of walking navigation method, comprising:
Determine departure place and destination;
Carry out path planning according to the walking navigation data of prior preservation, described departure place, described destination and pedestrian traffic rule;
Navigate according to the path planning that obtains with by the current location that the gps signal that receives is determined.
The present invention also provides a kind of navigator, comprising:
Departure place and destination determining unit are used for determining departure place and destination;
Preserve the unit, be used to preserve the walking navigation data;
The path planning unit is used for carrying out path planning according to described walking navigation data, described departure place, described destination and pedestrian traffic rule, obtains path planning;
Described path planning unit can carry out path planning according to bee-line.
Described path planning unit further is carried out path planning according to the road network attribute.
Described navigator also comprises display unit, be used on electronic chart, showing the path planning of described acquisition, described road network attribute comprises single line net and multi-thread road network, the path planning of described acquisition is through a certain in the multi-thread road network, then display unit only fill described acquisition the path planning process this road network and shown; The path planning of described acquisition is through the single line road network, and then display unit is filled whole single line road network and shown.
Described navigator also comprises:
The gps signal receiving element is used to receive gps signal;
The current location identifying unit is used for judging current location according to described gps signal;
Navigation elements is used for navigating according to the path planning of described current location and acquisition.
The present invention can be reached for navigation object the beneficial effect of walking Way guidance accurately and conveniently is provided by paths planning method, walking navigation method, the navigator of the walking navigation that provides.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is a prior art navigational system path planning synoptic diagram;
Fig. 2 is the method flow diagram of the walking navigation path planning that provides of the embodiment of the invention one;
Fig. 3 is the single line road network that provides of the embodiment of the invention one and the synoptic diagram of multi-thread road network;
Fig. 4 a, Fig. 4 b, Fig. 4 c, Fig. 4 d are the path planning synoptic diagram that the embodiment of the invention one provides;
Fig. 5 is that the path that the embodiment of the invention one provides shows synoptic diagram;
Fig. 6 is the geographic position synoptic diagram of the concrete example of the walking navigation path planning that provides of the embodiment of the invention two;
Fig. 7 is the concrete example synoptic diagram of the walking navigation path planning that provides of the embodiment of the invention two;
Fig. 8 is the method flow diagram of the walking navigation method that provides of the embodiment of the invention three;
Fig. 9 is the navigator synoptic diagram that the embodiment of the invention four provides.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further described in detail 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
The walking navigation data comprise basic walking data, can also comprise important walking data and/or less important walking data.Walking data in basis comprise the road walkway, can also comprise following at least a: zebra stripes, overpass, tunnel (comprise subway tunnel, pedestrian tunnel is crossed street culvert or street pedestrian's dedicated tunnel etc.); Important walking data comprise following at least a: primary commercial shopping mall, city, villages within the city's bicycle lane, alleyway, open city square; Less important walking data type have comprise following at least a: open Urban Parks road, open sight spot, opened industrial garden, large-scale scientific and technological park accommodation road, large-scale community/sub-district road, large-scale Public Transport Transfer station.The included road walkway of walking data, basis, zebra stripes, overpass, the walking circuit with actual walking meaning can be finished in the tunnel, realizes navigation.Important walking data, less important walking data are on the basis of realizing walking navigation, realize with actual life proper more, walking navigation accurately, basic walking navigation is optimized, reaches navigation purpose more accurately, walking navigation is carried out the optimization of hommization more with expectation.
The embodiment of the invention provides a kind of walking navigation paths planning method, as shown in Figure 2:
101, gather the walking navigation data;
Gathering basic walking data comprises:
1. gather road walkway data: gather all road walkways, most carriageway can become pedestrian walkway after removing its vehicle ' traffic rules attribute, and for example calm four the tunnel or the like.But some carriageway pedestrian can not get on, and therefore for example a part of overpass, highway outside the vehicle ' traffic rules attribute of removing carriageway, need to remove this part overpass, and highway does not allow it participate in the planning of walking circuit;
Gathering basic walking data can also comprise following at least a:
2. gather the zebra stripes data, but zebra stripes are not gathered the bus-stop in, viaduct station, fragrant sweet lake, for example dark south 1 and stand 2 zebra stripes are arranged, it is interior to belong to the public transport platform, will not gather;
3. gather the overpass data, during collection, each crossing attribute of overline bridge is all gathered, as the sky bridge shape, and export volume, the direction of each gateway and photo etc.;
4. collection tunneling data, during collection, each crossing attribute in tunnel is all gathered, the quantity of gateway, the direction of each gateway and photo etc.Each outlet of tunnel generally all has specific names, and this part must be gathered.
Gathering important walking data comprises following at least a:
1. gather primary commercial shopping mall, city data, each metropolitan primary commercial shopping mall generally all is typical case's representative, as east gate shopping mall, Shenzhen, shopping mall, Wangfujing, Beijing, shopping mall, prosperous road of Chengdu spring, shopping mall, road, Jiang-Han Area, Wuhan, Nanjing Road East shopping mall, Nanjing etc.;
2. gather villages within the city's bicycle lane, alleyway data, Shenzhen Shang Sha village for example, the road of villages within the city such as Xia Sha village, the alleyway in the areas of Beijing;
3. gather open city square data, the Tian'anmen Square, Beijing for example, Shanghai People's Square, Hong Shan square, Wuhan, Tianfu Square Development in Chengdu etc.
Gathering less important walking data comprises following at least a:
1. gather open Urban Parks road data, comprise 24 hours open Urban Parks and non-24 hours open parks.Shenzhen mangrove is for example arranged, the riverside park, Wuhan, the VolksGarden, Chengdu is free of charge, and opens the door and the lockup restriction but have
2. gather open scene data: free sight spot, for example the outbeach, Shanghai does not still comprise the sight spot, scenic spot;
3. gather the opened industrial garden, large-scale scientific and technological park accommodation road data, day amperage sign indicating number city for example, Technology Park, South Mountain, software centre, the self-sufficient and strategically located region, Chengdu etc.;
4. gather large-scale community/sub-district road data;
5. gather large-scale public transport and change the station data into, Shenzhen Nan Touguan for example, Buji closes, Wuhan Lu Xiang bus station, train northern station, Chengdu bus station, five Gui Qiao bus stations, railway station, Guangzhou.
102, preserve the walking navigation data;
103, determine the departure place, determine the destination;
Determine departure place information, and receive the destination information of user's input, wherein, determine that departure place information can determine by the departure place information that receives user's input, also can determine current location, and current location is defined as departure place information by receiving gps signal.Wherein, determine that the destination can determine by the destination information that receives user's input, also can receive the destination information that sends from other equipment and determine.
104, carry out path planning according to walking navigation data, departure place, destination and pedestrian traffic rule, obtain path planning;
When carrying out path planning, the preferred the shortest path of walking distance of calculating, further, walking road network attribute is divided into 2 kinds: single line road network and multi-thread road network, the single line road network refers to have the road road network of a circuit, multi-thread road network refers to have the road road network of two and two above circuits, has the road road network of two circuits also to be the two-wire road network.As shown in Figure 3, figure middle peasant pavilion road is double-circuit, and the road that intersects with agricultural pavilion road is a single line.During path planning, also carry out path computing according to walking road network attribute.
Lift the example of a bee-line algorithm below:
Is example with amperage sign indicating number epoch mansion Building B, sky to a day peace Creative Science and Technology Co. Ltd square.
Shown in Fig. 4 a, day peace doorway, Creative Science and Technology Co. Ltd square calm four tunnel has zebra stripes 1 on peace positive doorway, Building B, Creative Science and Technology Co. Ltd square, sky; Mouth has an overpass 2 in north gate, amperage Ma Cheng parking lot, sky; Culvert mouth at sweet viaduct of perfume (or spice) and calm four-legs intersection place has zebra stripes 3.
Pacify the Creative Science and Technology Co. Ltd square to the sky from amperage sign indicating number epoch mansion Building B, sky, can only from calm four the road this pass by.According to the shortest path calculating principle, shown in Fig. 4 b, the shortest path is through zebra stripes 1, arrives the road opposite;
As do not have zebra stripes 1, have only overpass 2. zebra stripes 3.According to the shortest path calculating principle, shown in Fig. 4 c, the shortest path is to arrive the road opposite through overpass 2;
As not having zebra stripes 1, overpass 2 has only the words of zebra stripes 3.According to the shortest path calculating principle, shown in Fig. 4 d, short path is to arrive the road opposite through zebra stripes 3.
From user's angle, suppose not have zebra stripes 1, have only overpass 2, calm four the tunnel do not protect isolated column, and the pedestrian can violate the traffic regulations and pass from road.The result that engine calculates comes from overpass 2, the Creative Science and Technology Co. Ltd square of turning back back, and can not be direct position from zebra stripes 1, the circuit that directly passes through.Even directly pass through the expection that road may meet the user, but violate the traffic regulations.Therefore, when calculating shortest path, must meet correct traffic rules.Even even now may cause the rule destination just over there, meet traffic rules according to following shortest path, a very long segment distance (1KM, 5KM or farther) may need to detour, also can only plan the very long one section path of detouring, rather than directly cross road.
To the Creative Science and Technology Co. Ltd square,, see the road that does not meet traffic rules from amperage sign indicating number epoch Building B, sky, then can only point out " not having road ", can't cook up this circuit at these 2 even these 2 air line distances are very short.
105, on electronic chart, show the path that planning obtains.
According to the path that planning obtains, fill corresponding walking road network.As shown in Figure 5, the result who calculates then fills that road network that the engine in the multi-thread road network calculates for through a certain in the multi-thread road network.The result who calculates number then fills whole single line road network for through the single line road network.
Walking road network show levels can be set according to engineer's scale, as being shown as the two-wire road network under the 50M engineer's scale, is shown as the single line road network under walking 100M engineer's scale.
The walking element comprises overline bridge, zebra stripes, and tunnels etc. need be through crossover-passing when the path of planning, and zebra stripes during walking elements such as tunnel, then show overline bridge, zebra stripes, the sign of walking elements such as tunnel.If the path of planning is not through crossover-passing, zebra stripes during the tunnel, then do not show overline bridge, zebra stripes, the sign of walking elements such as tunnel.
Embodiment two
The embodiment of the invention provides a kind of instantiation of walking navigation path planning, specific geographic situation as shown in Figure 6, starting point: dark south fragrant sweet grade separation bus station (boat paradise), destination: day peace Creative Science and Technology Co. Ltd square.Road network is described as follows: 1, Shen Nan 2 dypass nets are multi path network; 2, from process McDonald of ChuangZhan Center, till calm four tunnel this sides, this road network is special-purpose walkway, garden, and road network is the single line road network; 3, calm four road road networks are multi-thread road network.
Calculate according to walking navigation data, pedestrian traffic rule, walking shortest path and road network attribute, the path of planning is fragrant sweet grade separation bus station 1 (boat paradise) from dark south, after going up the fragrant sweet grade separation in dark south, walk toward ChuangZhan Center's direction, after arriving ChuangZhan Center, by the walkway, walk toward calm four tunnel directions, calm four the tunnel pacify this place, doorway, Creative Science and Technology Co. Ltd square in the sky zebra stripes.Through behind these zebra stripes, arrive a day peace Creative Science and Technology Co. Ltd square.
The path that on electronic chart, shows above-mentioned planning.As shown in Figure 7, because therefore the path of planning need an overline bridge sign and a zebra stripes sign occur through the dark fragrant sweet grade separation in south and calm four tunnel zebra stripes in the circuit of path planning.According to single line and multi-thread road network fill rule, in the both sides of Shen Nan, system fills by one in the correct multi path network that calculates.Is the single line road network in ChuangZhan Center to calm four road this section roads, and what therefore fill is the whole piece road network.Calm four the tunnel is multi path network, and system fills by one in the correct multi path network that calculates.
Embodiment three
The embodiment of the invention provides a kind of walking navigation method, and method flow diagram comprises as shown in Figure 8:
801, gather the walking navigation data;
802, preserve the walking navigation data;
803, determine the departure place, determine the destination;
804, carry out path planning according to walking navigation data, departure place, destination and pedestrian traffic rule;
805, obtain path planning;
806, navigate according to the path planning that obtains with by the current location that the gps signal that receives is determined.
Described walking navigation method comprises all schemes of the embodiment of the invention 1, also comprises:
Receive gps satellite signal, judge the current location of navigation object, navigate according to the path planning of current location and acquisition according to gps satellite signal.
The mode of navigating according to the path planning of current location and acquisition can be: the path planning that obtains is shown on electronic chart, this moment, the current location of navigation object was also shown on the electronic chart, the mode of expression can be to be identified on the electronic chart with one to be shown, sign can be used arrow, bright spot, Che Biao etc., can also add other icons or literal, mode by interface display gives the user Way guidance, navigates.
The mode of navigating according to the path planning of current location and acquisition can also be: give the user Way guidance according to the path planning and the current location that obtain by voice prompting mode, navigate.
Described walking navigation method can comprise the step of the navigation instruction that receives input, carries out path planning again and navigate according to current location and the path planning that is presented on the electronic chart behind the navigation instruction that receives input.Described walking navigation method also can not comprise the step of the navigation instruction that receives input, behind definite departure place and destination, promptly carries out path planning and navigates according to the path planning of current location and acquisition.
Embodiment four
As shown in Figure 9, the embodiment of the invention provides a kind of navigator 901, and described navigator 901 comprises:
Departure place and destination determining unit 902 are used for determining the departure place, receive the destination of input;
Wherein, determine that departure place information can determine by the departure place information that receives user's input, also can determine current location, and current location is defined as departure place information by receiving gps signal.
When carrying out path planning, the preferred the shortest path of walking distance of calculating, further, walking road network attribute is divided into 2 kinds: single line road network and multi-thread road network, the single line road network refers to have the road road network of a circuit, multi-thread road network refers to have the road road network of two and two above circuits, has the road road network of two circuits also to be the two-wire road network.During path planning, also carry out path computing according to walking road network attribute.
According to the path that planning obtains, fill corresponding walking road network.The result who calculates then fills that road network that the engine in the multi-thread road network calculates for through a certain in the multi-thread road network.The result who calculates number then fills whole single line road network for through the single line road network.
Walking road network show levels can be set according to engineer's scale, as being shown as the two-wire road network under the 50M engineer's scale, is shown as the single line road network under walking 100M engineer's scale.
The walking element comprises overline bridge, zebra stripes, and tunnels etc. need be through crossover-passing when the path of planning, and zebra stripes during walking elements such as tunnel, then show overline bridge, zebra stripes, the sign of walking elements such as tunnel.If the path of planning is not through crossover-passing, zebra stripes during the tunnel, then do not show overline bridge, zebra stripes, the sign of walking elements such as tunnel.
Described navigator 901 can also comprise:
Gps signal receiving element 906 is used to receive gps signal;
Current location identifying unit 907 is used for judging current location according to described gps signal;
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within the claim scope of the present invention.
Claims (10)
1. a walking navigation paths planning method is characterized in that, comprising:
Determine departure place and destination;
Carry out path planning according to the walking navigation data of prior preservation, described departure place, described destination and pedestrian traffic rule;
Obtain path planning.
2. the method for claim 1 is characterized in that,
Walking navigation data, described departure place, described destination and pedestrian traffic rule that described basis is preserved are in advance carried out path planning and are carried out path planning according to bee-line.
3. method as claimed in claim 1 or 2 is characterized in that,
Walking navigation data, described departure place, described destination and pedestrian traffic rule that described basis is preserved are in advance carried out path planning and are specially: carry out path planning according to the walking navigation data of prior preservation, described departure place, described destination, pedestrian traffic rule and road network attribute.
4. method as claimed in claim 3 is characterized in that,
Described road network attribute comprises single line net and multi-thread road network, and when showing the path planning of described acquisition on electronic chart, the path planning of described acquisition is then only filled this road network of the path planning process of described acquisition through a certain in the multi-thread road network; The path planning of described acquisition is then filled whole single line road network through the single line road network.
5. a walking navigation method is characterized in that, comprising:
Determine departure place and destination;
Carry out path planning according to the walking navigation data of prior preservation, described departure place, described destination and pedestrian traffic rule;
Navigate according to the path planning that obtains with by the current location that the gps signal that receives is determined.
6. a navigator is characterized in that, comprising:
Departure place and destination determining unit are used for determining departure place and destination;
Preserve the unit, be used to preserve the walking navigation data;
The path planning unit is used for carrying out path planning according to described walking navigation data, described departure place, described destination and pedestrian traffic rule, obtains path planning.
7. navigator as claimed in claim 6 is characterized in that,
Described path planning unit carries out path planning according to bee-line.
8. as claim 6 or 7 described navigator, it is characterized in that,
Described path planning unit also carries out path planning according to the road network attribute.
9. navigator as claimed in claim 8 is characterized in that,
Described navigator also comprises display unit, be used on electronic chart, showing the path planning of described acquisition, described road network attribute comprises single line net and multi-thread road network, the path planning of described acquisition is through a certain in the multi-thread road network, then display unit only fill described acquisition the path planning process this road network and shown; The path planning of described acquisition is through the single line road network, and then display unit is filled whole single line road network and shown.
10. navigator as claimed in claim 6 is characterized in that, also comprises:
The gps signal receiving element is used to receive gps signal;
The current location identifying unit is used for judging current location according to described gps signal;
Navigation elements is used for navigating according to the path planning of described current location and described acquisition.
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| CN110926489A (en) * | 2019-10-28 | 2020-03-27 | 西安华运天成通讯科技有限公司 | Body-building movement path planning method and system based on satellite navigation |
| CN110926489B (en) * | 2019-10-28 | 2021-12-07 | 西安华运天成通讯科技有限公司 | Body-building movement path planning method and system based on satellite navigation |
| CN113959455A (en) * | 2021-09-17 | 2022-01-21 | 北京百度网讯科技有限公司 | Navigation method, device, equipment and storage medium |
| CN114427857A (en) * | 2022-01-28 | 2022-05-03 | 北京百度网讯科技有限公司 | Navigation method, navigation device, electronic equipment and storage medium |
| CN117073708A (en) * | 2023-10-17 | 2023-11-17 | 河北省电子信息技术研究院 | Vehicle navigation method and system for intelligent park |
| CN117073708B (en) * | 2023-10-17 | 2024-01-09 | 河北省电子信息技术研究院 | Vehicle navigation method and system for intelligent park |
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Application publication date: 20100825 |